JPH06188061A - Automatic connection device and method for wire harness - Google Patents

Abstract

PURPOSE:To achieve automatic connection of a wire harness by connecting a coupler effectively and securely. CONSTITUTION:A camera specifies a position of a coupler 11 by comparison with a pattern of the coupler 11 preliminarily memorized in a memory in a control unit based on brightness difference or saturation difference between the coupler 11 and a background. A peripheral range of the coupler is scanned by a laser detection device by radiating a slit-shaped laser beam. By detecting reflected light, a direction of the coupler 11 is detected correctly. Work of getting an arm to be closer to the detected coupler 11 to catch it is performed. A hand 13 is moved down to a position where a forward end of a plate member 27 is applied to a surface of a work. The plate member 27 which is not applied to a harness 10 is extended to the surface of the work on the back of the coupler 11. When a presser member presses the coupler 11 which is down, the coupler 11 is corrected to be in a horizontal attitude. In a condition where the hand 13 moves forward to a position relation for providing connection of the coupler 11, in the case reaction force of the hand 13 exceeds a specified value, it is determined that connection action is completed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic wire connecting apparatus and method.

[0002]

2. Description of the Related Art Conventionally, a method for recognizing an object is known, and, for example, Japanese Patent Laid-Open No. 64-78106 discloses a method.
A method of recognizing a cylindrical shape by image processing is disclosed. Further, Japanese Patent Laid-Open No. 63-62003 discloses a method of converting recognized feature points of a work into coordinates of a robot system. Further, in Japanese Utility Model Laid-Open No. 32680/1990, it is determined whether or not the connection of the connectors is properly completed.
The test is performed by applying a constant tensile force.

[0003]

However, the conventional technique discloses an apparatus or method for partially recognizing an object or partially detecting a coupling failure. However, by combining these unit operations, There is no suggestion of effectively performing a series of operations from recognition of objects to grasping, coupling, and confirmation. Therefore, for example, when automatically performing a wiring work of a harness for an electric component mounted on a vehicle, it is difficult to effectively perform the automatic wiring even by simply combining the above-described conventionally disclosed techniques. .

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an apparatus and method capable of achieving automatic wire harness connection by coupling couplers efficiently and reliably. And

[0005]

In order to achieve the above object of the present invention, an apparatus according to the present invention is an apparatus for automatically connecting wirings via a coupler, and the position of the coupler to be connected is determined. Position detecting means for detecting, direction detecting means for detecting an accurate position and direction of the coupler, a pair of capturing means for capturing the coupler in a predetermined state, and the pair of capturing means are operated to couple the couplers. It has a coupling means and a confirmation means for confirming whether the coupling of the coupler is properly performed.

[0006] Preferably, the orientation detecting means includes an irradiating means for irradiating light, a scanning means for scanning a predetermined area, an image recognizing means for detecting reflected light in the scan area, and the image recognizing means. Comparing means for comparing the image with the image data of the coupler stored in advance,
The direction of the coupler is recognized based on the comparison result.

More preferably, the irradiating means is a laser irradiating means, and the laser irradiating means is constructed so that the output changes in accordance with the difference in brightness between the coupler and the background in the target area. The orientation detection means, the irradiation means for irradiating light from a plurality of different positions, and a reflected light detection means for detecting the reflected light from each irradiation means,
The orientation of the coupler may be detected based on the detection result of each reflected light detecting means. In a preferred embodiment, an image pickup device is installed in the vicinity of the capturing means, and is configured to image both the capturing means and the coupler to be captured by the capturing means.

In one aspect, the pair of capturing means captures one of the pair of couplers to be coupled and is fixed in a stationary state during the coupling operation of the couplers. A moving trapping means for trapping the other coupler to be coupled and moving the other coupler relative to the one coupler captured by the fixed trapping means during the coupler coupling operation; Equipped with.

In this case, the capturing means engages the gripping means for gripping the coupler in a direction perpendicular to the moving direction of the coupler with the coupler from behind the coupler in the moving direction, and presses the coupler to relatively couple them. And pressing means for moving in the direction. The pressing means preferably includes a variable engagement means whose engagement state changes in accordance with the shape of the wire harness. The variable engaging means are arranged in a direction perpendicular to the coupling direction of the coupler, and are provided with a plurality of slide members extending in the vertical direction and movable in the vertical direction, the slide members approaching from the upper side of the harness and the lower end of the harness to the harness. By retreating the abutted portion, the tip of the slide member is located behind the coupler along the outer shape of the harness.

In another aspect of the present invention, the capturing means includes a retracting means for grasping the harness near the coupler and retracting the coupler, and a retaining means for grasping the coupler retracted by the retracting means. Further, the confirmation means is configured to confirm that the coupling is completed when, for example, a tensile force is applied to both sides of the coupler and there is no abnormality in the coupled state. Alternatively, the completion of the coupling may be confirmed by detecting that the pressing force required at the time of coupling exceeds a predetermined value. In this case, for example, the load on the capturing means attached to the tip of the robot and the arm may be detected, and when the load value exceeds a predetermined value, the completion of coupling may be confirmed. As another mode, there is a coupler that emits a sound when the coupling claws are engaged when the coupling is completed.
In this case, the completion of the coupling may be confirmed by detecting the sound at the time of this engagement.

The capturing means may be provided with attitude correcting means for correcting the attitude of the captured coupler. In still another aspect, the position detecting means images a relatively wide area, detects the position of the coupler by image processing, and then the orientation detecting means detects the laser light in a relatively narrow area around the coupler. And the correct position and orientation of the coupler is determined based on the reflected light.

According to another feature of the present invention, there is provided a method for automatically connecting wiring through a coupler, detecting the position of the coupler to be connected, and detecting the attitude of the coupler. Detecting each of the pair of couplers according to the detected orientation, coupling the pair of couplers in relatively close proximity, and verifying that the coupling of the couplers was done properly. With.

In this case, a relatively wide area is imaged, the position of the coupler is detected by image processing, a laser beam is irradiated in a relatively narrow area around the coupler, and the coupler's accuracy is determined based on the reflected light. It is designed to determine the correct position and orientation. It should be noted that the position detection means for searching the work from a relatively wide field of view for detecting the approximate positions of the couplers 11 and 12, and the work in a relatively narrow field of view for detecting the accurate position and orientation of the couplers 11, 12. As a specific combination of the direction detecting means for searching the surface of the work, a camera is used as the position detecting means, and the work surface is irradiated with laser light as the direction detecting means to detect an accurate position and direction with the camera. Irradiation and camera detection are both used for the position detection means and orientation detection means, a camera is used as the position detection means and orientation detection means, and further laser light irradiation and camera detection are used for the position detection means. It can also be used as a direction detecting means. Which combination to use is cost,
It may be determined based on factors such as accuracy required for processing time.

[0014]

According to the present invention, first, the approximate position of the pair of couplers to be coupled is detected by imaging, laser irradiation, or the like. If the approximate position is detected, then the correct position and orientation of the coupler, especially the orientation of the coupler, is detected to know the coupling direction. Then, when the coupling direction is known, the capturing means approaches the coupler and captures it. In this case, the capture means are respectively provided on one side of the couplers to be coupled, for example a male coupler and the other coupler, for example a female coupler, to perform the capture operation respectively.

One of the capturing means is a stationary capturing means and is substantially stationary while capturing the coupler. The other capturing means is a moving capturing means and is brought close to the coupler captured by the one capturing means. Then, the pair of couplers are coupled by pressing with a predetermined acting force. Then, the confirmation means confirms whether or not the couplers are properly coupled.

[0016]

Embodiments of the present invention will be described below with reference to the accompanying drawings. Referring to FIG. 1, there is shown a schematic configuration of an automatic wire harness connecting device 1 according to an embodiment of the present invention. The automatic wire connection device 1 of this example includes a pair of robots 2,
3 is provided. Each robot 2, 3 operates according to a control command from the control unit 4. The control unit 4 preferably includes a microcomputer. Each of the robots 2 and 3 has arms 5 and 6 capable of freely performing turning, bending, and parallel movement. The robots 2 and 3 are suspended on a pedestal 7, and work is performed by accessing a work 9 (a car door in this example) on a transfer device 8. In the case of this example, the inner surface of the door 9 is conveyed upward, and this is confronted with the tip of the robot arm. As shown in FIG. 2, the wire harness 10 is exposed on the inner surface of the work 9, and the couplers 11 and 12 to be coupled are attached to the tip of the wire harness 10 in an unconnected state. The device 1 of this example has a specific coupler 11, 1 of this wire harness 10.
It operates so as to detect 2 and automatically connect.

As shown in FIG. 3, the robot 2 (robot 3
A hand 13 for capturing the coupler 11 (or 12) is provided at the tip of the arm 5, and a measuring device 14 for monitoring the movement and the coupler to be captured is provided in the vicinity of the hand 13. Is attached. As shown in FIG. 4, the measuring device 14 includes a laser irradiation device 16 that irradiates the work 9 with laser light, and a camera 15 that detects reflected light of the laser light to detect the position of the coupler 11 on the work 9. Is equipped with. The camera 15 detects the laser reflected light on the surface of the work 9 to image the state of the surface and detects the position of the coupler 11.

Referring to FIG. 5, an example of a hand is shown in perspective view. The hand 13 includes a hand main body 17, and the hand main body 17 includes a rectangular box-shaped side chuck mechanism 18 and a box-shaped rear chuck mechanism 19 provided adjacent to the side chuck mechanism 18. ing. Referring to FIGS. 6 and 7, a pair of plate-shaped chucks 20 and 21 extending in parallel downward are attached to the side chuck mechanism 18 of the hand body 17. Circular plates 22 and 23 are rotatably attached to the chucks 20 and 21 inside the chucks 20 and 21, respectively. Further, a cylinder mechanism 24 that moves vertically is attached to the side surface of the side chuck mechanism 18 of the hand body 17. The piston rod 25 of this cylinder mechanism 24 is
As shown in FIG. 7, it extends inwardly from the lower end of the side chuck mechanism 18 along the lower surface and reaches the central portion thereof. A pressing member 26 having a horizontal lower surface is attached to the tip. In addition, the rear chuck mechanism 19 of the hand body 17
Is provided with a plurality of plate members 27 having a rectangular cross section that extend downward and are arranged side by side in a direction perpendicular to the sliding direction of the rear chuck mechanism 19. As shown in FIGS. 8 and 9, the plate member 27 is provided with a spring 28 from the upper side to the lower side.
Is urged by. Therefore, the plate member 27 is displaced upward when a force that overcomes the spring force acts upward from below. In addition, each plate member 27
A pin 29 protruding from an elongated hole provided in the rear chuck mechanism 19 is provided on the. With this pin, the plate member 27 is configured so as not to be displaced beyond the length of the elongated hole 30.

Further, when the plate members 27 are positioned in the vertical direction, they approach each other and the plate members 27
Chuckes 19a and 19b for suppressing and restraining this are provided respectively. Further, the operation of the apparatus having the above configuration will be described. In response to a command from the control unit 4, the robot 2 moves the measuring device 14 provided at the tip of the hand 13
The coupler 11 to be coupled is specified to detect the position. In this case, the camera 15 controls the control unit 4 based on the difference in brightness or saturation between the coupler 11 and the background.
The position of the coupler 11 is specified by comparing with the pattern of the coupler 11 stored in advance in the internal memory.

Next, the control unit 4, as shown in FIG.
The peripheral region of is irradiated with slit-shaped laser light and scanned. Then, the coupler 1 is detected by detecting the reflected light.
Accurately detect the direction of 1. In this case, the image pick-up by the camera 15 is performed from a relatively wide field of view, for example, 2
It is performed so as to cover the range of 00 mm × 200 mm.
Further, the laser irradiation has a relatively narrow field of view, for example, 50 mm ×
It is performed within a range of 50 mm.

Next, the robot performs an operation of bringing the arm close to the detected coupler 11 and capturing it according to a command signal from the control unit 4. To this end, the robot 2 moves or moves the arm 5 as necessary to control the hand 13 to be positioned above the target coupler 11. Then, the plate member is positioned on the harness 10 extending from the rear end of the coupler 11. Next, the robot 2 lowers the hand 13 to a position where the tip of the plate member 27 contacts the surface of the work 9. At this time, chuck 1
9a, 19b are relaxed and therefore the plate member 2
7 can be moved up and down. Therefore,
When the tip of the plate member 27 comes into contact with the surface of the workpiece 9, the tip comes into contact with the harness 10 extending from the rear portion of the coupler 11 from above and retracts upward against the spring force. The plate member 27 that does not contact the harness 10 extends to the surface of the work 9 behind the coupler 11. In addition,
At this time, the tip of the chuck 20 provided below the side chuck mechanism 18 is also just in contact with the surface of the work 9. Next, the control unit 4 outputs a command signal to a driving device (not shown), and the chuck 20,
21 are controlled to approach each other. When it is detected that a predetermined pressing force is generated on the circular plates 22 and 23 supported by the chucks 20 and 21, the operations of the chucks 20 and 21 are stopped. Next, the control unit 4 operates the cylinder mechanism 24 to lower the cylinder rod 25, and the pressing member 26 is brought into contact with the upper surface of the coupler 11. The lower surface of the pressing member 26 is a horizontal surface, and the circular plates 22 and 23 are rotatable around the shaft supported by the bracket 20, so that, for example, as shown in FIG.
When the coupler 11 sandwiched between the two is not horizontal, the coupler 11 is corrected to the horizontal posture when the pressing member 26 pushes the lowered coupler 11 (see FIG. 1).
2). This completes the coupler capturing operation of the robot 2. In this way, when a pair of couplers 11 to be coupled are captured by each robot 2,
The control unit 4 then enters a coupling operation. In this case, one robot 2 captures the male coupler 11, and the other robot 3 captures the female coupler 12. In the coupling operation, one robot 2 is maintained in a substantially stationary state, and the other robot 3 moves to approach the robot 2 in the fixed state and pushes the coupler 12 as it is to couple the couplers 11 and 12. In this case, the posture of the coupler 11 is uniquely determined in each hand 13 of the robots 2 and 3 as described above, and the position of the hand 13 of each robot 2 and 3 is already stored in the coordinate system of the robots 2 and 3. Has been done. Therefore, the coupling operation of the coupler 11 captured by the pair of robots 2 and 3 can be easily performed by appropriately performing the capturing operation so that the relative positional relationship between the hand 13 and the couplers 11 and 12 becomes constant. . When the couplers 11 and 12 come into contact with each other and a pressing force is applied, whether the couplers 11 and 12 are chucks 20 or 2
Even if 1 shifts backward due to the pressing force, there is a plate member 27 behind it and it stops by contacting the rear surface. When the hands 13 further advance to couple the couplers 11 and 12, the plate member 27 supports the rear ends of the couplers 11 and 12 from behind, so that the coupling operation of pushing the coupler 12 into the coupler 11 is facilitated. can do. If the rear chuck mechanism 19 is allowed to enter the side chuck mechanism 18, one robot 2 moves in the coupling direction due to collision interference or the like with one robot 2 in a state where only the tips of the couplers 11 and 12 are coupled. If it is impossible, the chucks 20 and 21 are moved in directions away from each other, and the rear chuck mechanism 19 is moved to the side chuck mechanism 1.
The plate member 27 pushes the back surface of the coupler 11 by making a stroke toward the inside, and the couplers 11 and 12 can be coupled.

If the couplers 11 and 12 do not move forward even if a predetermined force is applied after they come into contact with each other, the couplers 11 and 12 are once retracted and then searched for and moved forward. Then, the control unit 4 moves the one hand 13 closer to the other hand 13, and in a state in which the hand 13 has advanced to a positional relationship that provides coupling of the couplers 11 and 12, the reaction force of the hand 13 is a predetermined value. If it exceeds, it is determined that the combining operation is completed.

The reaction force may be measured by mounting a pressure switch or the like (not shown) on the hand, for example, on the front surface of the plate member 27, and by judging the operation of the switch. Further, since the couplers 11 and 12 are normally provided with the engaging claws, the completion of the coupling may be determined by detecting the sound generated when the engaging claws are engaged or the vibration transmitted to the hand 13. Further, when the hands 13 of the robots 2 and 3 approach the predetermined position, it is determined that the coupling is completed, and then the couplers 11 and 12 are pulled in a direction of separating them, and when the coupled state does not collapse, the coupling is properly performed. Judge that it was done.

Referring to FIG. 13, another embodiment of the present invention is shown. In the structure of this example, the hand has a pair of gripping members 31, 3 for opening and closing the lower end to capture the harness.
Equipped with 2. The grip members 31 and 32 are the harness 10
Is engaged in a direction perpendicular to the extending direction of the. Further, between the gripping members 31, 32, as shown in FIG.
Referring also to FIG. 15, a pair of rubber rollers 3
3, 34 are provided. Referring to FIG. 16, a motor 35 for driving these rollers 33, 34 is provided on the top of the hand 13. The gripping members 31 and 32 are driven by a drive mechanism (not shown) so as to approach or separate from each other. The rollers 33 and 34 are connected to a driven pulley 40 via a drive pulley 38 coaxial with the motor 35 and a belt 39, and are rotationally driven by the motor power. In the configuration of this example, since the distance between the drive pulley 38 and the driven pulley 40 changes, a tension roller 41 is provided between the two and presses the belt with a spring force.

In the operation of the hand 13 of this example, the position and orientation of the coupler are detected by the same operation as in the previous example, and the hand operates based on this result to capture the coupler. In the capturing operation, the control unit 4 moves the hand 13 to above the harness 10 near the coupler 11. Next, as shown in FIG. 16, first, the motor 35 is driven to rotate the gear and capture the harness 10. Gripping member 31,
32 is provided with engaging claws 42 and 43 that are spaced apart in the longitudinal direction of the harness and are curved one by one and face each other. In the state before the capturing operation, the engaging claw 4
2 and 43 are separated from each other, and a constant space is formed between them. Then, when the gears 36 and 37 rotate, the engaging claws 42 and 43 are moved in parallel so as to approach each other. During this time, first, the harness 10 is engaged with the engaging claws 42,
It is scooped up from below 43 and is sandwiched by the central portion of the curved center portion. And at the last stage, the rollers 33, 3
It is sandwiched between four. Next, the roller is rotated to pull the coupler in the longitudinal direction of the harness 10 into the hand 13.
(FIG. 17), and the engaging claws 42 and 43 are brought into contact with the end faces. In this state, the end surface of the engaging claw is perpendicular to the direction in which the harness extends. Therefore, when the rear end surface of the coupler comes into contact with the end surface of the engaging claw, as shown in FIG. The posture is always horizontal.

After this, the coupling operation is performed as in the previous example,
A confirmation operation is performed. Still another embodiment of the present invention will be described with reference to FIGS. In the configuration of this example, the hand 13 includes two sets of front and rear gripping claws 50, 51 and 52, 53. The front gripping claws 50 and 51 are operated by a motor 54 provided inside the main body of the hand 13, and the rear gripping claws 52 and 53 are operated by a motor 55 so as to approach and separate from each other. Front grip claw 50,
Tactile sensor pads 56, 57, 58, and 59 are attached to the facing surfaces of the rear gripping claws 52 and 53, respectively. In operation, the robot recognizes the side surface and the rear surface of the coupler 11 by the direction detection means including an externally mounted camera, laser irradiation and reflected light detection means, and moves the hand 13 upward. Then, the hand 13 is lowered, and the front gripping claws 50, 51 and the rear gripping claws 52, 53 are brought into contact with the upper surface of the work with the coupler 11 sandwiched therebetween. At this time, the front gripping claws 50 and 51 are opposed to the side surface of the coupler 11, and the rear gripping claws 52 and 53 are the coupler 11.
They are facing each other with the harness in the rear part sandwiched. Next, FIG.
As indicated by 0, first, the front gripping claws 50 and 51 approach each other and abut against the side portion of the coupler 11. In this case, the motor 54 is stopped when the tactile sensor pads 56 and 57 detect a predetermined pressure. Next, the motor 55 operates so as to bring the rear grip claws 52 and 53 closer to each other, and similarly, the tactile sensor pad 5
The motor 55 stops when 8, 59 detect a predetermined pressure. Next, when the robot advances so as to push the coupler 11 into the other coupler 12, the front ends of the rear grip claws 52 and 53 abut against the rear portion of the coupler 11 as shown in the figure and push it from behind. At this time, the couplers 11, 1
When the contact state of No. 2 is obtained, the front gripping claws 50 and 51 are separated from each other, and the coupler 11 is moved by the front end surfaces of the rear gripping claws 52 and 53.
Press the back of the to achieve coupling of couplers 11 and 12.
If the front gripping claws 50, 51 grip the coupler 11 and the angle is deviated as shown in FIG. 21 and the coupler 11 is obliquely gripped, the tactile sensor pads 56, 57 indicate this angular displacement in the horizontal direction. Detect by. That is, a current is generated in the contacting portion, but no current is generated in the non-contacting portion. This tactile sensor pad 56,
It is possible to detect how much the attitude of the coupler 11 deviates from the horizontal direction by detecting the signal generation distribution of the elements 57 arranged in a matrix.

When the robot detects the deviation, the posture of the hand 13 is changed so that the captured posture of the coupler 11 becomes horizontal, and the coupling operation is performed. By this operation, the couplers 11 and 12 can always be moved horizontally in the coupling direction. Then, the pressure sensor (not shown) of the hand 13 outputs a predetermined pressure to the coupler 1.
When the detection is made with respect to the joining directions of 1 and 12, the advance of the hand 13 is stopped assuming that the joining is achieved. Then, when the harness is lightly pulled in the opposite direction by the engaging force of the rear grip claws 52 and 53 and a resistance force of a predetermined value or more is detected by the pressure sensor without movement in that direction, it is determined that the coupling is properly performed.

[0028]

As described above, according to the present invention, the automatic connection of the coupler can be reliably performed with a simple structure.
Work efficiency can be improved. Also, the shape of the coupler,
It can be applied effectively even if the size and the like differ to some extent, and is superior to conventional ones in terms of versatility.

[Brief description of drawings]

FIG. 1 is a schematic view of a related device including an automatic wiring device,

FIG. 2 is a perspective view of a work,

FIG. 3 is a schematic view of a robot,

FIG. 4 is a schematic view of a measuring device,

FIG. 5 is a perspective view of a hand,

FIG. 6 is a front view of a hand,

FIG. 7 is a side view of the hand,

FIG. 8 is a partial cross-sectional view of the slide member seen from the front,

FIG. 9 is a partial cross-sectional view of the slide member as seen from the side surface,

FIG. 10 is a conceptual diagram of the operation of the measuring device,

FIG. 11 is a side view showing the operating state of the hand,

FIG. 12 is a side view showing the operating state of the hand,

FIG. 13 is a perspective view of a hand according to another embodiment of the present invention,

FIG. 14 is a plan view showing an operating state of the gripping member,

FIG. 15 is a front view showing an operating state of the gripping member,

FIG. 16 is a plan view of a drive mechanism of the hand,

FIG. 17 is a side view showing the operating state of the hand,

FIG. 18 is a side view showing the operating state of the hand,

FIG. 19 is a perspective view showing a configuration of a hand according to still another embodiment,

FIG. 20 is an explanatory diagram showing the operating state of the hand of the embodiment of FIG.

FIG. 21 is an explanatory diagram showing an example of a gripped state of a coupler of a hand.

[Explanation of Codes] 1 Automatic wiring device 2 Robot 3 Robot 4 Control unit 5 Arm 6 Arm 7 Frame 8 Transfer device 9 Work (door) 10 Harness 11 Coupler 12 Coupler 13 Hand 14 Measuring device 15 Camera 16 Laser irradiation device 17 Hand body 18 Front Chuck Mechanism 19 Rear Chuck Mechanism 20 Chuck 21 Chuck 22 Circular Plate 23 Circular Plate 24 Cylinder Mechanism 25 Piston Rod

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Hiroyuki Yoshida 3-1, Shinchi, Fuchu-cho, Aki-gun, Hiroshima Mazda Motor Corporation

Claims (15)

[Claims] 1. A device for automatically connecting wirings via a coupler, comprising position detecting means for detecting an approximate position of a coupler to be connected, and direction detection for detecting an accurate position and orientation of the coupler. Means, a pair of capture means for capturing a pair of the couplers in a predetermined state, a coupling means for operating the pair of capture means to couple the couplers, and checking whether or not the couplers are properly coupled. Wire harness automatic connection device having a confirmation means for 2. The direction detecting means according to claim 1,
An irradiation unit that emits light, a scanning unit that scans a predetermined area, an image recognition unit that detects reflected light in the scanning region, an image by the image recognition unit, and image data of a coupler stored in advance. And a wire harness automatic connection device for recognizing the direction of the coupler based on the comparison result. 3. The irradiating means according to claim 2, wherein the irradiating means is a laser irradiating means, and the laser irradiating means is configured such that an output thereof changes in accordance with a difference in brightness between a coupler and a background in a target area. An automatic wire harness connecting device. 4. The reflected light detecting device according to claim 1, wherein the direction detecting device comprises an irradiating device for irradiating light from a plurality of different positions and a reflected light detecting device for detecting reflected light from each irradiating device. An automatic wire harness connecting device, which is configured to detect a detailed position and orientation of a coupler based on a detection result by a detection means. 5. The image pickup device according to claim 1, wherein an image pickup device is installed in the vicinity of the capture means, and both the capture means and the coupler to be captured by the capture means are imaged. Automatic wiring harness connection device. 6. The fixed capturing means according to claim 1, wherein the pair of capturing means captures one of the pair of couplers to be coupled and is maintained substantially stationary during the coupling operation of the couplers. A moving capture means for capturing the other coupler to be coupled and performing the coupling by relatively moving the other coupler with respect to the one coupler captured by the fixed capture means during the coupler coupling operation. An automatic wire harness connecting device, characterized by comprising: 7. The capturing means according to claim 6, wherein the capturing means grips the coupler in a direction perpendicular to the moving direction of the coupler, and engages the coupler from behind the coupler in the moving direction to press the coupler. An automatic wire harness connecting device, comprising: a pressing means for moving the wire harness relatively in the connecting direction. 8. The wire harness automatic connection device according to claim 7, wherein the pressing means includes a variable engagement means whose engagement state changes in accordance with the shape of the wire harness. 9. The variable engagement means according to claim 8, further comprising a plurality of slide members which are arranged in a direction perpendicular to a coupling direction of the coupler and which extend in the up-down direction and can be displaced in the up-down direction. By retracting the part that approaches from the top of the harness and the lower end abuts the harness,
The wire harness automatic connection device, wherein the tip of the slide member is located behind the coupler along the outer shape of the harness. 10. The capturing means according to claim 1, wherein the capturing means includes a retracting means for retaining the harness near the coupler and retracting the coupler, and a retaining means for retaining the coupler retracted by the retracting means. Automatic wiring harness connection device. 11. The automatic wire harness connecting device according to claim 1, wherein the confirming means confirms that the coupling is completed when a pulling force is applied to both sides of the coupler when there is no abnormality in the coupled state. . 12. The wire harness automatic connection device according to claim 1, wherein the capturing means includes attitude correcting means for correcting the attitude of the captured coupler. 13. The position detecting means according to claim 1, wherein the position detecting means images a relatively wide area and detects the position of the coupler by image processing, and the orientation detecting means detects the position of the coupler within a relatively narrow area around the coupler. An automatic wire harness connecting device, characterized in that it is configured to irradiate a laser beam on the substrate and judge the correct position and orientation of the coupler based on the reflected light. 14. A method for automatically connecting wiring through a coupler, wherein the position of a coupler to be connected is detected, the direction of the detected coupler is detected, and each of a pair of couplers is detected. Capturing the wire according to the detected accurate position and orientation, coupling the pair of couplers relatively close to each other, and confirming whether the coupling of the couplers is properly performed. Automatic wiring method. 15. The image pickup device according to claim 14, wherein a relatively wide area is imaged, the position of the coupler is detected by image processing, laser light is irradiated in a relatively narrow area around the coupler, and based on the reflected light. A method for automatically connecting a wire harness, which is configured to determine an accurate position and orientation of a coupler.