Battery pack upper cover mounting point location positioning method, device and equipment and medium

Abstract

The invention provides a battery pack upper cover installation point location positioning method, device and equipment and a medium, and relates to the technical field of automatic assembly.The method comprises the steps that riveting addressing positioning is conducted on an installation hole of target equipment, normalized reference hole location coordinates are obtained, and the target equipment comprises at least one of a battery pack upper cover and a tray; deviation calculation is conducted on the reference hole position coordinates, a reference riveting position is obtained, and the reference riveting position is used for providing a riveting mark point position for a mechanical arm; and a target coordinate set of all the mounting holes is obtained according to the reference riveting position through the first relative position relation between the mounting holes, and the target coordinate set is used for providing a target riveting point for the mechanical arm and used for accurately recognizing and positioning the mounting point positions.

Description

Technical Field

[0001] The present invention relates to the field of automatic assembly technology, and in particular to a method, device, equipment and medium for locating installation points of a battery pack upper cover. Background Art

[0002] With the rapid development of new energy technology, the speed of battery research and development iteration is also accelerating. In new energy vehicles, the battery pack cover is connected to the tray by bolts, but this method is costly and inefficient.

[0003] In the related art, the upper cover and the tray are connected by riveting, which reduces costs and improves efficiency. However, in this technical solution, rivets are installed manually and the assembly is completed by a rivet gun, which is prone to missing rivets and incomplete riveting.

[0004] However, if automatic riveting is performed by a robot, there is sealant on the upper cover and the mounting surface of the tray. Due to the cumulative tolerance of the parts, when riveting is performed by the robot, the rivet position is easily blocked by the sealant due to the presence of the sealant, and the riveting cannot be performed accurately. Even if the installation is guided by a visual sensor, there may be a problem that the visual sensor cannot recognize it due to the sealant. Summary of the invention

[0005] The problem solved by the present invention is how to accurately identify and locate the installation point.

[0006] In order to solve the above problems, the present invention provides a method, device, equipment and medium for locating the installation point of the battery pack cover.

[0007] In a first aspect, the present invention provides a method for positioning a battery pack upper cover installation point, comprising:

[0008] Perform riveting addressing and positioning on the mounting holes of the target device to obtain normalized reference hole position coordinates, wherein the target device includes at least one of a battery pack cover and a tray;

[0009] Calculating the deviation of the reference hole position coordinates to obtain a reference riveting position, wherein the reference riveting position is used to provide a riveting mark point for the manipulator;

[0010] Through the first relative position relationship between the mounting holes, a target coordinate set of all the mounting holes is obtained according to the reference riveting position, wherein the target coordinate set is used to provide a target riveting point for the manipulator.

[0011] Optionally, performing riveting addressing and positioning on the mounting holes of the target device to obtain normalized reference hole position coordinates includes:

[0012] Get the target device image;

[0013] Extracting the coordinates of the mounting holes in the target device image;

[0014] The installation hole coordinates are normalized to obtain the reference hole position coordinates.

[0015] Optionally, the normalizing the mounting hole coordinates to obtain the reference hole position coordinates includes:

[0016] Determine visual field reference points;

[0017] Determine a first reference coordinate system according to the field of view reference point;

[0018] Determine a pixel deviation between the field of view reference point and the mounting hole coordinates as a first deviation;

[0019] Based on the first deviation, the mounting hole coordinates are superimposed on the first reference coordinate system to obtain the reference hole position coordinates.

[0020] Optionally, the performing deviation calculation on the reference hole position coordinates to obtain the reference riveting position includes:

[0021] Establishing a calibration relationship between a first reference coordinate system and a second reference coordinate system, wherein the second reference coordinate system is used to provide a coordinate reference for the manipulator;

[0022] Based on the calibration relationship, the reference hole position coordinates are converted from the first reference coordinate system to the second reference coordinate system to obtain the reference riveting position.

[0023] Optionally, based on the calibration relationship, converting the reference hole position coordinates from the first reference coordinate system to the second reference coordinate system to obtain the reference riveting position includes:

[0024] Determine the manipulator reference point;

[0025] Determining a second deviation between the reference hole coordinates and the manipulator reference point;

[0026] Based on the second deviation and the calibration relationship, the reference hole position coordinates are superimposed on the second reference coordinate system to obtain the reference riveting position.

[0027] Optionally, obtaining a target coordinate set of all the mounting holes according to the reference riveting position through the first relative position relationship between the mounting holes comprises:

[0028] In the first reference coordinate system, determining a second relative position relationship between the reference hole position coordinates corresponding to the mounting holes according to the first relative position relationship;

[0029] Based on the calibration relationship, the second relative position relationship is expressed in the second reference coordinate system as a relative riveting position relationship between the reference riveting positions;

[0030] The target coordinate set is obtained according to the relative riveting position relationship and the reference riveting position.

[0031] Optionally, obtaining the target coordinate set according to the relative riveting position relationship and the reference riveting position includes:

[0032] In the second reference coordinate system, obtaining at least two reference riveting positions;

[0033] Determine a connecting line segment between two reference riveting positions and a midpoint of the connecting line segment;

[0034] The slope of the connecting line segment in the second reference coordinate system and the coordinates of the midpoint are used as calculation references, and the target coordinates of all mounting holes are determined according to the relative riveting position relationship to obtain the target coordinate set.

[0035] In a second aspect, the present invention provides a battery pack upper cover installation point positioning device, comprising:

[0036] An addressing and positioning module, used to perform riveting addressing and positioning on the mounting holes of a target device to obtain normalized reference hole position coordinates, wherein the target device includes at least one of a battery pack cover and a tray;

[0037] A riveting position calculation module, used for calculating the deviation of the reference hole position coordinates to obtain a reference riveting position, wherein the reference riveting position is used to provide a riveting mark point for the manipulator;

[0038] The mounting hole position calculation module is used to obtain a target coordinate set of all the mounting holes according to the reference riveting position through the first relative position relationship between the mounting holes, wherein the target coordinate set is used to provide a target riveting point for the manipulator.

[0039] In a third aspect, the present invention provides an electronic device, including a memory and a processor;

[0040] The memory is used to store computer programs;

[0041] The processor is used to implement the battery pack upper cover installation point positioning method as described in the first aspect when executing the computer program.

[0042] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method for locating the installation point of the battery pack upper cover as described in the first aspect is implemented.

[0043] The beneficial effects of the battery pack upper cover installation point positioning method of the present invention are:

[0044] Before riveting, locate the holes on the target device and unify the coordinates of each hole into the same coordinate system, so that the data of different devices can be compared and used with each other, laying the foundation for subsequent positioning. Through normalization, the influence of position differences on the determination of hole positions by the visual sensor can be eliminated, and the consistency of data can be enhanced. The deviation between the mounting hole and the manipulator is calculated based on the reference hole coordinates (i.e., the coordinates obtained after normalizing the mounting hole coordinates), and then the marking points for riveting are determined based on this deviation, thereby converting the hole position from the reference hole coordinates of the visual sensor to the reference riveting position of the manipulator. Using the known reference hole positions and the relative position information between them, together with the riveting coordinates, the specific positions of all holes to be riveted (i.e., mounting holes) can be calculated to form a complete set of coordinates, which can guide the manipulator to complete the riveting task and provide accurate installation points for identification and positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a schematic diagram of the process of the method for locating the installation point of the upper cover of the battery pack according to an embodiment of the present invention;

[0046] Figure 2 This is a schematic diagram of a detailed process of step S100 of the method for locating the installation point of the upper cover of a battery pack according to an embodiment of the present invention;

[0047] Figure 3 This is a schematic diagram of a detailed process of step S130 of the method for locating the installation point of the upper cover of a battery pack according to an embodiment of the present invention;

[0048] Figure 4 It is a schematic diagram of a detailed process of step S200 of the method for locating the installation point of the upper cover of a battery pack according to an embodiment of the present invention;

[0049] Figure 5 This is a schematic diagram of a detailed process of step S220 of the method for locating the installation point of the upper cover of a battery pack according to an embodiment of the present invention;

[0050] Figure 6 An exemplary diagram of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0051] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. Although certain embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be interpreted as being limited to the embodiments described herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not intended to limit the scope of protection of the present invention.

[0052] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0053] The term "including" and its variations used in this document are open inclusions, that is, "including but not limited to"; the term "based on" means "based at least in part on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc. mentioned in the present invention are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0054] It should be noted that the modifications of "one" and "plurality" mentioned in the present invention are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0055] The names of the messages or information exchanged between multiple devices in the embodiments of the present invention are only used for illustrative purposes and are not used to limit the scope of these messages or information.

[0056] In view of the problems existing in the above-mentioned related technologies, the present embodiment provides a method, device, equipment and medium for locating the installation point of the battery pack cover.

[0057] like Figure 1 As shown, a method for positioning a battery pack upper cover installation point provided by an embodiment of the present invention includes:

[0058] Step S100, performing riveting addressing and positioning on the mounting holes of the target device to obtain normalized reference hole position coordinates, wherein the target device includes at least one of a battery pack cover and a tray.

[0059] In one embodiment, the target device includes at least one of a pallet or an upper cover. Before applying sealant to the pallet, the upper cover rivet mounting holes and the body mounting points on the pallet are photographed by a visual sensor, and the mounting holes and mounting points are processed with unified coordinates. A reliable position relationship model is established based on the visual sensor to eliminate the influence caused by the change of camera position or the change of position of the target device, so that the target device can be associated with the manipulator at any position, thereby providing the manipulator with accurate mounting hole position coordinates. The reference hole position coordinates represent the coordinates of the mounting holes on the target device in the coordinate system constructed by the visual sensor, and are used for unified coordinate calculation to eliminate the deviation caused by the change of position of the visual sensor or the target device.

[0060] Step S200, performing deviation calculation on the reference hole position coordinates to obtain a reference riveting position, wherein the reference riveting position is used to provide a riveting mark point for the robot.

[0061] In one embodiment, the manipulator for riveting rivets and the visual sensor for image acquisition may be arranged on two equipment carriers. When the manipulator and the visual sensor are located on different equipment carriers, there will be a problem of inconsistent reference systems. In actual use, the relative position between them may change with the movement of the manipulator. The manipulator needs to move continuously and rivet different hole positions, resulting in different reference systems for the visual sensor and the manipulator. In order to ensure that the manipulator can accurately perform riveting operations based on the information provided by the visual sensor, the deviation of the obtained reference hole position coordinates is calculated to obtain a reference riveting position based on the reference system of the manipulator.

[0062] Step S300, obtaining a target coordinate set of all mounting holes according to a reference riveting position through a first relative position relationship between the mounting holes, wherein the target coordinate set is used to provide a target riveting point for the manipulator.

[0063] By calculating the relative position relationship between the mounting holes and adjusting the reference riveting position based on this information, it is possible to ensure that the position of each mounting hole is precisely defined. This enables the robot to accurately place rivets or other fasteners in the correct position. After establishing a reliable set of target coordinates, the robot can automatically perform riveting tasks according to the target riveting points without manual intervention, thus improving the level of automation.

[0064] Before the riveting operation, the target device is riveted and addressed, and the coordinates of these holes are converted into a unified coordinate system, so that the data between different devices can be compared and used with each other, providing a basis for subsequent calculations. Normalization eliminates the impact of position differences and improves the data consistency when the visual sensor determines the hole position. Based on the reference hole coordinates (i.e., the coordinates obtained after the normalization of the mounting hole coordinates), the deviation between the mounting hole and the manipulator is calculated, and the riveting mark point for indicating the manipulator is obtained based on the deviation, which is used to convert the position of the hole from the reference hole coordinates based on the visual sensor to the reference riveting position based on the manipulator. Using the known reference hole positions and the relative position information between them, combined with the reference riveting position, the specific coordinates of all the mounting holes to be riveted (i.e., the mounting holes) are calculated to form a complete set of coordinates, which can guide the manipulator to complete the riveting task and provide accurate installation points for identification and positioning.

[0065] Alternatively, if Figure 2 As shown, the installation holes of the target device are riveted and addressed to obtain the normalized reference hole position coordinates, including:

[0066] Step S110, acquiring a target device image.

[0067] Step S120, extracting the coordinates of the installation holes in the target device image.

[0068] Step S130, normalizing the installation hole coordinates to obtain reference hole position coordinates.

[0069] In one embodiment, an image of the target device is captured using a camera or other imaging device to ensure that the mounting holes are visible in the image, and the specific position of each mounting hole is identified and located from the captured image, and the coordinates of these hole positions on the image plane are recorded.

[0070] The extracted mounting hole coordinates are converted into a unified standard coordinate system. This step can include scale transformation, rotation correction, and position adjustment, so that products from different devices or batches can be compared and operated in the same reference frame. Normalization eliminates the effects of manufacturing differences and assembly errors, and enhances the consistency and comparability between different products. The application of a unified standard coordinate system simplifies the subsequent calculation process, improves data processing efficiency, and also facilitates subsequent manipulators to perform tasks based on standardized coordinate information.

[0071] Optionally, after acquiring the target device image, the coordinates of the marking points in the target device image may be extracted as additional Mark point coordinates, and after normalization processing, the reference hole position coordinates may be obtained.

[0072] Alternatively, if Figure 3As shown, the coordinates of the mounting holes are normalized to obtain the coordinates of the reference holes, including:

[0073] Step S131, determining the visual field reference point.

[0074] Step S132, determining a first reference coordinate system according to the field of view reference point.

[0075] Step S133, determining a pixel deviation between the field of view reference point and the mounting hole coordinates as a first deviation.

[0076] Step S134: Based on the first deviation, the coordinates of the mounting holes are superimposed on the first reference coordinate system to obtain reference hole position coordinates.

[0077] Select one or more points that are easily identifiable and fixed in the target device image as field of view reference points. These points can be pre-designed marks, specific geometric features (such as holes, edges), or stable reference points determined by other means. Optionally, a coordinate system is established with the center of the field of view of the visual sensor as the reference, that is, the first reference coordinate system. Alternatively, a coordinate system can be established with the earth coordinate system as the reference, and the first reference coordinate system is constructed based on the calibration relationship between the visual sensor and the earth. The deviation of each mounting hole or marking point from the center of the field of view is calculated based on the first reference coordinate system.

[0078] The pixel deviation between the field of view reference point and the mounting hole coordinates in the pixel coordinate system where the mounting hole coordinates are located can be calculated first, and then the first deviation between the field of view reference point and the mounting hole coordinates in the first reference coordinate system can be calculated based on the calibration relationship between the pixel coordinate system where the mounting hole coordinates are located and the first reference coordinate system. The first deviation is superimposed on the coordinates of the field of view reference point in the first reference coordinate system to obtain the reference hole position coordinates of the mounting hole in the first reference coordinate system.

[0079] Alternatively, you can first calculate the pixel deviation between the field of view reference point and the mounting hole coordinates in the pixel coordinate system, map the mounting hole coordinates to the first reference coordinate system, and use the calculated pixel deviation to correct the mapped mounting hole coordinates to obtain the normalized coordinates, i.e., the reference hole position coordinates. For example, taking the field of view center (x, y) of the visual sensor as the reference, the position of the mounting hole is (x1, y1), and calculate the deviation between the two:

[0080] Δx=x1-x, Δy=y1-y,

[0081] The normalized coordinates are expressed as:

[0082] Xn=x+Δx,Yn=y+Δy,

[0083] Wherein, Δx represents the deviation of the x-axis, Δy represents the deviation of the y-axis, and Xn and Yn represent the normalized x-axis and y-axis coordinates in the first reference coordinate system, respectively.

[0084] Alternatively, if Figure 4 As shown, the deviation calculation of the reference hole coordinates is performed to obtain the reference riveting position including:

[0085] Step S210: establishing a calibration relationship between the first reference coordinate system and the second reference coordinate system, wherein the second reference coordinate system is used to provide a coordinate reference for the manipulator.

[0086] Step S220: based on the calibration relationship, convert the reference hole position coordinates from the first reference coordinate system to the second reference coordinate system to obtain the reference riveting position.

[0087] In order to ensure that the manipulator can accurately perform riveting operations based on the information provided by the visual sensor, it is necessary to establish a conversion relationship between two different coordinate systems. The first reference coordinate system is based on the field of view reference point in the image, or is defined based on the field of view reference point and the calibration relationship between the visual sensor and the earth, such as the camera coordinate system, while the second reference coordinate system is used to guide the movement of the manipulator.

[0088] Through calibration, the data from the visual sensor (such as the location of the mounting hole) can be associated with the operating instructions of the robot, so that the two can work in the same reference frame. The establishment of the calibration relationship solves the problem of coordinate differences that may exist between different devices and enhances the overall compatibility and flexibility of the system. After a reliable calibration relationship is established, subsequent data processing and command transmission are more direct and efficient, reducing the errors that may occur in the intermediate links.

[0089] Using the determined calibration relationship, the coordinates of the reference hole positions represented in the first reference coordinate system are mathematically transformed and converted to the second reference coordinate system, thereby obtaining the reference riveting positions required for the robot to perform tasks. Through coordinate conversion, each reference hole position has a clear position representation in the robot's coordinate system, providing an accurate target point for subsequent riveting operations. The actual deviation is taken into account during the conversion process, so a riveting position that is closer to the actual situation can be obtained, improving the assembly quality. If there are dynamic changes or the calibration relationship needs to be updated, the accuracy of the conversion can be maintained by recalculation to adapt to different production needs.

[0090] Alternatively, if Figure 5 As shown, based on the calibration relationship, the reference hole position coordinates are converted from the first reference coordinate system to the second reference coordinate system, and obtaining the reference riveting position includes:

[0091] Step S221, determining the manipulator reference point.

[0092] Step S222, determining a second deviation between the reference hole coordinates and the manipulator reference point.

[0093] Step S223, based on the second deviation and the calibration relationship, the reference hole position coordinates are superimposed on the second reference coordinate system to obtain the reference riveting position.

[0094] In one embodiment, a fixed and easily identifiable point within the manipulator's operating range is selected as the manipulator reference point. This point can be a specific location of the manipulator itself (such as the tool center point TCP), or a stable reference mark mounted on the workbench. The manipulator reference point provides a stable starting point for subsequent coordinate transformation and deviation calculation.

[0095] The second deviation between the reference hole position coordinates and the manipulator reference point in the first reference coordinate system can be determined first, and then the second deviation can be mapped to the second reference coordinate system using the calibration relationship from the first reference coordinate system to the second reference coordinate system. The deviation mapped to the second reference coordinate system can be superimposed on the coordinates of the manipulator reference point in the second reference coordinate system (for example, the manipulator coordinate system) to obtain the reference riveting position.

[0096] Alternatively, the reference hole coordinates can be converted from the first reference coordinate system to the second reference coordinate system through the calibration relationship from the first reference coordinate system to the second reference coordinate system, and the manipulator deviation between the reference hole coordinates corresponding to the mounting hole of the target device and the manipulator reference point can be calculated in the second reference coordinate system as the second deviation. Thus, the reference riveting position for guiding the riveting operation is obtained. The error caused by the inconsistency of the coordinate system is reduced, and the quality and consistency of the riveting operation are improved.

[0097] Optionally, obtaining a target coordinate set of all mounting holes according to the reference riveting position through the first relative position relationship between the mounting holes includes:

[0098] In the first reference coordinate system, determining a second relative position relationship between reference hole position coordinates corresponding to the mounting holes according to the first relative position relationship;

[0099] Based on the calibration relationship, the second relative position relationship is expressed in the second reference coordinate system as a relative riveting position relationship between the reference riveting positions;

[0100] The target coordinate set is obtained according to the relative riveting position relationship and the reference riveting position.

[0101] Since the entire pallet has rigid characteristics, the position of the mounting holes will not be relatively offset, but the visual sensor may cause the position between the mounting holes to change at the image pixel level due to factors such as angle and distance. Using the first relative position relationship between the mounting holes in the image as a reference, the specific coordinates and second relative position relationship of all mounting holes are determined in the first reference coordinate system to ensure that the position of each mounting hole can be accurately determined, eliminating the error caused by the image distortion obtained by the visual sensor. Based on the calibration relationship, the second relative position relationship is converted to the relative riveting position relationship in the second reference coordinate system to improve the accuracy of the target coordinate set.

[0102] Optionally, obtaining a target coordinate set according to the relative riveting position relationship and the reference riveting position includes:

[0103] In the second reference coordinate system, obtaining at least two reference riveting positions;

[0104] Determine the connecting line segment between the two reference riveting positions and the midpoint of the connecting line segment;

[0105] The slope of the connecting line segment in the second reference coordinate system and the coordinates of the midpoint are used as calculation references, and the target coordinates of all mounting holes are determined according to the relative riveting position relationship to obtain a target coordinate set.

[0106] In one embodiment, the coordinates of all the mounting holes or Mark points after normalization are obtained by addressing before riveting. Based on the calculated reference riveting position, the riveting position coordinates of all the mounting holes are calculated by rotation transformation. Since the entire pallet has rigid characteristics, the positions of the mounting holes will not be relatively offset. The coordinates of the center points of the line connecting the two reference riveting positions and the angle of the line are used as the reference, and the coordinates of all the mounting holes in the second reference coordinate system are calculated by rotation transformation.

[0107] An embodiment of the present invention provides a battery pack upper cover installation point positioning device, comprising:

[0108] An addressing and positioning module, used for performing riveting addressing and positioning on the mounting holes of a target device to obtain normalized reference hole position coordinates, wherein the target device includes at least one of a battery pack cover and a tray;

[0109] A riveting position calculation module is used to calculate the deviation of the reference hole position coordinates to obtain a reference riveting position, wherein the reference riveting position is used to provide a riveting mark point for the manipulator;

[0110] The mounting hole position calculation module is used to obtain a target coordinate set of all mounting holes according to a reference riveting position through a first relative position relationship between the mounting holes, wherein the target coordinate set is used to provide a target riveting point for the manipulator.

[0111] like Figure 6As shown, an electronic device 600 provided by an embodiment of the present invention includes a memory 610 and a processor 620; the memory 610 is used to store computer programs; the processor 620 is used to implement the above-mentioned battery pack cover installation point positioning method when executing the computer program.

[0112] In other words, an electronic device 600 includes a memory 610 and a processor 620 coupled to the memory 610; the memory 610 is configured to store a computer program; and the processor 620 is configured to perform the following operations when executing the computer program:

[0113] Perform riveting addressing and positioning on the mounting holes of the target device to obtain normalized reference hole position coordinates, wherein the target device includes at least one of a battery pack cover and a tray;

[0114] The reference hole position coordinates are calculated for deviation to obtain the reference riveting position, wherein the reference riveting position is used to provide a riveting mark point for the manipulator;

[0115] Through the first relative position relationship between the mounting holes, a target coordinate set of all mounting holes is obtained according to the reference riveting position, wherein the target coordinate set is used to provide a target riveting point for the manipulator.

[0116] An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the above-mentioned method for locating the installation point of the battery pack cover is implemented.

[0117] In other words, a non-volatile computer-readable storage medium stores a computer program, which, when executed by a processor, causes the processor to perform the following operations:

[0118] Perform riveting addressing and positioning on the mounting holes of the target device to obtain normalized reference hole position coordinates, wherein the target device includes at least one of a battery pack cover and a tray;

[0119] The reference hole position coordinates are calculated for deviation to obtain the reference riveting position, wherein the reference riveting position is used to provide a riveting mark point for the manipulator;

[0120] Through the first relative position relationship between the mounting holes, a target coordinate set of all mounting holes is obtained according to the reference riveting position, wherein the target coordinate set is used to provide a target riveting point for the manipulator.

[0121] An electronic device 600 that can be used as a server or client of the present invention will now be described, which is an example of a hardware device that can be applied to various aspects of the present invention. The electronic device 600 is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device 600 can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0122] The electronic device 600 includes a computing unit, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) or a computer program loaded from a storage unit into a random access memory (RAM). In the RAM, various programs and data required for the operation of the device can also be stored. The computing unit, ROM, and RAM are connected to each other via a bus. An input / output (I / O) interface is also connected to the bus.

[0123] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc. In the present application, the unit described as a separate component may or may not be physically separated, and the component displayed as a unit may or may not be a physical unit, that is, it may be located in one place, or it may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment of the present invention. In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0124] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A method for positioning the installation point of a battery pack cover, characterized in that: include: Perform riveting addressing and positioning on the mounting holes of the target device to obtain normalized reference hole position coordinates, wherein the target device includes at least one of a battery pack cover and a tray; Calculating the deviation of the reference hole position coordinates to obtain a reference riveting position, wherein the reference riveting position is used to provide a riveting mark point for the manipulator; Through the first relative position relationship between the mounting holes, a target coordinate set of all the mounting holes is obtained according to the reference riveting position, wherein the target coordinate set is used to provide a target riveting point for the manipulator.

2. The method for positioning the installation point of the battery pack cover according to claim 1, characterized in that: The step of performing riveting addressing and positioning on the mounting holes of the target device to obtain normalized reference hole position coordinates includes: Get the target device image; Extracting the coordinates of the mounting holes in the target device image; The installation hole coordinates are normalized to obtain the reference hole position coordinates.

3. The method for positioning the installation point of the battery pack cover according to claim 2, characterized in that: The normalizing the mounting hole coordinates to obtain the reference hole coordinates comprises: Determine visual field reference points; Determine a first reference coordinate system according to the field of view reference point; Determine a pixel deviation between the field of view reference point and the mounting hole coordinates as a first deviation; Based on the first deviation, the mounting hole coordinates are superimposed on the first reference coordinate system to obtain the reference hole position coordinates.

4. The method for positioning the installation point of the battery pack cover according to claim 1, characterized in that: The performing deviation calculation on the reference hole position coordinates to obtain the reference riveting position comprises: Establishing a calibration relationship between a first reference coordinate system and a second reference coordinate system, wherein the second reference coordinate system is used to provide a coordinate reference for the manipulator; Based on the calibration relationship, the reference hole position coordinates are converted from the first reference coordinate system to the second reference coordinate system to obtain the reference riveting position.

5. The method for positioning the installation point of the battery pack cover according to claim 4, characterized in that: The converting the reference hole position coordinates from the first reference coordinate system to the second reference coordinate system based on the calibration relationship to obtain the reference riveting position comprises: Determine the manipulator reference point; Determining a second deviation between the reference hole coordinates and the manipulator reference point; Based on the second deviation and the calibration relationship, the reference hole position coordinates are superimposed on the second reference coordinate system to obtain the reference riveting position.

6. The method for positioning the installation point of the battery pack cover according to claim 1, characterized in that: The step of obtaining a target coordinate set of all the mounting holes according to the reference riveting position through the first relative position relationship between the mounting holes comprises: In the first reference coordinate system, determining a second relative position relationship between the reference hole position coordinates corresponding to the mounting holes according to the first relative position relationship; Based on the calibration relationship, the second relative position relationship is expressed in the second reference coordinate system as a relative riveting position relationship between the reference riveting positions; The target coordinate set is obtained according to the relative riveting position relationship and the reference riveting position.

7. The method for positioning the installation point of the battery pack cover according to claim 6, characterized in that: The obtaining of the target coordinate set according to the relative riveting position relationship and the reference riveting position comprises: In the second reference coordinate system, obtaining at least two reference riveting positions; Determine a connecting line segment between two reference riveting positions and a midpoint of the connecting line segment; The slope of the connecting line segment in the second reference coordinate system and the coordinates of the midpoint are used as calculation references, and the target coordinates of all mounting holes are determined according to the relative riveting position relationship to obtain the target coordinate set.

8. A battery pack upper cover installation point positioning device, characterized in that: include: An addressing and positioning module, used for performing riveting addressing and positioning on the mounting holes of a target device to obtain normalized reference hole position coordinates, wherein the target device includes at least one of a battery pack cover and a tray; A riveting position calculation module, used for calculating the deviation of the reference hole position coordinates to obtain a reference riveting position, wherein the reference riveting position is used to provide a riveting mark point for the manipulator; The mounting hole position calculation module is used to obtain a target coordinate set of all the mounting holes according to the reference riveting position through the first relative position relationship between the mounting holes, wherein the target coordinate set is used to provide a target riveting point for the manipulator.

9. An electronic device, characterized in that: including memory and processor; The memory is used to store computer programs; The processor is used to implement the battery pack cover installation point positioning method as described in any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by the processor, the method for locating the installation point of the battery pack cover as described in any one of claims 1 to 7 is implemented.

Images