Turntable detection system and data fusion method

Abstract

The application discloses a data fusion method of a rotary table detection system. The method is applied to the rotary table detection system and comprises the following steps: establishing a calibration plate coordinate system according to a calibration plate, and acquiring first coordinates of each calibration hole on the calibration plate in the calibration plate coordinate system; establishing a corresponding detection mechanism coordinate system according to each detection mechanism, and acquiring second coordinates of each calibration hole on the calibration plate in each detection mechanism coordinate system; determining a coordinate transformation matrix between each detection mechanism coordinate system and the calibration plate coordinate system according to the first coordinates and the second coordinates; and converting the coordinates of a workpiece collected by each detection mechanism into coordinates in the calibration plate coordinate system according to the coordinate transformation matrix. The application fuses the coordinate data of the workpiece collected by each detection module into a same three-dimensional coordinate system based on the coordinate transformation matrix, so that the size information of the workpiece can be rapidly obtained, and the operation is simple and the detection efficiency is high.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic detection, in particular to a rotary table detection system and a data fusion method. BACKGROUND

[0002] A touchpad is an input device that can move a cursor by sliding a finger on a smooth touchpad, and is the most widely used mouse for notebook computers. Because the thickness of the touchpad is very thin, about 0.5mm, it can be designed in an ultra-thin notebook computer or keyboard.

[0003] As a precision accessory of notebook computers and other terminals, the touchpad needs to be detected before being assembled in these terminals, including but not limited to detection of the overall flatness, the overall size of the periphery, and the profile of the stud of the touchpad.

[0004] The existing touchpad detection production line includes processes such as feeding, conveying, detecting, and discharging. The feeding process is completed by a feeding device, and the detection process is completed by a detection device. The detection device generally includes a detection piece, a bearing piece, and a detection movement assembly. The bearing piece is used to bear the touchpad to be detected. The bearing piece is arranged at the output end of the detection movement assembly. The bearing piece is driven by the detection movement assembly to reciprocate below the detection piece, and the edge to be detected is changed each time. If the touchpad includes four edges, the detection movement assembly needs to drive the bearing piece to rotate the touchpad four times to detect the four edges respectively. This design integrates multiple detection functions in one detection device. Since the touchpad is measured by the same detection device at the same detection position, different measurement data are automatically unified to a unified coordinate system, but the touchpad needs to be moved multiple times to cooperate with the detection device to complete the detection of different items, resulting in a long detection time and low detection efficiency. SUMMARY

[0005] In view of the deficiencies of the prior art, the purpose of the present application is to provide a rotary table detection system and a data fusion method, which have high detection speed and efficiency.

[0006] A data fusion method of a rotary table detection system, the method is applied to a rotary table detection system, the rotary table detection system includes a rotary table, a rotary table driving piece, and at least two detection modules arranged around the rotary table. The rotary table is provided with a calibration plate and at least two loading pieces for placing workpieces. The calibration plate is provided with a plurality of calibration holes. The rotary table driving piece can drive the rotary table to rotate, so that the calibration plate and any loading piece can circulate between each detection module. Each detection module includes at least one detection mechanism, which is a camera or a laser. The method comprises:

[0007] establishing a calibration plate coordinate system according to the calibration plate, and obtaining first coordinates of each calibration hole on the calibration plate in the calibration plate coordinate system;

[0008] establishing a corresponding detection mechanism coordinate system according to each detection mechanism, and obtaining second coordinates of each calibration hole on the calibration plate in each detection mechanism coordinate system;

[0009] determining a coordinate transformation matrix between each detection mechanism coordinate system and the calibration plate coordinate system according to the first coordinates and the second coordinates;

[0010] converting the coordinates of the workpiece collected by each detection mechanism into coordinates in the calibration plate coordinate system according to the coordinate transformation matrix.

[0011] Optionally, the establishing of the calibration plate coordinate system according to the calibration plate and the obtaining of the first coordinates of each calibration hole on the calibration plate in the calibration plate coordinate system comprise:

[0012] establishing a world coordinate system XYZ as the calibration plate coordinate system according to the calibration plate, and collecting the coordinates of the center point of each calibration hole on the calibration plate in the calibration plate coordinate system as the first coordinates.

[0013] Optionally, the establishing of the corresponding detection mechanism coordinate system according to each detection mechanism and the obtaining of the second coordinates of each calibration hole on the calibration plate in each detection mechanism coordinate system comprise:

[0014] if the detection mechanism is a camera, establishing a rectangular coordinate system XY as the detection mechanism coordinate system according to the camera, and collecting the coordinates of the center point of each calibration hole on the calibration plate in the detection mechanism coordinate system as the second coordinates by the camera when the calibration plate rotates with the turntable to be within the field of view of the camera;

[0015] if the detection mechanism is a laser, establishing a world coordinate system XYZ as the detection mechanism coordinate system according to the laser, and collecting the coordinates of the center point of each calibration hole on the calibration plate in the detection mechanism coordinate system as the second coordinates by the laser when the calibration plate rotates with the turntable to be opposite to the collection surface of the laser.

[0016] Optionally, the determining of the coordinate transformation matrix between each detection mechanism coordinate system and the calibration plate coordinate system according to the first coordinates and the second coordinates comprises:

[0017] taking any detection mechanism as a target detection mechanism, and obtaining the second coordinates of each calibration hole collected by the target detection mechanism;

[0018] determining the mapping relationship between the second coordinates and the first coordinates according to the mapping relationship between the second coordinates and the calibration holes and the mapping relationship between the first coordinates and the calibration holes;

[0019] According to the first coordinate, the second coordinate, and the mapping relationship between the second coordinate and the first coordinate, a rotation transformation matrix of rotating a detection mechanism coordinate system corresponding to the target detection mechanism to the calibration plate coordinate system is calculated, and the rotation transformation matrix is taken as a coordinate transformation matrix between the detection mechanism coordinate system of the target detection mechanism and the calibration plate coordinate system.

[0020] Returning to the step of acquiring the second coordinate of each calibration hole collected by the target detection mechanism, until the coordinate transformation matrix between the detection mechanism coordinate system and the calibration plate coordinate system is obtained.

[0021] Optionally, the acquiring the second coordinate of each calibration hole collected by the target detection mechanism comprises:

[0022] Judging whether the second coordinate of each calibration hole collected by the target detection mechanism is a two-dimensional coordinate;

[0023] If the second coordinate is a two-dimensional coordinate, the relative position relationship between the target detection mechanism and the turntable and the thickness of the turntable are acquired, and the second coordinate is converted into a three-dimensional coordinate according to the relative position relationship between the target detection mechanism and the turntable and the thickness of the turntable.

[0024] Optionally, the relative position relationship between the target detection mechanism and the turntable comprises that the target detection mechanism is located above or below the turntable.

[0025] The converting the second coordinate into a three-dimensional coordinate according to the relative position relationship between the target detection mechanism and the turntable and the thickness of the turntable comprises:

[0026] If the target detection mechanism is located above the turntable, the Z-axis coordinate value of the second coordinate is 0,

[0027] If the target detection mechanism is located below the turntable, the Z-axis coordinate value of the second coordinate is the negative of the thickness value of the turntable.

[0028] Optionally, if the target detection mechanism is a laser located above the turntable, the Z-axis coordinate value of the second coordinate collected by the target detection mechanism is 0.

[0029] If the target detection mechanism is a laser located below the turntable, the Z-axis coordinate value of the second coordinate collected by the target detection mechanism is the negative of the thickness value of the turntable.

[0030] A turntable detection system comprises:

[0031] A workbench, which is provided with a feeding and discharging station and at least two detection stations;

[0032] A transfer module, which is arranged on the workbench and comprises a rotating disc, a rotating disc driving member, a calibration plate and at least two loading members for loading workpieces, the calibration plate is provided with a plurality of calibration holes, the calibration plate and the at least two loading members are sequentially arranged at the edge of the rotating disc along the circumference of the rotating disc, the rotating disc driving member is used to drive the rotating disc to rotate, so that the calibration plate and any loading member can sequentially flow between the feeding and discharging station and each detection station; when any loading member is opposite to the feeding and discharging station or any detection station, the remaining loading members are respectively opposite to other stations one by one;

[0033] A detection module corresponding to each detection station, each detection module comprises a driving mechanism and a detection mechanism, the driving mechanism is arranged on the workbench, the driving mechanism is used to drive the detection mechanism to move relative to the calibration plate and the loading member, and the detection mechanism comprises a camera or a laser;

[0034] A control device, which comprises a controller and a processor; the controller is connected with the rotating disc driving member and the driving mechanism of each detection module, and is used to drive the rotating disc driving member and the driving mechanisms to act; the processor is signal-connected with the detection mechanism of each detection module, and is used to: acquire first coordinates of each calibration hole on the calibration plate in a calibration plate coordinate system and second coordinates of each calibration hole collected by each detection mechanism in a detection mechanism coordinate system; determine a coordinate transformation matrix between the detection mechanism coordinate system and the calibration plate coordinate system according to the first coordinates and the second coordinates; and convert the coordinates of the workpiece collected by each detection mechanism into coordinates in the calibration plate coordinate system according to the coordinate transformation matrix.

[0035] Optionally, the processor comprises:

[0036] A first coordinate acquisition unit, which is used to establish a calibration plate coordinate system according to a calibration plate, and acquire first coordinates of each calibration hole on the calibration plate in the calibration plate coordinate system;

[0037] A second coordinate acquisition unit, which is used to establish a corresponding detection mechanism coordinate system according to each detection mechanism, and acquire second coordinates of each calibration hole on the calibration plate in the detection mechanism coordinate system;

[0038] A conversion relationship determination unit, which is used to determine a coordinate transformation matrix between the detection mechanism coordinate system and the calibration plate coordinate system according to the first coordinates and the second coordinates;

[0039] A conversion unit, which is used to convert the coordinates of the workpiece collected by each detection mechanism into coordinates in the calibration plate coordinate system according to the coordinate transformation matrix.

[0040] Optionally, the conversion relationship determination unit is configured to: take any detection mechanism as a target detection mechanism, acquire second coordinates of each calibration hole collected by the target detection mechanism; determine a mapping relationship between the second coordinates and the first coordinates according to a mapping relationship between the second coordinates and the calibration holes and a mapping relationship between the first coordinates and the calibration holes; calculate a rotation transformation matrix of rotating a detection mechanism coordinate system corresponding to the target detection mechanism to the calibration plate coordinate system according to the first coordinates, the second coordinates and the mapping relationship between the second coordinates and the first coordinates, and take the rotation transformation matrix as a coordinate transformation matrix between the detection mechanism coordinate system of the target detection mechanism and the calibration plate coordinate system; and return to execute the step of taking any detection mechanism as a target detection mechanism and acquiring second coordinates of each calibration hole collected by the target detection mechanism until coordinate transformation matrices between all detection mechanism coordinate systems and the calibration plate coordinate system are obtained.

[0041] The above-mentioned scheme has the following beneficial effects:

[0042] The workbench is designed with a rotating disc, the rotating disc is driven to rotate to drive the loading member to flow between the detection modules, multiple detection stations can be operated simultaneously to improve the equipment utilization, and the loading and unloading efficiency and the detection efficiency are improved. The calibration plate is arranged on the rotating disc, the coordinates of the calibration holes on the calibration plate are detected by the detection modules, the coordinate transformation matrix for unifying the coordinate data collected by the detection modules to the same three-dimensional coordinate system is obtained, and then the coordinate data of the workpieces collected by the detection modules is fused to the same three-dimensional coordinate system based on the coordinate transformation matrix, so that the size information of the workpieces can be quickly obtained, the operation is simple, and the detection efficiency is high. BRIEF DESCRIPTION OF DRAWINGS

[0043] Figure 1 is a flowchart of a data fusion method of a rotating disc detection system provided by an embodiment of the application;

[0044] Figure 2 is a flowchart of a method for acquiring a coordinate transformation matrix provided by an embodiment of the application;

[0045] Figure 3 is a structural diagram of a rotating disc detection platform provided by an embodiment of the application;

[0046] Figure 4 is a top view of a rotating disc detection platform provided by an embodiment of the application;

[0047] Figure 5 is a structural diagram of a transfer module provided by an embodiment of the application;

[0048] Figure 6 is a structural diagram of a loading member provided by an embodiment of the application;

[0049] Figure 7 is a structure schematic view of the workpiece combined with the loading member provided by the embodiment of the present application;

[0050] Figure 8 is a structure schematic view of the lower pressing column combined with the lower pressing mechanism provided by the embodiment of the present application;

[0051] Figure 9 is a structure schematic view of the first detection module provided by the embodiment of the present application;

[0052] Figure 10 is a structure schematic view of the second detection module provided by the embodiment of the present application;

[0053] Figure 11 is a structure schematic view of the third detection module provided by the embodiment of the present application.

[0054] In the figure:

[0055] 100 workbench, 101 feeding and discharging station, 102 first detection station, 103 second detection station, 104 third detection station, 105 installation groove, 106 jig plate, 107 driving member installation seat, 108 calibration plate installation hole, 109 turntable driving member,

[0056] 200 transfer module, 201 turntable, 202 loading member, 203 jig, 204 first air cylinder, 205 first push block, 206 first transition plate, 207 first push block fixing member, 208 first spring, 210 second air cylinder, 211 second push block, 212 second transition plate, 213 second push block fixing member, 214 second spring, 216 containing groove, 217 detection through hole, 218 side direction detection through hole, 219 prism installation seat, 220 prism, 221 support frame, 222 electric slip ring, 223 vacuum generator, 224 first vacuum suction nozzle,

[0057] 300 first detection module, 301 lower pressing column, 302 first camera, 303 lower pressing mechanism, 304 lower pressing plate, 305 lower pressing driving member, 306 lower pressing head, 308 first base, 309 first sliding plate, 310 first driving member, 311 first limiting member, 312 first support frame, 313 second base, 314 first cover plate, 315 second sliding plate, 316 second driving member, 317 second limiting member, 318 first support body, 319 first installation support, 320 third driving member, 322 second installation support, 323 first light source,

[0058] 400 second detection module, 401 supplementary light source, 402 second camera, 403 third base, 404 third sliding plate, 405 fourth driving piece, 407 second support frame, 408 fourth base, 409 second cover plate, 410 fourth sliding plate, 412 fourth limiting piece, 413 second support body, 414 fifth mounting bracket, 415 sixth driving piece, 417 third mounting bracket, 418 fourth mounting bracket, 419 second light source,

[0059] 500 third detection module, 503 first laser mounting bracket, 504 second laser mounting bracket, 505 first laser, 506 second laser, 507 fifth base, 508 fifth sliding plate, 509 seventh driving piece, 511 third support frame, 512 sixth base, 513 third cover plate, 514 sixth sliding plate, 515 eighth driving piece, 516 sixth limiting piece,

[0060] 600 calibration plate, 601 calibration hole,

[0061] 700 touch plate. DETAILED DESCRIPTION

[0062] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some but not all of the embodiments of the present application. The components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0063] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative work fall within the scope of protection of the present application.

[0064] It should be noted that: similar labels and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0065] The embodiment provides a rotary disc detection system for appearance detection of a workpiece, wherein the workpiece can be a touchpad 700 of a notebook computer. The rotary disc detection system comprises at least a rotary disc detection platform and a control device, wherein the rotary disc detection platform comprises a workbench, a transfer module and a detection module. The workbench is provided with a feeding and discharging station and at least two detection stations. The transfer module is arranged on the workbench and comprises a rotary disc, a rotary disc driving member, a calibration plate and at least two loading members for arranging the workpiece. The calibration plate is provided with a plurality of calibration holes. The calibration plate and the at least two loading members are sequentially arranged at the edge of the rotary disc along the circumference of the rotary disc. The rotary disc driving member is used for driving the rotary disc to rotate, so that the calibration plate and any loading member can sequentially flow between the feeding and discharging station and each detection station. When any loading member is opposite to the feeding and discharging station or any detection station, the remaining loading members are respectively opposite to other stations. The detection module is arranged in one-to-one correspondence with the detection stations. Each detection module comprises a driving mechanism and a detection mechanism. The driving mechanism is arranged on the workbench and is used for driving the detection mechanism to move relative to the calibration plate and the loading member. The detection mechanism comprises a camera or a laser. The control device comprises a controller and a processor. The controller is connected with the rotary disc driving member and the driving mechanism of each detection module and is used for driving the rotary disc driving member and each driving mechanism to act. The processor is signal-connected with the detection mechanism of each detection module and is used for: acquiring first coordinates of each calibration hole on the calibration plate in a calibration plate coordinate system and second coordinates of each calibration hole collected by each detection mechanism in a detection mechanism coordinate system; determining a coordinate transformation matrix between the detection mechanism coordinate system and the calibration plate coordinate system according to the first coordinates and the second coordinates; and converting the coordinates of the workpiece collected by each detection mechanism into coordinates in the calibration plate coordinate system according to the coordinate transformation matrix.

[0066] The embodiment also provides a data fusion method based on the rotary disc detection system, please refer to Figure 1 , which comprises steps S101-S107.

[0067] S101: establishing a calibration plate coordinate system according to a calibration plate and acquiring first coordinates of each calibration hole on the calibration plate in the calibration plate coordinate system.

[0068] Specifically, a coordinate measuring instrument can be used to establish a world coordinate system XYZ as the calibration plate coordinate system according to the calibration plate. The coordinates of the center point of each calibration hole on the calibration plate in the calibration plate coordinate system are collected and recorded as first coordinates. The first coordinates are three-dimensional coordinates.

[0069] S103: establishing a corresponding detection mechanism coordinate system according to each detection mechanism and acquiring second coordinates of each calibration hole on the calibration plate in each detection mechanism coordinate system.

[0070] If the detection mechanism is a camera, a rectangular coordinate system XY is established as the detection mechanism coordinate system based on the camera, and when the calibration plate is rotated to the field of view of the camera, the coordinates of the center of each calibration hole on the calibration plate in the detection mechanism coordinate system are acquired by the camera, and are recorded as second coordinates. If the detection mechanism is a laser, a world coordinate system XYZ is established as the detection mechanism coordinate system based on the laser, and when the calibration plate is rotated to the collecting surface of the laser, the coordinates of the center of each calibration hole on the calibration plate in the detection mechanism coordinate system are acquired by the laser, and are recorded as second coordinates.

[0071] It is worth noting that, since the workpiece and the calibration plate are both placed on the upper surface of the turntable, the origins of the calibration plate coordinate system and the coordinate system corresponding to the detection mechanism are both located above the turntable, and therefore, if the camera or the laser is arranged above the turntable, the value of the Z axis is 0 or positive, and if the camera or the laser is arranged below the turntable, the value of the Z axis is negative.

[0072] S105: According to the first coordinates and the second coordinates, a coordinate transformation matrix between each detection mechanism coordinate system and the calibration plate coordinate system is determined.

[0073] Please refer to Figure 2 , and step S105 can include steps S201-S207.

[0074] S201: Taking any detection mechanism as a target detection mechanism, second coordinates of each calibration hole acquired by the target detection mechanism are acquired.

[0075] S203: According to the mapping relationship between the second coordinates and the calibration holes and the mapping relationship between the first coordinates and the calibration holes, a mapping relationship between the second coordinates and the first coordinates is determined.

[0076] S205: According to the first coordinates, the second coordinates and the mapping relationship between the second coordinates and the first coordinates, a rotation transformation matrix for rotating the detection mechanism coordinate system corresponding to the target detection mechanism to the calibration plate coordinate system is calculated, and the rotation transformation matrix is taken as the coordinate transformation matrix between the detection mechanism coordinate system of the target detection mechanism and the calibration plate coordinate system.

[0077] Returning to step S201, taking any detection mechanism as a target detection mechanism, second coordinates of each calibration hole acquired by the target detection mechanism are acquired, until step S207 obtains the coordinate transformation matrix between all detection mechanism coordinate systems and the calibration plate coordinate system.

[0078] In the step S201 of acquiring the second coordinates of each calibration hole collected by the target detection mechanism, it is determined whether the second coordinates of each calibration hole collected by the target detection mechanism are two-dimensional coordinates; if the second coordinates are two-dimensional coordinates, the relative position relationship between the target detection mechanism and the turntable and the thickness of the turntable are acquired, and the second coordinates are converted into three-dimensional coordinates according to the relative position relationship between the target detection mechanism and the turntable and the thickness of the turntable. Specifically, the relative position relationship between the target detection mechanism and the turntable includes that the target detection mechanism is located above or below the turntable; if the target detection mechanism is located above the turntable, the Z-axis coordinate value of the second coordinates is 0, and if the target detection mechanism is located below the turntable, the Z-axis coordinate value of the second coordinates is the negative of the thickness value of the turntable.

[0079] Correspondingly, if the target detection mechanism is a laser located above the turntable, the Z-axis coordinate value of the second coordinates collected by the target detection mechanism is 0; if the target detection mechanism is a laser located below the turntable, the Z-axis coordinate value of the second coordinates collected by the target detection mechanism is the negative of the thickness value of the turntable.

[0080] S107: converting the coordinates of the workpiece collected by each detection mechanism into coordinates in the calibration plate coordinate system according to the coordinate transformation matrix.

[0081] The embodiment designs a turntable on a workbench, and the turntable drives the loaded workpiece to circulate between each detection module, so that multiple detection stations can work simultaneously, the utilization rate of the equipment is improved, and the loading and unloading efficiency and the detection efficiency are improved. A calibration plate is arranged on the turntable, the coordinates of the calibration holes on the calibration plate are detected by each detection module to obtain a coordinate transformation matrix for unifying the coordinate data collected by each detection module to the same three-dimensional coordinate system, and then the coordinate data of the workpiece collected by each detection module is fused to the same three-dimensional coordinate system based on the coordinate transformation matrix, so that the size information of the workpiece can be quickly obtained, the operation is simple, and the detection efficiency is high.

[0082] The following will be described in detail Figures 3-11 The structure of the turntable detection platform will be described in detail.

[0083] The rotary table detection platform comprises a workbench 100, a transfer module 200, a first detection module 300, a second detection module 400 and a third detection module 500, a touch plate 700 is arranged on the transfer module 200, the transfer module 200 drives the touch plate 700 to sequentially flow through the first detection module 300, the second detection module 400 and the third detection module 500, and when any touch plate 700 is at a position opposite to any detection module, the other detection modules correspond to a touch plate 700, so that the detection modules can synchronously perform detection work, improving the detection efficiency.

[0084] Please refer to Figure 3 and Figure 4 The workbench 100 is sequentially provided with a feeding and discharging station 101, a first detection station 102, a second detection station 103 and a third detection station 104, and the feeding and discharging station 101, the first detection station 102, the second detection station 103 and the third detection station 104 are arranged in a ring shape.

[0085] The transfer module 200 is arranged on the workbench 100. The transfer module 200 comprises a rotary table 201, a rotary table driving member 109 and four loading members 202, the four loading members 202 are sequentially arranged at the edges of the rotary table 201 along the circumferential direction of the rotary table 201, and the rotary table driving member 109 is used to drive the rotary table 201 to rotate, so that any loading member 202 can sequentially flow through the feeding and discharging station 101, the first detection station 102, the second detection station 103 and the third detection station 104. And when any loading member 202 is opposite to any station, the remaining three loading members 202 are respectively opposite to the other three stations one by one, so that each station can synchronously work, improving the utilization rate of the equipment and the detection efficiency.

[0086] The workbench 100 is provided with four mounting grooves 105, and each mounting groove 105 is provided with a jig plate 106 corresponding to the mounting groove 105, and the loading member 202 can be unloaded and mounted on the jig plate 106; the loading member 202 comprises a jig 203, and the jig 203 is used to fix the touch plate 700.

[0087] Please refer to Figure 6 and Figure 7Each of the loading members 202 comprises the jig 203, a first positioning assembly, and a second positioning assembly. The jig 203 is arranged on the jig plate 106, and the jig 203 is provided with a containing groove 216 for placing the touch panel 700. A detection through hole 217 is arranged on the groove bottom of the containing groove 216, and the detection through hole 217 is adapted to the contour profile to be detected on the touch panel 700. When the touch panel 700 is placed in the containing groove 216, at least part of the contour of the touch panel 700 is exposed from the detection through hole 217, so that a camera can shoot a clear image of the touch panel 700 from below the touch panel 700 to perform appearance detection.

[0088] The first positioning assembly comprises a first air cylinder 204 and a first push block 205. The first air cylinder 204 is fixed on the jig plate 106 and can drive the first push block 205 to move close to or away from the touch panel 700 on the jig 203. The second positioning assembly comprises a second air cylinder 210 and a second push block 211. The second air cylinder 210 is fixed on the jig plate 106 and can drive the second push block 211 to move close to or away from the touch panel 700 on the jig 203. The moving direction of the second push block 211 relative to the jig 203 is perpendicular to the moving direction of the first push block 205 relative to the jig 203. By limiting the positions of the adjacent two sides of the touch panel 700 through the first positioning assembly and the second positioning assembly respectively, displacement of the touch panel 700 during rotation of the turntable 201 can be prevented, and the image acquisition accuracy can be improved.

[0089] In a possible implementation, to prevent the first positioning assembly and the second positioning assembly from interfering with feeding and discharging, the first positioning assembly is arranged close to the center of the turntable 201 and away from the edge of the turntable 201, and the second positioning assembly is arranged on the left side or the right side of the first positioning assembly. The side opposite to the first positioning assembly is close to the edge of the turntable 201 and is not blocked, and there is sufficient feeding and discharging space.

[0090] In a possible implementation, the turntable 201 has a disc-shaped structure, and the length and width space of the turntable 201 are limited. To reduce the occupation of the positioning assembly on the length and width space of the turntable 201 and improve the utilization rate of the turntable 201, the air cylinder and the push block are arranged side by side in the embodiment, instead of directly pushing the push block to limit the position, so as to reduce the length of the positioning assembly.

[0091] Please refer to Figure 6The first positioning assembly comprises a first cylinder 204, a first push block 205, a first transition plate 206, a first push block fixing member 207, a first spring 208 and a first stop block. The first stop block is fixed on the jig plate 106, the first transition plate 206 is located between the first stop block and the first cylinder 204, the piston rod of the first cylinder 204 is connected to the first transition plate 206, the first transition plate 206 is connected to the first push block fixing member 207 through the first spring 208, the first push block 205 is fixed on the first push block fixing member 207, and the bottom of the first push block fixing member 207 is in sliding connection with the first transition plate 206. The first transition plate 206 can drive the first push block 205 to extend and retract under the driving action of the first cylinder 204, and the movement direction of the first push block 205 is the same as that of the piston of the first cylinder 204. The second positioning assembly comprises a second cylinder 210, a second push block 211, a second transition plate 212, a second push block fixing member 213, a second spring 214 and a second stop block. The second stop block is fixed on the jig plate 106, the second transition plate 212 is located between the second stop block and the second cylinder 210, the piston rod of the second cylinder 210 is connected to the second transition plate 212, the second transition plate 212 is connected to the second push block fixing member 213 through the second spring 214, the second push block 211 is fixed on the second push block fixing member 213, and the bottom of the second push block fixing member 213 is in sliding connection with the second transition plate 212. The second transition plate 212 can drive the second push block 211 to extend and retract under the driving action of the second cylinder 210, and the movement direction of the second push block 211 is the same as that of the piston of the second cylinder 210.

[0092] As known from the foregoing, the detection through hole 217 is arranged on the jig 203, when the touch plate 700 is arranged on the jig 203, the profile of the part of the touch plate 700 to be detected can be exposed from the detection through hole 217, and the image of the upper surface and the lower surface of the touch plate 700 can be acquired by the detection equipment from above or below the touch plate 700, but the image of the side surface of the touch plate 700 cannot be acquired. To solve this problem, the prism 220 is arranged to transfer the image of the side surface of the touch plate 700, so that the image of the side surface of the touch plate 700 can be acquired by the detection equipment from above or below the touch plate 700. For details, please refer to Figure 6 and Figure 7The detection through hole 217 includes a side direction detection through hole 218 corresponding to the side of the touch panel 700. A prism mounting seat 219 is arranged on the jig 203 near the side direction detection through hole 218. A prism 220 is arranged on the prism mounting seat 219 and located in the side direction detection through hole 218 for refracting the image of the side of the touch panel 700 upwards or downwards of the rotating disc 201.

[0093] Please refer to Figure 5 A driving member mounting seat 107 is fixed on the workbench 100. A rotating disc driving member 109 is fixed on the driving member mounting seat 107. An output shaft of the rotating disc driving member 109 is connected to the rotating disc 201. The transfer module 200 further includes a vacuum suction assembly, a support frame 221 and an electric slip ring 222. The vacuum suction assembly includes a vacuum generator 223, a plurality of first vacuum nozzles 224 and a plurality of second vacuum nozzles. The first vacuum nozzles 224 are arranged on the upper surface of the jig plate 106 for suction of the upper surface of the jig 203. The second vacuum nozzles are arranged on the lower surface of the jig plate 106 for suction of the lower surface of the jig 203. The vacuum generator 223 is fixed on the workbench 100. The vacuum generator 223 is connected to the first vacuum nozzles 224 and the second vacuum nozzles respectively for providing suction force to the first vacuum nozzles 224 and the second vacuum nozzles. The lower end of the support frame 221 is fixed on the workbench 100. The upper end of the support frame 221 extends above the rotating disc 201. The electric slip ring 222 is located above the rotating disc 201. The fixed ring of the electric slip ring 222 is connected to the upper end of the support frame 221. The rotating ring of the electric slip ring 222 is connected to the rotating disc 201. The electric slip ring 222, the rotating disc 201 and the output shaft of the rotating disc driving member 109 are coaxially arranged. Vacuum pipes, power lines, signal lines and the like can be connected to the respective devices through the electric slip ring 222. The line layout specification can make the surface of the workbench 100 neat and prevent cable entanglement.

[0094] The first detection module 300 is arranged at the first detection station 102. The first detection module 300 comprises a pressing column 301, a pressing mechanism 303, a first driving mechanism and a first detection mechanism. The pressing column 301 is fixed to the workbench 100. The pressing mechanism 303 is in sliding connection with the pressing column 301. The pressing mechanism 303 is used to apply a pressing force to the touch panel 700 on the jig 203 so as to keep the touch panel 700 flat. The first driving mechanism is arranged on the workbench 100 and can drive the first detection mechanism to move relative to the touch panel 700. The first detection mechanism comprises a first camera 302 arranged below the workbench 100. The first camera 302 is used to detect the outer size of the touch panel 700.

[0095] Please refer to Figure 8 The pressing mechanism 303 is arranged above the turntable 201 and comprises a pressing plate 304, a pressing driving element 305 and a plurality of pressing heads 306. The pressing plate 304 is in sliding connection with the pressing column 301. The pressing heads 306 are fixed to the pressing plate 304. The pressing driving element 305 is arranged on the pressing column 301 and is used to drive the pressing plate 304 to move close to or away from the touch panel 700. The pressing heads 306 are used to abut against the upper surface of the touch panel 700. The pressing heads 306 are made of soft rubber and will not damage the surface of the touch panel 700. The plurality of pressing heads 306 abut against the upper surface of the touch panel 700, so that the touch panel 700 can be kept flat. The touch panel 700 is a thin-walled part with a thickness of about 0.5 mm. When the touch panel 700 is placed flat on the jig 203, the touch panel 700 may be warped due to its own deformation or the clamping action of the first positioning assembly and the second positioning assembly. The warping will affect the measurement accuracy. Therefore, the touch panel 700 needs to be kept flat by the pressing mechanism 303. When the pressing mechanism 303 is used to apply a pressing force to the warped touch panel 700, the edges of the touch panel 700 abut against and apply a pushing force to the first push block 205 and the second push block 211 when the touch panel 700 is unfolded. Under the action of the pushing force, the first push block 205 causes the first spring 208 to compress and deform, and the second push block 211 causes the second spring 214 to compress and deform, so that the touch panel 700 is limited on the side surface and the upper and lower surfaces and kept flat.

[0096] In one possible implementation, a scanning gun is further arranged on the pressing column 301. The scanning gun can be used to detect the profile of the stud on the upper surface of the touch panel 700. The scanning gun in cooperation with the first camera 302 can detect the profiles of the upper surface and the lower surface of the stud on the touch panel 700, so that the detection is more comprehensive.

[0097] In a possible implementation, the turntable 201 is further provided with a calibration plate mounting hole 108, and a calibration plate 600 is arranged at the calibration plate mounting hole 108, and the calibration plate 600 is provided with a plurality of calibration holes 601; the turntable 201 can drive the calibration plate 600 to rotate to be opposite to the first detection module 300, the second detection module 400 and the third detection module 500. The calibration plate 600 can be used for spatial coordinates of the same three detection modules. Specifically, the calibration plate 600 is rotated to the positions of the first detection module 300, the second detection module 400 and the third detection module 500 respectively, the first detection module 300 collects first coordinate data of the calibration holes 601 on the calibration plate 600, the second detection module 400 collects second coordinate data of the calibration holes 601 on the calibration plate 600, and the third detection module 500 collects third coordinate data of the calibration holes 601 on the calibration plate 600; by corresponding the first coordinate data, the second coordinate data and the third coordinate data, a difference between the data can be found, and the images acquired by the detection modules are brought into the difference for calculation, so that the images acquired by the detection modules can be unified in the same coordinate system, and comprehensive detection data can be obtained conveniently.

[0098] See Figure 9The first driving mechanism comprises a first driving assembly, a second driving assembly and a third driving assembly. The first driving assembly comprises a first base 308, a first sliding plate 309, a first driving member 310 and a first limiting member 311. The first sliding plate 309 is slidingly arranged on the first base 308. The first driving member 310 is configured to drive the first sliding plate 309 to move linearly along the first base 308. The first limiting member 311 is arranged on the first sliding plate 309 and / or the first base 308 at a position opposite to the first sliding plate 309. The second driving assembly comprises a first support frame 312, a second base 313, a first cover plate 314, a second sliding plate 315, a second driving member 316 and a second limiting member 317. The first support frame 312 is fixed on the first sliding plate 309. The second base 313 is fixed on the first support frame 312. The first cover plate 314 is fixed on the second base 313, and the first cover plate 314 is parallel to the second base 313. The upper portion of the second sliding plate 315 is slidingly connected with the first cover plate 314. The lower portion of the second sliding plate 315 is slidingly connected with the second base 313. The second driving member 316 is configured to drive the second sliding plate 315 to move linearly along the first cover plate 314 and the second base 313. The second limiting member 317 is arranged on the second sliding plate 315 and / or the second base 313 at a position opposite to the second sliding plate 315. The second sliding plate 315 is arranged to move along the first cover plate 314 and the second base 313. The first cover plate 314 can provide support and make the second driving assembly more stable and smooth. The third driving assembly comprises a first support body 318, a first mounting bracket 319 and a third driving member 320. The first support body 318 is fixed on the second sliding plate 315. The first mounting bracket 319 is slidingly arranged on the first support body 318. The third driving member 320 is configured to drive the first mounting bracket 319 to move linearly relative to the first support body 318. The movement direction of the first sliding plate 309, the movement direction of the second sliding plate 315 and the movement direction of the first mounting bracket 319 are perpendicular to each other in pairs. The first detection mechanism further comprises a second mounting bracket 322 and a first light source 323. The second mounting bracket 322 is fixed on the first mounting bracket 319. The first camera 302 and the first light source 323 are arranged on the second mounting bracket 322. The first light source 323 is located between the first camera 302 and the turntable 201. The first light source 323 is configured to irradiate the touch plate 700 upwardly. The driving modes of the first driving member 310 and the second driving member 316 can be chain transmission. The third driving member 320 can be a motor.

[0099] The second detection module 400 is arranged at the second detection station 103. The second detection module 400 comprises a second driving mechanism, a second detection mechanism and a supplementary light source 401. The second driving mechanism is arranged on the workbench 100 and can drive the second detection mechanism and the supplementary light source 401 to move synchronously. The supplementary light source 401 is arranged above the turntable 201 and is used for irradiating the touch plate 700 downward. The second detection mechanism comprises a second camera 402. The second camera 402 is arranged below the turntable 201 and is used for detecting the profile of the stud on the touch plate 700.

[0100] Please refer to Figure 10The second driving mechanism comprises a fourth driving assembly, a fifth driving assembly and a sixth driving assembly. The fourth driving assembly comprises a third base 403, a third sliding plate 404, a fourth driving member 405 and a third limiting member. The third sliding plate 404 is slidingly arranged on the third base 403. The fourth driving member 405 is configured to drive the third sliding plate 404 to move linearly along the third base 403. The third limiting member is arranged on the third sliding plate 404 and / or the third base 403 at a position opposite to the third sliding plate 404. The fifth driving assembly comprises a second support frame 407, a fourth base 408, a second cover plate 409, a fourth sliding plate 410, a fifth driving member and a fourth limiting member 412. The second support frame 407 is fixed on the fourth sliding plate 410. The fourth base 408 is fixed on the second support frame 407. The second cover plate 409 is fixed on the fourth base 408, and the second cover plate 409 is parallel to the fourth base 408. The upper portion of the fourth sliding plate 410 is slidingly matched with the second cover plate 409. The lower portion of the fourth sliding plate 410 is slidingly matched with the fourth base 408. The fifth driving member is configured to drive the fourth sliding plate 410 to move linearly along the second cover plate 409 and the fourth base 408. The fourth limiting member 412 is arranged on the fourth sliding plate 410 and / or the fourth base 408 at a position opposite to the fourth sliding plate 410. The sixth driving assembly comprises a second support body 413, a fifth mounting bracket 414 and a sixth driving member 415. The second support body 413 is fixed on the fourth sliding plate 410. The fifth mounting bracket 414 is slidingly arranged on the second support body 413. The sixth driving member 415 is configured to drive the fifth mounting bracket 414 to move linearly relative to the second support body 413. The movement direction of the third sliding plate 404, the movement direction of the fourth sliding plate 410 and the movement direction of the fifth mounting bracket 414 are perpendicular to each other in pairs. The second detection mechanism further comprises a third mounting bracket 417, a fourth mounting bracket 418 and a second light source 419. The third mounting bracket 417 is fixed on the fifth mounting bracket 414. The second camera 402 and the second light source 419 are arranged on the third mounting bracket 417. The second light source 419 is located between the second camera 402 and the turntable 201, and is configured to irradiate the touch plate 700 upward. The lower end of the fourth mounting bracket 418 is fixed on the fourth sliding plate 410. The upper end of the fourth mounting bracket is located above the turntable 201. The supplementary light source 401 is arranged at the upper end of the fourth mounting bracket and opposite to the second light source 419. The driving modes of the fourth driving member 405 and the fifth driving member can be chain transmission. The sixth driving member 415 can be a motor.

[0101] The third detection module 500 is arranged at the third detection station 104. The third detection module 500 comprises a third driving mechanism and a third detection mechanism. The third driving mechanism is arranged on the workbench 100 and can drive the third detection mechanism to move relative to the touch plate 700. The third detection mechanism comprises a first laser 505 arranged above the turntable 201 and a second laser 506 arranged below the turntable 201. The first laser 505 is used to detect the flatness of the upper surface of the touch plate 700. The second laser 506 is used to detect the flatness of the lower surface of the touch plate 700.

[0102] Please refer to Figure 11 The third driving mechanism comprises a seventh driving assembly, an eighth driving assembly and a laser mounting bracket. The seventh driving assembly comprises a fifth base 507, a fifth sliding plate 508, a seventh driving piece 509 and a fifth limiting piece. The fifth sliding plate 508 is slidingly arranged on the fifth base 507. The seventh driving piece 509 is used to drive the fifth sliding plate 508 to move linearly along the fifth base 507. The fifth limiting piece is arranged on the fifth sliding plate 508 and / or the fifth base 507 at a position opposite to the fifth sliding plate 508. The eighth driving assembly comprises a third support frame 511, a sixth base 512, a third cover plate 513, a sixth sliding plate 514, an eighth driving piece 515 and a sixth limiting piece 516. The third support frame 511 is fixed on the sixth sliding plate 514. The sixth base 512 is fixed on the third support frame 511. The third cover plate 513 is fixed on the sixth base 512 and is parallel to the sixth base 512. The upper portion of the sixth sliding plate 514 is slidingly matched with the third cover plate 513. The lower portion of the sixth sliding plate 514 is slidingly matched with the sixth base 512. The eighth driving piece 515 is used to drive the sixth sliding plate 514 to move linearly along the third cover plate 513 and the sixth base 512. The sixth limiting piece 516 is arranged on the sixth sliding plate 514 and / or the sixth base 512 at a position opposite to the sixth sliding plate 514. The laser mounting bracket comprises a first laser mounting bracket 503 and a second laser mounting bracket 504. The lower end of the first laser mounting bracket 503 is fixed on the upper surface of the sixth sliding plate 514. The upper end of the first laser mounting bracket 503 is located above the turntable 201. The first laser 505 is arranged at the upper end of the first laser mounting bracket 503. The scanning port of the first laser 505 faces the upper surface of the touch plate 700. The second laser mounting bracket 504 is fixed on the side surface of the sixth sliding plate 514. The second laser 506 is arranged on the second laser mounting bracket 504. The scanning port of the second laser 506 faces the lower surface of the touch plate 700.

[0103] The turntable detection platform provided by the embodiment is designed according to the characteristics and detection requirements of the touchpad of the notebook computer, and the turntable, the feeding and discharging station and the plurality of detection stations are arranged on the workbench. The feeding and discharging station and the plurality of detection stations are arranged around the turntable, the loading member corresponding to each station is arranged on the turntable, the turntable can rotate to enable any loading member to flow between the feeding and discharging station and each detection station in turn, and when any loading member is opposite to any station, the other three loading members are opposite to the other three stations respectively. In this way, the plurality of stations can work simultaneously, the utilization rate of the equipment is improved, and the feeding and discharging efficiency and the detection efficiency are improved.

[0104] The control device includes a controller and a processor. The controller can be connected with the turntable driving member 109 to control the rotation of the turntable driving member 109, so as to bring the loading member 202 to the feeding and discharging station and each detection station. The controller can also be connected with the first cylinder 204 and the second cylinder 210 to control the action of the first cylinder 204 and the second cylinder 210, so as to drive the first push block 205 and the second push block 211 to limit the workpiece. The controller can also be connected with the downward driving member 305 to control the action of the downward driving member 305, so as to make the downward head 306 approach or move away from the workpiece. The controller can also be connected with the first driving member 310, the second driving member 316 and the third driving member 320 to adjust the relative position of the first camera 302 and the workpiece by controlling the action of the first driving member 310, the second driving member 316 and the third driving member 320. The controller can also be connected with the fourth driving member 405, the fifth driving member and the sixth driving member 415 to adjust the relative position of the second camera 402 and the workpiece by controlling the action of the fourth driving member 405, the fifth driving member and the sixth driving member 415. The controller can also be connected with the seventh driving member 509 and the eighth driving member 515 to adjust the relative position of the first laser 505 and the second laser 506 and the workpiece by controlling the action of the seventh driving member 509 and the eighth driving member 515.

[0105] The processor is configured to execute each step in the data fusion method of the turntable detection system. Specifically, the processor can include a first coordinate acquisition unit, a second coordinate acquisition unit, a conversion relationship determination unit, and a conversion unit. The first coordinate acquisition unit is configured to establish a calibration plate coordinate system according to a calibration plate, and acquire first coordinates of each calibration hole on the calibration plate in the calibration plate coordinate system. The second coordinate acquisition unit is configured to establish a corresponding detection mechanism coordinate system according to each detection mechanism, and acquire second coordinates of each calibration hole on the calibration plate in each detection mechanism coordinate system. In combination with the detection module arranged on the turntable detection platform, the second coordinate acquisition unit can be configured to: establish a first camera coordinate system according to a first camera, and acquire coordinates of each calibration hole on the calibration plate through the first camera; establish a second camera coordinate system according to a second camera, and acquire coordinates of each calibration hole on the calibration plate through the second camera; establish a first laser coordinate system according to a first laser, and acquire coordinates of each calibration hole on the calibration plate through the first laser; and establish a second laser coordinate system according to a second laser, and acquire coordinates of each calibration hole on the calibration plate through the second laser. The coordinates acquired by the first camera and the second camera are two-dimensional coordinates, and the coordinates acquired by the first laser and the second laser are three-dimensional coordinates. Since the calibration plate coordinate system is a world coordinate system, it is necessary to convert the two-dimensional coordinates acquired by the first camera and the second camera into three-dimensional coordinates. Specifically, the two-dimensional coordinates can be converted into three-dimensional coordinates according to the relative position relationship between the camera and the turntable and the thickness of the turntable. That is, if the camera is located above the turntable, the Z-axis coordinate value is 0, and if the camera is located below the turntable, the Z-axis coordinate value is the negative of the thickness value of the turntable. In this embodiment, the first camera and the second camera are both located below the turntable, so the Z-axis coordinates of all points acquired by the two cameras are the negative of the thickness value of the turntable.

[0106] The conversion relationship determining unit is configured to determine a coordinate transformation matrix between each detection mechanism coordinate system and the calibration plate coordinate system according to the first coordinates and the second coordinates. The conversion unit is configured to convert the coordinates of the workpiece collected by each detection mechanism into coordinates in the calibration plate coordinate system according to the coordinate transformation matrix. In a possible implementation, the conversion relationship determining unit is configured to: take any detection mechanism as a target detection mechanism, and obtain the second coordinates of each calibration hole collected by the target detection mechanism; determine a mapping relationship between the second coordinates and the first coordinates according to a mapping relationship between the second coordinates and the calibration holes and a mapping relationship between the first coordinates and the calibration holes; calculate a rotation transformation matrix for rotating the detection mechanism coordinate system corresponding to the target detection mechanism to the calibration plate coordinate system according to the first coordinates, the second coordinates, and the mapping relationship between the second coordinates and the first coordinates, and take the rotation transformation matrix as the coordinate transformation matrix between the detection mechanism coordinate system of the target detection mechanism and the calibration plate coordinate system; and return to perform the step of taking any detection mechanism as a target detection mechanism and obtaining the second coordinates of each calibration hole collected by the target detection mechanism until the coordinate transformation matrices between all detection mechanism coordinate systems and the calibration plate coordinate system are obtained.

[0107] The steps in the method of the embodiments of the present application can be adjusted in sequence, combined, and deleted according to actual needs.

[0108] The units in the processor of the embodiments of the present application can be combined, divided, and deleted according to actual needs.

[0109] Those skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by a program instructing related hardware, and the program can be stored in a computer readable storage medium, which can include a flash disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and the like.

[0110] Note that the above are only the preferred embodiments of the present application and the technical principles applied. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments, and can include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the appended claims.

Claims

1. A data fusion method of a carousel inspection system, characterized by, The method is applied to a rotary table detection system, the rotary table detection system comprising a rotary table, a rotary table driving member and at least two detection modules arranged around the rotary table, the rotary table being provided with a calibration plate and at least two loading members for placing workpieces, the calibration plate being provided with a plurality of calibration holes, the rotary table driving member being capable of driving the rotary table to rotate so that the calibration plate and any of the loading members can flow between the detection modules, each of the detection modules comprising at least one detection mechanism, the detection mechanism being a camera or a laser; the method comprising: establishing a calibration plate coordinate system according to the calibration plate, and obtaining first coordinates of each calibration hole on the calibration plate in the calibration plate coordinate system; establishing a corresponding detection mechanism coordinate system according to each detection mechanism, and obtaining second coordinates of each calibration hole on the calibration plate in each detection mechanism coordinate system; determining a coordinate transformation matrix between each detection mechanism coordinate system and the calibration plate coordinate system according to the first coordinates and the second coordinates; converting the coordinates of the workpieces collected by each detection mechanism into coordinates in the calibration plate coordinate system according to the coordinate transformation matrix; the method of determining the coordinate transformation matrix between each detection mechanism coordinate system and the calibration plate coordinate system according to the first coordinates and the second coordinates comprises: taking any detection mechanism as a target detection mechanism, and obtaining the second coordinates of each calibration hole collected by the target detection mechanism; determining a mapping relationship between the second coordinates and the first coordinates according to a mapping relationship between the second coordinates and the calibration holes and a mapping relationship between the first coordinates and the calibration holes; calculating a rotation transformation matrix of rotating the detection mechanism coordinate system corresponding to the target detection mechanism to the calibration plate coordinate system according to the first coordinates, the second coordinates and the mapping relationship between the first coordinates and the second coordinates, and taking the rotation transformation matrix as the coordinate transformation matrix between the detection mechanism coordinate system of the target detection mechanism and the calibration plate coordinate system; returning to execute the step of taking any detection mechanism as a target detection mechanism and obtaining the second coordinates of each calibration hole collected by the target detection mechanism until the coordinate transformation matrix between all detection mechanism coordinate systems and the calibration plate coordinate system is obtained; the method of obtaining the second coordinates of each calibration hole collected by the target detection mechanism comprises: determining whether the second coordinates of each calibration hole collected by the target detection mechanism are two-dimensional coordinates; if the second coordinates are two-dimensional coordinates, obtaining a relative position relationship between the target detection mechanism and the rotary table and a thickness of the rotary table, and converting the second coordinates into three-dimensional coordinates according to the relative position relationship between the target detection mechanism and the rotary table and the thickness of the rotary table.

2. The method of claim 1, wherein, the method of establishing a calibration plate coordinate system according to a calibration plate and obtaining first coordinates of each calibration hole on the calibration plate in the calibration plate coordinate system comprises: establishing a world coordinate system XYZ as the calibration plate coordinate system according to the calibration plate, and collecting the coordinates of the center point of each calibration hole on the calibration plate in the calibration plate coordinate system, denoted as the first coordinates.

3. The method of claim 1, wherein, The method comprises the following steps: If the detection mechanism is a camera, a rectangular coordinate system XY is established as the detection mechanism coordinate system based on the camera, and when the calibration plate rotates with the turntable to be within the field of view of the camera, the camera is used to collect the coordinates of the center of each calibration hole on the calibration plate in the detection mechanism coordinate system, which are recorded as the second coordinates; If the detection mechanism is a laser, a world coordinate system XYZ is established as the detection mechanism coordinate system based on the laser, and when the calibration plate rotates with the turntable to be opposite to the collection surface of the laser, the laser is used to collect the coordinates of the center of each calibration hole on the calibration plate in the detection mechanism coordinate system, which are recorded as the second coordinates.

4. The method of claim 1, wherein, The relative position relationship between the target detection mechanism and the turntable includes that the target detection mechanism is above or below the turntable; The method comprises the following steps: If the target detection mechanism is above the turntable, the Z-axis coordinate value of the second coordinates is 0, If the target detection mechanism is below the turntable, the Z-axis coordinate value of the second coordinates is the negative of the thickness value of the turntable.

5. The method of claim 1, wherein, If the target detection mechanism is a laser above the turntable, the Z-axis coordinate value of the second coordinates collected by the target detection mechanism is 0; If the target detection mechanism is a laser below the turntable, the Z-axis coordinate value of the second coordinates collected by the target detection mechanism is the negative of the thickness value of the turntable.

6. A carousel detection system for use in the method of claim 1, characterized by The method comprises the following steps: A workbench, which is provided with an upper and lower material loading station and at least two detection stations; A transfer module, which is provided on the workbench and comprises a turntable, a turntable driving member, a calibration plate and at least two loading members for placing workpieces, the calibration plate is provided with a plurality of calibration holes, the calibration plate and the at least two loading members are sequentially arranged at the edge of the turntable along the circumference of the turntable, and the turntable driving member is used to drive the turntable to rotate, so that the calibration plate and any loading member can sequentially flow between the upper and lower material loading station and each detection station; when any loading member is opposite to the upper and lower material loading station or any detection station, the remaining loading members are respectively opposite to other stations one by one; A detection module corresponding to each detection station, each detection module comprising a driving mechanism and a detection mechanism, the driving mechanism is provided on the workbench, and the driving mechanism is used to drive the detection mechanism to move relative to the calibration plate and the loading member, and the detection mechanism comprises a camera or a laser; A control device comprising a controller and a processor. The controller is connected with the rotating disc driving element and the driving mechanism of each detection module respectively, and is used for driving the rotating disc driving element and the driving mechanism to act; the processor is connected with the detection mechanism of each detection module, and is used for: acquiring the first coordinates of each calibration hole on the calibration plate in the calibration plate coordinate system and the second coordinates of each calibration hole collected by each detection mechanism in the detection mechanism coordinate system; determining the coordinate transformation matrix between the detection mechanism coordinate system and the calibration plate coordinate system according to the first coordinates and the second coordinates; and converting the coordinates of the workpiece collected by each detection mechanism into the coordinates in the calibration plate coordinate system according to the coordinate transformation matrix.

7. The turntable detection system of claim 6, wherein, The processor comprises: a first coordinate acquisition unit configured to establish a calibration plate coordinate system according to a calibration plate, and acquire first coordinates of each calibration hole on the calibration plate in the calibration plate coordinate system; a second coordinate acquisition unit configured to establish a corresponding detection mechanism coordinate system according to each detection mechanism, and acquire second coordinates of each calibration hole on the calibration plate in the detection mechanism coordinate system; a conversion relationship determination unit configured to determine a coordinate transformation matrix between the detection mechanism coordinate system and the calibration plate coordinate system according to the first coordinates and the second coordinates; and a conversion unit configured to convert the coordinates of the workpiece collected by each detection mechanism into the coordinates in the calibration plate coordinate system according to the coordinate transformation matrix.

8. The turntable detection system of claim 7, wherein, The conversion relationship determination unit is configured to: take any detection mechanism as a target detection mechanism, acquire the second coordinates of each calibration hole collected by the target detection mechanism; determine a mapping relationship between the second coordinates and the first coordinates according to a mapping relationship between the second coordinates and the calibration holes and a mapping relationship between the first coordinates and the calibration holes; calculate a rotation transformation matrix for rotating the detection mechanism coordinate system corresponding to the target detection mechanism to the calibration plate coordinate system according to the first coordinates, the second coordinates and the mapping relationship between the second coordinates and the first coordinates, and take the rotation transformation matrix as the coordinate transformation matrix between the detection mechanism coordinate system of the target detection mechanism and the calibration plate coordinate system; and return to execute the step of taking any detection mechanism as a target detection mechanism and acquiring the second coordinates of each calibration hole collected by the target detection mechanism until the coordinate transformation matrices between all detection mechanism coordinate systems and the calibration plate coordinate system are obtained.

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