Method and device for assembling power battery top cover and power battery explosion-proof sheet

Abstract

The embodiment of the application provides a kind of power battery top cover and the assembling method and device of power battery explosion-proof sheet.In the embodiment, by processing power battery explosion-proof sheet image and power battery top cover image, the target pose information required for the attachment of the two is obtained, to realize attachment by carrying power battery explosion-proof sheet to power battery top cover according to target pose information, realize the assembly of power battery top cover and power battery explosion-proof sheet by machine vision, save mechanical device, reduce the precision requirement of tool carrier, save the cost of device, also avoid the problem of poor assembly attachment precision caused by the limited limit precision of mechanical device;At the same time, the assembly of power battery top cover and power battery explosion-proof sheet is realized by machine vision, and power battery top cover can also not need tool carrier to carry power battery top cover, can be compatible with various specifications and sizes of power battery top cover and power battery explosion-proof sheet, realize the integrated production of multi-specification and size power battery.

Description

Technical Field

[0001] This application relates to the field of machine vision technology, and in particular to a method and apparatus for assembling a power battery top cover and a power battery explosion-proof sheet. Background Technology

[0002] For power batteries used in new energy vehicles, as their size increases, energy density rises, and operating environments become harsher, the risk of explosion due to damage to the sealed power batteries is gradually increasing. To prevent power battery explosions, an explosion-proof plate is usually attached to the top cover of the power battery.

[0003] Currently, the common method for assembling the top cover and explosion-proof sheet of a power battery is to limit the explosion-proof sheet and the top cover by using a mechanical device. This places high precision requirements on the tooling for placing the top cover, and the device cost is high. At the same time, due to the limited limiting precision of the mechanical device and the wear and tear of the tooling after long-term use, the assembly and fitting precision of the top cover and the explosion-proof sheet is not high. Summary of the Invention

[0004] In view of this, the present application provides a method for assembling a power battery top cover and a power battery explosion-proof sheet, so as to realize the assembly of the power battery top cover and the power battery explosion-proof sheet through machine vision, reduce the precision requirements of the tooling fixture, and avoid the problem of poor assembly and fitting accuracy of the top cover and the explosion-proof sheet caused by the limited positioning accuracy of the mechanical device.

[0005] According to a first aspect of the embodiments of this application, a method for assembling a power battery top cover and a power battery explosion-proof sheet is provided, the method comprising:

[0006] An image of the power battery explosion-proof sheet is obtained, and the pose information of the power battery explosion-proof sheet in the image is mapped to a specified physical coordinate system to obtain the mapped pose information of the power battery explosion-proof sheet; the image of the power battery explosion-proof sheet is an image acquired by a pre-deployed first image acquisition device for the power battery explosion-proof sheet carried by the motion mechanism.

[0007] Obtain an image of the power battery top cover, and map the pose information of the power battery top cover in the image to the specified physical coordinate system to obtain the mapped pose information of the power battery top cover; the power battery top cover image is an image acquired by a pre-deployed second image acquisition device for the power battery top cover carried by the workpiece.

[0008] Based on the mapping pose information of the power battery explosion-proof sheet and the mapping pose information of the power battery top cover, the target pose information required for the power battery explosion-proof sheet to fit with the power battery top cover is determined; based on the target pose information, the motion mechanism is controlled to move so that the power battery explosion-proof sheet carried by the motion mechanism fits with the power battery top cover.

[0009] According to a second aspect of the embodiments of this application, an assembly apparatus for a power battery top cover and a power battery explosion-proof sheet is provided, the apparatus comprising:

[0010] The power battery explosion-proof sheet mapping pose information acquisition module is used to acquire the power battery explosion-proof sheet image, and map the pose information of the power battery explosion-proof sheet in the power battery explosion-proof sheet image to a specified physical coordinate system to obtain the power battery explosion-proof sheet mapping pose information; the power battery explosion-proof sheet image is an image acquired by a pre-deployed first image acquisition device for the power battery explosion-proof sheet carried by the motion mechanism;

[0011] The power battery top cover mapping pose information acquisition module is used to acquire an image of the power battery top cover, and map the pose information of the power battery top cover in the image to the specified physical coordinate system to obtain the power battery top cover mapping pose information; the power battery top cover image is an image acquired by a pre-deployed second image acquisition device for the power battery top cover carried by the tooling;

[0012] The bonding module is used to determine the target pose information required for bonding the power battery explosion-proof sheet to the power battery top cover based on the mapping pose information of the power battery explosion-proof sheet and the mapping pose information of the power battery top cover; and to control the movement of the motion mechanism based on the target pose information so that the power battery explosion-proof sheet carried by the motion mechanism is bonded to the power battery top cover.

[0013] According to a third aspect of the embodiments of this application, an electronic device is provided, the electronic device comprising: a processor and a memory;

[0014] The memory is used to store machine-executable instructions;

[0015] The processor is configured to read and execute machine-executable instructions stored in the memory to implement the method as described in the first aspect.

[0016] The technical solutions provided in this application embodiment may include the following beneficial effects:

[0017] In this embodiment, by processing the image of the power battery explosion-proof sheet acquired by the first image acquisition device and the image of the power battery top cover acquired by the second image acquisition device, the target pose information required for the power battery explosion-proof sheet to be attached to the power battery top cover is obtained. This allows the motion mechanism to carry the power battery explosion-proof sheet to the power battery top cover according to the target pose information, and achieve attachment with the power battery top cover. This realizes the assembly of the power battery top cover and the power battery explosion-proof sheet through machine vision, eliminating the need for mechanical devices, reducing the accuracy requirements of the tooling, saving device costs, and avoiding the problem of poor assembly and attachment accuracy of the top cover and explosion-proof sheet caused by the limited positioning accuracy of mechanical devices.

[0018] Furthermore, by using machine vision to assemble the power battery top cover and the power battery explosion-proof sheet, it is possible to achieve the integrated production of power battery top covers and power battery explosion-proof sheets of various specifications and sizes without the need for tooling to support the power battery top cover. Attached Figure Description

[0019] Figure 1 This is a network diagram of an assembly system based on a power battery top cover and a power battery explosion-proof sheet, provided in an embodiment of this application.

[0020] Figure 2 This is a flowchart illustrating an assembly method for a power battery top cover and a power battery explosion-proof sheet, as provided in an embodiment of this application.

[0021] Figure 3 This is a block diagram of an assembly device for a power battery top cover and a power battery explosion-proof sheet provided in an embodiment of this application.

[0022] Figure 4 This is an example diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0023] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0024] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0025] It should be understood that although the terms first, second, third, etc., may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0026] The embodiments described in this specification will now be described in detail.

[0027] like Figure 1 As shown, Figure 1 This is a network diagram of an assembly system based on a power battery top cover and a power battery explosion-proof sheet, provided in an embodiment of this application. In this embodiment, the system includes a first image acquisition device, a second image acquisition device, and a host computer (…). Figure 1 (Not shown in the image), motion mechanism, and conveyor belt. Here, the first image acquisition device, the second image acquisition device, and the conveyor belt are all connected to the host computer for communication.

[0028] In this embodiment, the host computer can be a smart terminal such as a mobile phone, tablet, or computer; however, this embodiment is not specifically limited to such devices.

[0029] Both the first image acquisition device and the second image acquisition device can be ordinary cameras or industrial cameras; the embodiments in this application are not specifically limited to either.

[0030] In this embodiment, the first image acquisition device can be fixedly installed at a certain position on the production line. This application embodiment does not specifically limit the installation position of the first image acquisition device, as long as it can capture the image of the power battery explosion-proof sheet.

[0031] In this embodiment, the second image acquisition device can be fixedly installed at a certain position on the production line or installed on the top of the motion mechanism. This application embodiment does not specifically limit the fixed installation position of the second image acquisition device, as long as it can capture the image of the top cover of the power battery.

[0032] The motion mechanism is equipped with a gripping component, which can be a suction nozzle, a gripper, etc., and this application embodiment is not specifically limited to this.

[0033] The gripping component is used to pick up the explosion-proof sheet of the power battery and move it to the position of the power battery top cover to facilitate the assembly of the explosion-proof sheet and the power battery top cover. Here, the motion mechanism can be a robot or a robotic arm, and this application embodiment is not specifically limited to it.

[0034] The conveyor belt can carry the top cover of the power battery along the production line. It should be noted that... Figure 1 The example shown is of a conveyor belt carrying the power battery cover on the production line. Of course, the power battery cover can also be in a fixed position on the production line.

[0035] based on Figure 1 The network topology shown below will be used in conjunction with the network topology described below. Figure 2 The method provided in the embodiments of this application is described as follows:

[0036] like Figure 2 As shown, Figure 2 This is a flowchart of an assembly method for a power battery top cover and a power battery explosion-proof sheet provided in an embodiment of this application. This method is applied to the aforementioned host computer.

[0037] like Figure 2 As shown, the assembly method of the power battery top cover and the power battery explosion-proof sheet includes the following steps:

[0038] S210: Obtain the image of the power battery explosion-proof sheet, and map the pose information of the power battery explosion-proof sheet in the image to a specified physical coordinate system to obtain the mapped pose information of the power battery explosion-proof sheet; the power battery explosion-proof sheet image is an image acquired by the first image acquisition device that has been deployed for the power battery explosion-proof sheet carried by the motion mechanism.

[0039] For example, in this embodiment, when the motion mechanism carrying the explosion-proof sheet moves into the field of view of the first image acquisition device, the first image acquisition device acquires the corresponding image of the power battery explosion-proof sheet and sends the image of the power battery explosion-proof sheet to the host computer.

[0040] In this embodiment, the pose information of the power battery explosion-proof sheet can be represented by the pose information of any point on the power battery explosion-proof sheet, such as the pose information of the center point of the power battery explosion-proof sheet. This embodiment of the application does not specifically limit the pose information.

[0041] This application embodiment only uses the pose information of the center point of the power battery explosion-proof sheet as an example for description. Here, the pose information of the power battery explosion-proof sheet may include the coordinates and angles of the center point of the power battery explosion-proof sheet in the first pixel coordinate system corresponding to the first image acquisition device. Here, the angle refers to the angle between the straight line formed by the center point of the power battery explosion-proof sheet and the origin in the first pixel coordinate system and the positive direction of the X-axis. It should be noted that the angle can also be the angle between the straight line formed by the center point of the power battery explosion-proof sheet and the origin in the first pixel coordinate system and the positive direction of the Y-axis. This application embodiment is not specifically limited. This application embodiment only uses the angle of the straight line formed by the center point of the power battery explosion-proof sheet and the origin in the first pixel coordinate system and the X-axis as an example for description.

[0042] In this embodiment, the specified physical coordinate system refers to a coordinate system formed in physical space, such as a geodetic coordinate system, a motion mechanism physical coordinate system, a user coordinate system, or a tool coordinate system, etc. This application embodiment does not specifically limit it.

[0043] As for how to map the pose information of the power battery explosion-proof sheet in the image to a specified physical coordinate system to obtain the mapped pose information of the power battery explosion-proof sheet, the following embodiments provide examples, which will not be elaborated here.

[0044] S220: Obtain the image of the power battery top cover, and map the pose information of the power battery top cover in the image to a specified physical coordinate system to obtain the mapped pose information of the power battery top cover; the image of the power battery top cover is an image acquired by the deployed second image acquisition device for the power battery top cover carried by the workpiece.

[0045] For example, in this embodiment, when the conveyor belt carrying the workpiece moves into the field of view of the second image acquisition device, the conveyor belt is stopped, the second image acquisition device acquires an image of the power battery top cover, obtains an image of the power battery top cover, and sends the image of the power battery top cover to the host computer.

[0046] Here, when the acoustic and optical sensor deployed on the second image acquisition device detects the top cover of the power battery, it can send a control message to the conveyor belt to control the conveyor belt carrying the tooling to stop moving, so that the second image acquisition device can acquire images of the top cover of the power battery.

[0047] In this embodiment, the pose information of the power battery top cover can be represented by the pose information of any point on the power battery top cover, such as the pose information of the center point of the power battery top cover. This embodiment of the application does not specifically limit the pose information.

[0048] This application embodiment only uses the pose information of the center point of the power battery top cover as an example for description. Here, the pose information of the center point of the power battery top cover may include: the coordinates and angle of the center point of the power battery top cover. Here, the angle refers to the angle between the straight line formed by the center point of the power battery top cover and the origin of the second pixel coordinate system corresponding to the second image acquisition device and the positive direction of the X coordinate axis. It should be noted that the angle here can also be the angle between the straight line formed by the center point of the power battery top cover and the origin of the second pixel coordinate system and the positive direction of the Y coordinate axis. This application embodiment is not specifically limited. This application embodiment only uses the angle formed by the straight line formed by the center point of the power battery top cover and the origin of the second pixel coordinate system and the X coordinate axis as an example for description.

[0049] As for how to map the pose information of the power battery top cover in the image to a specified physical coordinate system to obtain the mapped pose information of the power battery top cover, the following embodiments provide examples, which will not be elaborated here.

[0050] S230: Based on the mapping pose information of the power battery explosion-proof sheet and the mapping pose information of the power battery top cover, determine the target pose information required for the power battery explosion-proof sheet to fit with the power battery top cover; control the motion mechanism to move based on the target pose information so that the power battery explosion-proof sheet carried by the motion mechanism fits with the power battery top cover.

[0051] For example, in this embodiment, the target pose information can be the coordinates and angles at which the power battery explosion-proof sheet moves to the point where it fits with the top cover of the power battery. The target pose information can also be the angular offset value and coordinate offset value at which the power battery explosion-proof sheet moves to the point where it fits with the top cover of the power battery. That is, the power battery explosion-proof sheet reaches the point where it fits with the top cover of the power battery after the angular offset and coordinate offset. This application embodiment is not specifically limited. This application embodiment is only described as an example where the target pose information is the angular offset value and coordinate offset value at which the power battery explosion-proof sheet moves to the point where it fits with the top cover of the power battery.

[0052] For example, in this embodiment, in step S230, there are many ways to determine the target pose information required for the power battery explosion-proof sheet and the power battery top cover to be attached, based on the power battery explosion-proof sheet mapping pose information and the power battery top cover mapping pose information. For example, the power battery explosion-proof sheet mapping pose information and the power battery top cover mapping pose information can be input into the rigid body transformation formula to obtain the target pose information required for the power battery explosion-proof sheet and the power battery top cover to be attached. This embodiment of the application is not specifically limited.

[0053] As for how to input the mapping pose information of the power battery explosion-proof sheet and the mapping pose information of the power battery top cover into the rigid body transformation formula to obtain the target pose information required for the power battery explosion-proof sheet and the power battery top cover to fit together, the following embodiments provide examples, but the embodiments of this application are not specifically limited.

[0054] In this embodiment, after calculating the target pose information required for the power battery explosion-proof sheet to adhere to the power battery top cover, the host computer sends the target pose information to the motion mechanism, so that the motion mechanism moves the power battery explosion-proof sheet to the power battery top cover based on the target pose information, facilitating the assembly of the power battery explosion-proof sheet and the power battery top cover. After detecting that the power battery explosion-proof sheet and the power battery top cover are adhered, control information is sent to the conveyor belt to control the conveyor belt to continue moving with the tooling. Here, the adhesion of the power battery explosion-proof sheet and the power battery top cover can be determined by a second image acquisition device, or it can be considered that the power battery explosion-proof sheet and the power battery top cover are adhered after a specified time period (e.g., 1 minute) when the power battery explosion-proof sheet moves to the power battery top cover. This embodiment of the application is not specifically limited.

[0055] This concludes the process. Figure 2 The process is shown below.

[0056] pass Figure 2 As can be seen from the process shown, in this embodiment of the application, by processing the image of the power battery explosion-proof sheet acquired by the first image acquisition device and the image of the power battery top cover acquired by the second image acquisition device, the target pose information required for the power battery explosion-proof sheet to be attached to the power battery top cover is obtained. This allows the motion mechanism to carry the power battery explosion-proof sheet to the power battery top cover according to the target pose information, and achieve attachment with the power battery top cover. This realizes the assembly of the power battery top cover and the power battery explosion-proof sheet through machine vision, eliminating the need for mechanical devices, reducing the accuracy requirements of the tooling, saving device costs, and avoiding the problem of poor assembly and attachment accuracy of the top cover and explosion-proof sheet caused by the limited positioning accuracy of mechanical devices.

[0057] Furthermore, by using machine vision to assemble the power battery top cover and the power battery explosion-proof sheet, it is possible to achieve the integrated production of power battery top covers and power battery explosion-proof sheets of various specifications and sizes without the need for tooling to support the power battery top cover.

[0058] As an optional implementation of this application, the specified physical coordinate system is a motion mechanism physical coordinate system established based on the motion mechanism. Here, the motion mechanism physical coordinate system can be a coordinate system established with the midpoint of the motion mechanism as the center, the direction parallel to the ground as the X-axis, and the direction perpendicular to the ground as the Y-axis. The above-mentioned mapping of the pose information of the power battery explosion-proof sheet in the image of the power battery explosion-proof sheet to the specified physical coordinate system to obtain the mapped pose information of the power battery explosion-proof sheet includes:

[0059] Based on the established first mapping calibration matrix between the first image acquisition device and the motion mechanism, the pose information of the power battery explosion-proof sheet in the image of the power battery explosion-proof sheet is mapped to the physical coordinate system of the motion mechanism to obtain the mapped pose information of the power battery explosion-proof sheet.

[0060] For example, in this embodiment, the first mapping calibration matrix is ​​pre-calibrated. The calibration process of the first mapping calibration matrix is ​​described in the following embodiments and will not be repeated here.

[0061] In this embodiment, in this step, based on the established first mapping calibration matrix between the first image acquisition device and the motion mechanism, the pose information of the power battery explosion-proof sheet in the power battery explosion-proof sheet image is mapped to the physical coordinate system of the motion mechanism. The specific method for obtaining the mapped pose information of the power battery explosion-proof sheet can be as follows:

[0062] ObjWorld = M1 * ObjImage

[0063] ObjWorldR=M1*ObjImageR

[0064] Wherein, ObjWorld represents the coordinates of the center point of the power battery explosion-proof plate in the physical coordinate system of the motion mechanism; M1 represents the first mapping calibration matrix; ObjImage represents the coordinates of the center point of the power battery explosion-proof plate in the pixel coordinate system; ObjWorldR represents the angle of the center point of the power battery explosion-proof plate in the physical coordinate system of the motion mechanism; ObjImageR represents the angle of the center point of the power battery explosion-proof plate in the pixel coordinate system. ObjWorld and ObjWorldR together serve as the mapping pose information of the power battery explosion-proof plate.

[0065] As another embodiment of this application, mapping the pose information of the power battery explosion-proof sheet in the image of the power battery explosion-proof sheet to a specified physical coordinate system to obtain the mapped pose information of the power battery explosion-proof sheet can also be:

[0066] Based on the established reference mapping calibration matrix between the first and second image acquisition devices, the pose information of the power battery explosion-proof sheet in the image is mapped to the second pixel coordinate system. Then, based on the established second mapping calibration matrix between the second image acquisition device and the motion mechanism, the pose information of the power battery explosion-proof sheet in the second pixel coordinate system is mapped to the physical coordinate system of the motion mechanism, thus obtaining the mapped pose information of the power battery explosion-proof sheet.

[0067] The calibration process of the first mapping calibration matrix is ​​described below:

[0068] As an optional implementation of this application, the first mapping calibration matrix is ​​established through the following steps:

[0069] First, obtain the first set of calibration object images and the set of physical coordinates of the motion mechanism; any first calibration object image is an image captured by the first image acquisition device when the motion mechanism carries the calibration object to any position within the field of view of the first image acquisition device.

[0070] For example, in this embodiment, the calibration object can be any non-transparent object, such as various calibration plates, explosion-proof sheets, etc., and the embodiments of this application are not specifically limited.

[0071] In this embodiment, the motion mechanism carries the calibration object and translates it within the field of view of the first image acquisition device. Here, the number of translations is at least 3 times, for example, 9 times. This embodiment of the application does not specifically limit the translation.

[0072] In this embodiment, translation refers to movement within a plane, including forward and backward movement and left and right movement. Specifically, the movement distance is random each time, or the same distance can be moved each time; this embodiment of the application is not specifically limited.

[0073] In this embodiment, after the motion mechanism carrying the calibration object stops after each movement, the first image acquisition device acquires the corresponding first calibration object image for the calibration object, thus obtaining the first calibration object image set.

[0074] For example, in this embodiment, the physical coordinate set of the motion mechanism includes: the coordinate information of the calibration object in the physical coordinate system of the motion mechanism when the motion mechanism carries the calibration object to any position within the field of view of the first image acquisition device. Specifically, after the motion mechanism carries the calibration object once and stops, the coordinate information of the calibration object in the physical coordinate system of the motion mechanism is recorded. Here, the coordinates of the center point of the calibration object can be used to represent the coordinate information of the calibration object in the physical coordinate system of the motion mechanism. This embodiment of the application is not specifically limited.

[0075] Secondly, a second set of calibration object images is obtained; any second calibration object image is an image acquired by the first image acquisition device after the motion mechanism has rotated carrying the calibration object.

[0076] For example, in this embodiment, the motion mechanism carries the calibration object and rotates within the field of view of the first image acquisition device. Here, the number of rotations is at least 3 times, for example, 5 times. This embodiment of the application is not specifically limited.

[0077] In this embodiment, when the motion mechanism carries the calibration object and rotates within the field of view of the first image acquisition device, it can rotate at a random angle each time, or it can rotate at the same angle each time. This embodiment of the application does not specifically limit the rotation.

[0078] In this embodiment, after the motion mechanism carrying the calibration object stops rotating once, the first image acquisition device acquires a corresponding second calibration object image for the calibration object, thus obtaining a second calibration object image set.

[0079] Next, based on the coordinate information of the calibration object in the first image of the first calibration object under the first pixel coordinate system corresponding to the first image acquisition device, the coordinate information of the calibration object in the physical coordinate system of the motion mechanism, and the coordinate information of the calibration object in the second image of the second calibration object under the first pixel coordinate system, the first mapping calibration matrix is ​​determined.

[0080] For example, in this embodiment, the coordinate information of the calibrated object in the first pixel coordinate system corresponding to the first image acquisition device can be represented by the coordinate information of the center point of the calibrated object in the first pixel coordinate system. This embodiment of the application is not specifically limited.

[0081] In this embodiment, the determination of the first mapping calibration matrix in this step, based on the coordinate information of the calibration object in the first image image under the first pixel coordinate system corresponding to the first image acquisition device, the coordinate information of the calibration object in the physical coordinate system of the motion mechanism, and the coordinate information of the calibration object in the second image under the first pixel coordinate system, can specifically be as follows:

[0082] Step a: Determine the initial mapping calibration matrix based on the coordinate information of the calibration object in the first pixel coordinate system corresponding to the first image acquisition device in the first calibration object image and the coordinate information of the calibration object in the physical coordinate system of the motion mechanism. Specifically:

[0083] M*P=W

[0084] Where M represents the initial mapping calibration matrix; P represents the coordinates of the center point of the calibration object on the first calibration object image; W represents the coordinates of the calibration object in the physical coordinate system of the motion mechanism. Here, P and W correspond after each stop of the motion mechanism carrying the calibration object.

[0085] Step b: Determine the coordinates of the rotation center based on the coordinate information of the calibration object in the first pixel coordinate system in the second calibration object image.

[0086] For example, in this embodiment, determining the rotation center coordinates based on the coordinate information of the calibration object in the second calibration object image under the first pixel coordinate system can be specifically done by calculating it using a conventional circle fitting algorithm. Here, the circle fitting algorithm can be, for example, the least squares method, the rotation angle method, the discrete point angle method, etc., and this embodiment of the application is not specifically limited.

[0087] Step c: Determine the first mapping calibration matrix based on the initial mapping calibration matrix and the rotation center coordinates.

[0088] For example, in this embodiment, the first mapping calibration matrix can be determined based on the initial mapping calibration matrix and the rotation center coordinates as follows:

[0089] M that satisfies M*C=0 is taken as the first mapping calibration matrix M1; C represents the coordinates of the rotation center.

[0090] As an optional implementation of this application, the specified physical coordinate system is a motion mechanism physical coordinate system established based on the motion mechanism; the mapping of the pose information of the power battery top cover in the image of the power battery top cover to the specified physical coordinate system to obtain the mapped pose information of the power battery top cover includes:

[0091] Based on the established second mapping calibration matrix between the second image acquisition device and the motion mechanism, the pose information of the power battery top cover in the image of the power battery top cover is mapped to the physical coordinate system of the motion mechanism to obtain the mapped pose information of the power battery top cover.

[0092] For example, in this embodiment, the second mapping calibration matrix is ​​pre-calibrated. The calibration process of the second mapping calibration matrix is ​​described in the following embodiments and will not be repeated here.

[0093] In this embodiment, in this step, based on the established second mapping calibration matrix between the second image acquisition device and the motion mechanism, the pose information of the power battery top cover in the power battery top cover image is mapped to the physical coordinate system of the motion mechanism. The specific method for obtaining the mapped pose information of the power battery top cover is as follows:

[0094] TarWorld = M2 * TarImage

[0095] TarWorldR = M2 * TarImageR

[0096] Where TarWorld represents the coordinates of the center point of the power battery top cover in the physical coordinate system of the motion mechanism; M2 represents the second mapping calibration matrix; TarImage represents the coordinates of the center point of the power battery top cover in the pixel coordinate system; TarWorldR represents the angle of the center point of the power battery top cover in the physical coordinate system of the motion mechanism; TarImageR represents the angle of the center point of the power battery top cover in the pixel coordinate system. TarWorld and TarWorldR together serve as the mapping pose information of the power battery top cover.

[0097] As another embodiment of this application, mapping the pose information of the power battery top cover in the image to a specified physical coordinate system to obtain the mapped pose information of the power battery top cover can also be:

[0098] Based on the established reference mapping calibration matrix between the first image acquisition device and the second image acquisition device, the pose information of the power battery top cover in the image is mapped to the first pixel coordinate system. Then, based on the established first mapping calibration matrix between the second image acquisition device and the motion mechanism, the pose information of the power battery top cover in the first pixel coordinate system is mapped to the physical coordinate system of the motion mechanism to obtain the mapped pose information of the power battery top cover.

[0099] The calibration process for the second mapping calibration matrix is ​​described below:

[0100] As an optional implementation of this application, the second mapping calibration matrix is ​​determined by the following steps:

[0101] First, obtain the third calibration object image, which is the image obtained by the second image acquisition device from the calibration object carried by the tool.

[0102] For example, in this embodiment, the calibration object is placed flat on the tooling and is within the field of view of the second image acquisition device. The second image acquisition device acquires an image of the calibration object, obtains a third image of the calibration object, and sends it to the host computer.

[0103] Secondly, a fourth calibration object image is obtained. The fourth calibration object image is the image captured by the first image acquisition device when the motion mechanism carries the calibration object to any position within the field of view of the first image acquisition device.

[0104] For example, in this embodiment, the motion mechanism carries the calibration object to the field of view of the first image acquisition device, the first image acquisition device acquires an image of the calibration object, obtains the fourth calibration object image, and uploads it to the host computer.

[0105] Next, a reference calibration matrix is ​​determined based on the coordinate information of the calibration object in the third calibration object image under the second pixel coordinate system corresponding to the second image acquisition device, and the coordinate information of the calibration object in the fourth calibration object image under the first pixel coordinate system corresponding to the first image acquisition device.

[0106] For example, in this embodiment, the coordinate information of the calibrated object in the second pixel coordinate system corresponding to the second image acquisition device can be characterized by at least four points on the calibrated object, which may include: corner points, center points, etc. of the calibrated object. This embodiment of the application is not specifically limited.

[0107] Similarly, the coordinate information of the calibrated object in the first pixel coordinate system corresponding to the first image acquisition device can also be characterized by at least four points on the calibrated object, which may include: the corner points, center points, etc. of the calibrated object. This application embodiment does not specifically limit this.

[0108] It should be noted that as long as the points of the calibrated object in the first pixel coordinate system and its points in the second pixel coordinate system are the same, it is acceptable. For example, the coordinates of the corner points of the calibrated object can be used to represent the coordinate information of the calibrated object in the second pixel coordinate system corresponding to the second image acquisition device and the coordinate information of the calibrated object in the first pixel coordinate system corresponding to the first image acquisition device.

[0109] In this embodiment, in this step, the reference calibration matrix is ​​determined based on the coordinate information of the calibration object in the third calibration object image under the second pixel coordinate system corresponding to the second image acquisition device and the coordinate information of the calibration object in the fourth calibration object image under the first pixel coordinate system corresponding to the first image acquisition device. The reference calibration matrix is ​​then calculated using conventional calibration methods.

[0110] Next, a second mapping calibration matrix is ​​determined based on the reference calibration matrix and the already calibrated first mapping calibration matrix. The first mapping calibration matrix is ​​the calibration matrix of the motion mechanism and the first image acquisition device.

[0111] For example, in this embodiment, determining the second mapping calibration matrix based on the reference calibration matrix and the calibrated first mapping calibration matrix in this step can specifically be using the product of the reference calibration matrix and the first mapping calibration matrix as the second mapping calibration matrix.

[0112] The calibration method for the first mapping calibration matrix is ​​described in the above embodiment and will not be repeated here.

[0113] As an optional implementation of this application, the above-mentioned determination of the target pose information required for the bonding of the power battery explosion-proof sheet and the power battery top cover based on the power battery explosion-proof sheet mapping pose information and the power battery top cover mapping pose information includes:

[0114] Step A: Determine the angle offset value based on the angle in the mapping pose information of the power battery explosion-proof sheet and the angle in the mapping pose information of the power battery top cover.

[0115] For example, in this embodiment, the angle in the mapping pose information of the power battery explosion-proof sheet and the angle in the mapping pose information of the power battery top cover can be used to determine the angle offset value.

[0116] OffAngle=TarWorldR-ObjWorldR

[0117] Where OffAngle represents the angle offset value; TarWorldR represents the angle in the pose information mapped from the top cover of the power battery; and ObjWorldR represents the angle in the pose information mapped from the explosion-proof sheet of the power battery.

[0118] Step B: Determine the rotation matrix between the center point of the power battery explosion-proof sheet and the top cover of the power battery based on the angle offset value.

[0119] For example, in this embodiment, determining the rotation matrix between the center point of the power battery explosion-proof sheet and the top cover of the power battery based on the angular offset value can specifically be as follows:

[0120]

[0121] Where R represents the rotation matrix; OffAngle represents the angle offset value.

[0122] Step C: Determine the coordinate offset value based on the coordinates in the mapping pose information of the power battery explosion-proof sheet, the coordinates in the mapping pose information of the power battery top cover, and the rotation matrix.

[0123] For example, in this embodiment, determining the coordinate offset value based on the coordinates in the mapping pose information of the power battery explosion-proof sheet, the coordinates in the mapping pose information of the power battery top cover, and the rotation matrix can specifically involve inputting the coordinates in the mapping pose information of the power battery explosion-proof sheet, the coordinates in the mapping pose information of the power battery top cover, and the rotation matrix into the rigid body transformation formula to obtain the coordinate offset value. Specifically:

[0124] OffWorld=TarWorld-R*ObjWorld

[0125] Where OffWorld represents the coordinate offset value; TarWorld represents the coordinates of the power battery top cover mapping pose information; R represents the rotation matrix; and ObjWorld represents the coordinates in the power battery explosion-proof sheet mapping pose information.

[0126] The derivation of the rigid body transformation formula is as follows:

[0127] Since the pose changes of the power battery explosion-proof sheet and the power battery top cover in a specified physical coordinate system are limited to translation and rotation, the motion model between the power battery explosion-proof sheet and the power battery top cover belongs to rigid body transformation. Therefore, by transforming the pixel coordinates of both the power battery explosion-proof sheet and the power battery top cover to a specified physical coordinate system, the target pose information required for the bonding of the power battery explosion-proof sheet and the power battery top cover can be determined using the rigid body transformation formula.

[0128] The rigid body transformation formula is as follows:

[0129]

[0130] Where R is a 2×2 rotation matrix (satisfying R) T R = RR T = an orthogonal matrix of I), where I is the identity matrix; t is a 2D translation vector. The rotation matrix R is determined by the rotation angle θ between the power battery explosion-proof plate and the power battery top cover, and the translation vector t is determined by the 2D column vector (T) x ,T y ) T Therefore, the general form of the rigid body transformation T is:

[0131]

[0132] Once the coordinates and angles of the power battery explosion-proof sheet and the power battery top cover in the specified physical coordinate system are obtained, the rotation matrix and translation vector, which are the coordinate offset values, can be solved according to the rigid body transformation formula.

[0133] The second image acquisition device captures the top cover of the power battery and obtains the pixel coordinates Pt of the top cover in the second pixel coordinate system. The first image acquisition device captures the explosion-proof sheet of the power battery and obtains the pixel coordinates Po of the explosion-proof sheet in the first image coordinate system.

[0134] Pt is mapped to the physical coordinate system of the motion mechanism through the second mapping calibration matrix M2 to obtain Tw, and Po is mapped to the physical coordinate system of the motion mechanism through the first mapping calibration matrix M1 to obtain Ow.

[0135] Tw and Ow represent the positions of the power battery top cover and the power battery explosion-proof plate in the physical coordinate system of the motion mechanism, respectively.

[0136] According to the rigid body transformation formula above:

[0137]

[0138] According to the properties of homogeneous matrices, we have:

[0139] T w =(R t)O w

[0140] Further simplification yields:

[0141] t = T w -R*O w

[0142] Get T w and O w The deviation angle θ is then used to solve for the coordinate offset value.

[0143] Step D: Obtain the pose information of the motion mechanism in the specified physical coordinate system when the motion mechanism has not moved.

[0144] For example, in this embodiment, when the motion mechanism has picked up the power battery explosion-proof sheet or has not yet picked up the power battery explosion-proof sheet but has not yet moved, the position and posture information of the motion mechanism in the specified physical coordinate system is recorded.

[0145] Here, the pose information of the motion mechanism in the specified physical coordinate system may include the coordinates and angles of the motion mechanism in the specified physical coordinate system. In this embodiment, the pose information of the motion mechanism in the specified physical coordinate system can be represented by the pose information of the center point of the motion mechanism in the specified physical coordinate system. This embodiment of the application is not specifically limited.

[0146] Step E: Determine the target pose information required for the power battery explosion-proof sheet to fit with the power battery top cover based on the pose information, coordinate offset value and angle offset value of the motion mechanism in the specified physical coordinate system.

[0147] For example, in this embodiment, determining the target pose information required for the power battery explosion-proof sheet to fit against the power battery top cover based on the pose information, coordinate offset value, and angle offset value of the motion mechanism in a specified physical coordinate system can specifically be as follows:

[0148] AbsWorld=OffWorld+TeachWorld

[0149] AbsAngle = OffAngle + TeachR

[0150] Where AbsWorld represents the coordinates of the target pose information; OffWorld represents the coordinate offset value; TeachWorld represents the coordinates of the motion mechanism in the pose information of the specified physical coordinate system; AbsAngle represents the angle of the target pose information; OffAngle represents the angle offset value; and TeachR represents the angle of the motion mechanism in the pose information of the specified physical coordinate system.

[0151] Corresponding to the embodiments of the foregoing methods, this specification also provides embodiments of the apparatus and the terminal to which it is applied.

[0152] like Figure 3 As shown, Figure 3 This is a block diagram illustrating an apparatus according to an embodiment of this application. The apparatus includes:

[0153] The module for obtaining the mapping pose information of the power battery explosion-proof sheet is used to obtain the image of the power battery explosion-proof sheet, and to map the pose information of the power battery explosion-proof sheet in the image to a specified physical coordinate system to obtain the mapping pose information of the power battery explosion-proof sheet; the image of the power battery explosion-proof sheet is an image acquired by the first image acquisition device that has been deployed for the power battery explosion-proof sheet carried by the motion mechanism;

[0154] The power battery top cover mapping pose information acquisition module is used to obtain the power battery top cover image, and map the pose information of the power battery top cover in the power battery top cover image to a specified physical coordinate system to obtain the power battery top cover mapping pose information; the power battery top cover image is an image acquired by a pre-deployed second image acquisition device for the power battery top cover carried by the tooling.

[0155] The bonding module is used to determine the target pose information required for bonding the power battery explosion-proof sheet to the power battery top cover based on the mapping pose information of the power battery explosion-proof sheet and the mapping pose information of the power battery top cover; and to control the movement of the motion mechanism based on the target pose information so that the power battery explosion-proof sheet carried by the motion mechanism is bonded to the power battery top cover.

[0156] As an optional implementation of this application, the specified physical coordinate system is a motion mechanism physical coordinate system established based on the motion mechanism; the module for obtaining the mapping pose information of the power battery explosion-proof sheet is specifically used for:

[0157] Based on the established first mapping calibration matrix between the first image acquisition device and the motion mechanism, the pose information of the power battery explosion-proof sheet in the image of the power battery explosion-proof sheet is mapped to the physical coordinate system of the motion mechanism to obtain the mapped pose information of the power battery explosion-proof sheet.

[0158] As an optional implementation of this application, the first mapping calibration matrix is ​​established through the following steps:

[0159] Obtain a first set of calibration object images and a set of physical coordinates of the motion mechanism; any first calibration object image is an image captured by the first image acquisition device when the motion mechanism carries the calibration object to any position within the field of view of the first image acquisition device; the set of physical coordinates of the motion mechanism includes: the coordinate information of the calibration object in the physical coordinate system of the motion mechanism when the motion mechanism carries the calibration object to any position within the field of view of the first image acquisition device.

[0160] Obtain a second set of calibration object images; any second calibration object image is an image acquired by the first image acquisition device after the motion mechanism has rotated carrying the calibration object.

[0161] The first mapping calibration matrix is ​​determined based on the coordinate information of the calibration object in the first image image under the first pixel coordinate system corresponding to the first image acquisition device, the coordinate information of the calibration object in the physical coordinate system of the motion mechanism, and the coordinate information of the calibration object in the second image image under the first pixel coordinate system.

[0162] As an optional implementation of this application, the specified physical coordinate system is a motion mechanism physical coordinate system established based on the motion mechanism; the module for obtaining the mapping pose information of the power battery top cover is specifically used for:

[0163] Based on the established second mapping calibration matrix between the second image acquisition device and the motion mechanism, the pose information of the power battery top cover in the image of the power battery top cover is mapped to the physical coordinate system of the motion mechanism to obtain the mapped pose information of the power battery top cover.

[0164] As an optional implementation of this application, the second mapping calibration matrix is ​​determined by the following steps:

[0165] Obtain the third calibration object image, which is the image obtained by the second image acquisition device from the calibration object carried by the tooling;

[0166] Obtain the fourth calibration object image. The fourth calibration object image is the image captured by the first image acquisition device when the motion mechanism carries the calibration object to any position within the field of view of the first image acquisition device.

[0167] The reference calibration matrix is ​​determined based on the coordinate information of the calibration object in the third calibration object image under the second pixel coordinate system corresponding to the second image acquisition device and the coordinate information of the calibration object in the fourth calibration object image under the first pixel coordinate system corresponding to the first image acquisition device.

[0168] The second mapping calibration matrix is ​​determined based on the reference calibration matrix and the already calibrated first mapping calibration matrix. The first mapping calibration matrix is ​​the calibration matrix of the motion mechanism and the first image acquisition device.

[0169] As an optional implementation of this application embodiment, the above-mentioned bonding module is specifically used for:

[0170] The angle offset value is determined based on the angle in the orientation information of the power battery explosion-proof sheet and the angle in the orientation information of the power battery top cover.

[0171] Determine the rotation matrix between the center point of the power battery explosion-proof sheet and the top cover of the power battery based on the angle offset value;

[0172] The coordinate offset value is determined based on the coordinates in the mapping pose information of the power battery explosion-proof sheet, the coordinates in the mapping pose information of the power battery top cover, and the rotation matrix.

[0173] Obtain the pose information of the motion mechanism in a specified physical coordinate system when the motion mechanism has not moved;

[0174] The target pose information required for the power battery explosion-proof sheet to fit with the power battery top cover is determined based on the pose information, coordinate offset value, and angle offset value of the motion mechanism in the specified physical coordinate system.

[0175] As an optional embodiment of this application, the assembly device for the power battery top cover and the power battery explosion-proof sheet further includes:

[0176] The stop motion module is used to control the conveyor belt carrying the tooling to stop moving when the top cover of the power battery appears in the field of view of the second image acquisition device.

[0177] The continued motion module is used to control the conveyor belt to continue moving with the workpiece after the explosion-proof sheet of the power battery is attached to the top cover of the power battery.

[0178] This concludes the process. Figure 3 Description of the block diagram shown.

[0179] The specific implementation process of the functions and roles of each unit in the above device can be found in the implementation process of the corresponding steps in the above method, and will not be repeated here.

[0180] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of the solution in this specification according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0181] Correspondingly, embodiments of this application also provide Figure 3 The hardware structure diagram of the device shown is as follows: Figure 4 As shown, the electronic device can be a device implementing the above-described method. Figure 4 As shown, the hardware architecture includes a processor and memory.

[0182] The memory is used to store machine-executable instructions;

[0183] The processor is used to read and execute machine-executable instructions stored in the memory to implement the assembly method embodiment of the power battery top cover and the power battery explosion-proof sheet as shown above.

[0184] As one embodiment, the memory can be any electronic, magnetic, optical, or other physical storage device that can contain or store information such as executable instructions, data, etc. For example, the memory can be:

[0185] Volatile memory, non-volatile memory, or similar storage media. Specifically, the memory may be RAM.

[0186] Random Access Memory (RAM), flash memory, storage drives (such as hard disk drives), solid-state drives, any type of storage disk (such as optical discs, DVDs, etc.), or similar storage media, or combinations thereof.

[0187] This concludes the process. Figure 4 Description of the electronic device shown.

[0188] The foregoing has described specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are possible or may be advantageous.

[0189] Other embodiments of this specification will readily occur to those skilled in the art upon consideration of the specification and practice of the invention claimed herein. This specification is intended to cover any variations, uses, or adaptations that follow the general principles of this specification and include common knowledge or customary techniques in the art not claimed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this specification are indicated by the following claims.

[0190] It should be understood that this specification is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this specification is limited only by the appended claims.

[0191] The above description is merely a preferred embodiment of this specification and is not intended to limit this specification. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this specification should be included within the scope of protection of this specification.

Claims

1. An assembling method of a power battery top cover and a power battery explosion-proof sheet, characterized in that, The method comprises: obtaining a power battery explosion-proof sheet image, mapping pose information of a power battery explosion-proof sheet in the power battery explosion-proof sheet image to a specified physical coordinate system based on a first mapping calibration matrix established between a first image acquisition device and a motion mechanism, and obtaining power battery explosion-proof sheet mapping pose information; the power battery explosion-proof sheet image is an image collected by the first image acquisition device deployed for the power battery explosion-proof sheet carried by the motion mechanism; the specified physical coordinate system is a motion mechanism physical coordinate system established based on the motion mechanism; the first mapping calibration matrix is established by the following steps: obtaining a first calibration object image set and a motion mechanism physical coordinate set; any first calibration object image is an image collected by the first image acquisition device when the calibration object carried by the motion mechanism is translated to any position in the field of view of the first image acquisition device; the motion mechanism physical coordinate set comprises coordinate information of the calibration object in the motion mechanism physical coordinate system when the calibration object carried by the motion mechanism is translated to any position in the field of view of the first image acquisition device; obtaining a second calibration object image set; any second calibration object image is an image collected by the first image acquisition device after the calibration object carried by the motion mechanism is rotated; the first mapping calibration matrix is determined according to coordinate information of the calibration object in a first pixel coordinate system corresponding to the first image acquisition device in the first calibration object image, coordinate information of the calibration object in the motion mechanism physical coordinate system, and coordinate information of the calibration object in the first pixel coordinate system in the second calibration object image; obtaining a power battery top cover image, and mapping pose information of a power battery top cover in the power battery top cover image to the specified physical coordinate system to obtain power battery top cover mapping pose information; the power battery top cover image is an image collected by a second image acquisition device deployed for the power battery top cover carried by a tool carrier; based on the power battery explosion-proof sheet mapping pose information and the power battery top cover mapping pose information, determining target pose information required for the power battery explosion-proof sheet to be attached to the power battery top cover; and controlling the motion mechanism to move based on the target pose information so that the power battery explosion-proof sheet carried by the motion mechanism is attached to the power battery top cover.

2. The method of claim 1, wherein the mapping of the pose information of the power battery top cover in the power battery top cover image to the specified physical coordinate system to obtain the power battery top cover mapping pose information comprises: based on a second mapping calibration matrix established between the second image acquisition device and the motion mechanism, mapping the pose information of the power battery top cover in the power battery top cover image to the motion mechanism physical coordinate system to obtain the power battery top cover mapping pose information. The second mapping calibration matrix is determined by the following steps:

3. The method of claim 2, wherein, obtaining a third calibration object image, which is an image collected by the second image acquisition device for a calibration object carried by the tool carrier; ​ obtaining a fourth calibration object image, the fourth calibration object image being an image captured by the first image capturing device when the moving mechanism carries the calibration object to move to any position within the field of view of the first image capturing device; determining a reference calibration matrix based on coordinate information of the calibration object in the second pixel coordinate system in the third calibration object image and coordinate information of the calibration object in the first pixel coordinate system in the fourth calibration object image; determining the second mapping calibration matrix based on the reference calibration matrix and the calibrated first mapping calibration matrix, the first mapping calibration matrix being a calibration matrix of the moving mechanism and the first image capturing device.

4. The method according to any one of claims 1 to 3, characterized in that, determining target pose information required for the power battery explosion-proof plate to be attached to the power battery top cover based on the power battery explosion-proof plate mapping pose information and the power battery top cover mapping pose information, including: determining an angle offset value according to an angle in the power battery explosion-proof plate mapping pose information and an angle in the power battery top cover mapping pose information; determining a rotation matrix between a center point of the power battery explosion-proof plate and the power battery top cover according to the angle offset value; determining a coordinate offset value according to a coordinate in the power battery explosion-proof plate mapping pose information, a coordinate in the power battery top cover mapping pose information, and the rotation matrix; obtaining pose information of the moving mechanism in the specified physical coordinate system when the moving mechanism does not move; determining target pose information required for the power battery explosion-proof plate to be attached to the power battery top cover based on the pose information of the moving mechanism in the specified physical coordinate system, the coordinate offset value, and the angle offset value.

5. The method of claim 1, wherein, The method further includes: controlling a conveyor belt carrying the tooling carrier to stop moving when the power battery top cover appears in the field of view of the second image capturing device; controlling the conveyor belt carrying the tooling carrier to continue moving after the power battery explosion-proof plate is attached to the power battery top cover.

6. An assembling device for a power battery top cover and a power battery explosion-proof sheet, characterized in that, The device includes: The power battery explosion-proof sheet mapping pose information obtaining module is configured to obtain a power battery explosion-proof sheet image, map pose information of a power battery explosion-proof sheet in the power battery explosion-proof sheet image to a specified physical coordinate system based on a first mapping calibration matrix established between a first image collection device and the motion mechanism, and obtain power battery explosion-proof sheet mapping pose information; the power battery explosion-proof sheet image is an image collected by the first image collection device deployed in place for a power battery explosion-proof sheet carried by the motion mechanism; the specified physical coordinate system is a motion mechanism physical coordinate system established based on the motion mechanism; the first mapping calibration matrix is established by the following steps: obtaining a first calibration object image set and a motion mechanism physical coordinate set; any first calibration object image is an image collected by the first image collection device when a calibration object carried by the motion mechanism is translated to any position in a field of view of the first image collection device; the motion mechanism physical coordinate set includes coordinate information of the calibration object in the motion mechanism physical coordinate system when the calibration object carried by the motion mechanism is translated to any position in the field of view of the first image collection device; obtaining a second calibration object image set; any second calibration object image is an image collected by the first image collection device after the calibration object carried by the motion mechanism is rotated; the first mapping calibration matrix is determined according to coordinate information of a calibration object in a first pixel coordinate system corresponding to the first image collection device in a first calibration object image, coordinate information of the calibration object in the motion mechanism physical coordinate system, and coordinate information of the calibration object in the first pixel coordinate system in a second calibration object image; The power battery top cover mapping pose information obtaining module is configured to obtain a power battery top cover image, map pose information of a power battery top cover in the power battery top cover image to the specified physical coordinate system, and obtain power battery top cover mapping pose information; the power battery top cover image is an image collected by a second image collection device deployed in place for a power battery top cover carried by a tool carrier; The fitting module is configured to determine target pose information required for fitting the power battery explosion-proof sheet and the power battery top cover based on the power battery explosion-proof sheet mapping pose information and the power battery top cover mapping pose information, and control the motion mechanism to move based on the target pose information so that the power battery explosion-proof sheet carried by the motion mechanism is fitted with the power battery top cover.

7. The apparatus of claim 6, wherein: The power battery top cover mapping pose information obtaining module is specifically configured to: map pose information of a power battery top cover in the power battery top cover image to the motion mechanism physical coordinate system based on a second mapping calibration matrix established between a second image collection device and the motion mechanism, and obtain power battery top cover mapping pose information; The second mapping calibration matrix is determined by the following steps: obtain a third calibration object image, which is an image collected by the second image collection device for a calibration object carried by the tool carrier; obtaining a fourth calibration object image, the fourth calibration object image being an image captured by the first image capturing device when the moving mechanism carries the calibration object to any position within the field of view of the first image capturing device; determining a reference calibration matrix based on coordinate information of the calibration object in the second pixel coordinate system in the third calibration object image and coordinate information of the calibration object in the first pixel coordinate system in the fourth calibration object image; determining the second mapping calibration matrix based on the reference calibration matrix and a calibrated first mapping calibration matrix, the first mapping calibration matrix being a calibration matrix of the moving mechanism and the first image capturing device; the fitting module is specifically configured to: determine an angle offset value according to an angle in the mapping pose information of the power battery explosion-proof plate and an angle in the mapping pose information of the power battery top cover; determine a rotation matrix between the center point of the power battery explosion-proof plate and the power battery top cover according to the angle offset value; determine a coordinate offset value according to a coordinate in the mapping pose information of the power battery explosion-proof plate, a coordinate in the mapping pose information of the power battery top cover, and the rotation matrix; obtain pose information of the moving mechanism in the specified physical coordinate system when the moving mechanism does not move; determine target pose information required for fitting the power battery explosion-proof plate and the power battery top cover based on the pose information of the moving mechanism in the specified physical coordinate system, the coordinate offset value, and the angle offset value; the device further includes: a stopping moving module configured to control a conveyor belt carrying the tooling carrier to stop moving when the power battery top cover appears in the field of view of the second image capturing device; a continuing moving module configured to control the conveyor belt carrying the tooling carrier to continue moving after the power battery explosion-proof plate is fitted with the power battery top cover.

8. An electronic device, comprising: An electronic device includes a processor and a memory; The memory is configured to store machine executable instructions. The processor is configured to read and execute the machine executable instructions stored in the memory to implement the method in any one of claims 1 to 5.

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