US 12,427,670 B2
Coordinate system calibration method, automatic assembly method, and apparatus
Chao Ren, Shenzhen (CN); and Jiangchuang Yu, Shenzhen (CN)
Assigned to HONOR DEVICE CO., LTD., Shenzhen (CN)
Appl. No. 18/036,820
Filed by Honor Device Co., Ltd., Shenzhen (CN)
PCT Filed Sep. 7, 2022, PCT No. PCT/CN2022/117560
§ 371(c)(1), (2) Date May 12, 2023,
PCT Pub. No. WO2023/061110, PCT Pub. Date Apr. 20, 2023.
Claims priority of application No. 202111185903.8 (CN), filed on Oct. 12, 2021.
Prior Publication US 2024/0017416 A1, Jan. 18, 2024
Int. Cl. B25J 9/16 (2006.01); B25J 19/02 (2006.01)
CPC B25J 9/1692 (2013.01) [B25J 9/1687 (2013.01); B25J 9/1697 (2013.01); B25J 19/023 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method, applied to an automatic assembly device, wherein the method comprises:
clamping, by a clamping mechanism of the automatic assembly device, a target object, and placing the target object at a first calibration height in response to a first motion control instruction generated by one or more processors of the automatic assembly device;
obtaining, by one or more cameras of the automatic assembly device, an image corresponding to the target object at the first calibration height in response to a first photographing instruction generated by the one or more processors;
obtaining, by the one or more processors, the image corresponding to the target object at the first calibration height, and obtaining a first measured value corresponding to a measured parameter of a target object at the first calibration height;
obtaining, by the one or more processors, an image corresponding to the target object at a second calibration height, and obtaining a second measured value corresponding to the measured parameter of the target object at the second calibration height;
obtaining, by the one or more processors, an actual value corresponding to the measured parameter of the target object;
obtaining, by the one or more processors based on the first measured value and the second measured value that are corresponding to the measured parameter, the first calibration height, and the second calibration height, a target calibration height that matches the actual value of the measured parameter; and
obtaining, by the one or more processors, a mapping relationship between a visual coordinate system corresponding to the target calibration height and a mechanical motion coordinate system.