A method, apparatus, equipment and medium for locating mounting points of a battery pack cover.

Abstract

This invention provides a method, apparatus, device, and medium for locating mounting points on a battery pack cover, relating to the field of automated assembly technology. The method includes: performing riveting addressing and positioning on mounting holes of a target device to obtain normalized reference hole coordinates, wherein the target device includes at least one of a battery pack cover and a tray; calculating the deviation of the reference hole coordinates to obtain reference riveting positions, wherein the reference riveting positions are used to provide riveting mark points for a robotic arm; and obtaining a target coordinate set of all mounting holes based on the reference riveting positions through a first relative positional relationship between the mounting holes, wherein the target coordinate set is used to provide target riveting points for the robotic arm, for accurate identification and positioning of mounting points.

Description

Technical Field

[0001] This invention relates to the field of automatic assembly technology, and more specifically, to a method, apparatus, equipment, and medium for locating mounting points on a battery pack cover. Background Technology

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

[0003] In related technologies, riveting is used to connect the cover and the tray, which reduces costs and improves efficiency. However, in this technical solution, the rivets are installed manually and the assembly is completed by a rivet gun, which can easily lead to missing rivets or incomplete riveting.

[0004] If automatic riveting is performed by a robotic arm, the presence of sealant on the mounting surfaces of the cover and tray can lead to problems due to the cumulative tolerances of the parts. This can result in the riveting position being obscured by the sealant, making accurate riveting impossible. Even with visual sensor guidance, the sealant may prevent the visual sensor from recognizing the parts. Summary of the Invention

[0005] The problem solved by this invention is how to accurately identify and locate installation points.

[0006] To address the aforementioned problems, this invention provides a method, apparatus, device, and medium for locating the mounting point of a battery pack cover.

[0007] In a first aspect, the present invention provides a method for locating the mounting point of a battery pack cover, comprising:

[0008] The mounting holes of the target device are riveted and located to obtain normalized reference hole coordinates, wherein the target device includes at least one of a battery pack cover and a tray;

[0009] The deviation of the reference hole position coordinates is calculated to obtain the reference riveting position, wherein the reference riveting position is used to provide the riveting mark position for the robot arm;

[0010] Based on the first relative positional 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 target riveting points for the robot arm.

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

[0012] Acquire images of the target device;

[0013] Extract the coordinates of the mounting holes from the target device image;

[0014] The coordinates of the mounting holes are normalized to obtain the coordinates of the reference hole position.

[0015] Optionally, the normalization process for the mounting hole coordinates to obtain the reference hole position coordinates includes:

[0016] Determine the reference point for the field of view;

[0017] Determine the first reference coordinate system based on the aforementioned field of view reference point;

[0018] The pixel deviation between the field of view reference point and the coordinates of the mounting hole is determined as the first deviation;

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

[0020] Optionally, the step of calculating the deviation of the reference hole coordinates to obtain the reference riveting position includes:

[0021] Establish 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 robot arm;

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

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

[0024] Determine the reference point for the robotic arm;

[0025] Determine the second deviation between the reference hole coordinates and the robot arm reference point;

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

[0027] Optionally, obtaining the target coordinate set of all the mounting holes based on the reference riveting position through the first relative positional relationship between the mounting holes includes:

[0028] In the first reference coordinate system, a second relative positional relationship is determined between the reference hole position coordinates corresponding to the mounting hole based on the first relative positional relationship.

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

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

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

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

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

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

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

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

[0037] The riveting position calculation module is used to calculate the deviation of the reference hole position coordinates to obtain the reference riveting position, wherein the reference riveting position is used to provide the riveting mark position for the robot arm;

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

[0039] Thirdly, 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 configured to implement the battery pack cover mounting point positioning method as described in the first aspect when executing the computer program.

[0042] Fourthly, the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the battery pack cover mounting point positioning method as described in the first aspect.

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

[0044] Before riveting, the holes on the target equipment are located, and the coordinates of each hole are unified into a single coordinate system. This allows data from different devices to be compared and used, laying the foundation for subsequent positioning. Normalization eliminates the influence of positional differences on the vision sensor's hole position determination, enhancing data consistency. The deviation between the mounting hole and the robot arm is calculated based on the reference hole coordinates (i.e., coordinates obtained after normalizing the mounting hole coordinates). This deviation is then used to determine the marking points for riveting, thus converting the hole position from the vision sensor's reference hole coordinates to the robot arm's reference riveting position. Using the known reference hole positions and their relative position information, along with the riveting coordinates, the specific positions of all holes to be riveted (i.e., mounting holes) can be calculated, forming a complete coordinate set. This coordinate set guides the robot arm to complete the riveting task, providing accurate mounting points for identification and positioning. Attached Figure Description

[0045] Figure 1 This is a flowchart illustrating the battery pack cover mounting point positioning method according to an embodiment of the present invention.

[0046] Figure 2 This is a detailed flowchart of step S100 of the battery pack cover mounting point positioning method according to an embodiment of the present invention.

[0047] Figure 3 This is a detailed flowchart of step S130 of the battery pack cover mounting point positioning method according to an embodiment of the present invention.

[0048] Figure 4 This is a detailed flowchart of step S200 of the battery pack cover mounting point positioning method according to an embodiment of the present invention.

[0049] Figure 5 This is a detailed flowchart of step S220 of the battery pack cover mounting point positioning method according to an embodiment of the present invention.

[0050] Figure 6 This is an example diagram of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0051] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Although some embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the accompanying drawings and embodiments of the present invention are for illustrative purposes only 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. Furthermore, 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 "comprising" and its variations as used herein are open-ended, meaning "including but not limited to"; the term "based on" means "at least partially based on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; and the term "optionally" means "optional embodiments". Definitions of other terms will be given in the following description. It should be noted that the concepts of "first," "second," etc., mentioned in this invention are used only to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0054] It should be noted that the terms "a" and "a plurality of" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

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

[0056] To address the problems existing in the aforementioned related technologies, this embodiment provides a method, device, equipment, and medium for locating the mounting point of a battery pack cover.

[0057] like Figure 1 As shown in the figure, an embodiment of the present invention provides a method for locating the mounting point of a battery pack cover, comprising:

[0058] Step S100: The mounting holes of the target device are riveted and located to obtain the normalized reference hole coordinates. 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 tray or a cover. Before applying sealant to the tray, a vision sensor photographs the cover riveting holes and vehicle body mounting points on the tray. The mounting holes and points are then processed to obtain unified coordinates. A reliable positional relationship model is established based on the vision sensor, eliminating the influence of changes in camera position or the target device's position. This allows the target device to be associated with a robotic arm from any position, providing the robotic arm with accurate mounting hole position coordinates. The reference hole coordinates represent the coordinates of the mounting holes on the target device within the coordinate system constructed by the vision sensor, used for unified coordinate calculations to eliminate deviations caused by changes in the position of the vision sensor or the target device.

[0060] Step S200: Calculate the deviation of the reference hole position coordinates to obtain the reference riveting position, wherein the reference riveting position is used to provide the riveting mark position for the robot arm.

[0061] In one embodiment, the robotic arm used for riveting rivets and the vision sensor used for image acquisition may be mounted on two separate device carriers. When the robotic arm and the vision sensor are located on different device carriers, a problem of inconsistent reference frames arises. In actual use, their relative positions may change as the robotic arm moves. The robotic arm needs to move continuously and rivet different holes, resulting in the vision sensor and the robotic arm having different reference frames. To ensure that the robotic arm can accurately perform riveting operations based on the information provided by the vision sensor, the obtained reference hole coordinates are deviated to obtain a reference riveting position based on the robotic arm's reference frame.

[0062] Step S300: Based on the first relative positional relationship between the mounting holes, obtain the target coordinate set of all mounting holes according to the reference riveting position, wherein the target coordinate set is used to provide target riveting points for the robot arm.

[0063] By calculating the relative positions between mounting holes and adjusting the reference riveting positions based on this information, the position of each mounting hole can be precisely defined. This allows the robot arm to accurately place rivets or other fasteners in the correct positions. Once a reliable set of target coordinates is established, the robot arm can automatically perform riveting tasks according to the target riveting points without human intervention, thus improving the level of automation.

[0064] Before riveting, the target equipment is located for riveting, and the coordinates of these holes are transformed into a unified coordinate system. This allows data from different devices to be compared and used, providing a foundation for subsequent calculations. Normalization eliminates the influence of positional differences and improves the data consistency when the vision sensor determines the hole position. Based on the reference hole coordinates (i.e., the coordinates obtained after normalizing the mounting hole coordinates), the deviation between the mounting hole and the robot arm is calculated. Based on the deviation, riveting mark points are obtained to guide the robot arm, transforming the hole position from the reference hole coordinates based on the vision sensor to the reference riveting position based on the robot arm. Using the known reference hole positions and their relative positions, combined with the reference riveting position, the specific coordinates of all mounting holes to be riveted (i.e., mounting holes) are calculated, forming a complete coordinate set. This set guides the robot arm to complete the riveting task, providing accurate mounting points for identification and positioning.

[0065] Optionally, such as Figure 2 As shown, the mounting holes of the target device are located by riveting and addressing to obtain the normalized reference hole coordinates, including:

[0066] Step S110: Obtain the image of the target device.

[0067] Step S120: Extract the coordinates of the mounting holes in the target device image.

[0068] Step S130: Normalize the coordinates of the mounting holes to obtain the coordinates of the reference holes.

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

[0070] The extracted mounting hole coordinates are transformed into a unified standard coordinate system. This step may include scaling, rotation correction, and position adjustment, enabling comparison and operation of products from different devices or batches within the same reference frame. Normalization eliminates the impact of manufacturing variations and assembly errors, enhancing consistency and comparability between different products. The application of a unified standard coordinate system simplifies subsequent calculations, improves data processing efficiency, and facilitates the robot's execution of tasks based on standardized coordinate information.

[0071] Optionally, after acquiring the target device image, the coordinates of the marker points in the target device image can be extracted as additional Mark point coordinates. After normalization, the coordinates of the reference hole position can be obtained.

[0072] Optionally, such as Figure 3As shown, the coordinates of the mounting holes are normalized to obtain the coordinates of the reference hole positions, including:

[0073] Step S131: Determine the reference point for the field of view.

[0074] Step S132: Determine the first reference coordinate system based on the field reference point.

[0075] Step S133: Determine the pixel deviation between the field reference point and the mounting hole coordinates, as the first deviation.

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

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

[0078] First, 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. 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 then 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, the pixel deviation between the field-of-view reference point and the mounting hole coordinates in the pixel coordinate system can be calculated first. The mounting hole coordinates can then be mapped to the first reference coordinate system. The calculated pixel deviation can be used to correct the mapped mounting hole coordinates, resulting in normalized coordinates, i.e., the reference hole position coordinates. For example, using the field-of-view center (x, y) of the vision sensor as the reference, and the position of the mounting hole as (x1, y1), the deviation between the two can be calculated:

[0080] Δx = x1 - x, Δy = y1 - y,

[0081] The normalized coordinates are then expressed as:

[0082] Xn=x+Δx, Yn=y+Δy

[0083] Where 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] Optionally, such as Figure 4 As shown, the deviation of the reference hole position coordinates is calculated to obtain the reference riveting position, including:

[0085] Step S210: Establish the calibration relationship between the first reference coordinate system and the second reference coordinate system, wherein the second reference coordinate system is used to provide coordinate references to the robot arm.

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

[0087] To ensure that the robotic arm can accurately perform riveting operations based on the information provided by the vision sensor, a transformation relationship between two different coordinate systems needs to be established. The first reference coordinate system is defined based on the field-of-view reference point in the image, or based on the field-of-view reference point and the calibration relationship between the vision sensor and the ground, such as the camera coordinate system, while the second reference coordinate system is used to guide the robotic arm's movements.

[0088] Calibration allows data from vision sensors (such as mounting hole positions) to be correlated with the robot's operating commands, enabling both to operate within the same reference frame. Establishing a calibration relationship resolves potential coordinate discrepancies between different devices, enhancing the overall system's compatibility and flexibility. With a reliable calibration relationship established, subsequent data processing and command transmission become more direct and efficient, reducing potential errors in intermediate steps.

[0089] Using established calibration relationships, the coordinates of the reference hole positions represented in the first reference coordinate system are mathematically transformed to the second reference coordinate system, thus obtaining the reference riveting positions required by the robot arm to perform its tasks. Through coordinate transformation, each reference hole position has a clear positional representation in the robot arm's coordinate system, providing accurate target points for subsequent riveting operations. Actual deviations are taken into account during the transformation process, resulting in riveting positions that more closely approximate actual conditions and improve assembly quality. If dynamic changes occur or the calibration relationships need to be updated, the accuracy of the transformation can be maintained through recalculation, adapting to different production requirements.

[0090] Optionally, such as Figure 5 As shown, based on the calibration relationship, the coordinates of the reference hole position are transformed from the first reference coordinate system to the second reference coordinate system to obtain the reference riveting position, including:

[0091] Step S221: Determine the reference point of the robot arm.

[0092] Step S222: Determine the second deviation between the reference hole position coordinates and the robot arm reference point.

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

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

[0095] First, determine the second deviation between the reference hole position coordinates and the robot arm reference point in the first reference coordinate system. Then, use the calibration relationship between the first reference coordinate system and the second reference coordinate system to map the second deviation to the second reference coordinate system. Finally, superimpose the deviation mapped to the second reference coordinate system onto the coordinates of the robot arm reference point in the second reference coordinate system (e.g., the robot arm coordinate system) to obtain the reference riveting position.

[0096] Alternatively, the coordinates of the reference hole position can be transformed from the first reference coordinate system to the second reference coordinate system through the calibration relationship between the first and second reference coordinate systems. In the second reference coordinate system, the robot arm deviation between the reference hole position coordinates corresponding to the mounting hole of the target equipment and the robot arm's reference point is calculated as the second deviation. This yields the reference riveting position used to guide the riveting operation. This reduces errors caused by inconsistencies in coordinate systems and improves the quality and consistency of the riveting operation.

[0097] Optionally, the target coordinate set of all mounting holes is obtained based on the reference riveting position through the first relative positional relationship between the mounting holes, including:

[0098] In the first reference coordinate system, the second relative positional relationship between the reference hole position coordinates corresponding to the mounting hole is determined based on the first relative positional relationship;

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

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

[0101] Because the entire tray is rigid, the positions of the mounting holes will not shift relative to each other. However, the positions of the mounting holes may change at the image pixel level due to factors such as angle and distance. Using the first relative positional relationship between the mounting holes in the image as a reference, the specific coordinates and second relative positional relationship of all mounting holes are determined in a first reference coordinate system to ensure that the position of each mounting hole can be accurately determined, eliminating errors caused by image distortion acquired by the vision sensor. Based on the calibration relationship, the second relative positional relationship is transformed into a relative riveting positional relationship in a second reference coordinate system, improving the accuracy of the target coordinate set.

[0102] Optionally, obtaining the target coordinate set based on the relative riveting position relationship and the reference riveting position includes:

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

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

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

[0106] In one embodiment, the coordinates of all mounting holes or Mark points are obtained through pre-riveting addressing. Based on the calculated reference riveting positions, the coordinates of the riveting positions of all mounting holes are calculated through rotation transformation. Due to the rigidity of the entire tray, the positions of the mounting holes will not shift relative to each other. Using the coordinates of the center point of the line connecting the two reference riveting positions and the angle of the line as a reference, the coordinates of all mounting holes in the second reference coordinate system are calculated through rotation transformation.

[0107] This invention provides a battery pack cover mounting point positioning device, comprising:

[0108] The addressing and positioning module is used to perform riveting addressing and positioning of the mounting holes of the target device to obtain the normalized reference hole coordinates, wherein the target device includes at least one of the battery pack cover and the tray.

[0109] The riveting position calculation module is used to calculate the deviation of the reference hole position coordinates to obtain the reference riveting position. The reference riveting position is used to provide the riveting mark position for the robot arm.

[0110] The mounting hole position calculation module is used to obtain the target coordinate set of all mounting holes based on the reference riveting position through the first relative position relationship between the mounting holes. The target coordinate set is used to provide the target riveting point for the robot.

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

[0112] Alternatively, 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; the processor 620 is configured to perform the following operations when the computer program is executed:

[0113] The mounting holes of the target device are riveted and located to obtain normalized reference hole coordinates, wherein the target device includes at least one of a battery pack cover and a tray.

[0114] The deviation of the reference hole position coordinates is calculated to obtain the reference riveting position, which is used to provide the riveting mark position for the robot arm;

[0115] Based on the first relative positional relationship between the mounting holes, the target coordinate set of all mounting holes is obtained according to the reference riveting position. The target coordinate set is used to provide the target riveting point for the robot arm.

[0116] This invention provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the above-described method for locating the mounting point of the battery pack cover.

[0117] Alternatively, a non-volatile computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to perform the following operations:

[0118] The mounting holes of the target device are riveted and located to obtain normalized reference hole coordinates, wherein the target device includes at least one of a battery pack cover and a tray.

[0119] The deviation of the reference hole position coordinates is calculated to obtain the reference riveting position, which is used to provide the riveting mark position for the robot arm;

[0120] Based on the first relative positional relationship between the mounting holes, the target coordinate set of all mounting holes is obtained according to the reference riveting position. The target coordinate set is used to provide the target riveting point for the robot arm.

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

[0122] Electronic device 600 includes a computing unit that can perform various appropriate actions and processes based on a computer program stored in read-only memory (ROM) or a computer program loaded from a storage unit into random access memory (RAM). The RAM may also store various programs and data required for device operation. The computing unit, ROM, and RAM are interconnected via a bus. Input / output (I / O) interfaces are also connected to the bus.

[0123] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc. In this application, the units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments of the present invention according to actual needs. Furthermore, the functional units in the various embodiments of the present invention 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 units described above can be implemented in hardware or as software functional units.

[0124] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A method for locating mounting points on a battery pack cover, characterized in that, include: The mounting holes of the target device are riveted and located to obtain normalized reference hole coordinates, wherein the target device includes at least one of a battery pack cover and a tray; The deviation of the reference hole position coordinates is calculated to obtain the reference riveting position, wherein the reference riveting position is used to provide the riveting mark position for the robot arm; Based on the first relative positional 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 target riveting points for the robot arm; The step of obtaining the target coordinate set of all the mounting holes based on the reference riveting position through the first relative positional relationship between the mounting holes includes: In the first reference coordinate system, a second relative positional relationship is determined between the reference hole position coordinates corresponding to the mounting hole based on the first relative positional relationship. Based on the calibration relationship, the second relative position relationship is expressed in the second reference coordinate system as the relative riveting position relationship between the reference riveting positions; Obtaining the target coordinate set based on the relative riveting position relationship and the reference riveting position includes: acquiring at least two reference riveting positions in the second reference coordinate system; determining the line segment connecting the two reference riveting positions and the midpoint of the line segment; using the slope of the line segment in the second reference coordinate system and the coordinates of the midpoint as calculation references, determining the target coordinates of all mounting holes based on the relative riveting position relationship, and obtaining the target coordinate set.

2. The method for locating the mounting point of the battery pack cover according to claim 1, characterized in that, The step of riveting and addressing the mounting holes of the target device to obtain the normalized reference hole coordinates includes: Acquire images of the target device; Extract the coordinates of the mounting holes from the target device image; The coordinates of the mounting holes are normalized to obtain the coordinates of the reference hole position.

3. The method for locating the mounting point of the battery pack cover according to claim 2, characterized in that, The normalization process for the mounting hole coordinates to obtain the reference hole position coordinates includes: Determine the reference point for the field of view; Determine the first reference coordinate system based on the aforementioned field of view reference point; The pixel deviation between the field of view reference point and the coordinates of the mounting hole is determined as the first deviation; Based on the first deviation, the coordinates of the mounting hole are superimposed onto the first reference coordinate system to obtain the coordinates of the reference hole position.

4. The method for locating the mounting point of the battery pack cover according to claim 1, characterized in that, The step of calculating the deviation of the reference hole coordinates to obtain the reference riveting position includes: Establish 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 robot arm; Based on the calibration relationship, the coordinates of the reference hole position are transformed from the first reference coordinate system to the second reference coordinate system to obtain the reference riveting position.

5. The battery pack cover mounting point positioning method according to claim 4, characterized in that, The step of transforming the reference hole coordinates from the first reference coordinate system to the second reference coordinate system based on the calibration relationship to obtain the reference riveting position includes: Determine the reference point for the robotic arm; Determine the second deviation between the reference hole coordinates and the robot arm reference point; Based on the second deviation and the calibration relationship, the coordinates of the reference hole position are superimposed on the second reference coordinate system to obtain the reference riveting position.

6. A battery pack cover mounting point positioning device, characterized in that, include: An addressing and positioning module is used to perform riveting addressing and positioning of the mounting holes of a target device to obtain normalized reference hole coordinates, wherein the target device includes at least one of a battery pack cover and a tray. The riveting position calculation module is used to calculate the deviation of the reference hole position coordinates to obtain the reference riveting position, wherein the reference riveting position is used to provide the riveting mark position for the robot arm; The mounting hole position calculation module is used to obtain the target coordinate set of all mounting holes based on the reference riveting position through the first relative position relationship between the mounting holes, wherein the target coordinate set is used to provide the target riveting point for the robot arm; The step of obtaining the target coordinate set of all the mounting holes based on the reference riveting position through the first relative positional relationship between the mounting holes includes: In the first reference coordinate system, a second relative positional relationship is determined between the reference hole position coordinates corresponding to the mounting hole based on the first relative positional relationship. Based on the calibration relationship, the second relative position relationship is expressed in the second reference coordinate system as the relative riveting position relationship between the reference riveting positions; Obtaining the target coordinate set based on the relative riveting position relationship and the reference riveting position includes: acquiring at least two reference riveting positions in the second reference coordinate system; determining the line segment connecting the two reference riveting positions and the midpoint of the line segment; using the slope of the line segment in the second reference coordinate system and the coordinates of the midpoint as calculation references, determining the target coordinates of all mounting holes based on the relative riveting position relationship, and obtaining the target coordinate set.

7. An electronic device, characterized in that, Including memory and processor; The memory is used to store computer programs; The processor is configured to implement the battery pack cover mounting point positioning method as described in any one of claims 1 to 5 when executing the computer program.

8. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the battery pack cover mounting point positioning method as described in any one of claims 1 to 5.

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