A product inspection system and method based on a spectral confocal displacement sensor

Abstract

The application provides a product detection system and method based on a spectral confocal displacement sensor, and the product detection method comprises the following steps: starting an LED light source, and irradiating a product to be detected in a preset mode by using the LED light source; acquiring image data of the product to be detected by using a camera; converting coordinate point coordinate values in the image data from a camera coordinate system to coordinate values in a world coordinate system to obtain coordinate data of the product to be detected; obtaining a first track of the product to be detected detected by the spectral confocal displacement sensor according to the coordinate data; controlling the spectral confocal displacement sensor to move according to the first track to collect surface data of the product to be detected; and analyzing the surface data to output a detection result. Through the scheme of the application, relevant data of the product to be detected can be accurately acquired, so that an accurate detection result can be obtained.

Description

Technical Field

[0001] This invention relates to the field of product testing technology, and specifically to a product testing system and method based on a spectral confocal displacement sensor. Background Technology

[0002] The working principle of spectral confocal measurement technology is as follows: a beam of broad-spectrum polychromatic light is emitted from a white light source. This beam undergoes spectral dispersion through a dispersive lens, resulting in monochromatic light of only a specific wavelength focusing onto the surface of the object being measured and simultaneously reflecting back to the optical system. The wavelength value of this monochromatic light is obtained through spectral analysis, and the distance to the object can be calculated from this wavelength value. Spectral confocal sensors are characterized by high resolution, a large measurement angle, and low background interference, making them a preferred choice in spectral confocal measurements.

[0003] Existing product quality inspection systems suffer from problems such as inaccurate detection and significant susceptibility to background interference. Summary of the Invention

[0004] Based on the above-mentioned problems, this invention proposes a product inspection system and method based on a spectral confocal displacement sensor. Through the cooperation between the modules in the implementation of this invention, relevant data of the product to be inspected can be accurately obtained, thereby obtaining accurate inspection results.

[0005] In view of this, one aspect of the present invention proposes a product inspection system based on a spectral confocal displacement sensor, comprising: a control terminal for sending control commands and receiving and processing data; a camera; an inspection stage; an LED light source; an optical fiber module; a spectrometer connected to the optical fiber module; a spectral confocal displacement lens module; a control module; and a drive module connected to both the control module and the spectral confocal displacement lens module; wherein,

[0006] The testing station is used to place the product to be tested.

[0007] The camera is used to capture image data of the product to be inspected;

[0008] The fiber optic module is used to receive light emitted by the LED light source and light reflected by the product to be tested.

[0009] The spectrometer is used to analyze the light reflected by the product under test;

[0010] The drive module includes a first drive module, a second drive module, a third drive module, and a fourth drive module;

[0011] The control module is used to control the movement of the drive module to drive the spectral confocal shift lens module to scan and sample the product to be tested.

[0012] Optionally, the control module is a motion control board.

[0013] Optionally, the first driving module is used to drive the product to be tested to rotate in the horizontal plane, so as to rotate the product to be tested for 360-degree scanning;

[0014] The second driving module is used to drive the spectral confocal shift lens module to move linearly in a first preset direction in the horizontal plane;

[0015] The third driving module is used to drive the spectral confocal displacement lens module to move linearly in a second preset direction within the first vertical plane.

[0016] The fourth driving module is used to drive the spectral confocal shift lens module to rotate within a range of -90 degrees to 90 degrees in a second vertical plane parallel to the first vertical plane.

[0017] Optionally, the product inspection system further includes a horizontal monitoring module for monitoring the position of the second drive module and a vertical monitoring module for monitoring the position of the third drive module.

[0018] Optionally, the control terminal is used for:

[0019] A command is sent to the control module so that the control module controls the movement of the drive module, thereby driving the spectral confocal shift lens module to move.

[0020] Receive product data obtained by scanning and sampling from the spectral confocal shift lens module; and,

[0021] The product data was analyzed to obtain the test results.

[0022] Another aspect of the present invention provides a product detection method based on a spectral confocal displacement sensor, the product detection method comprising:

[0023] Turn on the LED light source and illuminate the product to be tested with the LED light source according to a preset pattern;

[0024] The camera is used to acquire image data of the product to be inspected;

[0025] The coordinate values ​​of the coordinate points in the image data are converted from the camera coordinate system to the world coordinate system to obtain the coordinate data of the product to be inspected.

[0026] Based on the coordinate data, the first trajectory of the product to be detected by the spectral confocal displacement sensor is obtained;

[0027] The spectral confocal displacement sensor is controlled to move along the first trajectory to collect surface data of the product to be tested;

[0028] The surface data is analyzed, and the detection results are output.

[0029] Optionally, after the step of acquiring image data of the product to be inspected using a camera, the method further includes:

[0030] The edge contour data of the product to be detected is obtained based on the image data;

[0031] The edge contour data is compared with the standard edge contour data of the standard product corresponding to the product to be detected, and the first offset value of the product to be detected in the camera coordinates of the camera is calculated.

[0032] Determine the proportional relationship between the pixel size and the actual physical size of the pixel in the image data;

[0033] Based on the aforementioned proportional relationship and the first offset value, a second offset value corresponding to the world coordinate system is determined.

[0034] Optionally, the step of converting the coordinate values ​​of the coordinate points in the image data from the camera coordinate system to coordinate values ​​in the world coordinate system to obtain the coordinate data of the product to be detected specifically includes:

[0035] Based on the second offset value, the coordinate values ​​of the coordinate points in the image data are converted from the camera coordinate system to the world coordinate system to obtain the coordinate data of the product to be detected.

[0036] Optionally, the step of controlling the spectral confocal displacement sensor to move along the first trajectory to acquire surface data of the product to be tested includes:

[0037] Based on the first trajectory, determine the starting detection position of the product to be tested;

[0038] Using the initial detection position as the current detection position, the spectral confocal displacement sensor is controlled to collect and store the first detection data;

[0039] The next position after the current detection position is determined based on the first trajectory;

[0040] The next position is used as the new current detection position, and the spectral confocal displacement sensor is controlled to collect and store the second detection data;

[0041] Repeat the above steps until all detection positions on the first trajectory have been detected.

[0042] All the detection data obtained and stored are used as the surface data.

[0043] Optionally, while performing the step of controlling the spectral confocal displacement sensor to acquire and store the first detection data with the starting detection position as the current detection position, the product detection method further includes:

[0044] Collect motion data from the spectral confocal displacement sensor;

[0045] Determine whether the motion data matches the first trajectory;

[0046] An alarm message will be issued if the condition does not meet the requirements.

[0047] The product testing system of this invention includes: a control terminal for sending control commands and receiving and processing data; a camera; a testing platform; an LED light source; an optical fiber module; a spectrometer connected to the optical fiber module; a spectral confocal shift lens module; a control module; and drive modules connected to the control module and the spectral confocal shift lens module respectively. The testing platform is used to place the product to be tested; the camera is used to capture image data of the product to be tested; the optical fiber module is used to receive light emitted by the LED light source and light reflected by the product to be tested; the spectrometer is used to analyze the light reflected by the product to be tested; the drive module includes a first drive module, a second drive module, a third drive module, and a fourth drive module; the control module is used to control the movement of the drive modules to drive the spectral confocal shift lens module to scan and sample the product to be tested. Through the cooperation between the modules in this invention, relevant data of the product to be tested can be accurately obtained, thereby obtaining accurate testing results. Attached Figure Description

[0048] Figure 1 This is a schematic block diagram of a product detection system based on a spectral confocal displacement sensor provided in one embodiment of the present invention;

[0049] Figure 2 This is a flowchart of a product detection method based on a spectral confocal displacement sensor provided in another embodiment of the present invention. Detailed Implementation

[0050] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0051] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0052] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0053] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0054] The following reference Figures 1 to 2 This invention describes a product detection system and method based on a spectral confocal displacement sensor, provided by some embodiments of the present invention.

[0055] like Figure 1 As shown, one embodiment of the present invention provides a product inspection system based on a spectral confocal displacement sensor, comprising: a control terminal for sending control commands and receiving and processing data; a camera; an inspection platform; an LED light source; an optical fiber module; a spectrometer connected to the optical fiber module; a spectral confocal displacement lens module; a control module; and a drive module connected to both the control module and the spectral confocal displacement lens module; wherein,

[0056] The testing station is used to place the product to be tested.

[0057] The camera is used to capture image data of the product to be inspected;

[0058] The optical fiber module is used to receive and transmit the light emitted by the LED light source and the light reflected by the product to be tested;

[0059] The spectrometer is used to analyze the light reflected by the product under test;

[0060] The drive module includes a first drive module, a second drive module, a third drive module, and a fourth drive module;

[0061] The control module is used to control the movement of the drive module to drive the spectral confocal shift lens module to scan and sample the product to be tested.

[0062] It is understood that, in the embodiments of the present invention, the center of the detection platform can be used as the reference origin to accurately determine the positional relationship of each component and the product to be tested, thereby ensuring the accuracy of the detection data. It should be noted that after the camera captures image data of the product to be tested, the coordinate values ​​of the coordinate points in the image data are converted from the camera coordinate system to coordinate values ​​in the world coordinate system to obtain the coordinate data of the product to be tested. This enables precise positioning of the product to be tested, providing accurate motion parameters / trajectories for the subsequent control module (which can be a motion control board) to control the movement of the drive module to drive the spectral confocal displacement lens module to scan and sample the product to be tested.

[0063] In this embodiment, the drive module can be a motor, and control commands can be sent from the control terminal to the control module, which then controls the operation of these motors.

[0064] The product testing system using this embodiment includes: a control terminal for sending control commands and receiving and processing data; a camera; a testing platform; an LED light source; an optical fiber module; a spectrometer connected to the optical fiber module; a spectral confocal shift lens module; a control module; and drive modules connected to the control module and the spectral confocal shift lens module respectively. The testing platform is used to place the product to be tested; the camera is used to capture image data of the product to be tested; the optical fiber module is used to receive light emitted by the LED light source and light reflected by the product to be tested; the spectrometer is used to analyze the light reflected by the product to be tested; the drive module includes a first drive module, a second drive module, a third drive module, and a fourth drive module; the control module is used to control the movement of the drive modules to drive the spectral confocal shift lens module to scan and sample the product to be tested. Through the cooperation between the modules in this embodiment, relevant data of the product to be tested can be accurately obtained, thereby obtaining accurate testing results.

[0065] It should be known that, Figure 1 The block diagram of the product detection system based on the spectral confocal displacement sensor shown is for illustrative purposes only, and the number of modules shown does not limit the scope of protection of this invention.

[0066] In some possible embodiments of the present invention, the first driving module is used to drive the product to be tested / the component on which the product to be tested is placed to rotate in a horizontal plane, so as to rotate the product to be tested for a 360-degree scan.

[0067] The second driving module is used to drive the spectral confocal shift lens module to move linearly in a first preset direction in the horizontal plane;

[0068] The third driving module is used to drive the spectral confocal displacement lens module to move linearly in a second preset direction within the first vertical plane.

[0069] The fourth driving module is used to drive the spectral confocal shift lens module to rotate within a range of -90 degrees to 90 degrees in a second vertical plane parallel to the first vertical plane.

[0070] In order to enable the spectral confocal shift lens module to adapt to the shape of the product to be inspected to the greatest extent, in an embodiment of the present invention, the driving module is a four-axis driver.

[0071] In some possible embodiments of the present invention, the product inspection system further includes a horizontal monitoring module for monitoring the position of the second drive module and a vertical monitoring module for monitoring the position of the third drive module.

[0072] In this embodiment, to prevent motion errors in the spectral confocal shift lens module during scanning and sampling, the product inspection system further includes a horizontal monitoring module for monitoring the position of the second drive module and a vertical monitoring module for monitoring the position of the third drive module. It should be noted that the motion states of the first drive module, the second drive module, the third drive module, and the fourth drive module can also be monitored by the camera.

[0073] In some possible embodiments of the present invention, the control terminal is used for:

[0074] A command is sent to the control module so that the control module controls the movement of the drive module, thereby driving the spectral confocal shift lens module to move.

[0075] Receive product data obtained by scanning and sampling from the spectral confocal shift lens module; and,

[0076] The product data was analyzed to obtain the test results.

[0077] It is understood that for products made of opaque materials, the product data refers to the surface data of the product. During the scanning and sampling process of the spectral confocal shift lens module, the spectrometer is used to analyze the light reflected from the product to obtain the product data. The control terminal then performs further analysis on the product data to obtain the test results.

[0078] Another embodiment of the present invention provides a product detection method based on a spectral confocal displacement sensor, the product detection method comprising:

[0079] Turn on the LED light source and illuminate the product to be tested with the LED light source according to a preset pattern;

[0080] The camera is used to acquire image data of the product to be inspected;

[0081] The coordinate values ​​of the coordinate points in the image data are converted from the camera coordinate system to the world coordinate system to obtain the coordinate data of the product to be inspected.

[0082] Based on the coordinate data, the first trajectory of the product to be detected by the spectral confocal displacement sensor is obtained;

[0083] The spectral confocal displacement sensor is controlled to move along the first trajectory to collect surface data of the product to be tested;

[0084] The surface data is analyzed, and the detection results are output.

[0085] It is understood that the camera is a video recording device capable of acquiring point cloud data, and the image data is three-dimensional point cloud data. By converting the coordinate values ​​of the coordinate points in the image data from the camera coordinate system to the world coordinate system, the coordinate data of the product to be detected is obtained. This allows determination of the true positional relationship between the product to be detected, the spectral confocal displacement sensor, and other components, thereby enabling the determination of the first trajectory of the spectral confocal displacement sensor detecting the product to be detected. By controlling the spectral confocal displacement sensor to move along the first trajectory, surface data of the product to be detected is collected; further analysis of the surface data yields and outputs the detection results.

[0086] The product testing method using this embodiment includes: activating an LED light source and illuminating the product to be tested with the LED light source according to a preset mode; acquiring image data of the product to be tested using a camera; converting the coordinate values ​​of the coordinate points in the image data from the camera coordinate system to coordinate values ​​in the world coordinate system to obtain coordinate data of the product to be tested; obtaining a first trajectory for the spectral confocal displacement sensor to detect the product to be tested based on the coordinate data; controlling the spectral confocal displacement sensor to move along the first trajectory to collect surface data of the product to be tested; analyzing the surface data and outputting the test results. Through the solution of this invention, relevant data of the product to be tested can be accurately obtained, thereby obtaining accurate test results.

[0087] In some possible embodiments of the present invention, after the step of acquiring image data of the product to be detected using a camera, the method further includes:

[0088] The edge contour data of the product to be detected is obtained based on the image data;

[0089] The edge contour data is compared with the standard edge contour data of the standard product corresponding to the product to be detected, and the first offset value of the product to be detected in the camera coordinates of the camera is calculated.

[0090] Determine the proportional relationship between the pixel size and the actual physical size of the pixel in the image data;

[0091] Based on the aforementioned proportional relationship and the first offset value, a second offset value corresponding to the world coordinate system is determined.

[0092] It is understandable that during the acquisition of the image data, there may be confusion between the image of the product to be detected and the images of other items / backgrounds (such as the detection platform). In order to make the detection accurate, in this embodiment, after acquiring the image data of the product to be detected using a camera, an edge detection algorithm (such as Roberts operator, Sobel operator, Laplacian operator, Canny operator, etc.) is also used to obtain the edge contour data of the product to be detected based on the image data; the edge contour data is compared with the standard edge contour data of the standard product corresponding to the product to be detected, and the first offset value of the product to be detected in the camera coordinates of the camera is calculated; the proportional relationship between the pixel size and the actual physical size of the pixel in the image data is determined, specifically: (1) fix the camera, adjust the position of the chessboard calibration plate so that its upper surface is flush with the reference surface of the product to be detected and then acquire the image; (2) use the image processing algorithm to extract the sub-pixel corner points of the chessboard grid and calculate the pixel size of each chessboard grid in the image; (3) the ratio between the actual size of the chessboard grid and the pixel size, that is, the actual physical size represented by each pixel. Finally, based on the aforementioned proportional relationship and the first offset value, the second offset value corresponding to the world coordinate system is determined.

[0093] In some possible embodiments of the present invention, the step of converting the coordinate values ​​of the coordinate points in the image data from the camera coordinate system to coordinate values ​​in the world coordinate system to obtain the coordinate data of the product to be detected specifically includes:

[0094] Based on the second offset value, the coordinate values ​​of the coordinate points in the image data are converted from the camera coordinate system to the world coordinate system to obtain the coordinate data of the product to be detected.

[0095] In some possible embodiments of the present invention, the step of controlling the spectral confocal displacement sensor to move along the first trajectory to acquire surface data of the product to be tested includes:

[0096] Based on the first trajectory, determine the starting detection position of the product to be tested;

[0097] Using the initial detection position as the current detection position, the spectral confocal displacement sensor is controlled to collect and store the first detection data;

[0098] The next position after the current detection position is determined based on the first trajectory;

[0099] The next position is used as the new current detection position, and the spectral confocal displacement sensor is controlled to collect and store the second detection data;

[0100] Repeat the above steps until all detection positions on the first trajectory have been detected.

[0101] All the detection data obtained and stored are used as the surface data.

[0102] It is understandable that by controlling the spectral confocal displacement sensor to traverse all detection positions along the first trajectory, all surface data of the product to be tested are collected.

[0103] In some possible embodiments of the present invention, while performing the step of controlling the spectral confocal displacement sensor to acquire and store the first detection data with the starting detection position as the current detection position, the product detection method further includes:

[0104] Collect motion data from the spectral confocal displacement sensor;

[0105] Determine whether the motion data matches the first trajectory;

[0106] An alarm message will be issued if the condition does not meet the requirements.

[0107] It is understandable that, in order to avoid detection errors due to abnormal movement of the spectral confocal displacement sensor, the movement of the spectral confocal displacement sensor is monitored by collecting its motion data; determining whether the motion data matches the first trajectory; and issuing an alarm message when the data does not match.

[0108] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0109] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0110] In the several embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical or other forms.

[0111] The units described above 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 this embodiment according to actual needs.

[0112] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0113] If the integrated units described above are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage device (CMD). Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned memory includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0114] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, which may include: flash drive, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0115] The embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

[0116] While the present invention has been disclosed above, it is not limited thereto. Any person skilled in the art can easily conceive of variations or substitutions without departing from the spirit and scope of the present invention, and various modifications and alterations can be made, including combinations of the different functions and implementation steps described above, as well as software and hardware implementation methods, all of which are within the protection scope of the present invention.

Claims

1. A product inspection system based on a spectral confocal displacement sensor, characterized in that, include: Control terminal for sending control commands and receiving and processing data; camera; detection station; LED light source; Fiber optic module; The system includes: a spectrometer connected to the fiber optic module; a spectral confocal shift lens module; a control module; a drive module connected to both the control module and the spectral confocal shift lens module; a horizontal monitoring module for monitoring the position of the second drive module; and a vertical monitoring module for monitoring the position of the third drive module. The testing station is used to place the product to be tested. The camera is used to capture image data of the product to be inspected; The fiber optic module is used to receive light emitted by the LED light source and light reflected by the product to be tested. The spectrometer is used to analyze the light reflected by the product under test; The drive module includes a first drive module, a second drive module, a third drive module, and a fourth drive module; The first driving module is used to drive the product to be tested to rotate in the horizontal plane so as to perform a 360-degree scan of the product to be tested. The second driving module is used to drive the spectral confocal shift lens module to move linearly in a first preset direction in the horizontal plane; The third driving module is used to drive the spectral confocal displacement lens module to move linearly in a second preset direction within the first vertical plane. The fourth driving module is used to drive the spectral confocal shift lens module to rotate within a range of -90 degrees to 90 degrees in a second vertical plane parallel to the first vertical plane; The control module is used to control the movement of the drive module to drive the spectral confocal shift lens module to scan and sample the product to be tested.

2. The product testing system according to claim 1, characterized in that, The control module is a motion control board.

3. The product testing system according to claim 2, characterized in that, The control terminal is used for: A command is sent to the control module so that the control module controls the movement of the drive module, thereby driving the spectral confocal shift lens module to move. Receive product data obtained by scanning and sampling from the spectral confocal shift lens module; and, The product data was analyzed to obtain the test results.

4. A product detection method based on a spectral confocal displacement sensor, characterized in that, The product testing method includes: Turn on the LED light source and illuminate the product to be tested with the LED light source according to a preset pattern; The camera is used to acquire image data of the product to be inspected; The coordinate values ​​of the coordinate points in the image data are converted from the camera coordinate system to the world coordinate system to obtain the coordinate data of the product to be inspected. Based on the coordinate data, the first trajectory of the product to be detected by the spectral confocal displacement sensor is obtained; Controlling the spectral confocal displacement sensor to move along the first trajectory to collect surface data of the product to be tested includes: determining the starting detection position of the product to be tested based on the first trajectory; using the starting detection position as the current detection position, controlling the spectral confocal displacement sensor to collect and store first detection data; determining the next position of the current detection position based on the first trajectory; using the next position as the new current detection position, controlling the spectral confocal displacement sensor to collect and store second detection data; repeating the above steps until all detection positions corresponding to the first trajectory have been detected; and using all the obtained and stored detection data as the surface data. While performing the step of controlling the spectral confocal displacement sensor to collect and store the first detection data with the starting detection position as the current detection position, the product detection method further includes: collecting the motion data of the spectral confocal displacement sensor; determining whether the motion data matches the first trajectory; and issuing an alarm message when it does not match. The surface data is analyzed, and the detection results are output.

5. The product testing method according to claim 4, characterized in that, After the step of acquiring image data of the product to be inspected using a camera, the method further includes: The edge contour data of the product to be detected is obtained based on the image data; The edge contour data is compared with the standard edge contour data of the standard product corresponding to the product to be detected, and the first offset value of the product to be detected in the camera coordinates of the camera is calculated. Determine the proportional relationship between the pixel size and the actual physical size of the pixel in the image data; Based on the aforementioned proportional relationship and the first offset value, a second offset value corresponding to the world coordinate system is determined.

6. The product testing method according to claim 5, characterized in that, The step of converting the coordinate values ​​of the coordinate points in the image data from the camera coordinate system to the world coordinate system to obtain the coordinate data of the product to be detected is specifically as follows: Based on the second offset value, the coordinate values ​​of the coordinate points in the image data are converted from the camera coordinate system to the world coordinate system to obtain the coordinate data of the product to be detected.

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