Acceleration sensor automatic detection device and method based on visual positioning

Abstract

The invention discloses an acceleration sensor automatic detection device and method based on visual positioning. The device comprises a workbench, a mechanical arm, a rotary clamping mechanism, a negative pressure adsorption assembly, a visual guidance positioning unit, a material to-be-detected module, a finished product collecting and distributing module, a sensor testing module and an abnormal product caching module. The rotary clamping mechanism comprises a rotary driver, a rotary clamping end effector and a cable clamping mechanism; the rotary clamping end executor is used for executing grabbing, rotary tightening and unscrewing operation, and workpiece pose deviation is corrected in a self-adaptive mode through a positioning block and a spring. The rotary driver is used for adjusting the pose of the rotary clamping end effector; the cable clamping mechanism is used for keeping a cable in a stretching state so as to prevent winding; the visual guidance positioning unit is used for target object identification, point cloud data acquisition and spatial pose calculation. The problems that manual operation efficiency is low, the detection precision is affected by pose deviation, and cables are wound and damaged are solved.

Description

Technical Field

[0001] This invention relates to the field of accelerometer detection technology, and in particular to an automatic accelerometer detection device and method based on visual positioning. Background Technology

[0002] In the field of metrology and testing, performance testing of various sensors (especially accelerometers) is a core component in ensuring the accuracy of equipment condition monitoring, product quality control, and scientific research data. These testing tasks are characterized by high frequency and strong repeatability.

[0003] Currently, the following prominent problems exist in sensor testing processes: Manual installation, testing, and disassembly of sensors are inefficient and unstable, time-consuming, and easily affected by operator skill levels and fluctuations in condition, making it difficult to standardize the time for a single operation. Frequent, highly repetitive actions easily lead to operator fatigue and decreased concentration, potentially inducing operational errors (such as improper installation, poor connections, or accidental damage to the sensor or the device under test). Manual operation struggles to achieve precise control and high repeatability; sensor vibration tables cannot guarantee the sensor's installation status, and deviations in sensor installation posture will cause test signal distortion, potentially directly affecting the accuracy, reliability, and comparability of the test data. Sensor cables are prone to tangling, leading to a series of problems. Summary of the Invention

[0004] To address the shortcomings of the prior art, this invention provides an automatic detection device and method for accelerometers based on visual positioning: An automatic detection device for an accelerometer based on vision positioning includes a worktable, a robotic arm, a rotary clamping mechanism, a negative pressure adsorption component, a vision-guided positioning unit, a material inspection module, a finished product collection and distribution module, a sensor testing module, and an abnormal product buffer module. The rotary clamping mechanism is mounted on the end of the robotic arm. The rotary clamping mechanism includes a rotary driver, a rotary clamping end effector, and a cable clamping mechanism. The rotary driver is mounted on a custom mounting base. The rotary clamping end effector is connected to the output shaft of the rotary driver and is used to perform gripping, rotating tightening, and loosening operations. It adaptively corrects workpiece pose deviations through positioning blocks and springs. The rotary driver is used to adjust the pose of the rotary clamping end effector. The cable clamping mechanism is mounted on the custom mounting base to keep the cable extended to prevent tangling. The negative pressure adsorption component and the visual guidance positioning unit are both mounted on the custom mounting base. The visual guidance positioning unit is used for target object recognition, point cloud data acquisition, and spatial pose calculation.

[0005] Furthermore, the workbench serves as the basic platform of the device, and the robotic arm, the material inspection module, the finished product distribution module, the sensor testing module, and the defective product buffer module are all mounted on the workbench. The material inspection module includes an accelerometer to be inspected and a first positioning tray. The finished product distribution module includes a qualified accelerometer and a second positioning tray. The negative pressure adsorption component is used to adsorb and transfer the first positioning tray and the second positioning tray. The sensor testing module includes a secondary positioning stage, a sensor testing stage, sensor test lines, and a sensor test line placement stage. The sensor test lines are divided into a cable section and a connector section. The defective product buffer module includes a failed accelerometer and a defective product placement box.

[0006] Furthermore, the first positioning tray and the second positioning tray have guide posts at the top of their four corners and grooves at the bottom for easy stacking; the first positioning tray is used to store the accelerometer to be tested; the second positioning tray is initially empty and is used to store the accelerometer that has passed inspection; the secondary positioning stage is installed on the workbench and is used to place the accelerometer to be tested, facilitating secondary positioning by the vision-guided positioning unit; the sensor testing stage is used to test the accelerometer to be tested; the sensor test line placement stage is used to place the sensor test line; and the defective product placement box is used to place the accelerometer that has failed inspection.

[0007] Furthermore, the material inspection module is installed at the corner of the workbench; the rotary driver is a rotary cylinder; the rotary clamping end effector is an electric rotary gripper; the cable clamping mechanism is a pneumatic finger; the negative pressure adsorption component is a vacuum suction cup; and the visual guidance positioning unit is a 3D camera.

[0008] Furthermore, the connector portion of the sensor test line has pre-embedded wiring terminals to ensure that the test line needle is always centered.

[0009] Furthermore, a vision-based automatic detection method for accelerometers is applied to the aforementioned vision-based automatic detection device for accelerometers, characterized in that: the vision-based automatic detection method for accelerometers specifically includes the following steps: S101: The control system pre-programs the robotic arm action, tightening action, and disassembly action according to the number of acceleration sensors to be inspected stored in the first positioning tray of the material inspection module and the number of stacked first positioning trays. S102: The visual guidance and positioning unit performs a global scan on the first positioning tray to obtain the initial spatial pose data of each of the acceleration sensors to be tested; S103: The robotic arm controls the rotary gripping end effector to grab the accelerometer to be tested from the first positioning tray and place it on the secondary positioning stage; S104: The visual guidance and positioning unit performs fine positioning on the accelerometer under test on the secondary positioning stage and generates corrected pose data; S105: The robotic arm controls the rotary clamping end effector to grasp the accelerometer to be tested on the secondary positioning stage, the vision-guided positioning unit acquires the spatial pose data of the sensor test stage, and the robotic arm controls the rotary clamping end effector to install the accelerometer to be tested on the sensor test stage by tightening. S106: The visual guidance and positioning unit acquires the spatial pose data of the sensor test line placement platform, the connector part of the sensor test line and the cable part. The robotic arm controls the rotary clamping end effector to grab the connector part of the sensor test line. The cable clamping mechanism clamps the cable part of the sensor test line to ensure that the cable will not get tangled during movement. S107: The robotic arm controls the rotary clamping end effector to tighten the connector part of the sensor test line onto the accelerometer under test. During the tightening process, the set torque value is used to determine whether it is tightened. S108: After tightening, the rotary clamping end actuator releases the connector portion of the sensor test line, and the cable clamping mechanism retains the cable portion of the sensor test line in place; S109: The sensor test bench begins executing the detection procedure; S110: After the test is completed, the robotic arm controls the rotary clamping end effector to disassemble the connector part of the sensor test line, and based on the pose data obtained in S106, the disassembled sensor test line is put back into the sensor test line placement table. S111: If the test result is qualified, the visual guidance positioning unit calculates the target pose of the second positioning tray of the finished product distribution module, and the robotic arm controls the rotary clamping end effector to grab the qualified accelerometer into the second positioning tray. S112: If the detection result is unqualified, the visual guidance and positioning unit calculates the target pose of the abnormal item placement box of the abnormal item cache module, and the robotic arm controls the rotary gripping end effector to grab the detected unqualified accelerometer into the abnormal item placement box. S113: Repeat steps S103-S112 until all the acceleration sensors to be tested stored in the first positioning tray have been tested. S114: The robotic arm controls the rotary driver to adjust the position of the rotary clamping end effector to a preset safe position in order to avoid mechanical interference when the negative pressure adsorption assembly performs adsorption operation; S115: The visual guidance positioning unit calculates the target pose of the first positioning tray of the material inspection module, the robotic arm controls the negative pressure adsorption component to pick up the first positioning tray, the visual guidance positioning unit calculates the target pose of the second positioning tray of the finished product distribution module, and the robotic arm controls the negative pressure adsorption component to stack the first positioning tray on the second positioning tray. S116: The robotic arm controls the rotary driver to restore the rotary gripping end effector to its initial orientation; S117: Repeat steps S102-S116 until all the acceleration sensors to be tested stored in the first positioning tray have been tested.

[0010] In steps S111, S112, and S115, the target pose is calculated by extracting key features of the target point cloud and solving the pose transformation matrix using a random sampling consistency registration model. If the target pose calculation fails, the visual guidance and localization unit is triggered to rescan and record the anomaly.

[0011] Compared with the prior art, the present invention has the following advantages: This invention automates the sensor grasping, installation, detection, and disassembly process through the coordinated control of a robotic arm and a vision-guided positioning unit, improving operational efficiency and standardization. It employs a collaborative design of a rotary clamping end effector and a cable clamping mechanism, combined with the cable separation point pose recognition of the vision-guided positioning unit, to solve the problem of test cable entanglement and prevent damage to the workpiece and test cable. Furthermore, this invention integrates the precise positioning correction of the secondary positioning stage, the adaptive structure of the rotary clamping end effector, the integrated design of clamping and rotation, and the pose feedback of the vision-guided positioning unit to solve the sensor pose deviation problem, improving detection accuracy and the accuracy and reliability of detection data. Attached Figure Description

[0012] Figure 1 This is an overall structural diagram of an automatic detection device for an accelerometer based on visual positioning, according to an embodiment of the present invention.

[0013] Figure 2 This is a structural diagram of the rotating clamping mechanism in an embodiment of the present invention.

[0014] Figure 3 This is a structural diagram of the material inspection module in an embodiment of the present invention.

[0015] Figure 4 This is a structural diagram of the finished product distribution module in an embodiment of the present invention.

[0016] Figure 5 This is a structural diagram of the sensor testing module in an embodiment of the present invention.

[0017] Figure 6 This is a structural diagram of the abnormal item caching module in an embodiment of the present invention.

[0018] Figure 7 This is a flowchart of an automatic detection method for an accelerometer based on visual positioning, as described in an embodiment of the present invention.

[0019] In the diagram: 1. Workbench; 2. Robotic arm; 3. Rotary clamping mechanism; 31. Rotary driver; 32. Rotary clamping end effector; 33. Cable clamping mechanism; 4. Negative pressure adsorption assembly; 5. Vision-guided positioning unit; 6. Material inspection module; 61. Accelerometer sensor to be inspected; 62. First positioning tray; 7. Finished product distribution module; 71. Inspected and qualified accelerometer sensor; 72. Second positioning tray; 8. Sensor testing module; 81. Secondary positioning stage; 82. Sensor testing stage; 83. Sensor test line; 84. Sensor test line placement stage; 9. Abnormal product buffer module; 91. Inspected and unqualified accelerometer sensor; 92. Abnormal product placement box. Detailed Implementation

[0020] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present invention.

[0021] It should be noted that when a component is described as "fixed to" or "mounted to" another component, it can be directly on the other component or may also have an intervening component. When a component is described as "connected to" another component, it can be directly connected to the other component or may also have an intervening component.

[0022] It should also be noted that the terms "left", "right", "up", "down", "center", "vertical", "horizontal", "inner", and "outer" used in the embodiments of the present invention are only relative concepts or are based on the normal use state of the product, and should not be considered as restrictive.

[0023] Embodiments of the present invention provide an automatic detection device and method for an accelerometer based on visual positioning; Please refer to Figure 1 , Figure 1This is an overall structural diagram of an automatic detection device for an accelerometer based on visual positioning in an embodiment of the present invention; it includes a workbench 1, a robotic arm 2, a rotary clamping mechanism 3, a negative pressure adsorption component 4, a visual guidance and positioning unit 5, a material inspection module 6, a finished product collection and distribution module 7, a sensor testing module 8, and an abnormal product buffer module 9. Please refer to Figure 2 The rotary clamping mechanism 3 is mounted on the end of the robotic arm 2 via a custom mounting base. The rotary clamping mechanism 3 includes a rotary driver 31, a rotary clamping end effector 32, and a cable clamping mechanism 33. Both the rotary driver 31 and the cable clamping mechanism 33 are mounted on the custom mounting base. The rotary clamping end effector 32 is connected to the output shaft of the rotary driver 31. The rotary clamping end effector 32 is used to perform gripping of the accelerometer and rotational tightening / loosening operations during installation / removal. Its end integrates a positioning block and a spring mechanism, enabling adaptive correction of workpiece pose deviations during gripping. The rotary driver 31 is used to adjust the pose of the rotary clamping end effector 32. The cable clamping mechanism 33 is used to clamp and keep the cable in an extended state during the movement of the robotic arm 2, preventing it from tangling. The negative pressure adsorption component 4 and the visual guidance positioning unit 5 are both mounted on the custom mounting base. The visual guidance positioning unit 5 is used to identify the target object, collect three-dimensional point cloud data, and calculate its precise pose in space.

[0024] Please refer to Figures 3-6 Specifically, the workbench 1 serves as the basic platform for the device, and the robotic arm 2, the material inspection module 6, the finished product distribution module 7, the sensor testing module 8, and the defective product buffer module 9 are all installed on the workbench 1. The material inspection module 6 includes an accelerometer 61 to be inspected and a first positioning tray 62. The finished product distribution module 7 includes an accelerometer 71 that has passed inspection and a second positioning tray 72. The negative pressure adsorption component 4 is used to adsorb and transfer the first positioning tray 62 and the second positioning tray 72. The sensor testing module 8 includes a secondary positioning platform 81, a sensor testing platform 82, a sensor testing line 83, and a sensor testing line placement platform 84. The sensor testing line 83 is divided into a cable part and a connector part. The defective product buffer module 9 includes an accelerometer 91 that has failed inspection and a defective product placement box 92.

[0025] Specifically, the first positioning tray 62 and the second positioning tray 72 are provided with guide posts at the top of the four corners and positioning grooves at the bottom that match the guide posts, so as to facilitate the stacking of the trays; the first positioning tray 62 is used to store the acceleration sensor 61 to be tested; the second positioning tray 72 is initially empty and is used to store the acceleration sensor 71 that has passed the test; the secondary positioning stage 81 is installed on the workbench 1 and is used to place the acceleration sensor 61 to be tested, so as to facilitate the secondary positioning by the visual guidance positioning unit 5; the sensor testing stage 82 is used to test the acceleration sensor 61 to be tested; the sensor test line placement stage 84 is used to place the sensor test line 83; the defective product placement box 92 is used to place the acceleration sensor 91 that has failed the test.

[0026] Preferably, the material inspection module 6 is installed at the corner of the workbench 1.

[0027] Preferably, the rotary driver 31 is a rotary cylinder with a double cylinder structure, which has high rotational accuracy and stable operation.

[0028] Preferably, the rotary clamping end effector 32 is an electric rotary gripper, which can simultaneously perform gripping and infinite rotation actions. Through precise force control and position control, it can both clamp the workpiece and tighten it.

[0029] Preferably, the cable clamping mechanism 33 uses pneumatic fingers, which are mechanical lever-type gripping structures that open and close in parallel. This reduces costs while meeting the cable gripping accuracy requirements. The piston rod clamps when it extends and opens when it retracts.

[0030] Preferably, the negative pressure adsorption component 4 is a vacuum suction cup, which consists of a vacuum generator, a powerful suction cup, and a control component.

[0031] Preferably, the visual guidance and positioning unit 5 uses a 3D camera, which has high spatial positioning accuracy and strong pose calculation capability.

[0032] Preferably, the connector portion of the sensor test line 83 has an M5-sized terminal pre-embedded inside to ensure that the test line needle remains centered during the connection process.

[0033] Please refer to Figure 7 , Figure 7 This is a flowchart of an automatic detection method for an accelerometer based on visual positioning according to an embodiment of the present invention, which specifically includes the following steps: S101: The control system pre-programs the robotic arm action, tightening action, and disassembly action according to the number of acceleration sensors to be inspected stored in the first positioning tray of the material inspection module and the number of stacked first positioning trays. S102: The visual guidance and positioning unit performs a global scan on the first positioning tray to obtain the initial spatial pose data of each of the acceleration sensors to be tested; S103: The robotic arm controls the rotary gripping end effector to grab the accelerometer to be tested from the first positioning tray and place it on the secondary positioning stage; S104: The visual guidance and positioning unit performs fine positioning on the accelerometer under test on the secondary positioning stage and generates corrected pose data; S105: The robotic arm controls the rotary clamping end effector to grasp the accelerometer to be tested on the secondary positioning stage, the vision-guided positioning unit acquires the spatial pose data of the sensor test stage, and the robotic arm controls the rotary clamping end effector to install the accelerometer to be tested on the sensor test stage by tightening. S106: The visual guidance and positioning unit acquires the spatial pose data of the sensor test line placement platform, the connector part of the sensor test line and the cable part. The robotic arm controls the rotary clamping end effector to grab the connector part of the sensor test line. The cable clamping mechanism clamps the cable part of the sensor test line to ensure that the cable will not get tangled during movement. S107: The robotic arm controls the rotary clamping end effector to tighten the connector part of the sensor test line onto the accelerometer under test. During the tightening process, the set torque value is used to determine whether it is tightened. S108: After tightening, the rotary clamping end actuator releases the connector portion of the sensor test line, and the cable clamping mechanism retains the cable portion of the sensor test line in place; S109: The sensor test bench begins executing the detection procedure; S110: After the test is completed, the robotic arm controls the rotary clamping end effector to disassemble the connector part of the sensor test line, and based on the pose data obtained in S106, the disassembled sensor test line is put back into the sensor test line placement table. S111: If the test result is qualified, the visual guidance positioning unit calculates the target pose of the second positioning tray of the finished product distribution module, and the robotic arm controls the rotary clamping end effector to grab the qualified accelerometer into the second positioning tray. S112: If the detection result is unqualified, the visual guidance and positioning unit calculates the target pose of the abnormal item placement box of the abnormal item cache module, and the robotic arm controls the rotary gripping end effector to grab the detected unqualified accelerometer into the abnormal item placement box. S113: Repeat steps S103-S112 until all the acceleration sensors to be tested stored in the first positioning tray have been tested. S114: The robotic arm controls the rotary driver to adjust the position of the rotary clamping end effector to a preset safe position in order to avoid mechanical interference when the negative pressure adsorption assembly performs adsorption operation; S115: The visual guidance positioning unit calculates the target pose of the first positioning tray of the material inspection module, the robotic arm controls the negative pressure adsorption component to pick up the first positioning tray, the visual guidance positioning unit calculates the target pose of the second positioning tray of the finished product distribution module, and the robotic arm controls the negative pressure adsorption component to stack the first positioning tray on the second positioning tray. S116: The robotic arm controls the rotary driver to restore the rotary gripping end effector to its initial orientation; S117: Repeat steps S102-S116 until all the acceleration sensors to be tested stored in the first positioning tray have been tested.

[0034] In steps S111, S112, and S115, the target pose is calculated by extracting key features of the target point cloud and solving the pose transformation matrix using a random sampling consistency registration model. If the target pose calculation fails, the visual guidance and localization unit is triggered to rescan and record the anomaly.

[0035] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made using the content of the present invention specification, or direct or indirect applications in other related fields, are similarly included within the patent protection scope of the present invention.

Claims

1. An automatic detection device for an accelerometer based on visual positioning, characterized in that: The system includes a workbench (1), a robotic arm (2), a rotary clamping mechanism (3), a negative pressure adsorption assembly (4), a vision-guided positioning unit (5), a material inspection module (6), a finished product distribution module (7), a sensor testing module (8), and an abnormal product buffer module (9). The rotary clamping mechanism (3) is installed at the end of the robotic arm (2). The rotary clamping mechanism (3) includes a rotary driver (31), a rotary clamping end effector (32), and a cable clamping mechanism (33). The rotary driver (31) is installed on a custom mounting base. The rotary clamping end effector (32) is connected to the rotary driver. The output shaft of the device (31) is connected, and the rotary clamping end effector (32) is used to perform gripping, rotating tightening and loosening operations, and adaptively corrects the workpiece posture deviation through the positioning block and spring; the rotary driver (31) is used to adjust the posture of the rotary clamping end effector (32); the cable clamping mechanism (33) is installed on a custom mounting base to keep the cable in an extended state to prevent tangling; the negative pressure adsorption component (4) and the visual guidance positioning unit (5) are both installed on the custom mounting base; the visual guidance positioning unit (5) is used for target object recognition, point cloud data acquisition and spatial posture calculation.

2. The automatic detection device for an accelerometer based on visual positioning according to claim 1, characterized in that: The workbench (1) serves as the basic platform for the device. The robotic arm (2), the material inspection module (6), the finished product distribution module (7), the sensor testing module (8), and the abnormal product buffer module (9) are all installed on the workbench (1). The material inspection module (6) includes an accelerometer sensor (61) to be inspected and a first positioning tray (62). The finished product distribution module (7) includes an accelerometer sensor (71) that has passed inspection and a second positioning tray (72). The negative pressure adsorption component (4) is used to adsorb and transfer the first positioning tray (62). The sensor testing module (8) includes a secondary positioning platform (81), a sensor testing platform (82), a sensor testing line (83), and a sensor testing line placement platform (84). The sensor testing line (83) is divided into a cable part and a connector part. The abnormal product buffer module (9) includes an accelerometer sensor (91) that has failed inspection and an abnormal product placement box (92).

3. The automatic detection device for an accelerometer based on visual positioning according to claim 2, characterized in that: The first positioning tray (62) and the second positioning tray (72) have guide posts at the top of their four corners and grooves at the bottom for easy stacking; the first positioning tray (62) is used to store the acceleration sensor (61) to be tested; the second positioning tray (72) is initially empty and is used to store the qualified acceleration sensor (71); the secondary positioning platform (81) is installed on the workbench (1) and is used to place the acceleration sensor (61) to be tested, so that the visual guidance positioning unit (5) can perform secondary positioning; the sensor testing platform (82) is used to test the acceleration sensor (61) to be tested; the sensor test line placement platform (84) is used to place the sensor test line (83); the defective product placement box (92) is used to place the unqualified acceleration sensor (91).

4. The automatic detection device for an accelerometer based on visual positioning according to claim 1, characterized in that: The material inspection module (6) is installed at the corner of the workbench (1); the rotary driver (31) is a rotary cylinder; the rotary clamping end effector (32) is an electric rotary gripper; the cable clamping mechanism (33) is a pneumatic finger; the negative pressure adsorption component (4) is a vacuum suction cup; and the visual guidance positioning unit (5) is a 3D camera.

5. The automatic detection device for an accelerometer based on visual positioning according to claim 2, characterized in that: The connector portion of the sensor test line (83) has pre-embedded terminals to ensure that the test line needle is always centered.

6. An automatic detection method for an accelerometer based on vision positioning, applied in any one of the automatic detection devices for an accelerometer based on vision positioning as described in claims 1 to 5, characterized in that: The aforementioned automatic detection method for accelerometers based on vision positioning specifically includes the following steps: S101: The control system pre-programs the robotic arm action, tightening action, and disassembly action according to the number of acceleration sensors to be inspected stored in the first positioning tray of the material inspection module and the number of stacked first positioning trays. S102: The visual guidance and positioning unit performs a global scan on the first positioning tray to obtain the initial spatial pose data of each of the acceleration sensors to be tested; S103: The robotic arm controls the rotary gripping end effector to grab the accelerometer to be tested from the first positioning tray and place it on the secondary positioning stage; S104: The visual guidance and positioning unit performs fine positioning on the accelerometer under test on the secondary positioning stage and generates corrected pose data; S105: The robotic arm controls the rotary clamping end effector to grasp the accelerometer to be tested on the secondary positioning stage, the vision-guided positioning unit acquires the spatial pose data of the sensor test stage, and the robotic arm controls the rotary clamping end effector to install the accelerometer to be tested on the sensor test stage by tightening. S106: The visual guidance and positioning unit acquires the spatial pose data of the sensor test line placement platform, the connector part of the sensor test line and the cable part. The robotic arm controls the rotary clamping end effector to grab the connector part of the sensor test line. The cable clamping mechanism clamps the cable part of the sensor test line to ensure that the cable will not get tangled during movement. S107: The robotic arm controls the rotary clamping end effector to tighten the connector part of the sensor test line onto the accelerometer under test. During the tightening process, the set torque value is used to determine whether it is tightened. S108: After tightening, the rotary clamping end actuator releases the connector portion of the sensor test line, and the cable clamping mechanism retains the cable portion of the sensor test line in place; S109: The sensor test bench begins executing the detection procedure; S110: After the test is completed, the robotic arm controls the rotary clamping end effector to disassemble the connector part of the sensor test line, and based on the pose data obtained in S106, the disassembled sensor test line is put back into the sensor test line placement table. S111: If the test result is qualified, the visual guidance positioning unit calculates the target pose of the second positioning tray of the finished product distribution module, and the robotic arm controls the rotary clamping end effector to grab the qualified accelerometer into the second positioning tray. S112: If the detection result is unqualified, the visual guidance and positioning unit calculates the target pose of the abnormal item placement box of the abnormal item cache module, and the robotic arm controls the rotary gripping end effector to grab the detected unqualified accelerometer into the abnormal item placement box. S113: Repeat steps S103-S112 until all the acceleration sensors to be tested stored in the first positioning tray have been tested. S114: The robotic arm controls the rotary driver to adjust the position of the rotary clamping end effector to a preset safe position in order to avoid mechanical interference when the negative pressure adsorption assembly performs adsorption operation; S115: The visual guidance positioning unit calculates the target pose of the first positioning tray of the material inspection module, the robotic arm controls the negative pressure adsorption component to pick up the first positioning tray, the visual guidance positioning unit calculates the target pose of the second positioning tray of the finished product distribution module, and the robotic arm controls the negative pressure adsorption component to stack the first positioning tray on the second positioning tray. S116: The robotic arm controls the rotary driver to restore the rotary gripping end effector to its initial orientation; S117: Repeat steps S102-S116 until all the acceleration sensors to be tested stored in the first positioning tray have been tested.

7. The automatic detection method for an accelerometer based on visual positioning according to claim 6, characterized in that: In steps S111, S112, and S115, the target pose is calculated by extracting key features of the target point cloud and solving the pose transformation matrix using a random sampling consistency registration model. If the target pose calculation fails, the visual guidance and localization unit is triggered to rescan and record the anomaly.

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