Turret rotation precision correction method applied to component test equipment in aerospace field

Abstract

A turret rotation precision correction method applied to component testing equipment in the aerospace field comprises the specific steps that a first camera and a second camera are placed on the peripheries of a zero station and an m station of a turret respectively, and m and the total number of the stations of the turret are in a co-prime relationship; a first camera and a second camera are used for shooting a reference object, the deviation angle is calculated, the actual rotation angle error of each station is solved in combination with a multivariate equation, and accordingly the motor of the turret is corrected. According to the method, turret precision correction is carried out by utilizing the camera and establishing the virtual coordinate system, and the problems that an existing turret precision correction method is tedious in process, low in efficiency and poor in correction effect are solved.

Description

TECHNICAL FIELD

[0001] The application relates to a turret rotation precision correction method applied to a component testing device in the field of spaceflight, and belongs to the technical field of component testing in the field of spaceflight. BACKGROUND

[0002] The reliability and stability of components in the field of spaceflight are extremely high, and all spaceflight components need to be tested and screened in multiple dimensions and high precision before being installed, so as to exclude performance defects. In the component testing device in the field of spaceflight, the turret is a core transfer component, and its function is to drive the spaceflight component to accurately move between multiple test stations (such as an electrical performance detection station, an environmental adaptability test station and the like), so as to realize continuous and efficient testing.

[0003] At present, the turret for testing spaceflight components usually needs to be provided with 4-20 stations, and the rotation angle precision between adjacent stations needs to be controlled at the level of "minute" or even "second". When the turret rotates to switch stations, if there is a deviation of 1 minute due to the rotation precision of the motor, the spaceflight component cannot be accurately connected to the probe or detection module of the test station, so that the test data is distorted, and even the precise test component or the spaceflight component itself can be damaged.

[0004] In the prior art, the correction of the precision of the turret for testing spaceflight components mainly depends on an interferometer: the interferometer emits a laser beam to capture the angle deviation during the rotation of the turret, and then adjusts the motor parameters based on the deviation. However, the use of the interferometer to correct the precision of the turret is too cumbersome, the interferometer needs to be debugged before being put into use, and the correction process also needs to ensure that the interferometer is in a proper position, which is time-consuming and low in efficiency. In addition, the measurement precision of the interferometer is also easily affected by the external environment, the installation and use of the interferometer, and it is difficult to accurately correct the precision of the turret. SUMMARY

[0005] The technical problem to be solved by the application is to overcome the shortcomings of the prior art and provide a turret rotation precision correction method applied to a component testing device in the field of spaceflight. The method corrects the precision of the turret by using a camera and establishing a virtual coordinate system, thereby solving the problems of cumbersome process, low efficiency and poor correction effect of the prior turret precision correction method.

[0006] The technical solution of the application is as follows:

[0007] A turret rotation precision correction method applied to a component testing device in the field of spaceflight, comprising the following steps:

[0008] (1) defining the working point positions of the turret, taking the initial station of the turret as the 0th station, and defining the stations after the 0th station as the 1st station, the 2nd station,..., and the (n-1)th station in the rotation direction of the turret; n is the total number of stations of the turret, and n is greater than or equal to 4;

[0009] (2) Select two high-definition industrial cameras, which are defined as the first camera and the second camera respectively; establish independent camera coordinate systems for the first camera and the second camera respectively, with the origin of each camera coordinate system set as the optical center of the lens of the corresponding camera, the Z-axis set as the optical axis of the lens of the corresponding camera, the X-axis set as parallel to the width direction of the image plane of the corresponding camera, and the Y-axis set as parallel to the height direction of the image plane of the corresponding camera.

[0010] (3) Place the first camera and the second camera on the outer periphery of the turret respectively; adjust the positions of the two cameras so that the origin of the camera coordinate system of the first camera is located on the extension line between station 0 and the center of the turret, and the X-axis of the camera coordinate system of the first camera is tangent to the outer periphery of the turret; the origin of the camera coordinate system of the second camera is located on the extension line between station m and the center of the turret, where m is any station number between 0 and n-1 that is coprime to n, and the X-axis of the camera coordinate system of the second camera is tangent to the outer periphery of the turret; the distance from the center of the turret to the X-axis of the camera coordinate system of the first camera is equal to the distance to the X-axis of the camera coordinate system of the second camera;

[0011] (4) Calculate the theoretical deviation angle A between the first camera and the second camera;

[0012] (5) Taking the center of the turret as the vertex of the included angle, the line connecting the origin of the camera coordinate system of the first camera and the center of the turret is taken as one side, and the line connecting the origin of the camera coordinate system of the second camera and the center of the turret is taken as another side. Record the included angle B formed by the two sides and define the included angle B as the actual included angle.

[0013] (6) Calculate the camera error angle C based on the theoretical deviation angle A and the actual deviation angle B between the first camera and the second camera;

[0014] (7) Place a reference object at each of the 0th, 1st, ..., n-1th workstations of the turret, and select an easily identifiable point on each reference object as a reference point;

[0015] (8) Control the first camera to take a picture of the reference object at the current workstation 0;

[0016] (9) Based on the image captured by the first camera, take the center of the turret as the vertex of the included angle, take the line connecting the reference point and the center of the turret as one side, and the line connecting the 0 working point and the center of the turret as another side, calculate the included angle D1 formed by the two sides, and define the included angle D1 as the reference error.

[0017] (10) Drive the turret to rotate and transfer the reference object originally located at station 0 to station m. At the same time, the next reference object to be photographed is transferred to station 0. Control the second camera to take a picture of the reference object transferred to station m. Based on the image taken by the second camera, take the center of the turret circle as the vertex of the included angle, take the line connecting the reference point and the center of the turret circle as one side, and the line connecting the working point m and the center of the turret circle as another side. Calculate the included angle E1 formed by the two sides and define the included angle E1 as the reference error.

[0018] (11) Based on the camera error angle C, the reference error D1 and the reference error E1, calculate the cumulative rotation accuracy deviation F1 of the reference object from station 0 to station m;

[0019] (12) Repeat steps (8) to (11) n-1 times, and take photos of each reference object at station 0 and station m using the first camera and the second camera respectively; based on the photos taken, obtain the reference errors D2, D3, ..., D on each reference object. i ... D n Reference errors E2, E3, ..., E i ... E n Rotational accuracy deviations F2, F3, ..., F i F n ; where D i E i and F i These are the reference error, reference error, and rotational accuracy deviation of the reference point selected on the reference object at station 0 during the (i-1)th repetition of step (8);

[0020] (13) Based on the fact that the sum of the actual rotation angles of all adjacent workstations is 360° for each rotation of the turret, and the rotation accuracy deviation of each reference point, a system of linear equations with multiple variables is established; by solving the system of linear equations with multiple variables, the actual rotation angles θ1, θ2, ..., θ3 between each adjacent workstation are obtained. m ..., θ n , where θ m The rotation angle between workstation m-1 and workstation m;

[0021] (14) Utilize the actual rotation angles θ1, θ2, ..., θ between each adjacent workstation. m ..., θ n The parameters of the turret control mechanism are corrected to complete the angle correction of the turret rotation.

[0022] Furthermore, the formula for calculating the deviation angle A between the first camera and the second camera in step (4) is as follows:

[0023] A = 360 / n × m.

[0024] Furthermore, the formula for calculating the camera error angle C in step (6) is as follows:

[0025] C = BA.

[0026] Furthermore, the characteristic is that: the step (9) of calculating the reference error D1 based on the image captured by the first camera is as follows:

[0027] The pixel coordinates of the turret center, reference point, and working point 0 on the image captured by the first camera are obtained using an image annotation tool.

[0028] Define the vector connecting the pixel coordinates of the turret center and the pixel coordinates of the reference point as the first vector, and the vector connecting the pixel coordinates of the turret center and the pixel coordinates of the 0th working point as the second vector; subtract the pixel coordinates of the turret center from the pixel coordinates of the reference point to obtain the first vector; subtract the pixel coordinates of the turret center from the pixel coordinates of the 0th working point to obtain the second vector.

[0029] The angle between the first vector and the second vector is calculated using the dot product formula, and this angle is the reference error D1.

[0030] Furthermore, the step (10) of calculating the reference error E1 based on the image captured by the second camera is as follows:

[0031] The pixel coordinates of the turret center, reference point, and working point m on the image captured by the second camera are obtained using an image annotation tool.

[0032] Define the vector connecting the pixel coordinates of the turret center and the pixel coordinates of the reference point as the third vector, and the vector connecting the pixel coordinates of the turret center and the pixel coordinates of the m-th working point as the fourth vector; subtract the pixel coordinates of the turret center from the pixel coordinates of the reference point to obtain the third vector; subtract the pixel coordinates of the turret center from the pixel coordinates of the m-th working point to obtain the fourth vector.

[0033] The angle between the second vector and the third vector is calculated using the dot product formula, and this angle is the reference error E1.

[0034] Furthermore, in step (11), the formula for calculating the cumulative rotational accuracy deviation F1 of the first reference object rotating from station 0 to station m based on the camera error angle C, the reference error D1, and the reference error E1 is as follows:

[0035] F1 = E1 - D1 - C.

[0036] Furthermore, the system of linear equations established in step (13) is as follows:

[0037]

[0038] Furthermore, the specific process of solving the system of linear equations in step (13) and obtaining the actual rotation angle between adjacent workstations is as follows:

[0039] Define H1, H2, ..., H n They are respectively:

[0040]

[0041] Based on this, a system of linear equations is established: in, S is an n×n cyclic matrix whose first row is (1,1,…,1,0,…,0), with the first m elements being 1 and the rest being 0; solve the above system of linear equations. The actual rotation angle between each adjacent workstation is obtained as follows:

[0042]

[0043] Where, θ i Let ω be the rotation angle between workstation i-1 and workstation i, where i = 1, 2, ..., n; ω = e 2πi / n ,1+ω j +ω 2j +...+ω j(m-1) For the summation of a geometric series, when j = 0, its value is m, and when j ≠ 0, its value is...

[0044] Furthermore, the specific process of correcting the turret rotation angle using the actual rotation angle between adjacent workstations in step (14) is as follows:

[0045] Calculate the actual rotation angles θ1, θ2, ..., θ between each adjacent workstation in sequence. m ..., θ n The differences between I1, I2, ..., I and 360 / n are: m ... I n ; I1, I2, ..., I m ... I n The turret adjustment angles for stations 0, 1, ..., m-1, ..., n-1 are used to adjust the parameters of the turret control mechanism.

[0046] Furthermore, in step (7), the reference objects placed at each workstation may be different. The reference objects include the turret's nozzle and the label. When the reference object at any workstation is the same as the reference object at another workstation, the reference point selected at that workstation is different from the reference point on the other repeated reference object.

[0047] The beneficial effects of this invention compared to the prior art are:

[0048] (1) This invention eliminates the need for prior calibration of the turret mechanical reference. It directly performs turret accuracy correction using a virtual coordinate reference, which greatly simplifies the turret accuracy correction process and improves efficiency.

[0049] (2) The present invention combines coprime number station layout and multi-camera verification to accurately correct the turret accuracy and greatly eliminate the deviation of turret rotation angle.

[0050] (3) This invention does not rely on expensive interferometers. High-precision correction can be achieved by using an industrial camera, reducing equipment investment costs by more than 60% and making maintenance simple. Attached Figure Description

[0051] Figure 1 This is a flowchart of a turret rotation accuracy correction method for a component testing equipment in the aerospace field, according to the present invention. Detailed Implementation

[0052] The specific embodiments of the present invention will now be described in further detail with reference to the accompanying drawings.

[0053] like Figure 1 As shown, this invention provides a method for calibrating the rotation accuracy of a turret in aerospace component testing equipment, comprising the following steps:

[0054] (1) Define the working positions of the turret. The initial working position of the turret is the 0th working position. Along the rotation direction of the turret, the working positions after the 0th working position are defined as the 1st working position, the 2nd working position, ..., the n-1th working position; n is the total number of working positions of the turret, and n is greater than or equal to 4.

[0055] (2) Select two high-definition industrial cameras, which are defined as the first camera and the second camera respectively; establish independent camera coordinate systems for the first camera and the second camera respectively, with the origin of each camera coordinate system set as the optical center of the lens of the corresponding camera, the Z-axis set as the optical axis of the lens of the corresponding camera, the X-axis set as parallel to the width direction of the image plane of the corresponding camera, and the Y-axis set as parallel to the height direction of the image plane of the corresponding camera.

[0056] (3) Place the first camera and the second camera on the outer periphery of the turret respectively; adjust the positions of the two cameras so that the origin of the camera coordinate system of the first camera is located on the extension line between station 0 and the center of the turret, and the X-axis of the camera coordinate system of the first camera is tangent to the outer periphery of the turret; the origin of the camera coordinate system of the second camera is located on the extension line between station m and the center of the turret, where m is any station number between 0 and n-1 that is coprime to n, and the X-axis of the camera coordinate system of the second camera is tangent to the outer periphery of the turret; the distance from the center of the turret to the X-axis of the camera coordinate system of the first camera is equal to the distance to the X-axis of the camera coordinate system of the second camera;

[0057] One or two additional auxiliary cameras can be installed at other workstations on the turret. By taking multiple shots with multiple cameras, the deviation data can be cross-validated to avoid reading errors and random errors, thereby further improving the reliability of the calibration results and meeting the requirements of the aerospace field for the accuracy and stability of testing equipment.

[0058] (4) Calculate the theoretical deviation angle A between the first camera and the second camera. The calculation formula is as follows:

[0059] A = 360 / n × m.

[0060] (5) Taking the center of the turret as the vertex of the included angle, the line connecting the origin of the camera coordinate system of the first camera and the center of the turret is taken as one side, and the line connecting the origin of the camera coordinate system of the second camera and the center of the turret is taken as another side. Record the included angle B formed by the two sides and define the included angle B as the actual included angle.

[0061] (6) Based on the theoretical deviation angle A and the actual deviation angle B between the first camera and the second camera, calculate the camera error angle C. The calculation formula is as follows:

[0062] C = BA.

[0063] (7) Place a reference object at station 0, station 1, ..., station n-1 of the turret, and select an easily identifiable point on each reference object as a reference point; the reference objects placed at each station may be different, and the reference objects include the turret's nozzle and label; when the reference object at any station is the same as the reference object at other stations, the reference point selected at that station is different from the reference point on the other repeated reference object.

[0064] (8) Control the first camera to take a picture of the reference object at the current workstation 0;

[0065] (9) Based on the image captured by the first camera, take the center of the turret as the vertex of the included angle, take the line connecting the reference point and the center of the turret as one side, and the line connecting the 0 working point and the center of the turret as another side, calculate the included angle D1 formed by the two sides, and define the included angle D1 as the reference error.

[0066] The step of calculating the reference error D1 based on the image captured by the first camera is as follows:

[0067] The pixel coordinates of the turret center, reference point, and working point 0 on the image captured by the first camera are obtained using an image annotation tool.

[0068] Define the vector connecting the pixel coordinates of the turret center and the pixel coordinates of the reference point as the first vector, and the vector connecting the pixel coordinates of the turret center and the pixel coordinates of the 0th working point as the second vector; subtract the pixel coordinates of the turret center from the pixel coordinates of the reference point to obtain the first vector; subtract the pixel coordinates of the turret center from the pixel coordinates of the 0th working point to obtain the second vector.

[0069] The angle between the first vector and the second vector is calculated using the dot product formula, and this angle is the reference error D1.

[0070] (10) Drive the turret to rotate and transfer the reference object originally located at station 0 to station m. At the same time, the next reference object to be photographed is transferred to station 0. Control the second camera to take a picture of the reference object transferred to station m. Based on the image taken by the second camera, take the center of the turret circle as the vertex of the included angle, take the line connecting the reference point and the center of the turret circle as one side, and the line connecting the working point m and the center of the turret circle as another side. Calculate the included angle E1 formed by the two sides and define the included angle E1 as the reference error.

[0071] The step of calculating the reference error E1 based on the image captured by the second camera is as follows:

[0072] The pixel coordinates of the turret center, reference point, and working point m on the image captured by the second camera are obtained using an image annotation tool.

[0073] Define the vector connecting the pixel coordinates of the turret center and the pixel coordinates of the reference point as the third vector, and the vector connecting the pixel coordinates of the turret center and the pixel coordinates of the m-th working point as the fourth vector; subtract the pixel coordinates of the turret center from the pixel coordinates of the reference point to obtain the third vector; subtract the pixel coordinates of the turret center from the pixel coordinates of the m-th working point to obtain the fourth vector.

[0074] The angle between the second vector and the third vector is calculated using the dot product formula, and this angle is the reference error E1.

[0075] (11) Based on the camera error angle C, the reference error D1, and the reference error E1, calculate the cumulative rotational accuracy deviation F1 of the reference object as it rotates from station 0 to station m. The calculation formula is as follows:

[0076] F1 = E1 - D1 - C.

[0077] (12) Repeat steps (8) to (11) n-1 times, and take photos of each reference object at station 0 and station m using the first camera and the second camera respectively; based on the photos taken, obtain the reference errors D2, D3, ..., D on each reference object. i ... D n Reference errors E2, E3, ..., E i ... E n Rotational accuracy deviations F2, F3, ..., F i F n ; where D i E i and F i These are the reference error, reference error, and rotational accuracy deviation of the reference point selected on the reference object at station 0 during the (i-1)th repetition of step (8).

[0078] (13) Based on the fact that the sum of the actual rotation angles of all adjacent workstations is 360° for each rotation of the turret, and the rotation accuracy deviation of each reference point, a system of linear equations with multiple variables is established; by solving the system of linear equations with multiple variables, the actual rotation angles θ1, θ2, ..., θ3 between each adjacent workstation are obtained. m ..., θ n , where θ m The rotation angle between workstation m-1 and workstation m;

[0079] The established system of linear equations is as follows:

[0080]

[0081] The specific process of solving the system of linear equations and obtaining the actual rotation angles between adjacent workstations is as follows:

[0082] Define H1, H2, ..., H n They are respectively:

[0083]

[0084] Based on this, a system of linear equations is established: in, S is an n×n cyclic matrix whose first row is (1,1,…,1,0,…,0), with the first m elements being 1 and the rest being 0; solve the above system of linear equations. The actual rotation angle between each adjacent workstation is obtained as follows:

[0085]

[0086] Where, θ iLet ω be the rotation angle between workstation i-1 and workstation i, where i = 1, 2, ..., n; ω = e 2πi / n ,1+ω j +ω 2j +...+ω j(m-1) For the summation of a geometric series, when j = 0, its value is m, and when j ≠ 0, its value is...

[0087] Using the actual rotation angles θ1, θ2, ..., θ between each adjacent workstation m ..., θ n The parameters of the turret control mechanism are corrected to complete the turret rotation angle correction. The specific process is as follows:

[0088] Calculate the actual rotation angles θ1, θ2, ..., θ between each adjacent workstation in sequence. m ..., θ n The differences between I1, I2, ..., I and 360 / n are: m ... I n ; I1, I2, ..., I m ... I n The turret adjustment angles for stations 0, 1, ..., m-1, ..., n-1 are used to adjust the parameters of the turret control mechanism.

[0089] In summary, this invention eliminates the need for pre-calibration of the turret's mechanical reference, directly correcting turret accuracy through a virtual coordinate reference, significantly simplifying the turret accuracy correction process and improving efficiency. Furthermore, by combining coprime number station layout with multi-camera verification, this invention can accurately correct turret accuracy, greatly eliminating turret rotation angle deviations. Moreover, this invention does not rely on expensive interferometers; high-precision correction can be achieved using industrial cameras, reducing equipment investment costs by more than 60% and simplifying maintenance.

[0090] Example:

[0091] This invention is used to perform accuracy calibration on an 8-station turret:

[0092] (1) Define the working position of the turret. The initial working position of the turret is the 0th working position. Along the rotation direction of the turret, the working positions after the 0th working position are defined as the 1st working position, the 2nd working position, ..., the 8th working position. The external environmental parameters of the turret are: test environment temperature 23±2℃, humidity 45±5%, cleanliness Class1000.

[0093] (2) Select two high-definition industrial cameras, which are defined as the first camera and the second camera respectively; both cameras have a resolution of 20 million pixels, a frame rate of 30fps, and are equipped with anti-electromagnetic interference function, and the lens focal length is 50mm; establish independent camera coordinate systems for the first camera and the second camera respectively, set the origin of each camera coordinate system as the optical center of the lens of the corresponding camera, set the Z-axis as the optical axis of the lens of the corresponding camera, set the X-axis as parallel to the width direction of the image plane of the corresponding camera, and set the Y-axis as parallel to the height direction of the image plane of the corresponding camera;

[0094] (3) Place the first camera and the second camera on the outer periphery of the turret respectively; adjust the positions of the two cameras so that the origin of the camera coordinate system of the first camera is located on the extension line of station 0 and the center of the turret, and the X-axis of the camera coordinate system of the first camera is tangent to the outer periphery of the turret; the origin of the camera coordinate system of the second camera is located on the extension line of station 3 and the center of the turret, and the X-axis of the camera coordinate system of the second camera is tangent to the outer periphery of the turret; the distance from the center of the turret to the X-axis of the camera coordinate system of the first camera is equal to the distance to the X-axis of the camera coordinate system of the second camera;

[0095] (4) Calculate the theoretical deviation angle A between the first camera and the second camera, where A = 135°;

[0096] (5) Taking the center of the turret as the vertex of the included angle, the line connecting the origin of the camera coordinate system of the first camera and the center of the turret is taken as one side, and the line connecting the origin of the camera coordinate system of the second camera and the center of the turret is taken as another side. Record the included angle B formed by the two sides and define the included angle B as the actual included angle.

[0097] (6) Based on the theoretical deviation angle A and the actual deviation angle B between the first camera and the second camera, calculate the camera error angle C = B - 135°;

[0098] (7) Place a reference object at each of the 0th, 1st, ..., n-1th workstations of the turret, and select an easily identifiable point on each reference object as a reference point;

[0099] (8) Control the first camera to take a picture of the reference object at the current workstation 0;

[0100] (9) Based on the image captured by the first camera, take the center of the turret as the vertex of the included angle, take the line connecting the reference point and the center of the turret as one side, and the line connecting the 0 working point and the center of the turret as another side, calculate the included angle D1 formed by the two sides, and define the included angle D1 as the reference error.

[0101] (10) Drive the turret to rotate and transfer the reference object originally located at station 0 to station 3. At the same time, the next reference object to be photographed is transferred to station 0. Control the second camera to take a picture of the reference object transferred to station 3. Based on the image taken by the second camera, take the center of the turret as the vertex of the included angle, take the line connecting the reference point and the center of the turret as one side, and the line connecting the working point 3 and the center of the turret as another side. Calculate the included angle E1 formed by the two sides and define the included angle E1 as the reference error.

[0102] (11) Based on the camera error angle C, the reference error D1 and the reference error E1, calculate the cumulative rotation accuracy deviation F1 of the reference object as it rotates from station 0 to station 3;

[0103] (12) Repeat steps (8) to (11) 7 times, and take photos of each reference object at station 0 and station 3 using the first camera and the second camera respectively; based on the photos taken, obtain the reference errors D2, D3, ..., D on each reference object. i ... D n Reference errors E2, E3, ..., E i ... E n Rotational accuracy deviations F2, F3, ..., F i F n ; where D i E i and F i These are the reference error, reference error, and rotational accuracy deviation of the reference point selected on the reference object at station 0 during the (i-1)th repetition of step (8);

[0104] (13) Based on the fact that the sum of the actual rotation angles of all adjacent workstations is 360° for each rotation of the turret, and the rotation accuracy deviation of each reference point, a system of linear equations with multiple variables is established; by solving the system of linear equations with multiple variables, the actual rotation angles θ1, θ2, ..., θ3 between each adjacent workstation are obtained. m ..., θ n , where θ m The rotation angle between workstation m-1 and workstation m;

[0105] (14) Utilize the actual rotation angles θ1, θ2, ..., θ between each adjacent workstation. m ..., θ n The parameters of the turret control mechanism are corrected to complete the angle correction of the turret rotation.

[0106] The parts of this invention not described in detail are common knowledge to those skilled in the art.

Claims

1. A method for calibrating the rotation accuracy of a turret in a component testing equipment used in the aerospace field, characterized in that... The steps are as follows: (1) Define the working positions of the turret. The initial working position of the turret is the 0th working position. Along the rotation direction of the turret, the working positions after the 0th working position are defined as the 1st working position, the 2nd working position, ..., the n-1th working position; n is the total number of working positions of the turret, and n is greater than or equal to 4. (2) Select two high-definition industrial cameras, which are defined as the first camera and the second camera respectively; establish independent camera coordinate systems for the first camera and the second camera respectively, with the origin of each camera coordinate system set as the optical center of the lens of the corresponding camera, the Z-axis set as the optical axis of the lens of the corresponding camera, the X-axis set as parallel to the width direction of the image plane of the corresponding camera, and the Y-axis set as parallel to the height direction of the image plane of the corresponding camera. (3) Place the first camera and the second camera on the outer periphery of the turret respectively; adjust the positions of the two cameras so that the origin of the camera coordinate system of the first camera is located on the extension line between station 0 and the center of the turret, and the X-axis of the camera coordinate system of the first camera is tangent to the outer periphery of the turret; the origin of the camera coordinate system of the second camera is located on the extension line between station m and the center of the turret, where m is any station number between 0 and n-1 that is coprime to n, and the X-axis of the camera coordinate system of the second camera is tangent to the outer periphery of the turret; the distance from the center of the turret to the X-axis of the camera coordinate system of the first camera is equal to the distance to the X-axis of the camera coordinate system of the second camera; (4) Calculate the theoretical deviation angle A between the first camera and the second camera; (5) Taking the center of the turret as the vertex of the included angle, the line connecting the origin of the camera coordinate system of the first camera and the center of the turret is taken as one side, and the line connecting the origin of the camera coordinate system of the second camera and the center of the turret is taken as another side. Record the included angle B formed by the two sides and define the included angle B as the actual included angle. (6) Calculate the camera error angle C based on the theoretical deviation angle A and the actual deviation angle B between the first camera and the second camera; (7) Place a reference object at station 0, station 1, ..., station n-1 of the turret, and select an easily identifiable point on each reference object as a reference point; (8) Control the first camera to take a picture of the reference object at the current workstation 0; (9) Based on the image captured by the first camera, take the center of the turret as the vertex of the included angle, take the line connecting the reference point and the center of the turret as one side, and the line connecting the 0 working point and the center of the turret as another side, calculate the included angle D1 formed by the two sides, and define the included angle D1 as the reference error. (10) Drive the turret to rotate and transfer the reference object originally located at station 0 to station m. At the same time, the next reference object to be photographed is transferred to station 0. Control the second camera to take a picture of the reference object transferred to station m. Based on the image taken by the second camera, take the center of the turret circle as the vertex of the included angle, take the line connecting the reference point and the center of the turret circle as one side, and the line connecting the working point m and the center of the turret circle as another side. Calculate the included angle E1 formed by the two sides and define the included angle E1 as the reference error. (11) Based on the camera error angle C, the reference error D1 and the reference error E1, calculate the cumulative rotation accuracy deviation F1 of the reference object from station 0 to station m; (12) Repeat steps (8) to (11) n-1 times, and take photos of each reference object at station 0 and station m using the first camera and the second camera respectively; based on the photos taken, obtain the reference errors D2, D3, ..., D on each reference object. i ... D n Reference errors E2, E3, ..., E i ..., E n Rotational accuracy deviations F2, F3, ..., F i F n ; Among them, D i E i and F i These are the reference error, reference error, and rotational accuracy deviation of the reference point selected on the reference object at station 0 during the (i-1)th repetition of step (8); (13) Based on the fact that the sum of the actual rotation angles of all adjacent workstations is 360° for each rotation of the turret, and the rotation accuracy deviation of each reference point, a system of linear equations with multiple variables is established; by solving the system of linear equations with multiple variables, the actual rotation angles θ1, θ2, ..., θ3 between each adjacent workstation are obtained. m ..., θ n , where θ m The rotation angle between workstation m-1 and workstation m; (14) Utilize the actual rotation angles θ1, θ2, ..., θ between each adjacent workstation. m ..., θ n The parameters of the turret control mechanism are corrected to complete the angle correction of the turret rotation.

2. The turret rotation accuracy correction method for aerospace component testing equipment according to claim 1, characterized in that: The formula for calculating the deviation angle A between the first camera and the second camera in step (4) is as follows: A = 360 / n × m.

3. The method for calibrating the rotation accuracy of a turret in a component testing equipment applied in the aerospace field, as described in claim 1, is characterized in that: The formula for calculating the camera error angle C in step (6) is as follows: C = BA.

4. The turret rotation accuracy correction method for aerospace component testing equipment according to claim 1, characterized in that: The step (9) of calculating the reference error D1 based on the image captured by the first camera is as follows: The pixel coordinates of the turret center, reference point, and working point 0 on the image captured by the first camera are obtained using an image annotation tool. Define the vector connecting the pixel coordinates of the turret center and the pixel coordinates of the reference point as the first vector, and the vector connecting the pixel coordinates of the turret center and the pixel coordinates of the 0th working point as the second vector; subtract the pixel coordinates of the turret center from the pixel coordinates of the reference point to obtain the first vector; subtract the pixel coordinates of the turret center from the pixel coordinates of the 0th working point to obtain the second vector. The angle between the first vector and the second vector is calculated using the dot product formula, and this angle is the reference error D1.

5. The turret rotation accuracy correction method for aerospace component testing equipment according to claim 1, characterized in that: The step (10) of calculating the reference error E1 based on the image captured by the second camera is as follows: The pixel coordinates of the turret center, reference point, and working point m on the image captured by the second camera are obtained using an image annotation tool. Define the vector connecting the pixel coordinates of the turret center and the pixel coordinates of the reference point as the third vector, and the vector connecting the pixel coordinates of the turret center and the pixel coordinates of the m-th working point as the fourth vector; subtract the pixel coordinates of the turret center from the pixel coordinates of the reference point to obtain the third vector; subtract the pixel coordinates of the turret center from the pixel coordinates of the m-th working point to obtain the fourth vector. The angle between the second vector and the third vector is calculated using the dot product formula, and this angle is the reference error E1.

6. The turret rotation accuracy correction method for aerospace component testing equipment according to claim 1, characterized in that: In step (11), the formula for calculating the cumulative rotational accuracy deviation F1 of the first reference object rotating from station 0 to station m based on the camera error angle C, the reference error D1, and the reference error E1 is as follows: F1 = E1 - D1 - C.

7. The turret rotation accuracy correction method for aerospace component testing equipment according to claim 1, characterized in that: The system of linear equations established in step (13) is as follows:

8. The turret rotation accuracy correction method for aerospace component testing equipment according to claim 7, characterized in that: The specific process of solving the system of linear equations in step (13) and obtaining the actual rotation angle between adjacent workstations is as follows: Define H1, H2, ..., H n They are respectively: Based on this, a system of linear equations is established: in, S is an n×n cyclic matrix whose first row is (1,1,…,1,0,…,0), with the first m elements being 1 and the rest being 0; solve the above system of linear equations. The actual rotation angle between each adjacent workstation is obtained as follows: Where, θ i Let ω be the rotation angle between workstation i-1 and workstation i, where i = 1, 2, ..., n; ω = e 2πin ,1+ω j +ω 2j +...+ω j(m-1) For the summation of a geometric series, when j = 0, its value is m, and when j ≠ 0, its value is...

9. The method for calibrating the rotation accuracy of a turret in a component testing equipment applied in the aerospace field, as described in claim 1, is characterized in that: The specific process of correcting the turret rotation angle using the actual rotation angle between adjacent workstations in step (14) is as follows: Calculate the actual rotation angles θ1, θ2, ..., θ between each adjacent workstation in sequence. m ..., θ n The differences between I1, I2, ..., I and 360 / n are: m ... I n ; I1, I2, ..., I m ... I n The turret adjustment angles for stations 0, 1, ..., m-1, ..., n-1 are used to adjust the parameters of the turret control mechanism.

10. A method for calibrating the rotation accuracy of a turret in a component testing equipment applied in the aerospace field, as described in any one of claims 1-9, characterized in that: In step (7), the reference objects placed at each workstation may be different. The reference objects include the turret's nozzle and the label. When the reference object at any workstation is the same as the reference object at another workstation, the reference point selected at that workstation is different from the reference point on the other repeated reference object.

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