Wire harnesses are essential hardware for electronic systems in modern
automotive vehicles. With a shift in the automotive industry towards
electrification and autonomous driving, more and more automotive electronics
are responsible for energy transmission and safety-critical functions such as
maneuvering, driver assistance, and safety system. This paradigm shift places
more demand on automotive wiring harnesses from the safety perspective and
stresses the greater importance of high-quality wire harness assembly in
vehicles. However, most of the current operations of wire harness assembly are
still performed manually by skilled workers, and some of the manual processes
are problematic from different perspectives, such as quality control and
ergonomics. There is also a persistent demand in the industry to increase
competitiveness and gain market share. Hence, assuring assembly quality while
improving ergonomics and optimizing labor costs is desired. Robotized assembly,
accomplished by robots or in human-robot collaboration, is a key enabler for
fulfilling the increasingly demanding quality and safety as it enables more
replicable, transparent, and comprehensible processes than completely manual
operations. However, robotized assembly of wire harnesses is challenging in
real environments due to the flexibility of the deformable objects, though many
preliminary automation solutions have been proposed under simplified industrial
configurations. Previous research efforts have proposed the use of computer
vision technology to facilitate robotized automation of wire harness assembly,
enabling the robots to better perceive and manipulate the flexible wire
harness. This article presents an overview on computer vision technology
proposed for robotized wire harness assembly and derives research gaps that
require further study to facilitate a more practical robotized assembly of wire
harness.

现代汽车车辆中，电线束是电子系统所必需的关键硬件。随着汽车行业向电气化和自动驾驶的转变，越来越多的汽车电子负责能量传输和机动、驾驶辅助以及安全系统等关键功能。提高装配质量，改善人机工效以及优化劳动成本是自动化装配的关键。先前的研究工作提出了使用计算机视觉技术来促进机器人配线束装配的自动化，使机器人能够更好地感知和操作柔性线束。本文概述了应用于机器人化电线束装配的计算机视觉技术，并指出需要进一步研究的研究空白以促进更实用的机器人化电线束装配。

机器人线束装配的计算机视觉技术

Computer Vision Technology for Robotized Wire Harness Assembly

The shift towards electrification and autonomous driving in the automotive
industry results in more and more automotive wire harnesses being installed in
modern automobiles, which stresses the great significance of guaranteeing the
quality of automotive wire harness assembly. The mating of connectors is
essential in the final assembly of automotive wire harnesses due to the
importance of connectors on wire harness connection and signal transmission.
However, the current manual operation of mating connectors leads to severe
problems regarding assembly quality and ergonomics, where the robotized
assembly has been considered, and different vision-based solutions have been
proposed to facilitate a better perception of the robot control system on
connectors. Nonetheless, there has been a lack of deep learning-based solutions
for detecting automotive wire harness connectors in previous literature. This
paper presents a deep learning-based connector detection for robotized
automotive wire harness assembly. A dataset of twenty automotive wire harness
connectors was created to train and evaluate a two-stage and a one-stage object
detection model, respectively. The experiment results indicate the
effectiveness of deep learning-based connector detection for automotive wire
harness assembly but are limited by the design of the exteriors of connectors.

通过深度学习技术实现机器人化的汽车线束装配中连接器的检测，研究表明深度学习在汽车线束装配中的连接器检测上具有有效性，但受连接器外观设计的限制。