Transformation relation acquisition method, detection method and related equipment

Abstract

The invention discloses a conversion relation obtaining method, a detection method and related equipment, and the method comprises the steps: providing a detection part which can rotate around a preset rotating shaft; providing a calibration object, wherein the calibration object has feature points; before the detection part rotates around the rotating shaft, the calibration object is detected through the detection part, and a first feature point coordinate of the feature point in a first coordinate system is obtained; after the detection part rotates around the rotating shaft, the calibration object is detected through the detection part, and a second feature point coordinate of the feature point in the first coordinate system is obtained; acquiring a rotation angle of the detection part around the rotation shaft according to the second feature point coordinates; correcting the second feature point coordinate according to the rotation angle, and obtaining a third feature point coordinate of the feature point in a preset second coordinate system; and obtaining a conversion relation between the first coordinate system and the second coordinate system according to the first feature point coordinate and the third feature point coordinate. According to the technical scheme, the detection precision can be improved.

Description

Technical Field

[0001] The present invention relates to the field of detection, and in particular to a conversion relationship acquisition method, a detection method and related equipment. Background Art

[0002] With the development of modern industry, precision machining has been applied to more and more fields. At the same time, people have put forward higher requirements for machining accuracy. In order to meet the machining accuracy requirements and improve the qualified rate of machining samples, it is usually necessary to perform morphological distortion detection on the machining process and the finished product to ensure that the distortion is within the tolerable range. Existing distortion detection generally adopts three-dimensional detection methods. Commonly used three-dimensional detection methods include contact detection and non-contact detection. Since non-contact detection does not require contact with the object to be tested, it causes less damage to the object to be tested. Therefore, it has received more and more attention.

[0003] At present, confocal probes are commonly used as sensors for optical non-contact measurement. When optically inspecting an object to be tested, the object to be tested is first placed on a preset turntable, and the turntable is rotated to drive the object to be tested to rotate around a preset rotation axis, so that the confocal probe can measure different areas of the object to be tested. However, when the weight of the object to be tested exceeds the load of a common structure, rotating the object to be tested will introduce a rotation axis error due to the overload of the object to be tested.

[0004] Therefore, the detection accuracy of current detection methods still needs to be improved. Summary of the invention

[0005] The problem solved by the present invention is to provide a conversion relationship acquisition method, a detection method and related equipment, which can improve the detection accuracy.

[0006] To solve the above problems, the present invention provides a method for obtaining a transformation relationship, including: providing a detection component, which can rotate around a preset rotation axis; providing a calibration object, which has a feature point; before the detection component rotates around the rotation axis, detecting the calibration object through the detection component to obtain the first feature point coordinates of the feature point in a preset first coordinate system; after the detection component rotates around the rotation axis, detecting the calibration object through the detection component to obtain the second feature point coordinates of the feature point in the first coordinate system; according to the second feature point coordinates of the feature point in the first coordinate system, obtaining the rotation angle of the detection component around the rotation axis; correcting the second feature point coordinates of the feature point in the first coordinate system according to the rotation angle, obtaining the third feature point coordinates of the feature point in the preset second coordinate system; according to the first feature point coordinates of the feature point in the first coordinate system and the third feature point coordinates of the feature point in the second coordinate system, obtaining the transformation relationship between the first coordinate system and the second coordinate system.

[0007] Correspondingly, an embodiment of the present invention also provides a transformation relationship acquisition device, including: a first coordinate acquisition unit, suitable for detecting the calibration object through the detection component before the detection component rotates around a preset rotation axis, and obtaining the first feature point coordinates of the feature point in the first coordinate system, the detection component can rotate around the rotation axis, and the calibration object has a feature point; a second coordinate acquisition unit, suitable for detecting the calibration object through the detection component after the detection component rotates around the rotation axis, and obtaining the second feature point coordinates of the feature point in the first coordinate system; a rotation angle acquisition unit, suitable for obtaining the rotation angle of the detection component around the rotation axis according to the second feature point coordinates of the feature point in the first coordinate system; a feature point coordinate correction unit, suitable for correcting the second feature point coordinates of the feature point in the first coordinate system according to the rotation angle, and obtaining the third feature point coordinates of the feature point in the second coordinate system; a transformation relationship acquisition unit, suitable for obtaining the transformation relationship between the first coordinate system and the second coordinate system according to the first feature point coordinates of the feature point in the first coordinate system and the third feature point coordinates of the feature point in the second coordinate system.

[0008] Correspondingly, an embodiment of the present invention also provides a detection method, including: providing a detection component, the detection component can rotate around a preset rotation axis; providing an object to be measured, the object to be measured having a calibration point and a point to be measured; after the detection component is rotated around the rotation axis by a calibration angle, the calibration point is detected by the detection component to obtain a first calibration distance between the calibration point and the detection component; according to the first calibration distance, the calibration angle and the first calibration point motion coordinates of the calibration point in a preset third coordinate system, the first calibration point coordinates of the calibration point in a preset second coordinate system are obtained; according to the conversion relationship between the first coordinate system and the second coordinate system obtained by the conversion relationship acquisition method as described in any of the above items, the first calibration point coordinates of the calibration point in the second coordinate system are converted to the first coordinate system to obtain the second calibration point coordinates of the calibration point in the first coordinate system; according to the second calibration point coordinates of the calibration point in the first coordinate system, the calibration point is measured. Establish a first coordinate system, obtain the coordinates of the first point to be measured of the point to be measured in the first coordinate system; obtain the coordinates of the second point to be measured of the point to be measured in the second coordinate system according to the first coordinates of the point to be measured in the first coordinate system and the conversion relationship between the first coordinate system and the second coordinate system; obtain the coordinates of the third point to be measured of the point to be measured in a preset third coordinate system when the detection component rotates around the rotation axis by a predetermined rotation angle and there is a predetermined target distance between the point to be measured and the detection component according to the second coordinates of the point to be measured in the second coordinate system; the point to be measured has the best detection effect when the detection component rotates around the rotation axis by a predetermined rotation angle and there is a predetermined target distance between the point to be measured and the detection component; after the detection component is rotated around the rotation axis by a predetermined rotation angle and the detection component locates the point to be measured according to the third coordinates of the point to be measured in the third coordinate system, the point to be measured is detected by the detection component to obtain the detection result of the point to be measured.

[0009] Correspondingly, an embodiment of the present invention also provides a detection system, including: a detection component, which can rotate around a preset rotation axis; a first acquisition unit, which is suitable for rotating the detection component around the rotation axis by a calibration angle, and then detecting a calibration point in the object to be measured through the detection component to obtain a first calibration distance between the calibration point and the detection component; a second acquisition unit, which is suitable for obtaining the first calibration point coordinates of the calibration point in a preset second coordinate system based on the first calibration distance, the calibration angle and the first calibration point motion coordinates of the calibration point in a preset third coordinate system; a third acquisition unit, which is suitable for converting the first calibration point coordinates of the calibration point in the second coordinate system to the first coordinate system according to the conversion relationship between the first coordinate system and the second coordinate system obtained by the conversion relationship acquisition method as any of the above items, and obtaining the second calibration point coordinates of the calibration point in the first coordinate system; a fourth acquisition unit, which is suitable for constructing a first coordinate system for the object to be measured based on the second calibration point coordinates of the calibration point in the first coordinate system , obtain the first coordinate of the measured point in the object to be measured in the first coordinate system; the fifth acquisition unit is suitable for obtaining the second coordinate of the measured point in the second coordinate system according to the first coordinate of the measured point in the first coordinate system and the conversion relationship between the first coordinate system and the second coordinate system; the sixth acquisition unit is suitable for obtaining the third coordinate of the measured point in the preset third coordinate system when the detection component rotates around the rotation axis by a predetermined rotation angle and there is a predetermined target distance between the measured point and the detection component according to the second coordinate of the measured point in the second coordinate system; the measured point has the best detection effect when the detection component rotates around the rotation axis by a predetermined rotation angle and there is a predetermined target distance between the measured point and the detection component; the detection unit is suitable for rotating the detection component around the rotation axis by a predetermined rotation angle, and after the detection component locates the measured point according to the third coordinate of the measured point in the third coordinate system, detecting the measured point by the detection component to obtain the detection result of the measured point.

[0010] Correspondingly, an embodiment of the present invention also provides a device, comprising at least one memory and at least one processor, the memory storing one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement the conversion relationship acquisition method or the detection method as described in any one of the above items.

[0011] Correspondingly, an embodiment of the present invention further provides a storage medium, characterized in that the storage medium stores one or more computer instructions, and the one or more computer instructions are used to implement the conversion relationship acquisition method or the detection method as described in any one of the above.

[0012] Compared with the prior art, the technical solution of the present invention has the following advantages:

[0013] An embodiment of the present invention provides a method for obtaining a conversion relationship. First, before the detection component rotates around the rotation axis, the detection component is used to detect the calibration object to obtain the first feature point coordinates of the feature point in a preset first coordinate system. Then, after the detection component rotates around the rotation axis, the detection component is used to detect the calibration object to obtain the second feature point coordinates of the feature point in the first coordinate system. Based on the second feature point coordinates of the feature point in the first coordinate system, the rotation angle of the detection component around the rotation axis is obtained, so that the second feature point coordinates of the feature point in the first coordinate system can be corrected according to the rotation angle, and the third feature point coordinates of the feature point in the preset second coordinate system are obtained. Therefore, based on the first feature point coordinates of the feature point in the first coordinate system and the third feature point coordinates of the feature point in the second coordinate system, the conversion relationship between the first coordinate system and the second coordinate system can be obtained.

[0014] Accordingly, an embodiment of the present invention provides a detection method, which can construct the posture of the object to be measured in the first coordinate system according to the second calibration point coordinates of the calibration point in the first coordinate system according to the conversion relationship between the first coordinate system and the second coordinate system and the first calibration point coordinates of the calibration point in the object to be measured in the second coordinate system, and obtain the first calibration point coordinates of the point to be measured in the first coordinate system according to the posture of the object to be measured in the first coordinate system, and then obtain the third calibration point coordinates of the point to be measured in the preset third coordinate system when the detection component rotates around the rotation axis by a predetermined rotation angle and there is a predetermined target distance between the point to be measured and the detection component, so that the detection component rotates around the rotation axis by a predetermined rotation angle, and after the detection component locates the point to be measured according to the third calibration point coordinates of the point to be measured in the third coordinate system, the point to be measured can be detected. Therefore, there is no need to rotate the object to be measured. The detection of the point to be measured in the object to be measured can be achieved by rotating the detection component, and the shaft error introduced by overload of the object to be measured can be avoided, so the detection accuracy can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A schematic diagram showing a flow chart of a method for obtaining a conversion relationship in an embodiment of the present invention is shown;

[0016] Figure 2 A schematic diagram of a detection component in an embodiment of the present invention is shown;

[0017] Figure 3 A schematic diagram of a calibration object in an embodiment of the present invention is shown;

[0018] Figure 4 A schematic diagram showing the positional relationship between the first coordinate system, the motion platform and the calibration object is shown;

[0019] Figure 5A schematic diagram showing the positional relationship between the third coordinate system and the first coordinate system is shown;

[0020] Figure 6 A schematic diagram showing a point cloud image of a second characteristic structure position obtained by using a detection component when a calibration object is located at a plurality of different calibration heights;

[0021] Figure 7 A schematic diagram showing the structure of a conversion relationship acquisition device in an embodiment of the present invention is shown;

[0022] Figure 8 A schematic flow chart of a detection method in an embodiment of the present invention is shown;

[0023] Fig. 9 A schematic diagram of the structure of a detection system in an embodiment of the present invention is shown;

[0024] Fig.10 An optional hardware structure of the electronic device in the embodiment of the present invention is shown. DETAILED DESCRIPTION

[0025] As can be seen from the background technology, when an object to be tested is optically inspected, the object to be tested is first placed on a preset turntable, and the turntable is rotated to drive the object to be tested to rotate around a preset rotation axis, so that the confocal probe can measure different areas of the object to be tested. However, when the weight of the object to be tested exceeds the load of a common structure, rotating the object to be tested will introduce a rotation axis error due to the overload of the object to be tested. Therefore, the detection accuracy of the current detection method still needs to be improved.

[0026] To solve the above problems, an embodiment of the present invention provides a method for obtaining a transformation relationship, including: providing a detection component, which can rotate around a preset rotation axis; providing a calibration object, which has a feature point; before the detection component rotates around the rotation axis, detecting the calibration object through the detection component to obtain the first feature point coordinates of the feature point in a preset first coordinate system; after the detection component rotates around the rotation axis, detecting the calibration object through the detection component to obtain the second feature point coordinates of the feature point in the first coordinate system; according to the second feature point coordinates of the feature point in the first coordinate system, obtaining the rotation angle of the detection component around the rotation axis; correcting the second feature point coordinates of the feature point in the first coordinate system according to the rotation angle, obtaining the third feature point coordinates of the feature point in the preset second coordinate system; according to the first feature point coordinates of the feature point in the first coordinate system and the third feature point coordinates of the feature point in the second coordinate system, obtaining the transformation relationship between the first coordinate system and the second coordinate system.

[0027] Accordingly, an embodiment of the present invention provides a detection method, which can construct the posture of the object to be measured in the first coordinate system according to the second calibration point coordinates of the calibration point in the first coordinate system according to the conversion relationship between the first coordinate system and the second coordinate system and the first calibration point coordinates of the calibration point in the object to be measured in the second coordinate system, and obtain the first calibration point coordinates of the point to be measured in the first coordinate system according to the posture of the object to be measured in the first coordinate system, and then obtain the third calibration point coordinates of the point to be measured in the preset third coordinate system when the detection component rotates around the rotation axis by a predetermined rotation angle and there is a predetermined target distance between the point to be measured and the detection component, so that the detection component rotates around the rotation axis by a predetermined rotation angle, and after the detection component locates the point to be measured according to the third calibration point coordinates of the point to be measured in the third coordinate system, the point to be measured can be detected. Therefore, there is no need to rotate the object to be measured. The detection of the point to be measured in the object to be measured can be achieved by rotating the detection component, and the shaft error introduced by overload of the object to be measured can be avoided, so the detection accuracy can be improved. In order to make the above-mentioned purposes, features and advantages of the embodiments of the present invention more obvious and understandable, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0028] Figure 1 A schematic diagram of a conversion relationship acquisition method in an embodiment of the present invention is shown. Figure 1 , a method for obtaining a conversion relationship may specifically include the following steps:

[0029] Step S110: providing a detection component, wherein the detection component can rotate around a preset rotation axis;

[0030] Step S120: providing a calibration object, where the calibration object has characteristic points;

[0031] Step S130: Before the detection component rotates around the rotation axis, the calibration object is detected by the detection component to obtain the first feature point coordinates of the feature point in a preset first coordinate system;

[0032] Step S140: After the detection component rotates around the rotation axis, the calibration object is detected by the detection component to obtain the coordinates of the second feature point of the feature point in the first coordinate system;

[0033] Step S150: acquiring a rotation angle of the detection component around the rotation axis according to the coordinates of the second feature point of the feature point in the first coordinate system;

[0034] Step S160: Correcting the coordinates of the second feature point of the feature point in the first coordinate system according to the rotation angle, and obtaining the coordinates of the third feature point of the feature point in the preset second coordinate system;

[0035] Step S170: Acquire a conversion relationship between the first coordinate system and the second coordinate system according to the first feature point coordinates of the feature point in the first coordinate system and the third feature point coordinates of the feature point in the second coordinate system.

[0036] Figure 2 A schematic diagram of a detection component in an embodiment of the present invention is shown. Figure 1 and Figure 2 , execute step S110, provide a detection component 100, and the detection component 100 can rotate around a preset rotation axis.

[0037] In this embodiment, the detection component 100 can generate a detection light beam to be incident on the position to be measured of the object to be measured, so as to form a detection light spot at the position to be measured, thereby obtaining height information of the position to be measured through the detection light spot.

[0038] In an embodiment of the present invention, the detection component may include any suitable three-dimensional detection component capable of implementing the present invention, such as a dispersive confocal device, a laser triangulation measurement device, a three-coordinate detection component, an interferometry measurement device, etc.

[0039] In this embodiment, the detection component 100 is a dispersive confocal probe, which can achieve high-precision measurement when the position to be measured is tilted or warped, thereby improving the detection accuracy.

[0040] In this embodiment, the detection component 100 is mounted on a preset mechanical end rotating structure 150 , and the mechanical end rotating structure 150 can drive the detection component 100 to rotate, so that the detection component 100 can rotate around a preset rotation axis (not shown).

[0041] The detection component 100 can rotate around a preset rotation axis. By configuring appropriate rotation angles for different positions to be measured in the object to be measured, the detection component 100 can rotate the corresponding rotation angle to detect the corresponding position to be measured in the object to be measured. The height information of the position to be measured in the object to be measured can be accurately obtained without rotating the object to be measured. The rotation error introduced by rotating the object to be measured whose weight exceeds the load can be avoided, thereby improving the detection accuracy.

[0042] Figure 3 A schematic diagram of a calibration object in an embodiment of the present invention is shown. Figures 1 to 3 , execute step S120 to provide a calibration object 200 , where the calibration object 200 has a feature point 215 .

[0043] The calibration object 200 is used to obtain the coordinate conversion relationship between the preset first coordinate system and the second coordinate system. Specifically, by respectively obtaining the position coordinates of the feature point 215 in the calibration object 200 in the first coordinate system and the second coordinate system, the conversion relationship between the first coordinate system and the second coordinate system can be obtained.

[0044] In this embodiment, the calibration object 200 is a sheet structure with a rectangular cross section and a certain thickness, and the calibration object 200 has a characteristic structure 210, and the characteristic point 215 is a point in the characteristic structure.

[0045] The number of characteristic structures 210 in the calibration object 200 may be one or more. In this embodiment, the number of characteristic structures 210 in the calibration object 200 is multiple, and the multiple characteristic structures 210 are arranged in an array in the calibration object 200. Specifically, the characteristic structure 210 is a circular hole, and the characteristic point 215 is the center of the circular hole.

[0046] In other embodiments, the calibration object can also be other polyhedral structures, such as a tetrahedral structure, an octahedral structure, a dodecahedral structure, etc., and the feature points can also be points at other positions of other feature structures in the calibration object. Those skilled in the art can set them according to actual needs and are not limited here.

[0047] Figure 4 shows a schematic diagram of the positional relationship between the first coordinate system, the motion platform and the calibration object, Figure 5 The positional relationship between the third coordinate system and the first coordinate system is shown. Figures 1 to 5 , execute step S130, before the detection component 100 rotates around the rotation axis, the calibration object 200 is detected by the detection component 100 to obtain the first feature point coordinates of the feature point 215 in the preset first coordinate system.

[0048] In this embodiment, the first coordinate system has a first coordinate plane O1X1Y1, the object to be measured 200 is placed on a preset motion platform 300, and the motion platform 300 is parallel to the first coordinate plane O1X1Y1. Accordingly, before the detection component 100 rotates around the rotation axis, the calibration object 200 is detected by the detection component 100 to obtain the first feature point coordinates of the feature point 215 in the preset first coordinate system, including: rotating the detection component 100 so that the optical axis of the detection component 100 is perpendicular to the first coordinate plane O1X1Y1; After the optical axis of the component 100 is perpendicular to the first coordinate plane O1X1Y1, the detection component 100 is moved so that the calibration object 200 is at a preset calibration height S0 within the height acquisition range of the detection component 100; after the detection component 100 is perpendicular to the first coordinate plane O1X1Y1 and the calibration object 200 is at the preset calibration height S0 within the height acquisition range of the detection component 100, the calibration object 200 at the preset calibration height S0 is detected by the detection component 100 to obtain the first feature point coordinates of the feature point 215 in the first coordinate system.

[0049] In this embodiment, the first coordinate system has a first coordinate axis X1, a second coordinate axis Y1 and a third coordinate axis Z1, and the origin of the first coordinate system is O1. The first coordinate axis X1 and the second coordinate axis Y1 constitute a first coordinate plane O1X1Y1.

[0050] In this embodiment, the first coordinate system is a Cartesian rectangular coordinate system. Accordingly, any two of the first coordinate axis X1, the second coordinate axis Y1 and the third coordinate axis Z1 are perpendicular to each other. Specifically, the first coordinate system is a preset first machine coordinate system.

[0051] The motion platform 300 is parallel to the first coordinate plane O1X1Y1. Accordingly, after the calibration object 200 is placed on the preset motion platform 300, the calibration object 200 is parallel to the first coordinate plane X1O1Y1.

[0052] Rotating the detection component 100 so that the optical axis of the detection component 100 is perpendicular to the first coordinate plane O1X1Y1 means adjusting the posture of the detection component 100 so that the optical axis of the detection component 100 is perpendicular to the first coordinate plane O1X1Y1.

[0053] Correspondingly, moving the detection component 100 so that the calibration object 200 is at a preset calibration height S0 within the height collection range of the detection component 100 means controlling the detection component 100 to move in a direction parallel to the first coordinate plane O1X1Y1 and / or parallel to the third coordinate axis Z1 so that the calibration object 200 located on the motion platform 300 is at a preset calibration height S0 within the height collection range of the detection component 100.

[0054] In this embodiment, after the optical axis of the detection component 100 is perpendicular to the first coordinate plane O1X1Y1 and the calibration object 200 is at a preset calibration height S0 within the height acquisition range of the detection component 100, the detection component 100 detects the calibration object 200 at the preset calibration height S0 to obtain the first feature point coordinates of the feature point 215 in the first coordinate system, including: after the optical axis of the detection component 100 is perpendicular to the first coordinate plane and the calibration object 200 is at a preset calibration height S0 within the height acquisition range of the detection component 100, the detection component 100 is used to detect the calibration object 200 at the preset calibration height S0 to obtain the first feature point coordinates of the feature point 215 in the first coordinate system. Assume that a calibration object 200 with a calibration height S0 is detected to obtain a first distance between the characteristic structure 210 and the detection component 100; obtain the first characteristic structure motion coordinates of the characteristic structure 210 in a preset third coordinate system when the calibration object 200 is at the preset calibration height S0; obtain the first characteristic structure coordinates of the characteristic structure 210 in the first coordinate system based on the first distance and the first characteristic structure motion coordinates; obtain the first characteristic point coordinates of the characteristic point 215 in the first coordinate system based on the first characteristic structure coordinates of the characteristic structure 210 in the first coordinate system and the position of the characteristic point 215 in the characteristic structure.

[0055] In this embodiment, the optical axis of the detection component 100 is perpendicular to the first coordinate plane O1X1Y1 of the first coordinate system. Accordingly, before the detection component 100 is rotated around the rotation axis by a rotation angle, the optical axis of the detection component 100 coincides with the rotation axis of the detection component 100, that is, the rotation axis of the detection component 100 is also perpendicular to the first coordinate plane O1X1Y1.

[0056] In this embodiment, the preset calibration height S0 is the midpoint of the height acquisition range of the detection component 100. The calibration object 200 is placed at the midpoint of the height acquisition range of the detection component 100, and the detection component 100 is subsequently used to detect the calibration object 200 at the midpoint of the height acquisition range of the detection component 100, so that the detection component 100 can obtain a more accurate detection signal, thereby improving the detection accuracy of the first distance sensor1 between the characteristic structure 210 and the detection component 100, which is correspondingly helpful to improve the acquisition accuracy of the motion coordinates of the first characteristic structure, and further improve the acquisition accuracy of the first characteristic point coordinates of the characteristic point 215 in the first coordinate system.

[0057] In other embodiments, the preset calibration height can also be other range points in the height acquisition range of the detection component. As long as the preset calibration height can make the first distance between the characteristic structure obtained by the detection component and the detection component meet the accuracy requirements, there is no limitation here.

[0058] In this embodiment, when the calibration object 200 is at the preset calibration height S0, the first characteristic structure motion coordinates of the characteristic structure 210 in the preset third coordinate system are acquired by using other detection components besides the detection component 100.

[0059] See also Figure 5 In this embodiment, the third coordinate system has a seventh coordinate axis X3, an eighth coordinate axis Y3 and a ninth coordinate axis Z3, wherein the seventh coordinate axis X3, the eighth coordinate axis Y3 and the ninth coordinate axis Z3 are parallel to the first coordinate axis X1, the second coordinate axis Y1 and the third coordinate axis Z1 of the first coordinate system respectively, the origin O3 of the third coordinate system and the origin O1 of the first coordinate system are located on the same straight line, and the height difference between the origin O3 of the third coordinate system and the origin O1 of the first coordinate system is related to the height acquisition range of the detection component 100. Specifically, after the origin O3 of the third coordinate system is moved along the negative direction of the ninth coordinate axis Z3 by the height acquisition range of the detection component 100, it coincides with the origin O1 of the first coordinate system. In other words, the height difference between the origin O3 of the third coordinate system and the origin O1 of the first coordinate system is the same as the height acquisition range of the detection component 100.

[0060] Correspondingly, when the optical axis of the detection component 100 is perpendicular to the first coordinate plane O1X1Y1, when the calibration object 200 is at the preset calibration height S0, the first characteristic structure motion coordinates of the characteristic structure 210 in the preset third coordinate system are (Sx1, Sy1, Sz1), and the first distance between the characteristic structure 210 and the detection component 100 obtained by the detection component 100 is sensor1, then the first characteristic structure coordinates of the characteristic structure 210 in the first coordinate system are correspondingly (Sx1, Sy1, (Sz1+sensor1)).

[0061] In this embodiment, there are multiple characteristic structures 210. When the calibration object 200 is at a preset calibration height S0, the first characteristic structure coordinates (Sx1, Sy1, (Sz1+sensor1)) of the multiple characteristic structures 210 in the first coordinate system form a first characteristic structure position point cloud map.

[0062] Correspondingly, the step of obtaining the first feature point coordinates of the feature point 215 in the first coordinate system according to the first feature structure coordinates of the feature structure 210 in the first coordinate system and the position of the feature point 215 in the feature structure includes: performing first center point coordinate extraction processing on the feature structure 210 in the first feature structure position point cloud map, obtaining the position coordinates of the center points of each feature structure 210 in the first feature structure position point cloud map in the first coordinate system, and forming a first feature point position point cloud map (not shown).

[0063] Performing a first center point coordinate extraction process on the feature structure 210 in the first feature structure position point cloud map refers to extracting the position coordinates of the center points of each feature structure 210 in the first coordinate system from the first feature structure position point cloud map, and the position coordinates of the center points of multiple feature structures 210 in the first coordinate system form a first feature point position point cloud map.

[0064] In this embodiment, there are multiple characteristic structures 210, and the characteristic points 215 are respectively the centers of the characteristic structures 210. Accordingly, there are multiple characteristic points 215. Subsequently, the rotation angle of the detection component 100 is obtained by using the second characteristic point coordinates of the multiple characteristic points 215 in the first coordinate system, which can reduce the calibration error of the rotation angle of the detection component 100, and correspondingly help to improve the calibration accuracy of the conversion relationship between the first coordinate system and the second coordinate system.

[0065] It should be noted that the number of feature points 215 should not be too many or too few. If the number of feature points 215 is too few, the calibration accuracy of the rotation angle of the detection component 100 will be reduced; if the number of feature points 215 is too many, the amount of calculation required for calibrating the rotation angle of the detection component 100 will increase accordingly, and the calibration accuracy of the rotation angle of the detection component 100 will not be further helped. For this reason, in this embodiment, the number of feature points 215 is 15 to 30.

[0066] Figure 6 A schematic diagram of a second characteristic structure position point cloud image obtained by a detection component when the calibration object is located at multiple different calibration heights is shown. Figures 1 to 6 , step S140, after the detection component 100 rotates around the rotation axis, the calibration object 200 is detected by the detection component 100 to obtain the second feature point coordinates of the feature point 215 in the first coordinate system.

[0067] In this embodiment, after the detection component 100 rotates around the rotation axis, the calibration object 200 is detected by the detection component 100 to obtain the coordinates of the second feature point 215 in the first coordinate system, including: rotating the detection component 100 so that the detection component 100 rotates around the rotation axis by a rotation angle; after the detection component 100 rotates around the rotation axis by a rotation angle, moving the detection component 100 so that the calibration object 200 is respectively at a plurality of calibration heights S0 to S1 within the height acquisition range of the detection component 100. n-1 , multiple calibration heights S0~S n-1 The detection component 100 is rotated about the rotation axis by a rotation angle and the calibration object 200 is respectively located at a plurality of calibration heights S0 to S0 within the height collection range of the detection component 100. n-1 Afterwards, the detection component 100 detects the plurality of calibrated heights S0 to S n-1The calibration object 200 is detected respectively to obtain the coordinates of multiple second feature points of the feature point 215 in the first coordinate system.

[0068] In this embodiment, the detection component 100 is moved so that the calibration object 200 is located at a plurality of calibration heights S0 to S1 within the height acquisition range of the detection component 100. n-1 , refers to controlling the detection component 100 to move in a direction parallel to the first coordinate plane O1X1Y1 and / or parallel to the third coordinate axis Z1, so that the calibration object 200 located on the motion platform 300 is respectively at a plurality of different calibration heights S0~S1 within the height acquisition range of the detection component 100 n-1 .

[0069] The calibration object 200 is placed at a plurality of calibration heights S0 to S1 within the height acquisition range of the detection component 100. n-1 , the detection component 100 is used to detect the n-1 The calibration object 200 is detected to obtain the coordinates of multiple second feature points of the feature point 215 in the first coordinate system, and the coordinates of multiple second feature points of the feature point 215 in the first coordinate system can be used to obtain the calibration heights S0 to S0. n-1 The multiple rotation angle measurement values ​​of the detection component 100 correspond to each other, and then the multiple calibration heights S0-S n-1 Obtaining the rotation angle of the detection component 100 around the rotation axis by using multiple rotation angle measurement values ​​of the detection component 100 that correspond one to one can reduce the calibration error of the rotation angle of the detection component 100 around the rotation axis, which correspondingly helps to improve the acquisition accuracy of the rotation angle of the detection component 100 around the rotation axis.

[0070] In this embodiment, the rotation angle measurement value of the detection component 100 around the rotation axis is calculated by the least square method according to the coordinates of the second feature points of the feature point 215 in the first coordinate system. Then, the number of the second feature point coordinates of each feature point in the first coordinate system is at least two. Accordingly, the calibration heights S0 to S n-1 The number is also at least two.

[0071] In addition, the calibration height S0~S n-1 The number of should not be too much. n-1 If the number of is too large, the amount of calculation for obtaining the rotation angle of the detection component 100 around the rotation axis will increase accordingly, and the accuracy of obtaining the rotation angle of the detection component 100 around the rotation axis will not be much help. n-1 The quantity is 2 to 10.

[0072] In this embodiment, the detection component 100 is rotated about the rotation axis by a rotation angle and the calibration object 200 is respectively located at a plurality of calibration heights S0-S1 within the height acquisition range of the detection component 100. n-1 Afterwards, the detection component 100 is used to detect the calibration object 200 at each calibration height, and the step of obtaining the coordinates of multiple second feature points of the feature point 215 in the first coordinate system includes: after rotating the detection component 100 around the rotation axis by a rotation angle, using the detection component 100 to detect the calibration object 200 at each calibration height S0~S n-1 The calibration object 200 is detected to obtain the second distance sensor2 between the characteristic structure 210 and the detection component 100; the calibration object 200 is respectively obtained at each calibration height S0~S n-1 The second feature structure motion coordinates (Sx2, Sy2, Sz2) of the feature structure 210 in the third coordinate system are obtained; a plurality of second feature structure coordinates of the feature structure 210 in the first coordinate system are obtained according to the second distance sensor2 and the second feature structure motion coordinates (Sx2, Sy2, Sz2); a plurality of second feature point coordinates of the feature point 215 in the first coordinate system are obtained according to the plurality of second feature structure coordinates of the feature structure 210 in the first coordinate system and the position of the feature point 215 in the feature structure.

[0073] In this embodiment, before the detection component 100 is rotated around the rotation axis by a rotation angle, the rotation axis of the detection component 100 is perpendicular to the first coordinate plane O1X1Y1 of the first coordinate system, and accordingly, after the detection component 100 is rotated around the rotation axis by a rotation angle, the optical axis of the detection component 100 does not coincide with the rotation axis of the detection component 100, that is, there is a certain angle between the optical axis of the detection component 100 and the rotation axis of the detection component 100, which accordingly makes the optical axis of the detection component 100 not perpendicular to the first coordinate plane O1X1Y1, and the optical axis of the detection component 100 is no longer parallel to the third coordinate axis X3 of the first coordinate system.

[0074] In this embodiment, after the detection component 100 rotates around the rotation axis by a rotation angle, the first characteristic structure motion coordinates of the characteristic structure 210 in the preset third coordinate system when the calibration object 200 is at each calibration height are (Sx2, Sy2, Sz2), and the second distance between the characteristic structure 210 and the detection component 100 obtained by the detection component 100 is sensor2. Accordingly, the second characteristic structure coordinates of the characteristic structure 210 in the first coordinate system are (Sx2, Sy2, (Sz2+sensor2)).

[0075] It can be understood that after the detection component 100 rotates around the rotation axis by a rotation angle, the second distance sensor between the characteristic structure 210 acquired by the detection component 100 and the detection component 100 is used.2i , as the calibration object 200 is at the calibration height S i (i is a natural number greater than or equal to 0 and less than or equal to n-1) changes accordingly, that is, when the calibration object 200 is at different calibration heights S i In the case of the same characteristic structure 210 and the detection component 100, the second distance sensor 2i will be different, and accordingly the second characteristic structure coordinates of the same characteristic structure 210 in the first coordinate system (Sx2, Sy2, (Sz2+sensor2)) will be different.

[0076] In this embodiment, the characteristic structure 210 is a plurality of circular holes arranged in an array in the calibration object 200, and the characteristic points 215 are the centers of the circular holes. The calibration object 200 is at each preset calibration height S i At this time, the second feature structure coordinates (Sx2, Sy2, (Sz2+sensor2)) of the plurality of feature structures 210 in the first coordinate system form a second feature structure position point cloud image 400.

[0077] When the calibration object 200 is at different calibration heights S i In the case where the second characteristic structure coordinates of the same characteristic structure 210 in the first coordinate system are different (Sx2, Sy2, (Sz2+sensor2)), the calibration object 200 is at different calibration heights S i At the same time, the second feature structure position point cloud image 400 formed by the second feature structure coordinates (Sx2, Sy2, (Sz2+sensor2)) of the multiple feature structures 210 in the first coordinate system is also different.

[0078] Combined with reference Figure 6 , which shows the calibration object 200 at three different calibration heights S i It can be seen that as the calibration height S of the calibration object 200 increases, i As the second characteristic structure coordinates (Sx2, Sy2, (Sz2+sensor2)) of the plurality of characteristic structures 210 in the first coordinate system continuously increase or decrease, the second characteristic structure position point cloud image 400 formed by the second characteristic structure coordinates (Sx2, Sy2, (Sz2+sensor2)) of the plurality of characteristic structures 210 gradually shifts to the left or right.

[0079] Correspondingly, the step of obtaining the first feature point coordinates of the feature point 215 in the first coordinate system according to the second feature structure coordinates of the feature structure 210 in the first coordinate system and the position of the feature point 215 in the feature structure includes: performing second center point coordinate extraction processing on the feature structure 210 in the second feature structure position point cloud map 400, obtaining the second feature point coordinates of the center points of each feature structure 210 in the second feature structure position point cloud map 400 in the first coordinate system, and forming a second feature point position point cloud map (not shown).

[0080] Performing a second center point coordinate extraction process on the feature structure 210 in the second feature structure position point cloud map 400 refers to extracting the position coordinates of the center points of each feature structure 210 in the first coordinate system from the second feature structure position point cloud map 400, and the position coordinates of the center points of multiple feature structures 210 in the first coordinate system form a second feature point position point cloud map.

[0081] In this embodiment, the second characteristic structure coordinates of the characteristic structure 210 in the first coordinate system are (Sx2, Sy2, (Sz2+sensor2)), and the second characteristic point coordinates of the characteristic point 215 in the first coordinate system are expressed as (Sx 特 , Sy 特 , (Sz 特 +sensor 特 )).

[0082] It can be understood that when the calibration object 200 is at different calibration heights S i In the case of the same characteristic structure 210 and the detection component 100, the second distance sensor 2i will be different, correspondingly making the second characteristic structure coordinates of the same characteristic structure 210 in the first coordinate system (Sx2, Sy2, (Sz2+sensor2)) different, thereby making the calibration object 200 at different calibration heights S i The second feature point coordinates (Sx 特 , Sy 特 , (Sz 特 +sensor 特 ))are not the same.

[0083] Please refer to Figures 1 to 6 , step S150, obtaining the rotation angle of the detection component 100 around the rotation axis according to the second feature point coordinates of the feature point 215 in the first coordinate system.

[0084] Obtaining the rotation angle of the detection component 100 around the rotation axis provides a basis for subsequently using the rotation angle to correct the second feature point coordinates of the feature point 215 in the first coordinate system to the corresponding second coordinate system, and obtaining the third feature point coordinates of the feature point 215 in the corresponding second coordinate system.

[0085] In this embodiment, the calibration object 200 is at different calibration heights S i In the case of the same feature point 215, the second feature point coordinates (Sx 特 , Sy 特 , (Sz 特 +sensor 特 )) are different. Accordingly, according to the calibration object 200 being at different calibration heights S i The second feature point coordinates (Sx 特 , Sy 特 , (Sz 特 +sensor 特 )), the rotation angle of the detection component 100 around the rotation axis can be obtained.

[0086] In this embodiment, the second feature point coordinates (Sx 特 , Sy 特 , (Sz 特 +sensor 特 )) is at least two, and accordingly, according to the coordinates of at least two second feature points (Sx 特 , Sy 特 , (Sz 特 +sensor 特 )), the least square method is used to calculate the rotation angle of the detection component 100 around the rotation axis.

[0087] In other embodiments, other methods can be used to obtain the rotation angle of the detection component around the rotation axis based on the coordinates of the second feature point of the feature point in the first coordinate system. Technicians in this field can select according to actual needs and there is no limitation here.

[0088] In this embodiment, there are multiple feature points 215, and the same feature point 215 is located at multiple calibration heights S0-S1. n-1The coordinates of the multiple second feature points under the least square method can be used to calculate the corresponding rotation angle measurement value of the detection component 100 around the rotation axis. Accordingly, the rotation angle measurement values ​​corresponding to the multiple feature points 215 are linearly combined to obtain the rotation angle of the detection component 100 around the rotation axis. Among them, the linear combination of the rotation angle measurement values ​​corresponding to the multiple feature points 215 includes: obtaining the average or weighted average of the multiple rotation angle measurement values.

[0089] First, according to the same feature point at multiple calibration heights S0~S n-1 The coordinates of multiple second feature points under the above conditions can be used to calculate the corresponding rotation angle measurement values ​​of the detection component 100 around the rotation axis using the least squares method, and then the rotation angle measurement values ​​of the multiple feature points corresponding to each other are linearly combined to obtain the rotation angle of the detection component 100 around the rotation axis, which can improve the accuracy of the rotation angle of the detection component 100 around the rotation axis.

[0090] In other embodiments, the number of feature points can also be one. Accordingly, the rotation angle measurement value around the rotation axis obtained by the coordinates of at least two second feature points of the one feature point is used as the rotation angle of the detection component around the rotation axis, which can correspondingly improve the acquisition speed of the rotation angle of the detection component around the rotation axis.

[0091] Please refer to Figures 1 to 6 , step S160, correcting the second feature point coordinates of the feature point 215 in the first coordinate system according to the rotation angle of the detection component 100, and obtaining the third feature point coordinates of the feature point 215 in the preset second coordinate system.

[0092] Acquiring the third feature point coordinates of the feature point 215 in the preset second coordinate system provides a basis for subsequently acquiring the relationship between the first coordinate system and the second coordinate system based on the first feature point coordinates of the feature point 215 in the first coordinate system and the third feature point coordinates of the feature point in the second coordinate system.

[0093] In this embodiment, the rotation angle of the detection component 100 around the rotation axis is represented by the angle between the optical axis of the detection component 100 and the first coordinate axis X1, the second coordinate axis Y1 and the third coordinate axis Z1 of the first coordinate system, which is expressed as (α 特 , β 特 , γ 特 ).

[0094] In this embodiment, after the detection component 100 rotates around the rotation axis by a rotation angle, the first coordinate system is translated according to the rotation angle of the detection component 100 around the rotation axis to obtain a corresponding second coordinate system. In other words, the second coordinate system is parallel to the rotation angle (α) of the detection component 100 around the rotation axis. 特 , β特 , γ 特 ), and each coordinate axis of the second coordinate system is parallel to the corresponding coordinate axis in the first coordinate system, that is, there is a translation relationship between the second coordinate system and the first coordinate system.

[0095] Accordingly, when obtaining the rotation angle (α 特 , β 特 , γ 特 ) is determined, according to the rotation angle (α 特 , β 特 , γ 特 ), the second feature point coordinates of the feature point 215 in the first coordinate system can be corrected to the second coordinate system, and the third feature point coordinates of the feature point 215 in the second coordinate system can be obtained.

[0096] In this embodiment, the second coordinate system includes a fourth coordinate axis, a fifth coordinate axis and a sixth coordinate axis, and any two of the fourth coordinate axis, the fifth coordinate axis and the sixth coordinate axis are perpendicular to each other. 特 , Sy 特 , (Sz 特 +sensor 特 )) is corrected to the second coordinate system, which means that the detection component 100 is corrected according to the rotation angle (α 特 , β 特 , γ 特 ), the second feature point coordinates (Sx) of the feature point 215 acquired by the detection component 100 when it is not perpendicular to the second coordinate plane formed by the fourth coordinate axis and the fifth coordinate axis and not parallel to the sixth coordinate axis in the first coordinate system 特 , Sy 特 , (Sz 特 +sensor 特 )), converted to the position coordinates of the characteristic structure 210 in the second coordinate system that the detection component 100 should obtain when it is perpendicular to the second coordinate plane and parallel to the sixth coordinate axis.

[0097] In this embodiment, the second feature point coordinates of the feature point 215 in the first coordinate system are corrected according to the rotation angle of the detection component 100, and the step of obtaining the third feature point coordinates of the feature point 215 in the second coordinate system includes: using the rotation angle (α 特 , β 特 , γ 特 ) for the second feature point coordinate (Sx) of the feature point 215 in the first coordinate system when the calibration object 200 is at the preset calibration height S0 特 , Sy 特, (Sz 特 +sensor 特 )) is corrected to obtain the third feature point coordinates of the feature point 215 in the second coordinate system.

[0098] In this embodiment, the rotation angle (α 特 , β 特 , γ 特 ) Correct the coordinates of the second feature point of the feature point 215 in the first coordinate system when the calibration object 200 is at the preset calibration height S0, and obtain the coordinates of the third feature point of the feature point 215 in the second coordinate system. The preset calibration height S0 is the midpoint of the height acquisition range of the detection component 100.

[0099] The rotation angle (α 特 , β 特 , γ 特 ) corrects the second feature point coordinates of the feature point 215 in the first coordinate system when the calibration object 200 is at the preset calibration height S0, and obtains the third feature point coordinates of the feature point 215 in the second coordinate system, so that the conversion relationship between the first coordinate system and the second coordinate system can be obtained according to the first feature point coordinates and the third feature point coordinates of the feature point 215 in the first coordinate system when the calibration object 200 is at the preset calibration height S0.

[0100] In this embodiment, the second feature point coordinates of each feature point 215 in the second feature structure position point cloud map 400 in the first coordinate system form a second feature point position point cloud map, and accordingly, the second feature point coordinates of the feature point in the first coordinate system are corrected according to the rotation angle, and the step of obtaining the third feature point coordinates of the feature point in the preset second coordinate system includes: correcting the second feature point coordinates of each feature point 215 in the second feature point position point cloud map in the second coordinate system according to the rotation angle, obtaining the third feature point coordinates of each feature point 215 in the second feature point position point cloud map in the second coordinate system, and forming a third feature point position point cloud map.

[0101] In this embodiment, according to the rotation angle of the detection component 100 around the rotation axis, the following formula is used to correct the coordinates of the second feature point of the feature point 215 in the first coordinate system when the calibration object 200 is at a preset calibration height:

[0102]

[0103] Among them, (Sx 特 , Sy 特 , Sz 特 ) represents the motion coordinates of the first feature point of feature point 215 in the third coordinate system, sensor 特represents the third distance between the feature point 215 and the detection component 100 when the calibration object is at the preset calibration height S0; (Cx2 特 , Cy2 特 , Cz2 特 ) represents the third feature point coordinates of the feature point 215 in the second coordinate system.

[0104] Please refer to Figure 1 and Figure 6 , step S170, acquiring a conversion relationship between the first coordinate system and the second coordinate system according to the first feature point coordinates of the feature point 215 in the first coordinate system and the third feature point coordinates of the feature point 215 in the second coordinate system.

[0105] By obtaining the conversion relationship between the first coordinate system and the second coordinate system, when subsequently detecting the object to be detected, appropriate rotation angles can be configured for different positions to be detected in the object to be detected, so that the detection component 100 rotates the corresponding rotation angle to detect the corresponding position to be detected in the object to be detected. The detection information of the position to be tested in the object to be tested can be accurately obtained without rotating the object to be tested, and the rotation error introduced by rotating the object to be tested whose weight exceeds the load can be avoided, thereby improving the detection accuracy.

[0106] In this embodiment, the step of obtaining the conversion relationship between the first coordinate system and the second coordinate system based on the first feature point coordinates of the feature point 215 in the first coordinate system and the third feature point coordinates of the feature point 215 in the second coordinate system includes: using a singular value decomposition algorithm to calculate the conversion relationship between the first coordinate system and the second coordinate system based on the first feature point coordinates of each feature point 215 in the first feature point position point cloud map in the first coordinate system and the third feature point coordinates of each feature point 215 in the third feature point position point cloud map in the second coordinate system.

[0107] Specifically, the transformation relationship between the first coordinate system and the second coordinate system can be expressed as:

[0108]

[0109] Among them, (Bx2, By2, Bz2) represents the position coordinates of the coordinate point in the first coordinate system, (Cx2, Cy2, Cz2) represents the position coordinates of the coordinate point in the second coordinate system, and T represents the transformation matrix between the first coordinate system and the second coordinate system.

[0110] The conversion relationship between the first coordinate system and the second coordinate system includes a rotation relationship and a translation relationship, wherein the conversion matrix T between the first coordinate system and the second coordinate system includes six degrees of freedom, namely, three degrees of freedom of the rotation matrix R and three degrees of freedom of the translation vector t.

[0111] In this embodiment, the first coordinate system and the second coordinate system only include a translation relationship. Accordingly, the conversion relationship between the first coordinate system and the second coordinate system is solved according to the first feature point coordinates of each feature point 215 in the first feature point position point cloud map in the first coordinate system and the third feature point coordinates of each feature point 215 in the third feature point position point cloud map in the second coordinate system, which is converted into a problem of minimizing the distance between the coordinate point before the translation and the coordinate point after the translation, that is:

[0112]

[0113] Among them, Ai represents the first feature point coordinates of the feature point i in the first feature point position point cloud image in the first coordinate system, and Ci represents the third feature point coordinates of the feature point i in the third feature point position point cloud image in the second coordinate system.

[0114] When solving the minimization problem of formula (3), the first feature point coordinates of each feature point 215 in the first feature point position point cloud image in the first coordinate system and the third feature point coordinates of each feature point 215 in the third feature point position point cloud image in the second coordinate system are first decentralized, that is:

[0115]

[0116]

[0117] and:

[0118]

[0119]

[0120] Among them, A 1i represents the coordinates of the first feature point i in the first coordinate system after decentralized processing, C 1i represents the coordinates of the third feature point of the decentralized feature point i in the second coordinate system, and n represents the number of feature points.

[0121] Afterwards, the first feature point coordinate A of each feature point i after the decentralized processing in the first coordinate system is 1i And the third feature point coordinates C of each feature point i after decentralized processing in the second coordinate system 1i Calculate the 3*3 covariance matrix, and use the singular value decomposition to find the least squares solution of the rotation matrix R based on the calculated covariance matrix. Then, based on the relationship between the rotation matrix R and the translation vector t, the translation vector t can be solved:

[0122]

[0123] The translation vector t is also the transformation matrix T between the first coordinate system and the second coordinate system.

[0124] It should also be pointed out that although this embodiment only uses the Cartesian rectangular coordinate system as an example to illustrate the process of obtaining the conversion relationship between the first coordinate system and the second coordinate system, those skilled in the art should understand that any other suitable coordinate system may be used to perform the process, such as a cylindrical coordinate system, a polar coordinate system, etc.

[0125] Correspondingly, an embodiment of the present invention further provides a conversion relationship acquisition device.

[0126] Figure 7 FIG. 1 is a schematic diagram showing the structure of a conversion relationship acquisition device in an embodiment of the present invention. Figure 7 A conversion relationship acquisition device 70 includes: a first coordinate acquisition unit 701, which is suitable for detecting the calibration object through the detection component before the detection component rotates around a preset rotation axis to obtain the first feature point coordinates of the feature point in the first coordinate system, the detection component can rotate around the rotation axis, and the calibration object has a feature point; a second coordinate acquisition unit 702, which is suitable for detecting the calibration object through the detection component after the detection component rotates around the rotation axis to obtain the second feature point coordinates of the feature point in the first coordinate system; a rotation angle acquisition unit 703, which is suitable for obtaining the rotation angle of the detection component around the rotation axis according to the second feature point coordinates of the feature point in the first coordinate system; a feature point coordinate correction unit 704, which is suitable for correcting the second feature point coordinates of the feature point in the first coordinate system according to the rotation angle to obtain the third feature point coordinates of the feature point in the second coordinate system; a conversion relationship acquisition unit 705, which is suitable for obtaining the conversion relationship between the first coordinate system and the second coordinate system according to the first feature point coordinates of the feature point in the first coordinate system and the third feature point coordinates of the feature point in the second coordinate system.

[0127] The conversion relationship acquisition device of this embodiment can be used to execute the conversion relationship acquisition method of the above embodiment, or other functional structures can be used to execute the conversion relationship acquisition method of the above embodiment. For the conversion relationship acquisition method, please refer to the corresponding description in the above embodiment, which will not be repeated here.

[0128] Accordingly, an embodiment of the present invention also provides a detection method.

[0129] Figure 8 FIG. 1 is a flow chart of a detection method in an embodiment of the present invention. Figure 8, a detection method may specifically include: step S810: providing a detection component, the detection component can rotate around a preset rotation axis; step S820: providing an object to be measured, the object to be measured has a calibration point and a point to be measured; step S830: after the detection component is rotated around the rotation axis by a corresponding calibration angle, the calibration point is detected by the detection component respectively to obtain a first calibration distance between the calibration point and the detection component; step S840: according to the first calibration distance, the calibration angle and the first calibration point motion coordinates of the calibration point in a preset third coordinate system, the first calibration point coordinates of the calibration point in a preset second coordinate system are obtained; step S850: according to the conversion relationship between the first coordinate system and the second coordinate system obtained by the conversion relationship acquisition method as described above, the first calibration point coordinates of the calibration point in the second coordinate system are converted to the first coordinate system, and the second calibration point coordinates of the calibration point in the first coordinate system are obtained; step S860: according to the second calibration point in the first coordinate system, the calibration point motion coordinates are converted to the first coordinate system, and the second calibration point coordinates of the calibration point in the first coordinate system are obtained. The calibration point coordinates construct the posture of the object to be measured in the first coordinate system, and obtain the first coordinates of the point to be measured in the first coordinate system according to the posture of the object to be measured in the first coordinate system; step S870: according to the first coordinates of the point to be measured in the first coordinate system and the conversion relationship between the first coordinate system and the second coordinate system obtained by the above-mentioned conversion relationship acquisition method, obtain the second coordinates of the point to be measured in the second coordinate system; step S880: according to the second coordinates of the point to be measured in the second coordinate system, obtain the third coordinates of the point to be measured in the preset third coordinate system when the detection component rotates around the rotation axis by a predetermined rotation angle and there is a predetermined target distance between the point to be measured and the detection component; step S890: after the detection component rotates around the rotation axis by a corresponding predetermined rotation angle, and the detection component locates the point to be measured according to the third coordinates of the point to be measured in the third coordinate system, the point to be measured is detected by the detection component to obtain the detection result of the point to be measured.

[0130] In this embodiment, the object to be measured is an object whose weight exceeds a preset load, and detection signals of at least some of the points to be measured in the object to be measured cannot be obtained before the detection component rotates around the rotation axis.

[0131] In this embodiment, the calibration point is a point in the object to be measured that can be identified by the detection component after the detection component is rotated around the rotation axis by a corresponding calibration angle. In other words, the calibration point in the object to be measured is within the angle acquisition range of the detection component.

[0132] In this embodiment, the coordinates of the second calibration points of the calibration points in the first coordinate system are subsequently used to construct the posture of the object to be measured in the first coordinate system. Accordingly, the number of the calibration points is at least six or more.

[0133] In this embodiment, there is a one-to-one correspondence between the calibration points and the calibration angles of the detection component rotating around the rotation axis. For six or more calibration points, the calibration angles of the detection component rotating around the rotation axis corresponding to each calibration point may be the same or different.

[0134] In this embodiment, according to the first calibration distance, the calibration angle and the first calibration point motion coordinates of the calibration point in the preset third coordinate system, the following formula is used to obtain the first calibration point coordinates of the calibration point in the preset second coordinate system:

[0135]

[0136] Among them, (Cx2 标 , Cy2 标 , Cz2 标 ) represents the coordinates of the first calibration point in the second coordinate system, (Sx 标 , Sy 标 , Sz 标 ) represents the motion coordinates of the first calibration point in the third coordinate system, (α 标 , β 标 , γ 标 ) indicates the calibration angle, sensor 标 Indicates the first calibration distance.

[0137] In this embodiment, the motion coordinates of the first calibration point of the calibration point in the preset third coordinate system are acquired by other detection components other than the detection component.

[0138] By obtaining the coordinates of the first calibration point (Cx2 标 , Cy2 标 , Cz2 标 ), and according to the conversion relationship between the first coordinate system and the second coordinate system, the first calibration point coordinates of the calibration point in the second coordinate system are converted to the first coordinate system, and the second calibration point coordinates of the calibration point in the first coordinate system are obtained. The posture of the object to be measured in the first coordinate system can be constructed according to the second calibration point coordinates of six or more calibration points in the first coordinate system.

[0139] In this embodiment, the posture of the object to be measured in the first coordinate system is constructed by the CAD best fitting method according to the coordinates of the second calibration point of six or more calibration points in the first coordinate system. Accordingly, after the posture of the object to be measured in the first coordinate system is constructed, the position coordinates of any point in the object to be measured including the point to be measured in the first coordinate system can be obtained.

[0140] In one embodiment, the conversion relationship between the first coordinate system and the second coordinate system can be represented by a conversion matrix T. According to the conversion matrix T, the coordinate D1 of the same position in the first coordinate system and the coordinate D2 of the same position in the second coordinate system satisfy the relationship:

[0141] D1=T·D2 (10)

[0142] In other words, for any point to be measured in the object to be measured, if the coordinate D2 of the point to be measured in the second coordinate system is known, it can be easily converted to the first coordinate system through the transformation matrix T to obtain the coordinate D1 of the point to be measured in the first coordinate system. It is worth noting that this association is established only through a very small amount of height information of the calibration point obtained by the detection component, and the process has a relatively fast speed and high accuracy.

[0143] In this embodiment, for different points to be measured in the object to be measured, the predetermined rotation angles of the detection component around the rotation axis may be the same or different, and there is a one-to-one correspondence between the points to be measured and the predetermined rotation angles of the detection component around the rotation axis.

[0144] In this embodiment, after the detection component rotates around the rotation axis by a corresponding predetermined rotation angle and the distance between the point to be measured and the detection component is the midpoint of the height acquisition range of the detection component, the detection component can obtain the optimal detection signal of the point to be measured. In other words, the predetermined target distance is the same as the height range value of the midpoint of the height acquisition range of the detection component.

[0145] Correspondingly, according to the coordinates of the second point to be measured in the second coordinate system, the following formula is used to calculate the coordinates of the third point to be measured in the preset third coordinate system when the detection component rotates around the rotation axis by a predetermined rotation angle and there is a predetermined target distance between the point to be measured and the detection component:

[0146]

[0147] Among them, (Sx 测 , Sy 测 , Sz 测 ) represents the motion coordinates of the third calibration point of the measured point in the third coordinate system, (Cx2 测 , Cy2 测 , Cz2 测 ) represents the coordinates of the second point to be measured in the second coordinate system, (α 测 , β 测 , γ 测 ) represents the predetermined rotation angle, and Median_sensor represents the predetermined target distance.

[0148] After obtaining the third coordinates of the point to be measured in the preset third coordinate system when the detection component rotates around the rotation axis by a predetermined rotation angle and there is a predetermined target distance between the point to be measured and the detection component, the detection component is rotated around the rotation axis by a corresponding predetermined rotation angle, and after the detection component positions the point to be measured according to the third coordinates of the point to be measured in the third coordinate system, the point to be measured is detected by the detection component to obtain the detection result of the point to be measured.

[0149] By acquiring the conversion relationship between the first coordinate system and the second coordinate system, according to the conversion relationship and the coordinate information of the second point to be measured of the point to be measured in the second coordinate system, the third point to be measured coordinates of the point to be measured in the preset third coordinate system when the detection component rotates around the rotation axis by a predetermined rotation angle and there is a predetermined target distance between the point to be measured and the detection component are obtained, so that the point to be measured can be accurately positioned according to the third point to be measured coordinates of the point to be measured in the preset third coordinate system, so that the point to be measured can be detected quickly and with high precision. Among them, the acquisition process of the conversion relationship between the first coordinate system and the second coordinate system refers to the corresponding description in the aforementioned embodiment, which will not be repeated here.

[0150] Therefore, for any point to be measured in the object to be measured, a suitable detection component can be configured with a predetermined rotation angle around the rotation axis to achieve detection of the point to be measured in the test area without rotating the object to be measured. This can avoid rotation errors introduced by rotating the object to be measured whose weight exceeds the load, thereby improving the accuracy of detection.

[0151] Accordingly, an embodiment of the present invention further provides a detection system.

[0152] Fig. 9 FIG. 1 is a schematic diagram showing the structure of a detection system in an embodiment of the present invention. Fig. 9A detection system 90 includes: a detection component 901, which can rotate around a preset rotation axis; a first acquisition unit 902, which is suitable for detecting a calibration point in the object to be measured by the detection component after the detection component rotates around the rotation axis by a calibration angle, and obtaining a first calibration distance between the calibration point and the detection component; a second acquisition unit 903, which is suitable for obtaining a first calibration point coordinate of the calibration point in a preset second coordinate system according to the first calibration distance, the calibration angle and the first calibration point motion coordinate of the calibration point in a preset third coordinate system; a third acquisition unit 904, which is suitable for converting the first calibration point coordinate of the calibration point in the second coordinate system to the first coordinate system according to the conversion relationship between the first coordinate system and the second coordinate system obtained by the above-mentioned conversion relationship acquisition method, and obtaining the second calibration point coordinate of the calibration point in the first coordinate system; a fourth acquisition unit 905, which is suitable for constructing the posture of the object to be measured in the first coordinate system according to the second calibration point coordinate of the calibration point in the first coordinate system, and obtaining a first calibration point coordinate of the calibration point in the first coordinate system according to the posture of the object to be measured in the first coordinate system. Take the first coordinate of the measured point in the object to be measured in the first coordinate system; the fifth acquisition unit 906 is suitable for acquiring the second coordinate of the measured point in the second coordinate system according to the first coordinate of the measured point in the first coordinate system and the conversion relationship between the first coordinate system and the second coordinate system obtained by the above-mentioned conversion relationship acquisition method; the sixth acquisition unit 907 is suitable for acquiring the third coordinate of the measured point in the preset third coordinate system when the detection component rotates around the rotation axis by a predetermined rotation angle and there is a predetermined target distance between the measured point and the detection component according to the second coordinate of the measured point in the second coordinate system; the measured point has the best detection effect when the detection component rotates around the rotation axis by a predetermined rotation angle and there is a predetermined target distance between the measured point and the detection component; the detection unit 908 is suitable for rotating the detection component around the rotation axis by a predetermined rotation angle, and after the detection component locates the measured point according to the third coordinate of the measured point in the third coordinate system, detecting the measured point by the detection component to obtain the detection result of the measured point.

[0153] The detection system of this embodiment can be used to execute the detection method of the above embodiment, or other structures can be used to execute the detection method of the above embodiment. For the detection method of this embodiment, please refer to the corresponding description in the above embodiment, which will not be repeated here.

[0154] Accordingly, an embodiment of the present invention further provides a device, comprising at least one memory and at least one processor, wherein the memory stores one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement the aforementioned conversion relationship acquisition method or detection method. For the conversion relationship acquisition method or detection method, please refer to the corresponding description of the aforementioned part, which will not be repeated here.

[0155] Accordingly, an embodiment of the present invention further provides a storage medium, characterized in that the storage medium stores one or more computer instructions, and the one or more computer instructions are used to implement the aforementioned conversion relationship acquisition method or detection method. For the conversion relationship acquisition method or detection method, please refer to the corresponding description of the aforementioned part, which will not be repeated here.

[0156] Fig.10 An optional hardware structure of the electronic device in the embodiment of the present invention is shown. Fig.10 The electronic device may include: at least one processor 01 , at least one communication interface 02 , at least one memory 03 and at least one communication bus 04 .

[0157] In the embodiment of the present invention, the number of the processor 01 , the communication interface 02 , the memory 03 , and the communication bus 04 is at least one, and the processor 01 , the communication interface 02 , and the memory 03 communicate with each other through the communication bus 04 .

[0158] The communication interface 02 may be an interface of a communication module for network communication, such as an interface of a GSM module.

[0159] The processor 01 may be a central processing unit CPU, or an application specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present invention.

[0160] The memory 03 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0161] The memory 03 stores one or more computer instructions, and the one or more computer instructions are executed by the processor 01 to implement the display driving method of the embodiment of the present invention.

[0162] It should be noted that the electronic device implemented above may also include other devices (not shown) that may not be necessary for understanding the contents disclosed in the embodiments of the present invention; since these other devices may not be necessary for understanding the contents disclosed in the embodiments of the present invention, the embodiments of the present invention will not introduce them one by one.

[0163] An embodiment of the present invention further provides a storage medium, wherein the storage medium stores one or more computer instructions, and the one or more computer instructions are used to implement the conversion relationship acquisition method or detection method provided by the embodiment of the present invention.

[0164] The above-mentioned embodiments of the present invention are combinations of elements and features of the present invention. Unless otherwise mentioned, elements or features may be considered as optional. Each element or feature may be put into practice without being combined with other elements or features. In addition, embodiments of the present invention may be constructed by combining some elements and / or features. The order of operations described in the embodiments of the present invention may be rearranged. Some configurations of any one embodiment may be included in another embodiment, and may be replaced by the corresponding configuration of another embodiment. It is obvious to those skilled in the art that claims that do not have a clear reference relationship to each other in the attached claims may be combined into embodiments of the present invention, or may be included as new claims in the amendment after submitting this application.

[0165] The embodiments of the present invention can be implemented by various means such as hardware, firmware, software or a combination thereof. In a hardware configuration, the method according to the exemplary embodiment of the present invention can be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, etc.

[0166] In a firmware or software configuration, the embodiments of the present invention may be implemented in the form of modules, procedures, functions, etc. The software code may be stored in a memory unit and executed by a processor. The memory unit is located inside or outside the processor and may send data to and receive data from the processor via various known means.

[0167] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0168] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the scope defined by the claims.

Claims

1. A method for obtaining a conversion relationship, characterized in that: include: Providing a detection component, wherein the detection component can rotate around a preset rotation axis; Providing a calibration object, wherein the calibration object has characteristic points; Before the detection component rotates around the rotation axis, the calibration object is detected by the detection component to obtain the first feature point coordinates of the feature point in a preset first coordinate system; After the detection component rotates around the rotation axis, the calibration object is detected by the detection component to obtain the coordinates of the second feature point of the feature point in the first coordinate system; Acquire a rotation angle of the detection component around the rotation axis according to a second feature point coordinate of the feature point in the first coordinate system; Correcting the coordinates of the second feature point of the feature point in the first coordinate system according to the rotation angle, and acquiring the coordinates of the third feature point of the feature point in the preset second coordinate system; A conversion relationship between the first coordinate system and the second coordinate system is acquired according to first feature point coordinates of the feature point in the first coordinate system and third feature point coordinates of the feature point in the second coordinate system.

2. The method for obtaining a conversion relationship according to claim 1, characterized in that: The first coordinate system has a first coordinate plane, the calibration object is placed on a preset motion platform, and the motion platform is parallel to the first coordinate plane; Before the detection component rotates around the rotation axis, the calibration object is detected by the detection component to obtain the first feature point coordinates of the feature point in a preset first coordinate system, including: rotating the detection component so that the optical axis of the detection component is perpendicular to the first coordinate plane; after the optical axis of the detection component is perpendicular to the first coordinate plane, moving the detection component so that the calibration object is at a preset calibration height within the height collection range of the detection component; after the optical axis of the detection component is perpendicular to the first coordinate plane and the calibration object is at a preset calibration height within the height collection range of the detection component, the calibration object at the preset calibration height is detected by the detection component to obtain the first feature point coordinates of the feature point in the first coordinate system; After the detection component rotates around the rotation axis, the calibration object is detected by the detection component to obtain the coordinates of the second feature point of the feature point in the first coordinate system, including: Rotate the detection component so that the detection component rotates around the rotation axis by a rotation angle; after the detection component is rotated around the rotation axis by a rotation angle, move the detection component so that the calibration object is respectively at a plurality of calibration heights within the height acquisition range of the detection component, and the plurality of calibration heights include the preset calibration height; after the detection component is rotated around the rotation axis by a rotation angle and the calibration object is respectively at a plurality of calibration heights within the height acquisition range of the detection component, the calibration object at the plurality of calibration heights is respectively detected by the detection component to obtain a plurality of second feature point coordinates of the feature point in the first coordinate system; correct the second feature point coordinates of the feature point in the first coordinate system according to the rotation angle to obtain a third feature point coordinate of the feature point in the second coordinate system, including: The rotation angle is used to correct the second feature point coordinates of the feature point in the first coordinate system when the calibration object is at the preset calibration height, and the third feature point coordinates of the feature point in the second coordinate system are obtained.

3. The method for obtaining a conversion relationship according to claim 2, characterized in that: The rotation axis is perpendicular to the first coordinate plane, the calibration object includes a characteristic structure, and the characteristic structure includes the characteristic point; After the optical axis of the detection component is made perpendicular to the first coordinate plane and the calibration object is at a preset calibration height within the height acquisition range of the detection component, the detection component is used to detect the calibration object at the preset calibration height to obtain the first feature point coordinates of the feature point in the first coordinate system, including: after the detection component is made perpendicular to the first coordinate plane and the calibration object is at a preset calibration height within the height acquisition range of the detection component, the detection component is used to detect the calibration object at the preset calibration height to obtain the first distance between the feature structure and the detection component; obtain the first feature structure motion coordinates of the feature structure in a preset third coordinate system when the calibration object is at the preset calibration height; obtain the first feature structure coordinates of the feature structure in the first coordinate system according to the first distance and the first feature structure motion coordinates; obtain the first feature point coordinates of the feature point in the first coordinate system according to the first feature structure coordinates of the feature structure in the first coordinate system and the position of the feature point in the feature structure; After the detection component is rotated by a rotation angle around the rotation axis and the calibration object is respectively located at multiple calibration heights within the height collection range of the detection component, the calibration object at the multiple calibration heights is detected by the detection component to obtain multiple second feature point coordinates of the feature point in the first coordinate system, including: after the detection component is rotated by a rotation angle around the rotation axis and the calibration object is respectively located at multiple calibration heights within the height collection range of the detection component, the calibration object at each calibration height is detected by the detection component to obtain the second distance between the feature structure and the detection component; the second feature structure motion coordinates of the feature structure in the third coordinate system when the calibration object is at each calibration height are respectively obtained; the second feature structure coordinates of the feature structure in the first coordinate system are obtained based on the second distance and the second feature structure motion coordinates; the multiple second feature point coordinates of the feature point in the first coordinate system are obtained based on the second feature structure coordinates of the feature structure in the first coordinate system and the position of the feature point in the feature structure.

4. The method for obtaining a conversion relationship according to claim 3, characterized in that: The first characteristic structure coordinates are (Sx1, Sy1, (Sz1+sensor1)), wherein (Sx1, Sy1, Sz1) represent the first characteristic structure motion coordinates of the characteristic structure in the third coordinate system, and sensor1 represents the first distance between the characteristic structure and the detection component; The second characteristic structure coordinates are (Sx2, Sy2, (Sz2+sensor2)), wherein (Sx2, Sy2, Sz2) represent the second characteristic structure motion coordinates of the characteristic structure in the third coordinate system, and sensor2 represents the second distance between the characteristic structure and the detection component; When the calibration object is at the preset calibration height, the coordinates of the second feature point of the feature point in the first coordinate system are (Sx 特 , Sy 特 , (Sz 特 +sensor 特 )), where (Sx 特 , Sy 特 , Sz 特 ) represents the motion coordinates of the first feature point of the feature point in the third coordinate system, sensor 特 Indicates a third distance between the feature point and the detection component when the calibration object is at the preset calibration height; corrects the second feature point coordinates of the feature point in the first coordinate system when the calibration object is at the preset calibration height by using the rotation angle to obtain the third feature point coordinates of the feature point in the second coordinate system, including: Among them, (Cx2 特 , Cy2 特 , Cz2 特 ) represents the coordinates of the third feature point of the feature point in the second coordinate system, (α 特 , β 特 , γ 特 ) represents the rotation angle.

5. The method for obtaining a conversion relationship according to claim 3, characterized in that: The number of the characteristic structures is at least three, and the characteristic points are respectively the centers of the characteristic structures; When the calibration object is at the preset calibration height, the first characteristic structure coordinates of the at least three characteristic structures in the first coordinate system form a first characteristic structure position point cloud map, and according to the first characteristic structure coordinates of the characteristic structure in the first coordinate system and the position of the characteristic point in the characteristic structure, the first characteristic point coordinates of the characteristic point in the first coordinate system are obtained, including: performing first center point coordinate extraction processing on the characteristic structure in the first characteristic structure position point cloud map, obtaining second characteristic point coordinates of the center point of each characteristic structure in the first characteristic structure position point cloud map in the first characteristic structure position point cloud map, and forming a first characteristic point position point cloud map; When the calibration object is at the preset calibration height, the second characteristic structure coordinates of the at least three characteristic structures in the first coordinate system form a second characteristic structure position point cloud map, and according to the second characteristic structure coordinates of the characteristic structure in the first coordinate system and the position of the characteristic point in the characteristic structure, obtain the second characteristic point coordinates of the characteristic point in the first coordinate system, including: performing second center point coordinate extraction processing on the characteristic structure in the second characteristic structure position point cloud map to obtain the second characteristic point coordinates of the center point of each characteristic structure in the second characteristic structure position point cloud map in the first coordinate system, and forming a second characteristic point position point cloud map; Correcting the second feature point coordinates of the feature point in the first coordinate system according to the rotation angle to obtain the third feature point coordinates of the feature point in the preset second coordinate system includes: Correcting the second feature point coordinates of each feature point in the second feature point position point cloud map in the second coordinate system according to the rotation angle to obtain the third feature point coordinates of each feature point in the second feature point position point cloud map in the second coordinate system, and forming a third feature point position point cloud map; According to the first feature point coordinates of the feature point in the first coordinate system and the third feature point coordinates of the feature point in the second coordinate system, the conversion relationship between the first coordinate system and the second coordinate system is obtained, including: according to the first feature point coordinates of each feature point in the first feature point position point cloud map in the first coordinate system and the third feature point coordinates of each feature point in the third feature point position point cloud map in the second coordinate system, a singular value decomposition algorithm is used to calculate the conversion relationship between the first coordinate system and the second coordinate system.

6. The method for obtaining a conversion relationship according to claim 3, characterized in that: The characteristic structure is a circular hole, and the characteristic point is the center of the circular hole.

7. The method for obtaining a conversion relationship according to claim 2, characterized in that: The preset calibration height is the midpoint of the height acquisition range of the detection component.

8. The method for obtaining a conversion relationship according to claim 1, characterized in that: The feature point has multiple second feature point coordinates in the first coordinate system; Obtaining the rotation angle of the detection component around the rotation axis according to the coordinates of the second feature point of the feature point in the first coordinate system, comprising: using the least square method to calculate the rotation angle measurement value of the detection component around the rotation axis according to the coordinates of multiple second feature points of the feature point in the first coordinate system; The rotation angle of the detection component around the rotation axis is obtained according to the rotation angle measurement value.

9. The method for obtaining a conversion relationship according to claim 8, characterized in that: If the number of the feature point is one, obtaining the rotation angle of the detection component around the rotation axis according to the rotation angle measurement value, including: using the rotation angle measurement value as the rotation angle of the detection component around the rotation axis; If there are multiple feature points, the rotation angle measurement values ​​correspond one-to-one to the multiple feature points, and the rotation angle of the detection component around the rotation axis is obtained based on the rotation angle measurement values, including: linearly combining the multiple rotation angle measurement values ​​to obtain the rotation angle of the detection component around the rotation axis.

10. The method for obtaining a conversion relationship according to claim 9, characterized in that: Linearly combining the multiple rotation angle measurement values ​​includes: calculating an average value or a weighted average value of the multiple rotation angle measurement values.

11. The method for obtaining a conversion relationship according to claim 1, characterized in that: The conversion relationship between the first coordinate system and the second coordinate system includes a translation relationship.

12. The method for acquiring a conversion relationship according to any one of claims 1 to 11, characterized in that: The detection component comprises a dispersive confocal probe, which is mounted on a preset mechanical end rotating structure, and the mechanical end rotating structure is used to drive the dispersive confocal probe to rotate along the rotating axis.

13. A conversion relationship acquisition device, characterized in that: include: A first coordinate acquisition unit, adapted to detect the calibration object by the detection component before the detection component rotates around a preset rotation axis, and acquire the first feature point coordinates of the feature point in a first coordinate system, wherein the detection component can rotate around the rotation axis, and the calibration object has the feature point; A second coordinate acquisition unit, adapted to detect the calibration object through the detection component after the detection component rotates around the rotation axis, and acquire the coordinates of a second feature point of the feature point in the first coordinate system; a rotation angle acquisition unit, adapted to acquire a rotation angle of the detection component around the rotation axis according to a second feature point coordinate of the feature point in the first coordinate system; a feature point coordinate correction unit, adapted to correct the second feature point coordinates of the feature point in the first coordinate system according to the rotation angle, and obtain the third feature point coordinates of the feature point in the second coordinate system; The conversion relationship acquisition unit is adapted to acquire the conversion relationship between the first coordinate system and the second coordinate system according to the first feature point coordinates of the feature point in the first coordinate system and the third feature point coordinates of the feature point in the second coordinate system.

14. A detection method, characterized in that: include: Providing a detection component, wherein the detection component can rotate around a preset rotation axis; Providing an object to be tested, wherein the object to be tested has a calibration point and a point to be tested; After the detection component is rotated about the rotation axis by a calibration angle, the calibration point is detected by the detection component to obtain a first calibration distance between the calibration point and the detection component; and the first calibration point coordinates of the calibration point in a preset second coordinate system are obtained according to the first calibration distance, the calibration angle and the first calibration point motion coordinates of the calibration point in a preset third coordinate system; According to the conversion relationship between the first coordinate system and the second coordinate system obtained by the conversion relationship acquisition method according to any one of claims 1 to 12, the first calibration point coordinates of the calibration point in the second coordinate system are converted to the first coordinate system, and the second calibration point coordinates of the calibration point in the first coordinate system are obtained; Constructing the posture of the object to be measured in the first coordinate system according to the coordinates of the second calibration point of the calibration point in the first coordinate system, and acquiring the coordinates of the first calibration point of the object to be measured in the first coordinate system according to the posture of the object to be measured in the first coordinate system; Acquire the second coordinates of the point to be measured in the second coordinate system according to the first coordinates of the point to be measured in the first coordinate system and the conversion relationship between the first coordinate system and the second coordinate system acquired by the conversion relationship acquisition method according to any one of claims 1 to 12; According to the second coordinates of the point to be measured in the second coordinate system, the third coordinates of the point to be measured in the preset third coordinate system are obtained when the detection component rotates around the rotation axis by a predetermined rotation angle and there is a predetermined target distance between the point to be measured and the detection component; the point to be measured has the best detection effect when the detection component rotates around the rotation axis by a predetermined rotation angle and there is a predetermined target distance between the point to be measured and the detection component; After the detection component is rotated around the rotation axis by the predetermined rotation angle and the detection component locates the point to be measured according to the third coordinates of the point to be measured in the third coordinate system, the point to be measured is detected by the detection component to obtain the detection result of the point to be measured.

15. The detection method according to claim 14, characterized in that: According to the first calibration distance, the calibration angle and the first calibration point motion coordinates of the calibration point in the preset third coordinate system, the first calibration point coordinates of the calibration point in the preset second coordinate system are obtained using the following formula: Among them, (Cx2 标 , Cy2 标 , Cz2 标 ) represents the coordinates of the first calibration point of the calibration point in the second coordinate system, (Sx 标 , Sy 标 , Sz 标 ) represents the motion coordinates of the first calibration point of the calibration point in the third coordinate system, (α 标 , β 标 , γ 标 ) represents the calibration angle, sensor 标 represents the first calibration distance; According to the second coordinates of the point to be measured in the second coordinate system, the following formula is used to calculate and obtain the third coordinates of the point to be measured in the preset third coordinate system when the detection component rotates around the rotation axis by the predetermined rotation angle and there is a predetermined target distance between the point to be measured and the detection component: Among them, (Sx 测 , Sy 测 , Sz 测 ) represents the motion coordinates of the third calibration point of the measured point in the third coordinate system, (Cx2 测 , Cy2 测 , Cz2 测 ) represents the coordinates of the second point to be measured in the second coordinate system, (α 测 , β 测 , γ 测 ) represents the predetermined rotation angle, and Median_sensor represents the predetermined target distance.

16. The detection method according to claim 14, characterized in that: The number of the calibration points is at least six.

17. The detection method according to claim 14, characterized in that: There are one or more points to be measured; if there are multiple points to be measured, the predetermined rotation angles correspond to the points to be measured one by one.

18. The detection method according to claim 14, characterized in that: The predetermined target distance is the midpoint of the height acquisition range of the detection component.

19. A detection system, characterized in that: include: A detection component, wherein the detection component is capable of rotating around a preset rotation axis; A first acquisition unit, adapted to detect a calibration point in the object to be measured by the detection component after rotating the detection component around the rotation axis by a calibration angle, and acquire a first calibration distance between the calibration point and the detection component; a second acquisition unit, adapted to acquire the first calibration point coordinates of the calibration point in a preset second coordinate system according to the first calibration distance, the calibration angle and the first calibration point motion coordinates of the calibration point in a preset third coordinate system; A third acquisition unit, adapted to convert the first calibration point coordinates of the calibration point in the second coordinate system to the first coordinate system according to the conversion relationship between the first coordinate system and the second coordinate system acquired by the conversion relationship acquisition method according to any one of claims 1 to 12, and acquire the second calibration point coordinates of the calibration point in the first coordinate system; a fourth acquisition unit, adapted to construct a posture of the object to be measured in the first coordinate system according to the coordinates of the second calibration point of the calibration point in the first coordinate system, and to acquire the coordinates of the first calibration point of the object to be measured in the first coordinate system according to the posture of the object to be measured in the first coordinate system; A fifth acquisition unit, adapted to acquire the second coordinates of the point to be measured in the second coordinate system according to the first coordinates of the point to be measured in the first coordinate system and the conversion relationship between the first coordinate system and the second coordinate system acquired by the conversion relationship acquisition method according to any one of claims 1 to 12; a sixth acquisition unit, adapted to acquire, based on the second coordinates of the point to be measured in the second coordinate system, the third coordinates of the point to be measured in a preset third coordinate system when the detection component rotates around the rotation axis by a predetermined rotation angle and there is a predetermined target distance between the point to be measured and the detection component; the point to be measured has the best detection effect when the detection component rotates around the rotation axis by a predetermined rotation angle and there is a predetermined target distance between the point to be measured and the detection component; The detection unit is suitable for rotating the detection component around the rotation axis by the predetermined rotation angle, and after the detection component locates the point to be measured according to the third coordinates of the point to be measured in the third coordinate system, detecting the point to be measured by the detection component to obtain the detection result of the point to be measured.

20. A device, characterized in that It includes at least one memory and at least one processor, wherein the memory stores one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement the conversion relationship acquisition method as described in any one of claims 1-12 or the detection method as described in any one of claims 14-18.

21. A storage medium, characterized in that: The storage medium stores one or more computer instructions, and the one or more computer instructions are used to implement the conversion relationship acquisition method described in any one of claims 1-12 or the detection method described in any one of claims 14-18.

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