A rotation center precise positioning method, rotation center positioning device and deviation correction system

Abstract

The present invention relates to a method for precisely positioning a rotation center, a rotation center positioning device, and a correction system. The method for precisely positioning a rotation center according to the present invention comprises: obtaining a rotation center by performing rough positioning using a fitting algorithm, then establishing a mechanical coordinate system with the rotation center as the coordinate origin, and then solving a correction amount for the rotation center according to the offset of the rotation center in the mechanical coordinate system during the rotation process and the relative positional relationship between the offset and the rotation angle, and obtaining the coordinates of the rotation center after precise positioning according to the correction amount. The method for precisely positioning a rotation center according to the present invention has the advantage of solving the problem that the pixel coordinates collected for calculating the rotation center are concentratedly distributed due to mechanical structural limitations of the correction platform, resulting in inaccurate fitting of the rotation center.

Description

Technical Field

[0001] The present invention relates to the field of rotation center calibration of a deviation correction platform, in particular to a rotation center precision positioning method, a rotation center positioning device and a deviation correction system. Background Art

[0002] During the lamination process, the alternating stacking of the electrodes of the battery cell requires a deviation correction device to adjust the position of the electrode placement by translation or rotation, so that the stacking of the electrode does not deviate.

[0003] The existing correction system includes: multiple cameras, a manipulator, a correction platform, a moving mechanism, a rotating mechanism and a control unit; the multiple cameras obtain image information on the correction platform, the manipulator is used to place the pole piece to the specified position of the correction platform, the moving mechanism is used to adjust the translation direction of the correction platform, the rotating axis is used to adjust the rotation angle of the correction platform, and the control unit controls the corresponding device to perform corresponding actions based on the received information.

[0004] The existing rotation center positioning method uses multiple cameras to capture multiple coordinate information of a calibration point on the correction platform at different rotation angles, and transmits this coordinate information to the control unit. The control unit converts it into coordinates in the world coordinate system through the coordinate transformation matrix corresponding to the camera. Based on the multi-point coordinate information after rotation, the coordinates of the rotation center are calibrated through a fitting algorithm.

[0005] However, this type of rotation center positioning method is limited by the mechanical structure of the existing correction device; the fitting algorithm requires data from multiple feature points within each rotation range to fit the rotation center, and the rotation angular travel range of the correction device is usually limited to within ±10°. This results in the collected feature points being concentrated, making it difficult for the fitting algorithm to accurately capture the rotation center. Summary of the Invention

[0006] Based on this, the purpose of the present invention is to provide a method and system for precise positioning of a rotation center, which first obtains the rotation center by rough positioning through a fitting algorithm, then establishes a mechanical coordinate system with the rotation center as the coordinate origin, and then solves the correction amount of the rotation center according to the offset of the rotation center in the mechanical coordinate system during the rotation process and the relative position relationship between the offset and the rotation angle, and obtains the coordinates of the rotation center after precise positioning according to the correction amount. The present invention significantly improves the correction accuracy by introducing a secondary calibration algorithm.

[0007] The present invention is achieved through the following technical solutions:

[0008] In one aspect, the present invention provides a method for precise positioning of a rotation center, comprising:

[0009] S10: Acquire multiple pixel coordinates of the calibration point of the correction platform when it rotates at different angles around the rotation axis of the correction platform, and fit the coordinates of the rotation center according to the multiple pixel coordinates, where the pixel coordinates are coordinates in the camera coordinate system;

[0010] S20: transforming the coordinates of the rotation center into the coordinates of the rotation center in the world coordinate system according to a first coordinate transformation matrix corresponding to the camera coordinate system and the world coordinate system;

[0011] S30: Establishing a mechanical coordinate system with the rotation center as the origin, and calculating a second coordinate transformation matrix between the mechanical coordinate system and the world coordinate system;

[0012] S40: After the correction platform rotates around the rotation axis by a rotation angle, the coordinates of the rotation center in the world coordinate system are converted into actual coordinates in the mechanical coordinate system according to the second coordinate transformation matrix;

[0013] S50: Correcting the rotation center according to the horizontal coordinate value, the vertical coordinate value and the rotation angle of the actual coordinate in the mechanical coordinate system to obtain corrected rotation center coordinates.

[0014] Furthermore, the step S50 includes:

[0015] S501: Calculate the horizontal coordinate correction value and the vertical coordinate correction value of the rotation center according to the horizontal coordinate value, the vertical coordinate value and the rotation angle of the actual coordinate in the mechanical coordinate system, and calculate using the following formula:

[0016]

[0017] in, is the horizontal coordinate correction, is the longitudinal coordinate correction, is the rotation angle, is the horizontal coordinate, is the vertical coordinate;

[0018] S502: Correcting the rotation center coordinates in the mechanical coordinate system according to the transverse coordinate correction amount and the longitudinal coordinate correction amount to obtain corrected rotation center coordinates.

[0019] Furthermore, step S10 includes:

[0020] S101A: Acquire a plurality of first pixel coordinates of a first calibration point on the correction platform at different rotation angles around a rotation axis of the correction platform at a first shooting angle;

[0021] S102A: Fitting the plurality of first pixel coordinates of the calibration points to obtain the rotation center coordinates in the first camera coordinate system;

[0022] S101B: Acquire multiple second pixel coordinates of a second calibration point of the correction platform at different rotation angles around the rotation axis of the correction platform at a second shooting angle;

[0023] S102B: performing fitting according to the plurality of second pixel coordinates of the calibration points to obtain second rotation center coordinates in a second camera coordinate system;

[0024] S103: After coordinate transformation, the coordinates of the rotation center and the second rotation center are summed and averaged to obtain the coordinates of the rotation center.

[0025] Furthermore, the first calibration point and the second calibration point are respectively located at two ends of any diagonal line of the deflection correction platform.

[0026] Furthermore, the first coordinate transformation matrix in step S20 is obtained by the following steps before performing the precise positioning of the rotation center:

[0027] Calculate the camera-to-desk correction stage coordinate transformation matrix for each camera and the deskew stage plane;

[0028] Calculate the world-correction platform coordinate transformation matrix between the world coordinate system and the correction platform plane;

[0029] Nine pixel coordinates of at least two different cameras are collected according to a nine-point calibration method, and a first coordinate transformation matrix is ​​obtained by combining a camera-correction platform coordinate transformation matrix and a world-correction platform coordinate transformation matrix.

[0030] On the other hand, the present invention also provides a rotation center positioning device, comprising:

[0031] The rotation center coarse positioning unit is used to obtain multiple pixel coordinates of the calibration point of the correction platform when it rotates at different angles around the rotation axis of the correction platform, and fit the coordinates of the rotation center according to the multiple pixel coordinates, where the pixel coordinates are the coordinates in the camera coordinate system;

[0032] A first coordinate transformation unit is used to transform the coordinates of the rotation center into the coordinates of the rotation center in the world coordinate system according to a first coordinate transformation matrix corresponding to the camera coordinate system and the world coordinate system;

[0033] Second coordinate transformation matrix calculation unit: used to establish a mechanical coordinate system with the rotation center as the origin, and calculate the second coordinate transformation matrix between the mechanical coordinate system and the world coordinate system;

[0034] Rotation offset coordinate calculation unit: used to convert the coordinates of the rotation center in the camera coordinate system into actual coordinates in the mechanical coordinate system according to the first coordinate transformation matrix and the second coordinate transformation matrix after the correction platform rotates a certain angle around the rotation axis;

[0035] The rotation center correction unit is used to correct the coordinates of the rotation center in the world coordinate system according to the horizontal coordinate quantity, the vertical coordinate quantity and the rotation angle of the actual coordinates in the mechanical coordinate system to obtain the corrected rotation center coordinates.

[0036] Furthermore, the rotation center coarse positioning unit includes:

[0037] Pixel coordinate acquisition subunit: used to obtain multiple pixel coordinates of the calibration point of the correction platform at different angles rotated around the rotation axis of the correction platform at a shooting angle;

[0038] The rotation center coordinate fitting subunit is used to fit the multiple pixel coordinates of the calibration points to obtain the rotation center coordinates in the corresponding camera coordinate system;

[0039] Rotation center coordinate error averaging subunit: used to transform the rotation center coordinates in the corresponding camera coordinate system, and then sum and average them to obtain the coordinates of the rotation center.

[0040] On the other hand, the present invention also provides a correction system, which includes:

[0041] At least two cameras, a manipulator, a deflection correction platform, a moving mechanism, a rotating mechanism, a control unit, and a rotation center positioning device as described in any one of the above;

[0042] The control unit is used to accept input instructions to control the manipulator, the moving mechanism and the rotating mechanism to complete the lamination action on the deflection correction table after the rotation center positioning device completes the precise positioning of the rotation center of the deflection correction table.

[0043] In another aspect, the present invention further provides a computer device, comprising:

[0044] at least one memory and at least one processor;

[0045] The memory is used to store one or more programs;

[0046] When the one or more programs are executed by the at least one processor, the at least one processor implements the steps of any one of the above-mentioned methods for precise positioning of a rotation center.

[0047] On the other hand, the present invention also provides a computer-readable storage medium, which stores a computer program, characterized in that when the computer program is executed by a processor, it implements the steps of a rotation center precision positioning method described in any one of the above items.

[0048] The present invention uses cameras at multiple different positions to collect pixel coordinates of calibration points in different directions during the rotation of the correction platform, fits the rotation center according to the pixel coordinates of different cameras, averages the errors of the rotation center by summing and averaging, completes the coarse positioning of the rotation center, then introduces a secondary calibration algorithm to re-establish the coordinate system of the roughly positioned rotation center, and finely positions the roughly positioned rotation center according to the coordinate offset of the roughly positioned rotation center during the rotation of the correction platform, thereby solving the problem of inaccurate fitting of the rotation center caused by the concentrated distribution of pixel coordinates collected for calculating the rotation center due to mechanical structure limitations of the correction platform.

[0049] For better understanding and implementation, the present invention is described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 A structural block diagram of a rotation center positioning device provided by the present invention;

[0051] Figure 2 To execute Figure 1 Flowchart of a method for locating a rotation center of a rotation center locating device shown;

[0052] Figure 3 Schematic diagram of the error range of the conventional rotation center fitting algorithm under small rotation angles;

[0053] Figure 4 This is a structural block diagram of the rotation center coarse positioning unit of the present invention;

[0054] Figure 5 for Figure 4 The execution flow chart of the rotation center coarse positioning unit shown;

[0055] Figure 6 This is the correction error data diagram of the correction system after the rotation center is positioned. DETAILED DESCRIPTION

[0056] Most of the existing rotation center positioning methods collect the coordinate information of the calibration points on the correction table during the rotation process by rotation, flipping, etc., and then use the fitting algorithm to fit the coordinate information of the calibration points to the rotation center to finally obtain a rotation center. However, the more comprehensive the collection angle and the more data collected by this method, the more accurate the rotation center fitting is. In some specific scenarios, such as the correction system, the rotation angle of the correction table is controlled within ±10°. At this time, although the feature points with small angles can also complete the fitting of the rotation center, the error between the fitted rotation center coordinates and the actual rotation center coordinates is large, which is difficult to meet industrial needs.

[0057] Based on the above problems, the present invention collects the pixel coordinates of calibration points in different directions during the rotation of the correction platform through cameras at multiple different positions, fits the rotation center according to the pixel coordinates of different cameras, averages the errors of the rotation center by summing and averaging, and completes the coarse positioning of the rotation center. Subsequently, a secondary calibration algorithm is introduced to re-establish the coordinate system of the roughly positioned rotation center, and finely position the roughly positioned rotation center according to the coordinate offset of the roughly positioned rotation center during the rotation of the correction platform. This solves the problem that the pixel coordinates collected for calculating the rotation center are concentratedly distributed due to the mechanical structure limitation of the correction platform, resulting in inaccurate fitting of the rotation center.

[0058] Specifically, the present invention proposes a rotation center positioning device, see Figure 1 , which includes: a rotation center coarse positioning unit 10, a first coordinate transformation unit 20, a second coordinate transformation matrix calculation unit 30, a rotation offset coordinate calculation unit 40 and a rotation center correction unit 50. And a correction system for a rotation center positioning device, the correction system includes: at least two cameras, a manipulator, a correction platform, a moving mechanism, a rotating mechanism, a control unit and a rotation center positioning device; the control unit is used to accept input instructions to control the manipulator, the moving mechanism and the rotating mechanism to complete the stacking action on the correction platform after the rotation center positioning device completes the rotation center fine positioning of the correction platform. The rotation center fine positioning working process of each component of the rotation center positioning device is as follows Figure 2 As shown, it specifically includes:

[0059] The rotation center coarse positioning unit 10 is used to execute step S10: obtaining multiple pixel coordinates of the calibration point of the correction platform when it rotates around the rotation axis of the correction platform at different angles, and fitting the coordinates of the rotation center according to the multiple pixel coordinates, wherein the pixel coordinates are coordinates in the camera coordinate system.

[0060] In the industrial production process, a fixed camera is used to obtain the field of view information of the correction table plane. A calibration point is determined on the correction table, and multiple pixel coordinates during the rotation process are recorded. By fitting through a fitting algorithm, an approximate rotation center coordinate can be obtained. There may be accuracy problems in small angle data collection, such as Figure 3As shown, by fitting through three-point pixel coordinates, there is already a large calculated deviation in the rotation center. In order to reduce this error, the present invention proposes to use at least two cameras at different positions to collect multiple pixel coordinates of the calibration point of the correction platform when it rotates at different angles around the rotation axis of the correction platform, calculate the rotation center coordinates of different camera fittings, and then average the errors by summing and averaging to achieve the purpose of reducing the rotation center coordinate error. The more cameras, angles, and pixel coordinates collected, the smaller the error after summing and averaging. This embodiment takes two cameras as an example. Under this condition, the rotation center coarse positioning unit 10 includes: a pixel coordinate acquisition subunit 101, a rotation center coordinate fitting subunit 102 and a rotation center coordinate error averaging subunit 103. Please refer to Figure 4 and Figure 5 .

[0061] The pixel coordinate acquisition subunit 101 is used to execute steps S101A and S101B, the rotation center coordinate fitting subunit is used to execute steps S102A and S102B, and the rotation center coordinate error averaging subunit 103 is used to execute step S103.

[0062] S101A: Acquire a plurality of first pixel coordinates of a first calibration point on the correction platform at different rotation angles around a rotation axis of the correction platform at a first shooting angle;

[0063] S102A: Fitting the plurality of first pixel coordinates of the calibration points to obtain the rotation center coordinates in the first camera coordinate system;

[0064] S101B: Acquire multiple second pixel coordinates of a second calibration point of the correction platform at different rotation angles around the rotation axis of the correction platform at a second shooting angle;

[0065] S102B: performing fitting according to the plurality of second pixel coordinates of the calibration points to obtain second rotation center coordinates in a second camera coordinate system;

[0066] S103: After coordinate transformation, the coordinates of the rotation center and the second rotation center are summed and averaged to obtain the coordinates of the rotation center. Through the above steps, the rough positioning of the rotation center is achieved.

[0067] The first coordinate transformation unit 20 is configured to execute step S20: transforming the coordinates of the rotation center into the coordinates of the rotation center in the world coordinate system according to a first coordinate transformation matrix corresponding to the camera coordinate system and the world coordinate system.

[0068] The world coordinate system is the initial coordinate system set up by the correction system. It usually uses the base of the manipulator as the coordinate origin, allowing the manipulator to directly reach the specified position to achieve the placement and adjustment of the pole piece. The image captured by the camera is taken with the camera as the origin. The pixel coordinates obtained are the coordinate information in the camera coordinate system with the corresponding camera as the coordinate origin. Usually, the position of the camera and the manipulator are relatively fixed, so the coordinate transformation matrix between the camera coordinate system and the world coordinate system can be known in advance. The coordinates of the rotation center are transformed to the world coordinate system through the first coordinate transformation matrix.

[0069] The second coordinate transformation matrix calculation unit 30 is used to execute step S30 : establishing a mechanical coordinate system with the rotation center as the origin, and calculating a second coordinate transformation matrix between the mechanical coordinate system and the world coordinate system.

[0070] The rotation offset coordinate calculation unit 40 is used to execute step S40: after the correction platform rotates around the rotation axis by a rotation angle, the coordinates of the rotation center in the world coordinate system are converted into actual coordinates in the mechanical coordinate system according to the second coordinate transformation matrix.

[0071] For example, in the mechanical coordinate system, the mechanical position is rotated 2° from the origin to (x, y, r) = (0, 0, 2), but the actual image feedback position is (x, y, r) = (0.3, 0.5, 2), which is a significant deviation. To meet the requirements of high-precision correction, a secondary calibration algorithm is used to correct the rotation center.

[0072] The rotation center correction unit 50 is configured to execute step S50 : correcting the rotation center according to the horizontal coordinate value, the vertical coordinate value and the rotation angle of the actual coordinate in the mechanical coordinate system to obtain the corrected rotation center coordinates.

[0073] Specifically, step S50 includes:

[0074] S501: Calculate the horizontal coordinate correction value and the vertical coordinate correction value of the rotation center according to the horizontal coordinate value, the vertical coordinate value and the rotation angle of the actual coordinate in the mechanical coordinate system, and calculate using the following formula:

[0075]

[0076] in, is the horizontal coordinate correction, is the longitudinal coordinate correction, is the rotation angle, is the horizontal coordinate, is the vertical coordinate.

[0077] The offset value and Substitute into the equations and solve for the correction and .

[0078] S502: Correcting the rotation center coordinates in the mechanical coordinate system according to the transverse coordinate correction amount and the longitudinal coordinate correction amount to obtain corrected rotation center coordinates.

[0079] The coordinates of the rotation center after rough positioning in the world coordinate system are (x, y), and the coordinates of the rotation center after correction in the world coordinate system are: (x+ ,y+ ).

[0080] After the above processing, the stacking correction task is performed with the corrected rotation center, and the correction accuracy of the correction table can reach ±2 wires. The experimental data are as follows Figure 6 As shown in the figure, it can be seen that the accuracy of the correction system after the rotation center is corrected can meet the production requirements, solving the problem of inaccurate rotation center fitting caused by the concentrated distribution of pixel coordinates collected for calculating the rotation center due to the mechanical structure limitation of the correction platform.

[0081] In another preferred embodiment, before executing the rotation center precise positioning task, the first coordinate transformation matrix is ​​also solved, which is obtained by the following steps:

[0082] Calculate the camera-to-desk correction stage coordinate transformation matrix for each camera and the deskew stage plane.

[0083] Place a checkerboard calibration plate within the camera's field of view to ensure that the checkerboard grid covers all camera fields of view. Use a caliper to calibrate on the checkerboard calibration plate to obtain information on four points on a grid. Obtain four sets of pixel coordinates and use affine transformation to solve the camera-to-desk correction stage coordinate transformation matrix for each camera and the correction stage plane.

[0084] Calculate the world-to-deskew correction stage coordinate transformation matrix between the world coordinate system and the deflection correction stage plane.

[0085] The position information of the four points on the plane of the correction platform in the world coordinate system is determined by the manipulator, and the world-correction platform coordinate transformation matrix between the world coordinate system and the plane of the correction platform is solved by radial transformation.

[0086] Nine pixel coordinates are collected according to the nine-point calibration method, and the first coordinate transformation matrix is ​​obtained by combining the camera-correction platform coordinate transformation matrix and the world-correction platform coordinate transformation matrix.

[0087] Through the above steps, the first coordinate transformation matrix is ​​corrected once before each lamination task is started to avoid the position offset caused by hardware replacement and wear affecting the correction task, thereby improving the correction accuracy of the final lamination correction system.

[0088] To sum up, the present invention collects the pixel coordinates of calibration points in different directions during the rotation of the correction platform through cameras at multiple different positions, fits the rotation center according to the pixel coordinates of different cameras, averages the errors of the rotation center by summing and averaging, and completes the coarse positioning of the rotation center. Then, a secondary calibration algorithm is introduced to re-establish the coordinate system of the roughly positioned rotation center, and finely position the roughly positioned rotation center according to the coordinate offset of the roughly positioned rotation center during the rotation of the correction platform. This solves the problem that the pixel coordinates collected for calculating the rotation center are concentratedly distributed due to the mechanical structure limitation of the correction platform, resulting in inaccurate fitting of the rotation center. By correcting the first coordinate transformation matrix before each stacking task is started, the position offset caused by hardware replacement and wear can be avoided, which can avoid changes in the relative position relationship between the camera and the manipulator that affect the fine positioning of the rotation center, thereby further improving the correction accuracy of the stacking correction system.

[0089] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method for precise positioning of a rotation center described in any one of the above embodiments is implemented.

[0090] The present invention may take the form of a computer program product implemented on one or more storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing program code. Computer-readable storage media include permanent and non-permanent, removable and non-removable media, and may be implemented by any method or technology to store information. The information may be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include but are not limited to: phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device.

[0091] The above-described embodiments merely represent several implementations of the present invention. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make numerous modifications and improvements without departing from the spirit of the present invention, and the present invention is intended to encompass such modifications and variations.

Claims

1. A method for precise positioning of a rotation center, characterized in that: include: S101A: Acquire a plurality of first pixel coordinates of a first calibration point on the correction platform at different rotation angles around a rotation axis of the correction platform at a first shooting angle; S102A: Fitting the plurality of first pixel coordinates of the calibration points to obtain the rotation center coordinates in the first camera coordinate system; S101B: Acquire multiple second pixel coordinates of a second calibration point of the correction platform at different rotation angles around the rotation axis of the correction platform at a second shooting angle; S102B: performing fitting according to the plurality of second pixel coordinates of the calibration points to obtain second rotation center coordinates in a second camera coordinate system; S103: After coordinate transformation, the rotation center coordinate and the second rotation center coordinate are summed and averaged to obtain the coordinate of the rotation center in the camera coordinate system; S20: transforming the coordinates of the rotation center into the coordinates of the rotation center in the world coordinate system according to a first coordinate transformation matrix corresponding to the camera coordinate system and the world coordinate system; S30: Establishing a mechanical coordinate system with the rotation center as the origin, and calculating a second coordinate transformation matrix between the mechanical coordinate system and the world coordinate system; S40: After the correction platform rotates around the rotation axis by a rotation angle, the coordinates of the rotation center in the world coordinate system are converted into actual coordinates in the mechanical coordinate system according to the second coordinate transformation matrix; S50: Correcting the rotation center according to the horizontal coordinate value, the vertical coordinate value and the rotation angle of the actual coordinate in the mechanical coordinate system to obtain corrected rotation center coordinates.

2. A method for precise positioning of a rotation center according to claim 1, characterized in that: Step S50 includes: S501: Calculate the horizontal coordinate correction value and the vertical coordinate correction value of the rotation center according to the horizontal coordinate value, the vertical coordinate value and the rotation angle of the actual coordinate in the mechanical coordinate system, and calculate using the following formula: in, is the horizontal coordinate correction, is the longitudinal coordinate correction, is the rotation angle, is the horizontal coordinate, is the vertical coordinate; S502: Correcting the rotation center coordinates in the mechanical coordinate system according to the transverse coordinate correction amount and the longitudinal coordinate correction amount to obtain corrected rotation center coordinates.

3. A method for precise positioning of a rotation center according to claim 2, characterized in that: The first calibration point and the second calibration point are respectively located at two ends of any diagonal line of the deflection correction platform.

4. A method for precise positioning of a rotation center according to any one of claims 1 to 3, characterized in that: The first coordinate transformation matrix in step S20 is obtained by the following steps before performing the precise positioning of the rotation center: Calculate the camera-to-desk correction stage coordinate transformation matrix for each camera and the deskew stage plane; Calculate the world-correction platform coordinate transformation matrix between the world coordinate system and the correction platform plane; Nine pixel coordinates of at least two different cameras are collected according to a nine-point calibration method, and a first coordinate transformation matrix is ​​obtained by combining a camera-correction platform coordinate transformation matrix and a world-correction platform coordinate transformation matrix.

5. A rotation center positioning device, characterized in that: include: Pixel coordinate acquisition subunit: used to obtain multiple pixel coordinates of the calibration point of the correction platform at different angles rotated around the rotation axis of the correction platform at a shooting angle; The rotation center coordinate fitting subunit is used to fit the multiple pixel coordinates of the calibration points to obtain the rotation center coordinates in the corresponding camera coordinate system; The rotation center coordinate error averaging subunit is used to transform the coordinates of the rotation center in at least two corresponding camera coordinate systems, and then sum and average them to obtain the coordinates of the rotation center in the camera coordinate system; A first coordinate transformation unit is used to transform the coordinates of the rotation center into the coordinates of the rotation center in the world coordinate system according to a first coordinate transformation matrix corresponding to the camera coordinate system and the world coordinate system; Second coordinate transformation matrix calculation unit: used to establish a mechanical coordinate system with the rotation center as the origin, and calculate the second coordinate transformation matrix between the mechanical coordinate system and the world coordinate system; Rotation offset coordinate calculation unit: used to convert the coordinates of the rotation center in the camera coordinate system into actual coordinates in the mechanical coordinate system according to the first coordinate transformation matrix and the second coordinate transformation matrix after the correction platform rotates a certain angle around the rotation axis; Rotation center correction unit: used to correct the coordinates of the rotation center in the world coordinate system according to the horizontal coordinate quantity, vertical coordinate quantity and rotation angle of the actual coordinates in the mechanical coordinate system to obtain the corrected rotation center coordinates.

6. A correction system, characterized in that: include: At least two cameras, a manipulator, a correction platform, a moving mechanism, a rotating mechanism, a control unit, and the rotation center positioning device according to claim 5; The control unit is used to accept input instructions to control the manipulator, the moving mechanism and the rotating mechanism to complete the lamination action on the deflection correction table after the rotation center positioning device completes the precise positioning of the rotation center of the deflection correction table.

7. A computer device, characterized in that: include: at least one memory and at least one processor; The memory is used to store one or more programs; When the one or more programs are executed by the at least one processor, the at least one processor implements the steps of the rotation center precise positioning method according to any one of claims 1 to 4.

8. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method for precise positioning of a rotation center as claimed in any one of claims 1 to 4 are implemented.

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