Battery module-based bolt tightening management method and related device

Abstract

The application provides a bolt tightening control method based on a battery module and related equipment, comprising: when it is detected that the battery module is located at a tightening station, acquiring first position information corresponding to each first bolt and second position information corresponding to each second bolt; performing tightening operation on N first bolts according to a preset tightening sequence; after each first bolt completes the tightening operation, acquiring first tightening working parameters of a first tightening tool that tightens the first bolt; performing tightening operation on M second bolts; after each second bolt completes the tightening operation, acquiring second tightening working parameters of a second tightening tool that tightens the second bolt; and acquiring a bolt tightening result of the battery module according to the first tightening working parameters and the second tightening working parameters. The application can improve the accuracy of the bolt tightening sequence, effectively control the tightening result, and reduce labor costs.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a bolt tightening control method and related equipment based on battery modules. Background Technology

[0002] As people's living standards improve, cars have become commonplace in ordinary households, with one or two cars per family being quite common. Simultaneously, with the increasing market share of new energy vehicles, the demand for automotive battery production capacity is further expanding, and the safety performance of battery packs has become a key concern for consumers. Therefore, higher requirements are placed on various quality control and testing processes during battery pack production. The battery pack cover tightening process, in particular, involves numerous tightening points, a complex and variable operating environment, and is related to safety factors such as the surface dimensions of the battery pack and the overall airtightness. Therefore, strict requirements are placed on the tightening sequence, prevention of incorrect or missing tightening, and the traceability of the tightening results.

[0003] In related technologies, the tightening of battery packs is done manually, which has a low degree of automation. It mainly relies on manual operation guidance and control, and the digital monitoring of tightening quality is weak. It relies on PLC to record the number of tightening results as a control requirement. Therefore, there are cases of repeated tightening or omissions at individual points, and there is also a risk of losing control over the rework of unqualified points. Summary of the Invention

[0004] In view of this, this application provides a bolt tightening control method, system, electronic device and storage medium based on battery modules, which can improve the accuracy of bolt tightening sequence, achieve effective control of tightening results and reduce labor costs.

[0005] This application provides a bolt tightening control method based on a battery module. The battery module includes N first bolts and M second bolts to be tightened, where N and M are both integers greater than 1. The method includes: when the battery module is detected to be in a tightening station, acquiring first position information corresponding to each first bolt and second position information corresponding to each second bolt; performing tightening operations on the N first bolts according to a preset tightening sequence, wherein, when tightening the first bolts, a first tightening tool is determined according to the first position information corresponding to the first bolt, and a forward rotation enable is provided to the first tightening tool to enable the first tightening tool to tighten the first bolt; after the previous first bolt has been tightened, the next tightening operation is performed. The first tightening tool is given forward rotation enable to tighten the next first bolt; after each first bolt is tightened, the first tightening working parameters of the first tightening tool for tightening the first bolt are obtained; tightening operations are performed on M second bolts, wherein, when tightening the second bolts, a second tightening tool is determined according to the second position information corresponding to the second bolt, and then forward rotation enable is given to the second tightening tool so that the second tightening tool tightens the second bolt; after each second bolt is tightened, the second tightening working parameters of the second tightening tool for tightening the second bolt are obtained; the bolt tightening result of the battery module is obtained according to the first tightening working parameters and the second tightening working parameters.

[0006] Compared with related technologies, the embodiments of this application have at least the following advantages: By tightening N first bolts according to a preset tightening sequence, the N first bolts can be tightened strictly according to the preset tightening sequence. Furthermore, by providing forward rotation enable to the first tightening tool for tightening the next first bolt only after the previous first bolt has been tightened, other tightening tools are not enabled for forward rotation during the tightening of the current first bolt, thus avoiding incorrect or missed tightening and improving the reliability of the bolt tightening control method. By acquiring first and second tightening working parameters, since the first tightening working parameter can characterize the tightening result of the first bolt and the second tightening working parameter can characterize the tightening result of the second bolt, the bolt tightening result of the battery module can be obtained through the first and second tightening working parameters. This allows for the determination of whether the battery module is qualified based on the bolt tightening result, achieving effective control over the tightening result of the battery module. In addition, the above method requires no manual intervention, greatly saving labor costs.

[0007] In some possible implementations, the tightening tools include multiple tightening tools; determining the first tightening tool based on the first position information corresponding to the first bolt includes: acquiring multiple actual operating positions of the multiple tightening tools, wherein one tightening tool corresponds to one actual operating position; determining the candidate tightening tool closest to the first bolt from the multiple tightening tools based on the multiple actual operating positions and the first position information, and calculating the actual distance between the candidate tightening tool and the first bolt; when the actual distance is detected to be within a preset distance range, selecting the candidate tightening tool as the first tightening tool.

[0008] In some possible implementations, each of the tightening tools is provided with a tool identification mark; the step of determining the candidate tightening tool closest to the first bolt from the plurality of tightening tools based on the plurality of actual operating positions and first position information includes: taking a first image of the battery module, wherein at least one target tightening tool is located within the first image; performing image recognition on the first image, and determining the candidate tightening tool from the target tightening tools based on the result of the image recognition, wherein when performing image recognition on the first image, the tool number of the target tightening tool is determined according to the tool identification mark.

[0009] In some possible implementations, after providing forward rotation enable to the first tightening tool, the method further includes: after the first tightening tool completes the tightening operation on the first bolt, detecting whether the first bolt is tightened properly; if the first bolt is found to be not tightened properly, continuing the tightening operation on the first bolt; and after the first bolt is found to be tightened properly, starting the tightening operation on the next first bolt.

[0010] In some possible implementations, after each first bolt is tightened, the first tightening working parameter of the first tightening tool used to tighten the first bolt is obtained, including: after the first bolt is tightened, if it is detected that the first bolt is tightened properly, the working parameter of the first tightening tool used to tighten the first bolt is used as the first tightening working parameter; if it is detected that the first bolt is not tightened properly, the first bolt is tightened again using the first tightening tool until it is detected that the first bolt is tightened properly, and the working parameter of the first tightening tool used to tighten the first bolt for the last time is used as the first tightening working parameter.

[0011] In some possible implementations, obtaining the first position information corresponding to each first bolt and the second position information corresponding to each second bolt includes: acquiring a second image of the battery module; performing feature recognition on the second image, comparing the result of the feature recognition with a template image of the battery module to obtain offset data of the battery module; establishing a reference coordinate system based on the second image to obtain first initial position information corresponding to each first bolt and second initial position information corresponding to each second bolt; and updating the first initial position information and the second initial position information according to the offset data to obtain the first position information and the second position information.

[0012] In some possible implementations, before obtaining the first position information corresponding to each of the first bolts, the method further includes: obtaining the attribute information of the battery module; the feature recognition of the second image includes: determining a feature recognition algorithm that matches the battery module based on the attribute information, and performing feature recognition on the second image according to the feature recognition algorithm.

[0013] A second aspect of this application discloses a bolt tightening control system based on a battery module. The battery module includes N first bolts and M second bolts to be tightened, where N and M are both integers greater than 1. The bolt tightening control system includes an identification device, a control device, and a detection device. The identification device is used to acquire first position information corresponding to each first bolt and second position information corresponding to each second bolt when the battery module is detected to be in a tightening position. The control device is used to perform tightening operations on the N first bolts according to a preset tightening sequence. During the tightening operation of the first bolts, a first tightening tool is determined based on the first position information corresponding to the first bolt, and a forward rotation enable is provided to the first tightening tool to tighten the first bolt. After the previous first bolt has been tightened... The control device then provides forward rotation enable to the first tightening tool for tightening the next first bolt; the control device is also used to acquire the first tightening working parameters of the first tightening tool for tightening the first bolt after each first bolt has been tightened; the control device is also used to tighten M second bolts, wherein, when tightening the second bolts, the second tightening tool is determined according to the second position information corresponding to the second bolt, and then forward rotation enable is provided to the second tightening tool so that the second tightening tool tightens the second bolt; the control device is also used to acquire the second tightening working parameters of the second tightening tool for tightening the second bolt after each second bolt has been tightened; the detection device is used to acquire the bolt tightening result of the battery module according to the first tightening working parameters and the second tightening working parameters.

[0014] A third aspect of this application discloses an electronic device, which includes a processor and a memory. The memory is used to store instructions, and the processor is used to call the instructions in the memory to cause the electronic device to execute the above-described bolt tightening control method based on a battery module.

[0015] The fourth aspect of this application discloses a storage medium including computer instructions that, when executed on an electronic device, cause the electronic device to perform the above-described bolt tightening control method based on a battery module.

[0016] Understandably, the second aspect of the battery module-based bolt tightening control system, the third aspect of the electronic device, and the fourth aspect of the storage medium all correspond to the method of the first aspect. Therefore, the beneficial effects they can achieve can be referred to the beneficial effects in the corresponding methods provided above, and will not be repeated here. Attached Figure Description

[0017] Figure 1 This is a flowchart illustrating a bolt tightening control method based on a battery module according to an embodiment of this application.

[0018] Figure 2 This is a flowchart illustrating a bolt tightening control method based on a battery module according to an embodiment of this application.

[0019] Figure 3 This is a schematic diagram of the structure of a plurality of tightening guns according to an embodiment of this application.

[0020] Figure 4 This is a side view of a tightening gun according to an embodiment of this application.

[0021] Figure 5 This is an application scenario diagram of a tightening gun according to an embodiment of this application.

[0022] Figure 6 This is a flowchart illustrating a bolt tightening control method based on a battery module according to an embodiment of this application.

[0023] Figure 7 This is an application scenario diagram of feature recognition of a second image according to an embodiment of this application.

[0024] Figure 8 This is a schematic diagram of the numbering rules for the first and second bolts according to an embodiment of this application.

[0025] Figure 9 This is a schematic diagram of the working timing of a bolt tightening control method based on a battery module according to an embodiment of this application.

[0026] Figure 10 This is a schematic diagram of the signal interaction between a PC and a PLC according to an embodiment of this application.

[0027] Figure 11 This is a schematic diagram illustrating the on-site demonstration effect of a tightening control method according to an embodiment of this application.

[0028] Figure 12 This is a schematic diagram of a data storage format according to an embodiment of this application.

[0029] Figure 13 This is a schematic diagram of a bolt tightening control system based on a battery module according to an embodiment of this application.

[0030] Figure 14 This is a functional architecture diagram of a bolt tightening control system based on a battery module according to an embodiment of this application.

[0031] Figure 15 This is a schematic diagram of the functional modules of an electronic device according to an embodiment of this application. Detailed Implementation

[0032] To better understand the above-mentioned objectives, features, and advantages of this application, the application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0033] The following description sets forth many specific details to provide a full understanding of this application. The described embodiments are only some, not all, of the embodiments of this application.

[0034] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application.

[0035] It should be further noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0036] In this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and drawings of this application are used to distinguish similar objects, not to describe a specific order or sequence.

[0037] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0038] Please refer to Figure 1 This is a flowchart illustrating the bolt tightening control method based on a battery module provided in this application embodiment. The battery module includes N first bolts and M second bolts that need to be tightened, where N and M are both integers greater than 1. This embodiment is applied to a bolt tightening control system based on a battery module, and the bolt tightening control method includes the following steps:

[0039] Step 101: When the battery module is detected to be in the tightening station, obtain the first position information corresponding to each first bolt and the second position information corresponding to each second bolt.

[0040] In some embodiments, the bolt tightening control system based on battery modules includes a PLC (Programmable Logic Controller) and a PC (Personal Computer). The PLC controls the AGV (Automated Guided Vehicle) to carry the battery modules into the tightening station according to the set route based on the conveying instructions sent by the PC. The AGV automatically recognizes the stop mark (identifying the QR code) on the ground, stops running, and sends a position signal to the PLC.

[0041] In some embodiments, the PLC and the PC can be the same electronic device or different electronic devices; this embodiment does not specifically limit this.

[0042] It should be noted that the methods for obtaining the first position information corresponding to each first bolt and the second position information corresponding to each second bolt are described in detail in subsequent embodiments. To avoid repetition, they will not be repeated here.

[0043] Step 102: Tighten N first bolts according to the preset tightening sequence. When tightening the first bolts, determine the first tightening tool according to the first position information corresponding to the first bolt, and provide forward rotation enable to the first tightening tool so that the first tightening tool tightens the first bolt.

[0044] Specifically, after the previous first bolt has been tightened, the first tightening tool for tightening the next first bolt is then given forward rotation enable. In this way, other tightening tools are not enabled for forward rotation while the current first bolt is being tightened, avoiding the simultaneous tightening of multiple first bolts, preventing incorrect tightening or omissions, and improving the reliability of the bolt tightening control method.

[0045] In some embodiments, the first bolts are bolts located at critical positions in the battery module. For example, when the battery module is rectangular, the first bolts are located at the four diagonal positions of the battery module, thereby enabling greater stability of the battery module after tightening the four first bolts.

[0046] In some embodiments, after the first tightening tool completes the tightening operation on the first bolt, it will also check whether the first bolt is tightened properly; if the first bolt is found to be not tightened properly, the tightening operation on the first bolt continues; after the first bolt is found to be tightened properly, the tightening operation on the next first bolt begins. The method for checking whether the first bolt is tightened properly is described in detail in subsequent embodiments, and will not be repeated here to avoid repetition.

[0047] In some embodiments, the type of the first tightening tool is not specifically limited. For example, the first tightening tool can be a tightening gun, etc., and can be set according to actual needs.

[0048] It should be noted that the method for determining the first tightening tool based on the first position information corresponding to the first bolt is described in detail in subsequent embodiments, and will not be repeated here to avoid repetition.

[0049] Step 103: After each first bolt is tightened, obtain the first tightening parameters of the first tightening tool for tightening the first bolt.

[0050] In some embodiments, after the first bolt is tightened, if the first bolt is found to be tightened properly, the working parameters of the first tightening tool used to tighten the first bolt are taken as the first tightening working parameters; if the first bolt is found to be tightened improperly, the first bolt is tightened again using the first tightening tool until the first bolt is found to be tightened properly, and the working parameters of the first tightening tool used to tighten the first bolt for the last time are taken as the first tightening working parameters.

[0051] In some embodiments, the first tightening working parameters include, but are not limited to, the tool number of the first tightening tool, the tightening result, the tightening torque, the tightening angle, and the tightening completion time.

[0052] For ease of understanding, the following example uses N first bolts, including bolt 1, bolt 2, bolt 3, and bolt 4, with a preset tightening sequence of bolt 1, bolt 2, bolt 3, and bolt 4 in ascending order, and a tightening gun as the first tightening tool. This example will explain in detail how this embodiment tightens the N first bolts according to the preset tightening sequence and how to obtain the first tightening parameters corresponding to each first bolt.

[0053] (1) First, start the tightening operation of the first bolt No. 1. The PC determines the tightening gun closest to the first bolt based on the first position information corresponding to the first bolt No. 1. The PLC provides positive enable to the tightening gun. The worker holds the tightening gun to tighten the first bolt No. 1 and continues to tighten until the tightening gun reaches the set torque.

[0054] This embodiment does not specifically limit the magnitude of the set torque. For example, the set torque can be 5NM, 6NM, 7NM, etc., and can be set according to actual needs.

[0055] (2) When the first bolt No. 1 is tightened, the green indicator light on the tightening gun will illuminate, indicating that the tightening is qualified. If the red indicator light on the tightening gun illuminates, the tightening result is abnormal and it is necessary to reverse the tightening and re-tighten.

[0056] (3) When the first bolt is tightened, the tightening controller connected to the tightening gun will return the tightening result to the PLC. The PLC will write the tool number of the tightening gun used to tighten the first bolt, the tightening result, the tightening torque, the tightening angle, and the tightening completion time into the PLC's cache database according to the set format. The PLC only records the last tightening result at the current position, that is, if the tightening is repeated, the data will be overwritten.

[0057] (4) Only when the tightening result of the first bolt No. 1 is qualified, any tightening gun will be enabled by the PLC when it appears on the first bolt No. 2. Other tightening guns are not enabled in other positions, ensuring that when one or more tightening guns are working at the same time, the next bolt to be tightened must be the first bolt No. 2.

[0058] (5) Only when the tightening results of No. 1 and No. 2 are qualified, any tightening gun will be enabled by the PLC when it appears on No. 3. Other tightening guns are not enabled in other positions, ensuring that when one or more tightening guns are working at the same time, the next one to be tightened must be No. 3.

[0059] (6) Only when the tightening results of bolts No. 1, No. 2, and No. 3 are qualified, will any tightening gun be enabled by the PLC when it appears on bolt No. 4. Other tightening guns are not enabled in other positions, ensuring that when one or more tightening guns are working at the same time, the next bolt to be tightened must be bolt No. 4.

[0060] Step 104: Tighten the M second bolts. When tightening the second bolts, determine the second tightening tool according to the second position information corresponding to the second bolt, and then provide forward rotation enable to the second tightening tool so that the second tightening tool tightens the second bolt.

[0061] In some embodiments, the process of tightening the M second bolts is roughly the same as the process of tightening the N first bolts, but there is no need to set a tightening order for the M second bolts. That is, after the N first bolts are tightened to a satisfactory condition, any one of the second bolts can be tightened.

[0062] Step 105: After each second bolt is tightened, obtain the second tightening parameters of the second tightening tool for tightening the second bolt.

[0063] In some embodiments, the second tightening working parameters include, but are not limited to, the tool number of the second tightening tool, the tightening result, the tightening torque, the tightening angle, and the tightening completion time.

[0064] In some embodiments, the first tightening tool and the second tightening tool may be the same tightening tool or different tightening tools; this embodiment does not specifically limit this.

[0065] In some embodiments, after each second bolt is tightened, it is also checked whether the second bolt is tightened properly. The specific detection method and the method for determining the second tightening working parameters are the same as the detection method for the first bolt and the method for determining the first tightening working parameters. To avoid repetition, they will not be described again here.

[0066] Step 106: Obtain the bolt tightening result of the battery module according to the first tightening working parameters and the second tightening working parameters.

[0067] In some embodiments, if and only if both the first tightening working parameter and the second tightening working parameter in the PLC's cache database are qualified, the PLC sends a completion signal to the PC. The PC reads all the data in the cache database completely, saves it locally in CSV format, and controls the camera to take pictures and store the final state of the battery module.

[0068] In some embodiments, after the PC data is saved, a completion signal is sent to the PLC. At the same time, the contents of the tightening result CSV file are uploaded to the terminal system as third-party quality data via API interface call. After the terminal system verifies the third-party quality data, if the battery module is deemed qualified, the PLC is notified to release it normally. If the battery module is deemed unqualified, an alarm is triggered, requiring on-site quality personnel to confirm the handling method of the battery module, such as on-site rework, offline rework, or conditional release.

[0069] Compared with related technologies, the embodiments of this application have at least the following advantages: By tightening N first bolts according to a preset tightening sequence, the N first bolts can be tightened strictly according to the preset tightening sequence. Furthermore, by providing forward rotation enable to the first tightening tool for tightening the next first bolt only after the previous first bolt has been tightened, other tightening tools are not enabled for forward rotation during the tightening of the current first bolt, thus avoiding incorrect or missed tightening and improving the reliability of the bolt tightening control method. By acquiring first and second tightening working parameters, since the first tightening working parameter can characterize the tightening result of the first bolt and the second tightening working parameter can characterize the tightening result of the second bolt, the bolt tightening result of the battery module can be obtained through the first and second tightening working parameters. This allows for the determination of whether the battery module is qualified based on the bolt tightening result, achieving effective control over the tightening result of the battery module. In addition, the above method requires no manual intervention, greatly saving labor costs.

[0070] Please refer to Figure 2 , Figure 2 This is a flowchart illustrating a bolt tightening control method based on a battery module according to an embodiment of this application. This embodiment is a detailed description of the aforementioned embodiment and further explains how to determine the first tightening tool based on the first position information corresponding to the first bolt.

[0071] This embodiment includes multiple tightening tools, and the specific process is as follows: Figure 2 As shown, it includes the following steps:

[0072] Step 201: When the battery module is detected to be in the tightening station, obtain the first position information corresponding to each first bolt and the second position information corresponding to each second bolt.

[0073] Step 202: Tighten N first bolts according to the preset tightening sequence. When tightening the first bolts, obtain multiple actual operating positions of multiple tightening tools, with one tightening tool corresponding to one actual operating position.

[0074] Step 203: Based on multiple actual operating positions and the first position information, determine the candidate tightening tool that is closest to the first bolt from multiple tightening tools, and calculate the actual distance between the candidate tightening tool and the first bolt.

[0075] In some embodiments, each tightening tool is provided with a tool identification mark; determining the candidate tightening tool closest to the first bolt from multiple tightening tools based on multiple actual operating positions and first position information includes: capturing a first image of the battery module, wherein at least one target tightening tool is located within the first image; performing image recognition on the first image, and determining the candidate tightening tool from the target tightening tools based on the image recognition result, wherein when performing image recognition on the first image, the tool number of the target tightening tool is determined according to the tool identification mark.

[0076] In some embodiments, the head structure of each tightening tool that contacts the bolt is set to a preset color. When performing image recognition on the first image, since the visual recognition algorithm can accurately identify the color, the position of the head structure can be determined according to the color set of the head structure of the target tightening tool, thereby determining the distance between the head structure and the first bolt. This distance is the distance between the target tightening tool and the first bolt.

[0077] It is understood that in this embodiment, when performing image recognition on the first image, a reference coordinate system will be established based on the first image, the first position information is the position of the first bolt in the first image, and the actual operation position is the position of the head structure of each target tightening tool in the first image.

[0078] It is worth noting that by setting tool identification marks on the tightening tool, the identification features of the tightening tool can be amplified, thereby reducing the difficulty and computational load of image recognition of the first image.

[0079] In some embodiments, the first image is image recognized by a visual recognition algorithm. Since the visual recognition algorithm can accurately identify colors, the tool recognition mark can be a color mark to further reduce the development difficulty of the visual recognition algorithm.

[0080] Step 204: When the actual distance is detected to be within the preset distance range, select the candidate tightening tool as the first tightening tool, and provide forward rotation enable to the first tightening tool so that the first tightening tool tightens the first bolt. After the previous first bolt has been tightened, the forward rotation enable is then provided to the first tightening tool for tightening the next first bolt.

[0081] To make it easier to understand, the following example uses a tightening gun as the tightening tool, combined with... Figures 3 to 5This embodiment provides a detailed explanation of how to determine the candidate tightening tool that is closest to the first bolt from among multiple tightening tools:

[0082] Please refer to Figure 3 This is a schematic diagram of the structure of multiple tightening guns provided in the embodiments of this application. Figure 3 As shown, gun #1 is marked in green, gun #2 in blue, and gun #3 in yellow. By assigning different color codes to different tightening guns, the features of the tightening guns can be amplified, thereby reducing the image recognition difficulty of the first image and enabling the visual recognition algorithm to quickly identify the tool number corresponding to each tightening gun based on the color code.

[0083] Please refer to this as well. Figure 4 and Figure 5 , Figure 4 This is a side view of the tightening gun provided in an embodiment of this application. Figure 5 This is an application scenario diagram of the tightening gun provided in the embodiments of this application.

[0084] Figure 5 The tightening gun shown is marked with a red nozzle, meaning its head structure is the nozzle, and the default color is red. In practical applications, the type of default color is not specifically limited and can be set according to actual needs. It is worth noting that, considering data validity, the actual operating position of the tightening gun is only meaningful when the nozzle is above the bolt position. Specifically, a reference coordinate system is established based on the first image. Then, by calculating the minimum distance between all edges of the red portion of the nozzle in the first image and the first bolt position, and if this value is less than n, the bolt position where the calculated minimum value is located is determined to be the current nozzle position of the tightening gun. This position is the actual operating position of the tightening gun, where n is a configurable parameter representing the ambiguity of the recognition. Figure 5 The first bolt shown includes bolt No. 1, bolt No. 2, and bolt No. 3. The tightening gun can calculate the distance between itself and bolts No. 1, No. 2, and No. 3, thereby determining the bolt closest to the tightening gun.

[0085] Assume the visual recognition algorithm identifies gun #1 as having a green ring on its head, gun #2 as having a blue ring, and gun #3 as having a yellow ring. Simultaneously, it identifies the red markings on the tightening gun heads and the location of the nearest bolt within the field of view. Assume the distance between gun #1 and the first bolt is 8mm, gun #2 is 18mm, and gun #3 is 28mm. Gun #1 is identified as the candidate tightening tool. A preset distance range of 5mm to 30mm is set. Since 8mm falls within this range, the location of gun #1 is considered valid, and the tool number of the nearest tightening gun is output in real-time, i.e., gun #1.

[0086] It is understood that this embodiment does not specifically limit the size of the preset distance range, which can be set according to actual needs.

[0087] Step 205: After each first bolt is tightened, obtain the first tightening parameters of the first tightening tool for tightening the first bolt.

[0088] Step 206: Tighten the M second bolts. When tightening the second bolts, determine the second tightening tool according to the second position information corresponding to the second bolt, and then provide forward rotation enable to the second tightening tool so that the second tightening tool tightens the second bolt.

[0089] It is understandable that the method for determining the second tightening tool based on the second position information corresponding to the second bolt is the same as the method for determining the first tightening tool mentioned above. To avoid repetition, it will not be repeated here.

[0090] Step 207: After each second bolt is tightened, obtain the second tightening parameters of the second tightening tool for tightening the second bolt.

[0091] Step 208: Obtain the bolt tightening result of the battery module according to the first tightening working parameters and the second tightening working parameters.

[0092] Steps 201, 205 to 208 in this embodiment are similar to steps 101, 103 to 106 in the previous embodiment. To avoid repetition, they will not be described again here.

[0093] Compared with related technologies, the embodiments of this application have at least the following advantages: By tightening N first bolts according to a preset tightening sequence, the N first bolts can be tightened strictly according to the preset tightening sequence. Furthermore, by providing forward rotation enable to the first tightening tool for tightening the next first bolt only after the previous first bolt has been tightened, other tightening tools are not enabled for forward rotation during the tightening of the current first bolt, thus avoiding incorrect or missed tightening and improving the reliability of the bolt tightening control method. By acquiring first and second tightening working parameters, since the first tightening working parameter can characterize the tightening result of the first bolt and the second tightening working parameter can characterize the tightening result of the second bolt, the bolt tightening result of the battery module can be obtained through the first and second tightening working parameters. This allows for the determination of whether the battery module is qualified based on the bolt tightening result, achieving effective control over the tightening result of the battery module. In addition, the above method requires no manual intervention, greatly saving labor costs.

[0094] Please refer to Figure 6 , Figure 6 This is a flowchart illustrating a bolt tightening control method based on a battery module according to an embodiment of this application. This embodiment is a detailed description of the aforementioned embodiment, further illustrating how to obtain the first position information corresponding to the first bolt and the second position information corresponding to the second bolt.

[0095] This embodiment applies to vehicles, and the specific process is as follows: Figure 6 As shown, it includes the following steps:

[0096] Step 301: When the battery module is detected to be in the tightening station, acquire a second image of the battery module.

[0097] In some embodiments, the PLC uses a camera to take a top-down view of the battery module to obtain a second image.

[0098] Step 302: Perform feature recognition on the second image, and compare the result of feature recognition with the template image of the battery module to obtain the offset data of the battery module.

[0099] In some embodiments, after detecting that the battery module is located at the tightening station, the method further includes: acquiring attribute information of the battery module; the feature recognition of the second image includes: determining a feature recognition algorithm that matches the battery module based on the attribute information, and performing feature recognition on the second image according to the feature recognition algorithm.

[0100] In some embodiments, the attribute information includes, but is not limited to, model number, production sequence, and configuration requirements. Specifically, the battery module has a product identification QR code. By scanning the product identification QR code, the PLC can parse the battery module's model number, production sequence, configuration requirements, and other information based on the scanned content.

[0101] To facilitate understanding, the following will be combined with... Figure 7 and Figure 8 This embodiment provides a detailed explanation of how feature recognition is performed on the second image:

[0102] Please refer to Figure 7 This is an application scenario diagram for feature recognition of a second image provided in an embodiment of this application. For example... Figure 7 As shown, the area enclosed by the dashed box is the feature region of the battery module. By identifying the feature region of the battery module and comparing its location with the standard location of the feature region in the template image, the offset data of the battery module can be obtained.

[0103] Step 303: Establish a reference coordinate system based on the second image to obtain the first initial position information corresponding to each first bolt and the second initial position information corresponding to each second bolt.

[0104] Please refer to Figure 8 This diagram illustrates the numbering rules for the first and second bolts in this embodiment. Taking N=4 and M=80 as an example, a reference coordinate system is established within the second image, and each bolt is numbered 1-84. The recognition accuracy is sufficient to achieve the minimum distance between the two bolts (30mm).

[0105] Step 304: Update the first initial position information and the second initial position information according to the offset data to obtain the first position information and the second position information.

[0106] Step 305: Tighten N first bolts according to the preset tightening sequence. When tightening the first bolts, determine the first tightening tool according to the first position information corresponding to the first bolt, and provide forward rotation enable to the first tightening tool so that the first tightening tool tightens the first bolt.

[0107] Step 306: After each first bolt is tightened, obtain the first tightening parameters of the first tightening tool for tightening the first bolt.

[0108] Step 307: Tighten the M second bolts. When tightening the second bolts, determine the second tightening tool according to the second position information corresponding to the second bolt, and then provide forward rotation enable to the second tightening tool so that the second tightening tool tightens the second bolt.

[0109] Step 308: After each second bolt is tightened, obtain the second tightening parameters of the second tightening tool for tightening the second bolt.

[0110] Step 309: Obtain the bolt tightening result of the battery module according to the first tightening working parameters and the second tightening working parameters.

[0111] In some embodiments, the first tightening working parameters, the second tightening working parameters, and the bolt tightening results can all be displayed on the PC screen so that staff can promptly identify battery modules with abnormal tightening results.

[0112] To facilitate understanding, the following will be combined with... Figures 9 to 12 The workflow of the bolt tightening control method based on the battery module in this embodiment is described in detail below:

[0113] Please refer to Figure 9 This is a schematic diagram illustrating the working sequence of the bolt tightening control method based on a battery module provided in this application embodiment. The working sequence includes two modules: front-end operation sequence and back-end processing sequence.

[0114] Taking N=4 and M=80 as an example, the front-end operation, i.e. the operation sequence of this workstation, includes AGV entering the station - manual scanning - tightening bolt 1 - tightening bolt 2 - tightening bolt 3 - tightening bolt 4 - tightening all bolts from bolt 5 to 84 - marking - AGV leaving the station.

[0115] Backend processing, or the core processing sequence of the solution, includes: vision system startup (camera and algorithm software) - battery pack feature recognition - battery pack coordinate calculation and tool number / location number recognition - real-time data interaction (tool enable control and screen display) - data storage - data upload - vision system hibernation (camera and algorithm software).

[0116] Please refer to Figure 10 This is a schematic diagram of the signal interaction between the PC and PLC provided in an embodiment of this application. The data transmitted from the PC to the PLC includes a heartbeat signal, the tool number of the tightening gun, and the bolt position number. The definitions of the tool number of the tightening gun and the bolt position number are already provided in [the original text]. Figure 10 Detailed descriptions are available elsewhere, and to avoid repetition, they will not be repeated here. The data transmitted from the PLC to the PC includes the start signal, battery number, release signal, and log data. Definitions of the start signal, battery number, release signal, and log data are already provided in [the relevant documentation / documentation]. Figure 10 A detailed description is available in the literature, and will not be repeated here to avoid duplication.

[0117] Please refer to Figure 11 This is a schematic diagram illustrating the on-site demonstration effect of the tightening control method provided in this embodiment. In this embodiment, the data application of the first and second tightening working parameters includes: real-time display to the operator and archiving of the final results. Therefore, the vision system can read data such as the storage database of the PLC and the enable status of the tightening controller in real time for display, and after the production cycle ends, it can read all tightening results from the storage database at once and save them locally; the vision system can then package the results and upload them to the terminal system via API interface calls. This operation solves the bottleneck problem of simultaneous uploading of quality data when multiple tools are operating simultaneously in the PLC. It also ensures the real-time nature of the display effect and the accuracy of the operation prompts. Figure 12 As shown, it includes information such as text prompts for abnormal battery module identification, green display for tightening completion status, red display for tightening abnormality, tool location number, green arrow indicator for tool location, and tool enable / disable indicator.

[0118] The specific workflow for bolt tightening control is as follows:

[0119] 1. The PLC controls the AGV trolley to carry the battery module into the tightening station according to the set route based on the conveying instructions sent by the PC. It automatically recognizes the stop mark (marked with a QR code) on the ground, stops running, and sends a position signal to the PLC.

[0120] 2. Worker 1 uses a handheld barcode scanner to scan the product identification QR code on the side of the battery module. The information is automatically written into the barcode scanner function block of the PLC. The PLC parses the information such as battery pack model, production sequence, and configuration requirements based on the scanned content.

[0121] 3. The PLC sends the AGV vehicle's arrival signal and product model to the PC's vision controller via the S7 communication protocol.

[0122] 4. The vision controller starts the camera and activates it. Figure 11 The display shown uses different visual recognition algorithms depending on the product model.

[0123] 5. The visual recognition algorithm identifies the position of feature points based on the images acquired in real time by the camera, compares them with the standard positions in the training model, calculates the offset of the entire battery module position (the AGV stop position has offsets in front and behind, left and right, and small rotation angles), and synchronously updates the position coordinates of the 84 bolts in the current battery module state.

[0124] 6. Workers enter the work area with wireless tightening guns in hand. Taking a workstation equipped with 3 wireless tightening guns as an example, this embodiment does not specify the number of wireless tightening guns.

[0125] 7. The visual recognition algorithm identifies tools based on real-time images acquired by the camera. A green ring on the tool head indicates tool #1, a blue ring indicates tool #2, and a yellow ring indicates tool #3. Simultaneously, it identifies the red marker on the tool head and the nearest bolt within the field of view. If the distance is less than 10mm, the tool head position is considered valid, and the nearest bolt number is output in real-time. The tool's location is also indicated on the display screen with a green triangle, along with the current position number of each tool, allowing operators to quickly confirm their current operating position.

[0126] 8. When any tightening gun is only used on bolt #1, that tightening gun will receive forward rotation enable from the PLC. Other tightening guns will not be enabled in other positions. This ensures that when one or more tightening guns are working at the same time, bolt #1 must be tightened first.

[0127] 9. The worker tightens bolt #1 continuously until the set torque (6 Nm) is reached.

[0128] 10. After tightening bolt #1, if the green indicator light on the tightening gun illuminates, the tightening is successful. If the red indicator light on the tightening gun illuminates, the tightening result is abnormal and the bolt needs to be reversed and tightened again.

[0129] 11. After bolt No. 1 is tightened, the tightening controller will also return the tightening result to the PLC. The PLC will write the tool number used to tighten bolt No. 1, the tightening result, the tightening torque, the tightening angle, and the completion time into the PLC's cache database according to the set format. The PLC only records the last tightening result at the current position. That is, if the bolt is tightened repeatedly, the data will be overwritten.

[0130] Specifically, the tightening result is output to the PLC by the tightening controller. Therefore, a cache database can be established in the PLC. Combined with the tool number and position number obtained from the vision system, the data of each tightening point is recorded in a fixed format (bolt position number, tool number used, torque, angle, completion time) to the corresponding data column in the cache database as soon as possible. Ensuring the real-time recording of data and the integrity of information is a prerequisite for data traceability and real-time display.

[0131] Please refer to Figure 12 This is a schematic diagram illustrating the data storage format provided in an embodiment of this application. Figure 12 As shown, the data storage format is bolt number-tool number-result-torque-angle-time.

[0132] 12. The vision controller reads data in real time during the bolt tightening process and... Figure 11 The screen shown displays the tightening result. If the tightening is qualified, bolt number 1 is displayed in green; if it is not qualified, bolt number 1 is displayed in red (corresponding to step 10).

[0133] 13. Only when the tightening result of bolt No. 1 is qualified, and any tool is only present at bolt No. 2, will that tool receive forward rotation enable from the PLC. Other tools will not be enabled in other positions. This ensures that when one or more tools are working at the same time, bolt No. 2 must be tightened next (the subsequent control content of this point is similar to the logic of steps 09-12).

[0134] 14. Only when the tightening results of bolts 1 and 2 are both qualified, and any tool is only present at bolt position 3, will that tool receive forward rotation enable from the PLC. Other tools will not be enabled at other positions, ensuring that when one or more tools are working at the same time, the next bolt to be tightened must be bolt 3 (the subsequent control content of this point is similar to the logic of steps 09-12).

[0135] 15. Only when the tightening results of bolts 1, 2, and 3 are all qualified, and any tool is only present at bolt position 4, will that tool receive forward rotation enable from the PLC. Other tools will not be enabled at other positions. This ensures that when one or more tools are working at the same time, the next bolt to be tightened must be bolt 4 (the subsequent control content of this point is similar to the logic of steps 08-12).

[0136] 16. Only when the tightening results of bolts 1, 2, 3, and 4 are all qualified will all tools continuously receive forward rotation enable from the PLC, ensuring that any gun can perform tightening operations at any point from 5 to 84.

[0137] 17. When tightening at any position (5-84), it can be done Figure 12 The tightening status is displayed in real time on the screen shown (the operation control content at any point is similar to the logic of steps 09-12).

[0138] 18. The PLC sends a completion signal to the vision controller only when all 84 sets of data in the PLC's cache database are qualified. The vision controller reads all the data (84*6) in the cache database through the S7 protocol, saves it locally in CSV format, and controls the camera to take pictures and store the final state of the battery pack.

[0139] 19. After the vision controller finishes saving the data, it sends a completion signal to the PLC. At the same time, it uploads the contents of the tightening result CSV file as third-party quality data to the terminal system via API interface call (upload format is defined in advance).

[0140] 20. After the terminal system verifies the third-party quality data, if it determines that the data is qualified, it will notify the PLC to release the data normally. If it determines that the data is unqualified, it will remind the system through an alarm and require on-site quality personnel to confirm the handling method (on-site rework, offline rework, or conditional release).

[0141] 21. Based on the data storage completion signal fed back by the vision controller and the release instruction finally confirmed by the MES, the PLC issues the corresponding action to the AGV. If the release is normal, the AGV enters the next workstation; if on-site repair is required, the abnormal points are reversed and retightened; if offline repair is required, the AGV goes to the offline repair area.

[0142] 22. When the PLC issues the AGV release command, it will also send the signal to the vision controller. The vision controller will then control the camera to enter sleep mode, and at the same time, the recognition algorithm and the display screen will also be paused to reduce the operating load of the camera and vision controller.

[0143] 23. Waiting for the next product to arrive.

[0144] Compared with related technologies, the embodiments of this application have at least the following advantages: By tightening N first bolts according to a preset tightening sequence, the N first bolts can be tightened strictly according to the preset tightening sequence. Furthermore, by providing forward rotation enable to the first tightening tool for tightening the next first bolt only after the previous first bolt has been tightened, other tightening tools are not enabled for forward rotation during the tightening of the current first bolt, thus avoiding incorrect or missed tightening and improving the reliability of the bolt tightening control method. By acquiring first and second tightening working parameters, since the first tightening working parameter can characterize the tightening result of the first bolt and the second tightening working parameter can characterize the tightening result of the second bolt, the bolt tightening result of the battery module can be obtained through the first and second tightening working parameters. This allows for the determination of whether the battery module is qualified based on the bolt tightening result, achieving effective control over the tightening result of the battery module. In addition, the above method requires no manual intervention, greatly saving labor costs.

[0145] Please refer to Figure 13This is a structural schematic diagram of a bolt tightening control system 100 based on a battery module provided in this application embodiment. The battery module includes N first bolts and M second bolts to be tightened, where N and M are both integers greater than 1. The bolt tightening control system 100 includes: an identification device 10, a control device 20, and a detection device 30. The identification device 10 is used to acquire first position information corresponding to each first bolt and second position information corresponding to each second bolt when the battery module is detected to be in a tightening position. The control device 20 is used to perform tightening operations on the N first bolts according to a preset tightening sequence. When tightening the first bolts, a first tightening tool is determined according to the first position information corresponding to the first bolt, and a forward rotation enable is provided to the first tightening tool so that the first tightening tool tightens the first bolt. After the previous first bolt has been tightened, the tightening of the next first bolt begins. A first tightening tool for a bolt provides forward rotation enable; the control device 20 is also used to acquire the first tightening working parameters of the first tightening tool for tightening the first bolt after each first bolt has been tightened; the control device 20 is also used to tighten M second bolts, wherein, when tightening the second bolts, a second tightening tool is determined according to the second position information corresponding to the second bolt, and then forward rotation enable is provided to the second tightening tool so that the second tightening tool tightens the second bolt; the control device 20 is also used to acquire the second tightening working parameters of the second tightening tool for tightening the second bolt after each second bolt has been tightened; the detection device 30 is used to acquire the bolt tightening result of the battery module according to the first tightening working parameters and the second tightening working parameters.

[0146] Please refer to Figure 14 This is a functional architecture diagram of the bolt tightening control system based on a battery module provided in this application embodiment. The identification device 10 is a PC, the control device 20 is a PLC, and the detection device 30 is the terminal system.

[0147] Specifically, the main functions implemented by the PC include: camera control, external screen display, battery module feature recognition, bolt plane coordinate calculation, multi-tool color feature recognition, effective position recognition of tool gun head, real-time data synchronization with PLC (tool number, position number, tightening result), data storage and uploading to the terminal system.

[0148] The main functions of the PLC include: scanning the product code when the AGV enters the station, synchronizing real-time data with the vision system (tool number, position number, tightening result), performing tool enable logic control based on the gun number and position number, receiving the tightening result and saving it to the PLC's cache database, interacting with the terminal system for process control, and releasing the AGV.

[0149] The main functions of the terminal system include: PLC interaction for process control, reception of third-party quality data, verification of data validity and correctness, and confirmation of completion and release.

[0150] Please refer to Figure 15 This is a schematic diagram of the hardware structure of the electronic device 1000 provided in an embodiment of this application. Figure 15 As shown, the electronic device 1000 may include a processor 1001 and a memory 1002. The memory 1002 is used to store one or more computer programs 1003. The one or more computer programs 1003 are configured to be executed by the processor 1001. The one or more computer programs 1003 include instructions that can be used to implement the above-described bolt tightening control method based on the battery module in the electronic device 1000.

[0151] It is understood that the structure illustrated in this embodiment does not constitute a specific limitation on the electronic device 1000. In other embodiments, the electronic device 1000 may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements.

[0152] Processor 1001 may include one or more processing units, such as application processors (APs), modems, graphics processing units (GPUs), image signal processors (ISPs), controllers, video codecs, digital signal processors (DSPs), baseband processors, and / or neural network processing units (NPUs). These different processing units may be independent devices or integrated into one or more processors.

[0153] The processor 1001 may also include a memory for storing instructions and data. In some embodiments, the memory in the processor 1001 is a cache memory. This memory can store instructions or data that the processor 1001 has just used or that are used repeatedly. If the processor 1001 needs to use the instruction or data again, it can retrieve it directly from this memory. This avoids repeated accesses, reduces the waiting time of the processor 1001, and thus improves the efficiency of the system.

[0154] In some embodiments, the processor 1001 may include one or more interfaces. Interfaces may include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, a SIM interface, and / or a USB interface, etc.

[0155] In some embodiments, the processor 1001 is used to execute acceleration schemes such as Single Instruction Multiple Data (SIMD) and Very Long Instruction Word (VLIW).

[0156] In some embodiments, memory 1002 may include high-speed random access memory, and may also include non-volatile memory, such as hard disk, memory, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0157] This embodiment also provides a storage medium storing computer instructions. When the instructions are executed on an electronic device, the electronic device performs the aforementioned method steps to implement the bolt tightening control method based on the battery module in the above embodiment.

[0158] In this embodiment, the electronic device and storage medium are used to execute the corresponding methods provided above. Therefore, the beneficial effects they can achieve can be referred to the beneficial effects of the corresponding methods provided above, and will not be repeated here.

[0159] In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0160] In the several embodiments provided in this application, the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are illustrative. For instance, the division of modules or units is a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0161] The unit described as a separate component may or may not be physically separate. The component shown as a unit can be one physical unit or multiple physical units, that is, it can be located in one place or distributed in multiple different places. Some or all of the units can be selected to achieve the purpose of the solution in this embodiment according to actual needs.

[0162] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0163] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solutions of the embodiments of this application, essentially or in other words, the parts that contribute to the prior art, or all or part of the technical solutions, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0164] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be covered within the scope of protection of this application.

Claims

1. A method for controlling bolt tightening based on a battery module, characterized in that, The battery module includes N first bolts and M second bolts that need to be tightened, where N and M are both integers greater than 1; wherein, the first bolts are bolts located at key positions in the battery module; The method includes: When the battery module is detected to be in the tightening station, the first position information corresponding to each first bolt and the second position information corresponding to each second bolt are obtained; According to a preset tightening sequence, N first bolts are tightened. During the tightening of the first bolts, a first tightening tool is determined according to the first position information corresponding to the first bolt, and forward rotation enable is provided to the first tightening tool so that the first tightening tool tightens the first bolt. After the previous first bolt is tightened, forward rotation enable is provided to the first tightening tool for tightening the next first bolt. After each of the first bolts is tightened, the first tightening parameters of the first tightening tool used to tighten the first bolt are obtained. The second bolts are tightened. During the tightening operation, the second tightening tool is determined according to the second position information corresponding to the second bolt, and then the second tightening tool is given a forward rotation enable so that the second tightening tool tightens the second bolt. After each second bolt is tightened, the second tightening parameters of the second tightening tool used to tighten the second bolt are obtained. The bolt tightening result of the battery module is obtained based on the first tightening working parameters and the second tightening working parameters; The tightening tools include multiple tightening tools, each of which is equipped with a tool identification mark; the step of determining the first tightening tool based on the first position information corresponding to the first bolt includes: Multiple actual operating positions of the tightening tools are obtained, wherein one tightening tool corresponds to one actual operating position; Based on multiple actual operating positions and first position information, a candidate tightening tool that is closest to the first bolt is determined from multiple tightening tools, and the actual distance between the candidate tightening tool and the first bolt is calculated; When the actual distance is detected to be within the preset distance range, the candidate tightening tool is selected as the first tightening tool.

2. The bolt tightening control method based on battery modules according to claim 1, characterized in that, The step of determining the candidate tightening tool closest to the first bolt from a plurality of tightening tools based on multiple actual operating positions and first position information includes: A first image of the battery module is captured, wherein at least one of the plurality of tightening tools is located within the first image; Image recognition is performed on the first image, and the candidate tightening tool is determined from the target tightening tools based on the result of the image recognition. When performing image recognition on the first image, the tool number of the target tightening tool is determined according to the tool identification mark.

3. The bolt tightening control method based on battery modules according to claim 1, characterized in that, After providing forward rotation enable to the first tightening tool, the method further includes: After the first tightening tool completes the tightening operation on the first bolt, check whether the first bolt is tightened properly; If the first bolt is found to be improperly tightened, continue tightening the first bolt; after the first bolt is found to be properly tightened, begin tightening the next first bolt.

4. The bolt tightening control method based on battery modules according to claim 3, characterized in that, After each of the first bolts is tightened, the first tightening parameters of the first tightening tool used to tighten the first bolt are obtained, including: After the first bolt is tightened, if the first bolt is found to be tightened properly, the working parameters of the first tightening tool used to tighten the first bolt are taken as the first tightening working parameters. If the first bolt is found to be improperly tightened, continue tightening the first bolt using the first tightening tool until the first bolt is found to be properly tightened. The working parameters of the first tightening tool used for the last tightening of the first bolt are then used as the first tightening working parameters.

5. The bolt tightening control method based on battery modules according to claim 1, characterized in that, The step of obtaining the first position information corresponding to each of the first bolts and the second position information corresponding to each of the second bolts includes: Obtain a second image of the battery module; The second image is subjected to feature recognition, and the result of the feature recognition is compared with the template image of the battery module to obtain the offset data of the battery module; A reference coordinate system is established based on the second image to obtain the first initial position information corresponding to each of the first bolts and the second initial position information corresponding to each of the second bolts; The first initial position information and the second initial position information are updated based on the offset data to obtain the first position information and the second position information.

6. The bolt tightening control method based on battery modules according to claim 5, characterized in that, After detecting that the battery module is in the tightening station, the process also includes: Obtain the attribute information of the battery module; The feature recognition of the second image includes: Based on the attribute information, a feature recognition algorithm matching the battery module is determined, and feature recognition is performed on the second image according to the feature recognition algorithm.

7. A bolt tightening control system based on a battery module, characterized in that, The battery module includes N first bolts and M second bolts that need to be tightened, where N and M are both integers greater than 1; wherein, the first bolts are bolts located at key positions in the battery module; the bolt tightening control system includes: an identification device, a control device, and a detection device; The identification device is used to acquire first position information corresponding to each first bolt and second position information corresponding to each second bolt when the battery module is detected to be in the tightening station. The control device is used to tighten N first bolts according to a preset tightening sequence. When tightening the first bolts, a first tightening tool is determined according to the first position information corresponding to the first bolt, and forward rotation enable is provided to the first tightening tool so that the first tightening tool tightens the first bolt. After the previous first bolt is tightened, forward rotation enable is provided to the first tightening tool for tightening the next first bolt. The tightening tools include multiple tightening tools, each of which is equipped with a tool identification mark to obtain multiple actual operating positions of the multiple tightening tools, wherein one tightening tool corresponds to one actual operating position; Based on multiple actual operating positions and first position information, a candidate tightening tool that is closest to the first bolt is determined from multiple tightening tools, and the actual distance between the candidate tightening tool and the first bolt is calculated; When the actual distance is detected to be within the preset distance range, the candidate tightening tool is selected as the first tightening tool; The control device is also used to acquire the first tightening working parameters of the first tightening tool that tightened the first bolt after each first bolt has been tightened. The control device is also used to tighten the M second bolts, wherein, when tightening the second bolts, a second tightening tool is determined according to the second position information corresponding to the second bolt, and then a forward rotation enable is provided to the second tightening tool so that the second tightening tool tightens the second bolt; The control device is also used to acquire the second tightening working parameters of the second tightening tool for tightening the second bolt after each second bolt has been tightened. The detection device is used to obtain the bolt tightening result of the battery module based on the first tightening working parameters and the second tightening working parameters.

8. An electronic device, characterized in that, The electronic device includes a processor and a memory, the memory being used to store instructions, and the processor being used to call the instructions in the memory, causing the electronic device to execute the bolt tightening control method based on the battery module as described in any one of claims 1 to 6.

9. A storage medium, characterized in that, The method includes computer instructions that, when executed on an electronic device, cause the electronic device to perform the bolt tightening control method based on any one of claims 1 to 6.

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