Testing method and testing system

Abstract

A testing method and a testing system, which are applied to the technical field of detection. According to the present application, the relative difference between measurement results of two detection devices in the absence of a skin and the relative difference between measurement results of the two detection devices in the presence of a first skin are used to test whether the effect of the first skin on the performance of a first detection device during detection at a first angle is within an acceptable range. In this way, in the present application, the relative difference between measurement results of the two detection devices in the absence of a skin and the relative difference between measurement results of the two detection devices in the presence of the first skin are used to test the effect of the first skin on the performance of the detection devices, thereby reducing the effect of the accuracy of the detection devices, and improving testing accuracy. Moreover, because the present application relates to the relative differences of comparative results, accurate test results can be obtained even in complex environments, facilitating rapid verification of the matching between a skin and detection devices on a skin production line.

Description

A testing method and testing system Technical Field

[0001] This application relates to the field of detection technology, and in particular to a testing method and testing system. Background Technology

[0002] With the development of vehicle intelligence, detection devices are gradually becoming essential equipment on vehicles. When deploying detection devices, considering both the protection of the device and the aesthetics of the vehicle body, they are generally installed behind the vehicle's skin. Most detection devices rely on electromagnetic waves for detection. When these electromagnetic waves pass through the skin, they undergo reflection and refraction, leading to a deterioration in the device's performance.

[0003] To reduce the impact of the skin on the performance of the detection device, manufacturers need to install the detection device behind the skin and test whether the skin's impact on the detection device's performance is within an appropriate range in order to optimize the skin design. The testing method is typically as follows: The detection device is used in a darkroom without the skin, then the skin is fixed to a mounting platform and the detection device is used again. The angular measurement errors of the detection device with and without the skin are compared to determine whether the skin's impact on the detection device's performance is within an appropriate range. However, due to the inherent accuracy error of the detection device, it may measure different values ​​in two measurements. Therefore, this testing method cannot eliminate the influence of the detection device's own accuracy on the measurement results, leading to inaccurate test results. Furthermore, skin testing is mainly used in production environments. Due to the complex environment of the production line and the significant electromagnetic interference, the measurement accuracy of the detection device may further deteriorate, resulting in serious deviations in the test results obtained using the above testing method.

[0004] Summary of the Invention

[0005] This application provides a testing method and system that utilizes the relative difference in measurement results from two detection devices to reduce the impact of the detection device's own accuracy on the measurement results, thereby improving testing accuracy and enabling accurate test results even in complex environments. Furthermore, the testing system provided by this application has simple components and is easy to use, facilitating rapid matching verification of the skin and detection device on the skin production line.

[0006] Firstly, this application provides a testing method, comprising: a first detection device detecting a target object without a skin to obtain first angle measurement data; and a second detection device detecting the target object without a skin to obtain second angle measurement data. The target object is located at a first angle relative to the first detection device. The testing method further comprises: the first detection device detecting the target object with a first skin to obtain third angle measurement data; and the second detection device detecting the target object with the first skin to obtain fourth angle measurement data. Further, based on the angle difference between the first and second angle measurement data and the angle difference between the third and fourth angle measurement data, the accuracy error generated by the first detection device when detecting at the first angle after the first skin is applied is determined.

[0007] This method can be used to test a system that includes a first detection device, a second detection device, and a target object. For ease of understanding, the following description uses the test system as the executing entity.

[0008] In this application, the testing system includes a first detection device and a second detection device. These two devices can form a relative reference. If the skin has a small impact on the measurement accuracy of the detection devices, the measurement accuracy of the first and second detection devices will not decrease significantly. In this case, the angle difference between the angles measured by the first and second detection devices is usually small. Conversely, if the skin has a large impact on the measurement accuracy of the detection devices, the accuracy error of the first and second detection devices will increase significantly. In this case, the angle difference between the angles measured by the first and second detection devices is usually large, and may significantly exceed their normal error range. Therefore, by comparing the angle difference between the angles measured by the first and second detection devices before and after the skin is applied, it can be determined whether the skin has a significant impact on the accuracy error of the detection devices. Therefore, this application uses the relative difference in measurement results between the two detection devices without skin, and the relative difference in measurement results between the two detection devices with the first skin applied, to test the performance impact of the first skin on the detection devices, reducing the impact on the accuracy of the detection devices themselves and improving the accuracy of the test.

[0009] In addition, since this application compares relative differences, it can obtain relatively accurate test results even in complex environments, which is beneficial for quickly realizing the matching verification of skin and detection device on the skin production line.

[0010] In one possible implementation of the first aspect, the first angle measurement data includes a first horizontal angle along a first direction, the second angle measurement data includes a second horizontal angle along the first direction, the third angle measurement data includes a third horizontal angle along the first direction, and the fourth angle measurement data includes a fourth horizontal angle along the first direction.

[0011] The horizontal direction refers to the direction of the horizontal plane parallel to the ground.

[0012] Since angle measurement typically includes horizontal angles in the horizontal direction, in the above embodiment, the angle measurement data includes horizontal angles along the first direction. This is beneficial for obtaining the horizontal accuracy error generated when the first detection device performs detection after the first skin is set. It also allows for simple and convenient testing of whether the impact of the first skin on the performance of the first detection device is within a suitable range.

[0013] In another possible implementation of the first aspect, the accuracy error generated by the first detection device when detecting at the first angle after setting the first skin is determined based on the angle difference between the first angle measurement data and the second angle measurement data and the angle difference between the third angle measurement data and the fourth angle measurement data. This includes determining the horizontal accuracy error generated by the first detection device when detecting at the first angle after setting the first skin based on the angle difference between the first horizontal angle and the second horizontal angle and the angle difference between the third horizontal angle and the fourth horizontal angle.

[0014] In the above embodiments, the influence of the accuracy of the detection device itself on the measurement results in the horizontal direction can be shielded. The testing method using two detection devices can further reduce the requirements for the measurement accuracy of the detection device itself, improve the accuracy of the test, and obtain more accurate test results in complex production line environments.

[0015] In another possible implementation of the first aspect, the first angle measurement data includes a first pitch angle along the second direction, the second angle measurement data includes a second pitch angle along the second direction, the third angle measurement data includes a third pitch angle along the second direction, and the fourth angle measurement data includes a fourth pitch angle along the second direction.

[0016] The pitch direction is the height direction of the first detection device, which is perpendicular to the ground.

[0017] Since angle measurement typically includes the pitch angle in the pitch direction, in the above embodiment, the angle measurement data includes the pitch angle along the second direction, which is beneficial for obtaining the pitch accuracy error generated when the first detection device performs detection after the first skin is set. It can also easily and conveniently test whether the impact of the first skin on the performance of the first detection device in the pitch direction is within a suitable range.

[0018] In another possible implementation of the first aspect, the accuracy error generated by the first detection device when detecting at the first angle after setting the first skin is determined based on the angle difference between the first angle measurement data and the second angle measurement data and the angle difference between the third angle measurement data and the fourth angle measurement data. This includes determining the pitch accuracy error generated by the first detection device when detecting at the first angle after setting the first skin based on the angle difference between the first pitch angle and the second pitch angle and the angle difference between the third pitch angle and the fourth pitch angle.

[0019] In the above embodiments, the influence of the accuracy of the detection device itself on the measurement results in the pitch direction can be shielded. The requirement for the measurement accuracy of the detection device itself can be further reduced by using the test method of two detection devices. It is also possible to simply and conveniently test whether the influence of the first skin on the performance of the first detection device is within an appropriate range.

[0020] It should be noted that the various embodiments of this application can be combined. For example, the first angle measurement data includes a first horizontal angle along a first direction and a first pitch angle along a second direction. Similarly, other angle measurement data may also include angles in the horizontal and vertical directions.

[0021] In yet another possible implementation of the first aspect, the first angle includes a fifth horizontal angle along a first direction and / or a fifth pitch angle along a second direction.

[0022] In the above embodiments, the first angle may include only the horizontal angle value, or only the pitch angle value, or both the horizontal and pitch angle values.

[0023] In another possible implementation of the first aspect, the testing system further includes a support frame and a slide rail, with the first and second detection devices mounted on the support frame. The first and second detection devices are positioned identically in the first and third directions, but different in the second direction. Along the third direction, the first and second detection devices face the slide rail, which is used to adjust the position of the target object in the first and / or second directions.

[0024] In the above embodiments, the positions of the first and second detection devices are fixed and are the same in both the first and third directions. That is, the first and second detection devices have the same horizontal angle relative to the target object along the first direction, facilitating a simple and convenient subsequent test to determine whether the impact of the first skin on the performance of the first detection device is within a suitable range. Furthermore, the slide rail can adjust the position of the target object in the first and / or second directions, thereby placing the target object at different angles relative to the first detection device. This application can traverse different field-of-view angles of the first and second detection devices, allowing for a more comprehensive test of whether the impact of the skin on the performance of the first detection device measured at various field-of-view angles is within a suitable range.

[0025] In yet another possible implementation of the first aspect, a slide rail is used to adjust the position of a target object in a first direction, the slide rail including a first track that slides along the first direction, the first direction being perpendicular to a third direction.

[0026] In the above embodiments, the slide rail can adjust the position of the target object in the first direction. This application can traverse different horizontal angles of the first detection device and the second detection device in the first direction, and can comprehensively test whether the influence of the skin on the performance of the first detection device in measuring at various horizontal angles is within an appropriate range.

[0027] In another possible implementation of the first aspect, the first angle is a horizontal angle in the first direction related to a first distance, which is the distance between the first endpoint of the first track and the target in the first direction.

[0028] In yet another possible implementation of the first aspect, the first angle, the horizontal angle in the first direction, satisfies the following formula:

[0029] in, f1(a) is the horizontal angle of the first angle in the first direction, and f1(a) is used to indicate the relationship between the horizontal angle of the first angle in the first direction and the first distance, where a is the first distance.

[0030] In the above embodiment, the true value of the first angle, the horizontal angle in the first direction, i.e., the horizontal angle in the measurement angle of the first detection device, is calculated based on the distance between the first endpoint of the first track and the target object in the first direction. Compared with the prior art of obtaining the true value of the horizontal angle in the measurement angle through a turntable, this not only improves the accuracy of the obtained first angle, but also eliminates the requirement for absolute accuracy of the turntable, reduces the cost of testing, and makes the testing system adaptable to the complex environment of the skin production plant.

[0031] In another possible implementation of the first aspect, the slide rail is used to adjust the position of the target object in a second direction, the slide rail including a second track that slides along the second direction, the second direction being perpendicular to the third direction and perpendicular to the first direction.

[0032] In the above embodiments, the slide rail can adjust the position of the target object in the second direction. This application can traverse different pitch angles of the first detection device and the second detection device in the second direction, and can comprehensively test whether the influence of the skin on the performance of the first detection device in measuring at various pitch angles is within an appropriate range.

[0033] In another possible implementation of the first aspect, the pitch angle of the first angle in the second direction is related to the second distance, which is the distance between the second endpoint of the second track and the target in the second direction.

[0034] In yet another possible implementation of the first aspect, the pitch angle of the first angle in the second direction satisfies the following formula:

[0035] in, f2(b) is the pitch angle of the first angle in the second direction, and f2(b) is used to indicate the relationship between the pitch angle of the first angle in the second direction and the second distance, where b is the second distance.

[0036] In the above embodiment, the true value of the pitch angle in the second direction of the first angle, i.e., the pitch angle in the measurement angle of the first detection device, is calculated based on the distance between the second end point of the second track and the target object in the second direction. Compared with the prior art of obtaining the true value of the pitch angle in the measurement angle through a turntable, this not only improves the accuracy of the obtained first angle, but also eliminates the requirement for absolute accuracy of the turntable, reduces the cost of testing, and makes the testing system adaptable to the complex environment of the skin production plant.

[0037] In another possible implementation of the first aspect, after determining the accuracy error generated by the first detection device when detecting at the first angle after setting the first skin, based on the angle difference between the first and second angle measurement data and the angle difference between the third and fourth angle measurement data, the method further includes, after the target object is moved to a second angle relative to the first detection device, the first detection device detects the target object without the skin to obtain fifth angle measurement data, the second angle being different from the first angle, the first and second angles being within the adjustable angle range of the slide rail. The second detection device detects the target object without the skin to obtain sixth angle measurement data. The first detection device detects the target object with the first skin set to obtain seventh angle measurement data, and the second detection device detects the target object with the first skin set to obtain eighth angle measurement data. Further, the accuracy error generated by the first detection device when detecting at the second angle after setting the first skin is determined based on the angle difference between the fifth and sixth angle measurement data and the angle difference between the seventh and eighth angle measurement data.

[0038] In the above embodiments, the slide rail can adjust the position of the target object in the first direction and / or the second direction, so that the target object is moved to different angles relative to the first detection device. This application can use the relative difference between the measurement results of the two detection devices without skin and the relative difference between the measurement results of the two detection devices with the first skin on to obtain the accuracy error generated by the first detection device when detecting at the second angle after the first skin is on, that is, to test whether the performance impact of the first skin on the first detection device when detecting at the second angle is within a suitable range. Thus, this application can reduce the impact of the accuracy of the detection device itself on the measurement results and improve the accuracy of the test.

[0039] Furthermore, some solutions typically use a fixed target object and adjust the pitch and horizontal angles of the detection device using a turntable. This approach requires a high-precision turntable to determine the pitch and horizontal angles of the detection device, and the turntable needs to support a heavy skin. Such heavy-duty turntables are costly and complex to operate. This application, however, can adjust the position of the target object in a first direction and / or a second direction, thereby placing the target object at different angles relative to the first detection device, to traverse different field-of-view angles of the first and second detection devices. This application can comprehensively test whether the impact of the skin on the performance of the first detection device in measurements at various field-of-view angles is within an appropriate range, and it is simple and convenient to operate.

[0040] Secondly, embodiments of this application provide a testing system, wherein the testing system includes a first detection device, a second detection device, a target object, and a computing module. Wherein:

[0041] The first detection device is used to detect a target object without a skin, obtaining first angular measurement data, wherein the target object is located at a first angle relative to the first detection device. The first detection device is also used to detect a target object with a first skin, obtaining third angular measurement data, wherein the target object is located at a first angle relative to the first detection device.

[0042] The second detection device is used to detect the target object without skin, obtaining second angle measurement data. The second detection device is also used to detect the target object with the first skin in place, obtaining fourth angle measurement data.

[0043] The calculation module is used to determine the accuracy error generated by the first detection device when it performs detection at the first angle after the first skin is set, based on the angle difference between the first angle measurement data and the second angle measurement data and the angle difference between the third angle measurement data and the fourth angle measurement data.

[0044] The testing system provided in this application has simple components and is easy to use, which facilitates the rapid matching and verification of the skin and the detection device on the skin production line.

[0045] In one possible implementation of the second aspect, the first angle measurement data includes a first horizontal angle along a first direction, the second angle measurement data includes a second horizontal angle along the first direction, the third angle measurement data includes a third horizontal angle along the first direction, and the fourth angle measurement data includes a fourth horizontal angle along the first direction.

[0046] In one possible implementation of the second aspect, the calculation module is further configured to determine the horizontal accuracy error generated by the first detection device when it performs detection at the first angle after the first skin is set, based on the angle difference between the first horizontal angle and the second horizontal angle and the angle difference between the third horizontal angle and the fourth horizontal angle.

[0047] In one possible implementation of the second aspect, the first angle measurement data includes a first pitch angle along the second direction, the second angle measurement data includes a second pitch angle along the second direction, the third angle measurement data includes a third pitch angle along the second direction, and the fourth angle measurement data includes a fourth pitch angle along the second direction.

[0048] In one possible implementation of the second aspect, the calculation module is further configured to determine the pitch accuracy error generated by the first detection device when it performs detection at the first angle after the first skin is set, based on the angle difference between the first pitch angle and the second pitch angle and the angle difference between the third pitch angle and the fourth pitch angle.

[0049] In one possible implementation of the second aspect, the first angle includes a fifth horizontal angle along a first direction and / or a fifth pitch angle along a second direction.

[0050] In another possible implementation of the second aspect, the testing system further includes a support frame and a slide rail. A first detection device and a second detection device are mounted on the support frame. The first detection device and the second detection device are positioned identically in a first direction and a third direction, but different in a second direction. Along the third direction, the first and second detection devices face the slide rail, and a first skin is disposed between the first and second detection devices and the slide rail. The slide rail is used to adjust the position of the target object in the first and / or second directions.

[0051] In the above embodiments, the slide rail can adjust the position of the target object in the first direction and / or the second direction, thereby making the target object located at different angles relative to the first detection device. This application can traverse different field of view angles of the first detection device and the second detection device, and can comprehensively test whether the influence of the skin on the performance of the first detection device in measuring at various field of view angles is within an appropriate range.

[0052] Optionally, the first and second detection devices are based on electromagnetic waves for detection, and the first skin is positioned on the electromagnetic wave propagation path from the first and second detection devices to the target object.

[0053] In another possible implementation of the second aspect, the slide rail is used to adjust the position of the target object in a first direction, the slide rail including a first track that slides along the first direction, the first direction being perpendicular to the third direction.

[0054] In another possible implementation of the second aspect, the first angle is a horizontal angle in the first direction related to a first distance, which is the distance between the first endpoint of the first track and the target object in the first direction.

[0055] In yet another possible implementation of the second aspect, the first angle, the horizontal angle in the first direction, satisfies the following formula:

[0056] in, f1(a) is the horizontal angle of the first angle in the first direction, and f1(a) is used to indicate the relationship between the horizontal angle of the first angle in the first direction and the first distance, where a is the first distance.

[0057] In another possible implementation of the second aspect, the slide rail is used to adjust the position of the target object in a second direction, the slide rail including a second track that slides along the second direction, the second direction being perpendicular to the third direction and perpendicular to the first direction.

[0058] In another possible implementation of the second aspect, the first angle is a pitch angle in the second direction that is related to a second distance, which is the distance between the second endpoint of the second track and the target in the second direction.

[0059] In another possible implementation of the second aspect, the pitch angle of the first angle in the second direction satisfies the following formula:

[0060] in, f2(b) is the pitch angle of the first angle in the second direction, and f2(b) is used to indicate the relationship between the pitch angle of the first angle in the second direction and the second distance, where b is the second distance.

[0061] In another possible implementation of the second aspect, after determining the accuracy error generated by the first detection device when detecting at the first angle after setting the first skin, based on the angle difference between the first and second angle measurement data and the angle difference between the third and fourth angle measurement data, the first detection device is further configured to detect the target object without the skin to obtain fifth angle measurement data, and to detect the target object with the first skin to obtain seventh angle measurement data, after the target object is moved to the second angle relative to the first detection device. The second angle is different from the first angle, and the first and second angles are within the adjustable angle range of the slide rail. The second detection device is further configured to detect the target object without the skin to obtain sixth angle measurement data, and to detect the target object with the first skin to obtain eighth angle measurement data. The calculation module is further configured to determine the accuracy error generated by the first detection device when detecting at the second angle after setting the first skin, based on the angle difference between the fifth and sixth angle measurement data and the angle difference between the seventh and eighth angle measurement data.

[0062] Thirdly, embodiments of this application provide a computing module comprising an acquisition unit and a processing unit. The acquisition unit is used to acquire data, and the processing unit is used to process the data. The computing module is used to implement the method described in the first aspect or any possible implementation of the first aspect.

[0063] Fourthly, embodiments of this application provide a computing module that includes a processor. When the processor invokes a computer program or instructions stored in memory, the computing module implements the method described in the first aspect or any possible implementation of the first aspect.

[0064] Fifthly, embodiments of this application provide a computing module including logic circuitry and an interface, the logic circuitry and the interface being coupled. The interface is used to input data to be processed, and the logic circuitry processes the data to be processed according to the method described in the first aspect or any possible implementation of the first aspect to obtain processed data. The interface is also used to output the processed data.

[0065] Sixthly, embodiments of this application provide a computer-readable storage medium for storing instructions or a computer program. When the instructions or computer program are executed, they implement the method described in the first aspect or any possible implementation of the first aspect.

[0066] In a seventh aspect, embodiments of this application provide a computer program product, which, when executed, implements the method described in the first aspect or any possible implementation of the first aspect.

[0067] Eighthly, embodiments of this application provide an electronic device that includes a computing module according to any one of the third to fifth aspects.

[0068] Some of the beneficial effects of aspects two through eight of this application can be referred to the beneficial effects of aspect one, and will not be described in detail here. Attached Figure Description

[0069] The accompanying drawings used in the description of the embodiments will be briefly introduced below.

[0070] Figure 1 is a schematic diagram of the architecture of a test system provided in an embodiment of this application;

[0071] Figure 2 is a schematic diagram of a test provided in an embodiment of this application;

[0072] Figure 3 is a schematic diagram of another test provided in an embodiment of this application;

[0073] Figure 4 is a flowchart illustrating a testing method provided in an embodiment of this application;

[0074] Figure 5 is a schematic diagram of a coordinate system provided in an embodiment of this application;

[0075] Figure 6 is a schematic diagram of another test provided in an embodiment of this application;

[0076] Figure 7 is a schematic diagram of a calibration provided in an embodiment of this application;

[0077] Figure 8 is a top view of a test system provided in an embodiment of this application;

[0078] Figure 9 is a top view of another testing system provided in an embodiment of this application;

[0079] Figure 10 is a side view of a test system provided in an embodiment of this application;

[0080] Figure 11 is a schematic diagram of the structure of a computing module provided in an embodiment of this application;

[0081] Figure 12 is a schematic diagram of another computing module provided in an embodiment of this application. Detailed Implementation

[0082] The embodiments of this application will now be described in conjunction with the accompanying drawings.

[0083] 1. Detection Device: The detection device is capable of emitting signals to detect a target. The detection device includes, but is not limited to, radar. The radar can be millimeter-wave radar, centimeter-wave radar, or other radars that detect targets based on electromagnetic waves. In some scenarios, devices that integrate radar and cameras (fusion detection devices) can also detect targets; such fusion detection devices also fall within the scope of the detection devices in this application.

[0084] The test system described below is an introduction to this application. It should be noted that the system architecture and business scenarios described in this application are for the purpose of more clearly illustrating the technical solution of this application and do not constitute a limitation on the technical solution provided in this application. As system architecture evolves and new business scenarios emerge, the technical solution provided in this application is equally applicable to similar technical problems.

[0085] Please refer to Figure 1, which is a schematic diagram of the architecture of a testing system provided in an embodiment of this application. The testing system includes a first detection device 101, a second detection device 102, a target object 103, and a skin 104. Wherein:

[0086] The first detection device 101 and the second detection device 102 are used to detect the object space. The first detection device 101 and the second detection device 102 can be devices such as radar that detect based on electromagnetic waves. The first detection device 101 and the second detection device 102 have the same model, performance, and other parameters; that is, the first detection device 101 and the second detection device 102 are identical. For example, the first detection device 101 and the second detection device 102 can emit detection signals, which propagate into the object space through their viewing windows. Targets in the object space (such as reflective objects) can reflect the detection signals to form return signals. The first detection device 101 and the second detection device 102 can receive the return signals (i.e., echoes) and obtain detection data of the object space based on the return signals, such as angular measurement data of the object. In some solutions, when detecting a target object, the first detection device 101 and the second detection device 102 need to have an uninterrupted line of sight (LOS) between themselves and the target object, i.e., a field of view or field of view (FOV). The detection signals emitted by the first detection device 101 and the second detection device 102 can propagate within the FOV (including scanning cases), thereby detecting objects within the FOV.

[0087] The target object 103 is used to provide a measurement target for the first detection device 101 and the second detection device 102. For example, the target object 103 can be a spherical corner reflector with full polarity, which facilitates testing by testers and helps to quickly realize the matching verification of the skin and the detection device on the skin production line.

[0088] The skin 104 is a thin plate structure covering the outside of the device, with a certain thickness, the thickness and shape of which are not limited here. For example, when electromagnetic waves emitted by the first detection device 101 and the second detection device 102 pass through the skin 104, electromagnetic energy may be emitted or refracted, thereby causing performance degradation of the first detection device 101 and the second detection device 102. Therefore, it is necessary to install the detection devices on the skin 104 before leaving the factory and test whether the impact of the skin 104 on the performance of the first detection device 101 is within an appropriate range.

[0089] In this embodiment, the target 103 is located in a direction relative to a first angle of the first detection device 101. In some possible implementations, the first angle includes a fifth horizontal angle along the first direction and / or a fifth pitch angle along the second direction. Optionally, the first angle may include only the horizontal angle value, only the pitch angle value, or both horizontal and pitch angle values. For example, the first angle is the angle between the line connecting the center of the first detection device 101 and the target 103 in the first direction, and / or the first angle is the angle between the line connecting the center of the first detection device 101 and the target 103 in the second direction.

[0090] As shown in Figure 2, the first detection device 101 can detect the target 103 without skin, obtaining first angle measurement data. The second detection device 102 can also detect the target 103 without skin, obtaining second angle measurement data. As shown in Figure 3, the first detection device 101 can detect the target 103 with skin 104, obtaining third angle measurement data. The second detection device 102 can also detect the target 103 with skin 104, obtaining fourth angle measurement data. In this application, the relative difference between the measurement results of the two detection devices without skin, i.e., the angle difference between the first and second angle measurement data, and the relative difference between the measurement results of the two detection devices with skin 104, i.e., the angle difference between the third and fourth angle measurement data, are used to obtain the accuracy error generated by the first detection device when detecting at the first angle after skin 104 is installed. In other words, the performance impact of skin 104 on the first detection device when detecting at the first angle is tested to see if it is within a suitable range. Therefore, this application uses the relative differences in measurement results from two detection devices without a skin, and the relative differences in measurement results from two detection devices with a first skin, to test the impact of the first skin on the performance of the detection devices. This reduces the influence of the accuracy of the detection devices themselves and improves the accuracy of the test. Furthermore, since this application compares the relative differences in results, relatively accurate test results can be obtained even in complex environments, which is beneficial for quickly achieving matching verification between the skin and the detection device on the skin production line. Moreover, the testing system provided by this application has simple components and is easy to use, which is also beneficial for quickly achieving matching verification between the skin and the detection device on the skin production line.

[0091] It should be noted that the target objects shown in Figures 1, 2, and 3, as well as elsewhere in this document, can be replaced with reflective objects of other shapes. Some embodiments in this document use spherical target objects as examples; however, the embodiments of this application are equally applicable to situations where reflection is achieved using objects of other shapes.

[0092] In some possible implementations, the testing system may also include a calculation module 105. The calculation module 105 has computational capabilities (or data processing capabilities) and is able to process data. For example, the calculation module 105 is used to determine the accuracy error generated when the first detection device 101 performs detection at the first angle after the skin 104 is set, based on the angle difference between the first and second angle measurement data and the angle difference between the third and fourth angle measurement data.

[0093] The possible forms of the computing module 105 are described below. The computing module 105 can be a server, a personal computer (PC), or a smart terminal, etc. When the computing module 105 is implemented through a server, the number of servers used to implement its functions can be one or more (such as a server cluster). In some possible solutions, the computing module 105 can be implemented through software functional units. For example, the computing module 105 can be implemented through virtual machines, containers, the cloud, etc. A virtual machine is a computer system with complete hardware system functions simulated by software and running in an isolated environment. A container is an isolated environment obtained by packaging applications and application dependencies. The cloud is a software platform that uses application virtualization technology, enabling one or more software programs or applications to be developed and run in an independent virtualization environment.

[0094] In some possible implementations, the first angle measurement data includes a first horizontal angle along a first direction, the second angle measurement data includes a second horizontal angle along the first direction, the third angle measurement data includes a third horizontal angle along the first direction, and the fourth angle measurement data includes a fourth horizontal angle along the first direction. As shown in Figure 1, the first direction is the x-axis direction.

[0095] In some possible implementations, the calculation module 105 is further configured to determine the horizontal accuracy error generated by the first detection device 101 when detecting at the first angle after the skin 104 is set, based on the angle difference between the first horizontal angle and the second horizontal angle and the angle difference between the third horizontal angle and the fourth horizontal angle. That is, the calculation module 105 is also configured to determine the horizontal accuracy error along the first direction generated by the first detection device 101 when detecting at the first angle after the skin 104 is set.

[0096] In some possible implementations, the first angle measurement data includes a first pitch angle along the second direction, the second angle measurement data includes a second pitch angle along the second direction, the third angle measurement data includes a third pitch angle along the second direction, and the fourth angle measurement data includes a fourth pitch angle along the second direction. As shown in Figure 1, the second direction is the z-axis direction.

[0097] In some possible implementations, the calculation module 105 is further configured to determine the pitch accuracy error generated by the first detection device 101 when performing detection at the first angle after the skin 104 is installed, based on the angle difference between the first pitch angle and the second pitch angle and the angle difference between the third pitch angle and the fourth pitch angle. That is, the calculation module 105 is also configured to determine the horizontal accuracy error along the second direction generated by the first detection device 101 when performing detection at the first angle after the skin 104 is installed.

[0098] In some possible implementations, the testing system may further include a support frame 106, on which the first detection device 101 and the second detection device 102 are mounted. Optionally, the testing system may further include a clamping fixture, on which the first detection device 101 and the second detection device 102 are mounted on the support frame 106. The clamping fixture is used to accommodate the first detection device 101 and the second detection device 102 mounted on the support frame 106. The first detection device 101 and the second detection device 102 are positioned at the same position in a first direction (i.e., the x-axis direction) and a third direction (i.e., the y-axis direction), but at different positions in a second direction (i.e., the z-axis direction). That is, the first detection device 101 and the second detection device 102 have the same horizontal angle relative to the target object 103 along the first direction.

[0099] In some possible implementations, the testing system may further include a slide rail 107, as shown in Figures 1 and 3. Along a third direction, the first detection device 101 and the second detection device 102 are positioned facing the slide rail 107, and a skin 104 is disposed between the first and second detection devices 101 and the slide rail 107. Optionally, the skin 104 may also be disposed on a support frame 106, and positioned between the first and second detection devices 101 and the slide rail 107. For example, the skin 104 is disposed on the support frame 106, with the first detection device 101 and the second detection device 102 positioned between the skin 104 and the support frame 106. The skin 104 encloses the first and second detection devices 101 and 102, meaning it is positioned along the electromagnetic wave propagation path from the first and second detection devices 101 and the target object 103. The slide rail 107 is used to adjust the position of the target object 103 in a first direction and / or a second direction. In other words, the target 103 can move on the slide rail 107, thereby positioning the target 103 at different angles relative to the first detection device 101.

[0100] In some solutions, a fixed target is typically used, and a turntable is used to adjust the pitch and horizontal angles of the detection device. This approach requires a high-precision turntable to determine the pitch and horizontal angles of the detection device, and the turntable needs to support a heavy skin. Such heavy-duty turntables are costly and complex to operate. This application, however, allows adjustment of the target's position in a first and / or second direction, thereby placing the target at different angles relative to the first detection device, to traverse different field-of-view angles of the first and second detection devices. This application can comprehensively test whether the impact of the skin on the performance of the first detection device in measurements at various field-of-view angles is within an appropriate range, and it is simple and convenient to operate.

[0101] In some possible implementations, the slide rail 107 is used to adjust the position of the target object 103 in a first direction. The slide rail 107 includes a first track that slides along the first direction, which is perpendicular to a third direction. As shown in FIG1, the first track is a horizontal track between the two endpoints A and B.

[0102] In some possible implementations, the first angle, a horizontal angle in the first direction, is related to a first distance, which is the distance between the first endpoint of the first track and the target object in the first direction. For example, the first angle, a horizontal angle in the first direction, satisfies the following formula (1):

[0103] in, Let f1(a) be the horizontal angle of the first angle in the first direction, and f1(a) be used to indicate the relationship between the horizontal angle of the first angle in the first direction and the first distance, where a is the first distance. Thus, by using the relationship between the horizontal angle of the first angle in the first direction and the first distance, this application can measure the first distance with a measuring tape and then calculate the horizontal angle of the first angle in the first direction. Compared to the prior art which obtains the true value of the horizontal angle in the measured angle through a turntable, this eliminates the requirement for absolute accuracy of the turntable, reduces testing costs, and allows the testing system to adapt to the complex environment of a skin manufacturing plant.

[0104] In some possible implementations, the slide rail 107 is used to adjust the position of the target object 103 in a second direction. The slide rail 107 includes a second track that slides along the second direction, which is perpendicular to the third direction and also perpendicular to the first direction. As shown in Figure 1, the second track is a vertical track between the two endpoints of GF.

[0105] In some possible implementations, the pitch angle of the first angle in the second direction is related to a second distance, which is the distance between the second endpoint of the second track and the target object in the second direction. For example, the pitch angle of the first angle in the second direction satisfies the following formula (2):

[0106] in, Let f2(b) be the pitch angle of the first angle in the second direction, and f2(b) be used to indicate the relationship between the pitch angle of the first angle in the second direction and the second distance, where b is the second distance. Thus, by using the relationship between the pitch angle of the first angle in the second direction and the second distance, this application can measure the second distance with a measuring tape and then calculate the pitch angle of the first angle in the second direction. Compared to the prior art which obtains the true value of the pitch angle from the measured angle using a turntable, this eliminates the requirement for absolute accuracy of the turntable, reduces testing costs, and allows the testing system to adapt to the complex environment of a skin manufacturing plant.

[0107] In some possible implementations, after the target object 103 is moved to a second angle relative to the first detection device 101, the first detection device 101 is further configured to detect the target object 103 without the skin 104 to obtain fifth angle measurement data, and to detect the target object 103 with the skin 104 in place to obtain seventh angle measurement data. The second angle is different from the first angle, and both angles are within the adjustable angle range of the slide rail 107. The second detection device 102 is further configured to detect the target object 103 without the skin 104 to obtain sixth angle measurement data, and to detect the target object 103 with the skin 104 in place to obtain eighth angle measurement data. The calculation module 105 is further configured to determine the accuracy error generated when the first detection device 101 detects at the second angle after the skin 104 is in place, based on the angle difference between the fifth and sixth angle measurement data and the angle difference between the seventh and eighth angle measurement data. Thus, the slide rail can adjust the position of the target object in the first and / or second directions, moving the target object to different angles relative to the first detection device. This allows for a simple and convenient test of whether the impact of the skin on the performance of the first detection device when detecting at the second angle is within an appropriate range. Furthermore, compared to existing technologies, this application can adjust the position of the target object in the first and / or second directions, thereby placing the target object at different angles relative to the first detection device, to traverse different field-of-view angles of the first and second detection devices. This application can comprehensively test whether the impact of the skin on the performance of the first detection device in measurements at various field-of-view angles is within an appropriate range, and the operation is simple and convenient.

[0108] Alternatively, in some designs, the slide rail may not be configured for linear sliding. For example, the first track may be configured as a curve, and / or the second track may be configured as a curve.

[0109] It should be understood that the terms "first direction" and "etc." in the foregoing are illustrative examples provided to facilitate a better description of the technical solution of this application. In specific implementation, the first direction and "etc." can be set according to the actual situation. As shown in Figure 1, taking the Cartesian coordinate system (xyz coordinate system) as an example, the x-axis direction can be used as the first direction, the z-axis direction can be used as the second direction, and the y-axis direction can be used as the third direction.

[0110] Optionally, the center of the first detection device 101 can be the center of the light emitted by the first detection device 101, the horizontal center of the first detection device 101, the center of the window of the first detection device 101, or the centroid of the first detection device 101, etc.

[0111] Furthermore, the names of the devices and modules in the embodiments of this application are merely examples, and in actual implementation, the names of the devices, modules, etc., can be arbitrarily replaced.

[0112] The method of this application embodiment is described below. Please refer to Figure 4, which is a schematic flowchart of a testing method provided by an embodiment of this application. Optionally, this method can be implemented based on the testing system shown in Figure 1, Figure 2, or Figure 3.

[0113] The test method shown in Figure 4 may include one or more steps from S401 to S405. It should be understood that, for ease of description, the steps S401 to S405 are described in this way, and it is not intended to limit the execution to this specific order. This application embodiment does not limit the order of execution, the execution time, or the number of executions of the above one or more steps. Steps S401 to S405 are as follows:

[0114] Step S401: The first detection device detects the target object without skin and obtains the first angle measurement data.

[0115] The first detection device is, for example, the first detection device 101 shown in Figures 1, 2, or 3 above, and the target object is, for example, the target object 103 shown in Figures 1, 2, or 3 above, as described above. The first angle measurement data is the angle data of the target object detected by the first detection device without skin.

[0116] The target object is positioned facing the first detection device, and its location is described in the preceding description. The horizontal angle along the first direction of the line connecting the center of the target object and the center of the first detection device, and / or the pitch angle along the second direction, are called the first angle. The horizontal angle along the first direction represents the true value of the horizontal angle measured by the first detection device. The pitch angle along the second direction represents the true value of the pitch angle measured by the first detection device.

[0117] In some schemes, a coordinate system is established with the center of the first detection device as the origin (i.e., point o) (taking a right-handed coordinate system as an example), as shown in Figure 5. The forward direction of the first detection device is the x-axis, the horizontal direction is the y-axis, and the vertical direction is the z-axis. For example, when the distance between point P and the first detection device is R, and the coordinates of the center are (x, y, z), z = R*sinφ, y = R*cosφ*sinθ, x = R*cosφ*cosθ, where φ is the pitch angle and θ is the horizontal angle of point P. In this case, when the forward direction of the first detection device intersects the center of the target object, the x-axis coordinate of the target object can be 0, and the z-axis coordinate (i.e., height) can be 0.

[0118] As shown in Figure 2, the first angle measurement data is the angle data of the target object 103 detected by the first detection device 101 without the skin 104.

[0119] In one possible implementation, the first angle measurement data includes a first horizontal angle along a first direction. As shown in Figure 2, the first angle measurement data includes a first horizontal angle along the x-axis direction.

[0120] In another possible implementation, the first angle measurement data includes a first pitch angle along a second direction. As shown in Figure 2, the first angle measurement data includes a first pitch angle along the z-axis.

[0121] Step S402: The second detection device detects the target object without skin and obtains the second angle measurement data.

[0122] The second detection device is, for example, the second detection device 102 shown in Figures 1, 2, or 3 above, and the relevant description is as described above. The second angle measurement data is the angle data of the target object detected by the second detection device without the skin. As shown in Figure 2, the second angle measurement data is the angle data of the target object 103 detected by the second detection device 102 without the skin 104.

[0123] In one possible implementation, the second angle measurement data includes a second horizontal angle along the first direction. As shown in Figure 2, the second angle measurement data includes a second horizontal angle along the x-axis direction.

[0124] In another possible implementation, the second angle measurement data includes a second pitch angle along a second direction. As shown in Figure 2, the second angle measurement data includes a second pitch angle along the z-axis.

[0125] Step S403: The first detection device detects the target object with the first skin set, and obtains the third angle measurement data.

[0126] The first skin is, for example, the skin 104 shown in Figure 1 or Figure 3 above, and the relevant description is as described above. The third angle measurement data is the angle data of the target object detected by the first detection device when the first skin is set. As shown in Figure 3, the third angle measurement data is the angle data of the target object 103 detected by the first detection device 101 when the skin 104 is set.

[0127] In one possible implementation, the third angle measurement data includes a third horizontal angle along the first direction. As shown in Figure 3, the third angle measurement data includes a third horizontal angle along the x-axis.

[0128] In another possible implementation, the third angle measurement data includes a third pitch angle along the second direction. As shown in Figure 3, the third angle measurement data includes a third pitch angle along the z-axis.

[0129] Step S404: The second detection device detects the target object with the first skin in place, and obtains the fourth angle measurement data.

[0130] The fourth angle measurement data is the angle data of the target object detected by the second detection device when the first skin is set. As shown in Figure 3, the fourth angle measurement data is the angle data of the target object 103 detected by the second detection device 102 when the skin 104 is set.

[0131] In one possible implementation, the fourth angle measurement data includes a fourth horizontal angle along the first direction. As shown in Figure 3, the fourth angle measurement data includes a fourth horizontal angle along the x-axis.

[0132] In another possible implementation, the fourth angle measurement data includes a fourth pitch angle along the second direction. As shown in Figure 3, the fourth angle measurement data includes a fourth pitch angle along the z-axis.

[0133] Step S405: The calculation module determines the accuracy error generated by the first detection device when it performs detection at the first angle after setting the first skin, based on the angle difference between the first angle measurement data and the second angle measurement data and the angle difference between the third angle measurement data and the fourth angle measurement data.

[0134] The calculation module is, for example, the calculation module 105 shown in Figures 1, 2, or 3 above, and the relevant description is as described above.

[0135] In one possible implementation, the first angle measurement data includes a first horizontal angle along a first direction, the second angle measurement data includes a second horizontal angle along the first direction, the third angle measurement data includes a third horizontal angle along the first direction, and the fourth angle measurement data includes a fourth horizontal angle along the first direction. Further, the calculation module determines the horizontal accuracy error generated by the first detection device when performing detection at the first angle after setting the first skin, based on the angle difference between the first and second horizontal angles and the angle difference between the third and fourth horizontal angles.

[0136] For ease of understanding, Table 1 below exemplifies the horizontal angles measured by a possible first and second detection device with and without skin.

[0137] Table 1

[0138] As shown in Table 1, the first horizontal angle is -3.1°, the second horizontal angle is -2.9°, the third horizontal angle is -2.9°, and the fourth horizontal angle is -3.3°. The angle difference between the first and second horizontal angles is 0.2°, and the angle difference between the third and fourth horizontal angles is 0.4°. Furthermore, the calculation module can calculate that the horizontal accuracy error generated by the first detection device when detecting at the first angle after setting the first skin is |0.2°-0.4°|, i.e., 0.2°.

[0139] As another possible implementation, the first angle measurement data includes a first pitch angle along the second direction, the second angle measurement data includes a second pitch angle along the second direction, the third angle measurement data includes a third pitch angle along the second direction, and the fourth angle measurement data includes a fourth pitch angle along the second direction. Further, the calculation module determines the pitch accuracy error generated by the first detection device when performing detection at the first angle after setting the first skin, based on the angle difference between the first and second pitch angles and the angle difference between the third and fourth pitch angles.

[0140] For ease of understanding, Table 2 below exemplifies the pitch angles measured by a possible first and second detection device with and without skin.

[0141] Table 2

[0142] As shown in Table 2, the first pitch angle is -65.1°, the second pitch angle is 35.8°, the third pitch angle is -64.9°, and the fourth pitch angle is 36.2°. The angle difference between the first and second pitch angles is 100.9°, and the angle difference between the third and fourth pitch angles is 101.1°. Furthermore, the calculation module can calculate that the pitch accuracy error generated by the first detection device when detecting at the first angle after setting the first skin is |100.9°-101.1°|, which is 0.2°.

[0143] It should be noted that the various possible implementations of this application can be combined. An example of such a combination is described below:

[0144] As another possible implementation, the angle measurement data includes two angle values: horizontal angle and pitch angle. For example, the angle measurement data is (α, β), where α is the horizontal angle and β is the pitch angle.

[0145] For example, the first angle measurement data includes a first horizontal angle along a first direction and a first pitch angle along a second direction; the second angle measurement data includes a second horizontal angle along the first direction and a second pitch angle along the second direction; the third angle measurement data includes a third horizontal angle along the first direction and a third pitch angle along the second direction; and the fourth angle measurement data includes a fourth horizontal angle along the first direction and a fourth pitch angle along the second direction. Further, the calculation module determines the horizontal accuracy error generated by the first detection device when detecting at the first angle after setting the first skin, based on the angle difference between the first and second horizontal angles and the angle difference between the third and fourth horizontal angles; and determines the pitch accuracy error generated by the first detection device when detecting at the first angle after setting the first skin, based on the angle difference between the first and second pitch angles and the angle difference between the third and fourth pitch angles.

[0146] For ease of understanding, Table 3 below exemplifies the angle measurement data obtained by a possible first detection device and a second detection device in the cases of no skin and with the first skin. The angle measurement data includes two angle values: horizontal angle and pitch angle.

[0147] Table 3

[0148] As shown in Table 3, the first angle measurement data is (-3.1°, -65.1°), the second angle measurement data is (-2.9°, 35.8°), the third angle measurement data is (-2.9°, -64.9°), and the fourth angle measurement data is (-3.3°, 36.2°). The horizontal angle difference between the first and second angle measurement data is 0.2°, the pitch angle difference between the first and second angle measurement data is 100.9°, the angle difference between the third and fourth horizontal angles is 0.4°, and the pitch angle difference between the third and fourth angle measurement data is 101.1°. Further, the calculation module can calculate that the horizontal accuracy error generated by the first detection device when detecting at the first angle after setting the first skin is |0.2°-0.4°|, i.e., 0.2°, and the pitch accuracy error generated by the first detection device when detecting at the first angle after setting the first skin is |100.9°-101.1°|, i.e., 0.2°.

[0149] Because the accuracy of the detection device itself can fluctuate, if the skin affects the detection device, the range of accuracy fluctuations will be even larger. Some testing methods cannot eliminate the influence of the detection device's own accuracy on the measurement results. Since the detection device may measure different values ​​in two measurements, it is impossible to determine whether the measured accuracy error is actually affected by the skin. Moreover, the impact on the test results will be greater when the accuracy of the detection device itself decreases. For example, according to the measurement angles shown in Table 1, if the first detection device is used to test whether the influence of the first skin on the performance of the first detection device is within a suitable range, the horizontal accuracy error generated by the first detection device when detecting at the first angle after setting the first skin is |-3.1°-(-2.9°)| is 0.2°. If the second detection device is used to test whether the influence of the first skin on the performance of the second detection device is within a suitable range, the horizontal accuracy error generated by the second detection device when detecting at the first angle after setting the first skin is |-2.9°-(-3.3°)| is 0.4°.

[0150] However, the testing method provided in this application uses the relative difference between the measurement results of the two detection devices in the case of no skin and the relative difference between the measurement results of the two detection devices in the case of setting the first skin, thereby obtaining the accuracy error generated by the first detection device when detecting at the first angle after setting the first skin. Using the relative difference between the measurement results of the two detection devices in the case of no skin is equivalent to obtaining the accuracy error range of the first detection device in the case of no skin. Using the relative difference between the measurement results of the two detection devices in the case of setting the first skin is equivalent to obtaining the accuracy error range of the first detection device in the case of setting the first skin. Taking the difference between these two accuracy error ranges yields the accuracy error generated by the first detection device when detecting at the first angle after setting the first skin. Thus, this application can shield the influence of the accuracy of the detection device itself on the measurement results, and can further reduce the requirements for the measurement accuracy of the detection device itself through the two-detector testing method, thereby improving the accuracy of the test. Moreover, in complex production line environments, using the two-detector testing method of this application further suppresses the deterioration of the measurement accuracy of the detection device, enabling more accurate test results in complex production line environments and improving the accuracy of the test.

[0151] The above relates to the first perspective, which will be introduced below.

[0152] The first angle is the true value of the measured angle of the first detection device. In one possible implementation, the first angle includes a fifth horizontal angle along a first direction and / or a fifth pitch angle along a second direction. For example, the first angle may include only the angle value of the fifth horizontal angle, or only the angle value of the fifth pitch angle, or both the fifth horizontal angle and the fifth pitch angle.

[0153] The following, with reference to Figure 6, describes a method for obtaining the first angle, also known as the calibration process of the test system. As shown in Figure 6, the test system also includes a slide rail. Along a third direction, the first and second detection devices are positioned facing the slide rail. The slide rail is used to adjust the position of the target object in the first and / or second directions. For related descriptions, please refer to the aforementioned test system.

[0154] In one possible implementation, a slide rail is used to adjust the position of a target object in a first direction. The slide rail includes a first track that slides along the first direction, which is perpendicular to a third direction. For example, a first angle, the horizontal angle in the first direction, is related to a first distance, which is the distance between the first endpoint of the first track and the target object in the first direction. For instance, the horizontal angle in the first direction satisfies the above formula (1).

[0155] As shown in Figure 6, the first direction is the x-axis direction, the first track is the horizontal track between the two endpoints AB, and the first endpoint is endpoint A. Point E is the point on the ground where the arrays of the first detection device 101 and the second detection device 102 are projected, and point S is the point on the ground where the endpoint F of the slide rail 107 is projected. The line segment ES is parallel to the y-axis direction. The length of the line segment ES between point E and point S can be measured with a measuring tape.

[0156] In one possible implementation, this application uses a calibration device such as a laser to align the laser with the central axis of the clamping fixture, thereby obtaining point E on the ground where the arrays of the first detection device 101 and the second detection device 102 are projected, and point S along the normal direction of the first detection device 101 and the second detection device 102. This application moves a slide rail so that the point projected onto the ground by the endpoint F of the slide rail 107 coincides with point S, i.e., line segment ES is parallel to the y-axis and perpendicular to the x-axis and z-axis. For example, as shown in Figure 7, the light emitted by the laser is aligned with the central axis of the clamping fixture, and point E is located at the intersection of the central axis and the ground; the light emitted by the laser passes through points E and S.

[0157] The following describes the relationship between the first angle, the horizontal angle in the first direction, and the first distance.

[0158] For example, Figure 8 is a top view of a testing system provided in an embodiment of this application, such as the top view of the testing system shown in Figure 6 above. As shown in Figure 8, point E is the point on the ground where the arrays of the first detection device 101 and the second detection device 102 are projected; point S is the point on the ground where the endpoint F of the slide rail 107 is projected; point A is the point on the ground where the endpoint A of the slide rail 107 shown in Figure 6 is projected; point B is the point on the ground where the endpoint B of the slide rail 107 shown in Figure 6 is projected; point C is the point on the ground where the target object 103 shown in Figure 6 is projected; and line segment ES is parallel to the y-axis direction. This application can measure the length of line segment ES between point E and point S using a measuring tape; the length of line segment EA between point E and point A using a measuring tape; the length of line segment EB between point E and point B using a measuring tape; the length of line segment AC between point A and point C using a measuring tape; and the length of line segment EC between point E and point C using a measuring tape. Furthermore, this application can use the lengths of line segment ES, line segment EA, line segment EB, line segment AC and line segment EC to calculate the angle θ1 shown in Figure 8 according to the law of cosines, that is, to obtain the horizontal angle of the first angle in the first direction (x-axis direction), that is, the true value of the horizontal angle in the measurement angle of the first detection device 101.

[0159] Furthermore, this application keeps the position of the slide rail 107 relative to the first detection device 101 unchanged, that is, keeps the length of the line segment ES unchanged. By moving the position of the target object 103 in the first direction, multiple different lengths of the line segment AC are obtained, that is, multiple different first distances are obtained, such as multiple values ​​of a in the above formula (1). Then, when the distance between the slide rail 107 and the first detection device 101 is the length of the line segment ES, the relationship between the first angle and the horizontal angle in the first direction and the first distance is obtained, that is, f1(a) in the above formula (1).

[0160] The above explanation assumes that the position of the slide rail 107 relative to the first detection device 101 remains unchanged, i.e., the length of the line segment ES remains constant. Of course, the position of the slide rail 107 relative to the first detection device 101 can change, meaning the length of the line segment ES can vary. In this case, the horizontal angle of the first angle in the first direction is also related to the distance between the slide rail 107 and the first detection device 101, i.e., the length of the line segment ES. For example, this application can also change the position of the slide rail 107 relative to the first detection device 101, i.e., change the length of the line segment ES, to obtain the relationship between the horizontal angle of the first angle in the first direction and the first distance and the distance between the slide rail 107 and the first detection device 101. Thus, by using the relationship between the horizontal angle of the first angle in the first direction and the first distance and the distance between the slide rail and the first detection device, this application can measure the first distance and the distance between the slide rail and the first detection device with a measuring tape, and then calculate the horizontal angle of the first angle in the first direction.

[0161] As one possible implementation, this application can use a calibration device such as a laser to make the horizontal track between the two endpoints AB of the slide rail 107 perpendicular to the line segment ES, as shown in Figure 9. Line segment AB is parallel to the x-axis direction, line segment ES is parallel to the y-axis direction, and line segment AB is perpendicular to line segment ES. Furthermore, this application can quickly calculate the first angle, the horizontal angle in the first direction, based on the lengths of line segment EA, line segment AC, and line segment EC.

[0162] Thus, the true value of the first angle, the horizontal angle in the first direction, i.e. the horizontal angle in the measurement angle of the first detection device, is calculated based on the distance between the first end point of the first track and the target object in the first direction. Compared with the existing technology of obtaining the true value of the horizontal angle in the measurement angle through a turntable, it can not only improve the accuracy of the obtained first angle, but also eliminate the requirement for absolute accuracy of the turntable, reduce the cost of testing, and make the testing system adaptable to the complex environment of the skin production plant.

[0163] In another possible implementation, a slide rail is used to adjust the position of the target object in a second direction. The slide rail includes a second track that slides along the second direction, which is perpendicular to the third direction and also perpendicular to the first direction. For example, the pitch angle of the first angle in the second direction is related to a second distance, which is the distance between the second endpoint of the second track and the target object in the second direction. For instance, the pitch angle of the first angle in the second direction satisfies the above formula (2).

[0164] As shown in Figure 6, the second direction is the z-axis direction, the second track is the perpendicular track between the two endpoints of GF, and the second endpoint is endpoint G. Points E and S are described in the preceding related descriptions.

[0165] The following describes the relationship between the pitch angle of the first angle in the second direction and the second distance.

[0166] For example, Figure 10 is a side view of a testing system provided in an embodiment of this application, such as the side view of the testing system shown in Figure 6 above. As shown in Figure 10, point R1 is the center of the first detection device 101, point R2 is the center of the second detection device 102, point G is the end point G of the slide rail 107 shown in Figure 6, point F is the end point F of the slide rail 107 shown in Figure 6, and point C is the target object 103 shown in Figure 6. This application can measure the length of the line segment GR1 between point G and point R1 with a measuring tape, the length of the line segment CR1 between point C and point R1 with a measuring tape, and the length of the line segment GC between point G and point C with a measuring tape. Further, this application can use the lengths of line segment GR1, line segment CR1, and line segment GC to calculate the angle θ2 shown in Figure 10 according to the cosine theorem, that is, obtain the pitch angle of the first angle in the second direction (z-axis direction), that is, the true value of the pitch angle in the measured angle of the first detection device 101.

[0167] Furthermore, by moving the position of the target object 103 in the second direction, this application obtains the lengths of multiple different line segments GC, that is, multiple different second distances, such as the multiple b values ​​in the above formula (2), and then obtains the relationship between the pitch angle of the first angle in the second direction and the second distance, that is, f2(b) in the above formula (2).

[0168] Thus, the true value of the pitch angle in the second direction of the first angle, i.e. the pitch angle in the measurement angle of the first detection device, is calculated based on the distance between the second end point of the second track and the target object in the second direction. Compared with the existing technology of obtaining the true value of the pitch angle in the measurement angle through a turntable, it can not only improve the accuracy of the obtained first angle, but also eliminate the requirement for absolute accuracy of the turntable, reduce the cost of testing, and make the testing system adaptable to the complex environment of the skin production plant.

[0169] In one possible implementation, after step S405, after the target object is moved to a second angle relative to the first detection device, the second angle is different from the first angle, and both angles are within the adjustable angle range of the slide rail. The first detection device can also detect the target object without a skin, obtaining fifth angle measurement data. The second detection device can also detect the target object without a skin, obtaining sixth angle measurement data. The first detection device detects the target object with a first skin, obtaining seventh angle measurement data, and the second detection device detects the target object with a first skin, obtaining eighth angle measurement data. Further, the calculation module can also determine the accuracy error generated by the first detection device when detecting at the second angle after setting the first skin, based on the angle difference between the fifth and sixth angle measurement data and the angle difference between the seventh and eighth angle measurement data. The specific testing method is similar to the aforementioned determination of the accuracy error generated by the first detection device when detecting at the first angle after setting the first skin, based on the angle difference between the first and second angle measurement data and the angle difference between the third and fourth angle measurement data, and will not be repeated here.

[0170] In other words, the slide rail can adjust the position of the target object in the first and / or second directions, moving the target object to a second angle relative to the first detection device. This application can use the relative differences in measurement results from two detection devices without skin and the relative differences in measurement results with the first skin on to obtain the accuracy error generated by the first detection device when detecting at the second angle after the first skin is on. That is, it tests whether the performance impact of the first skin on the first detection device when detecting at the second angle is within a suitable range. Thus, this application can reduce the impact of the accuracy of the detection device itself on the measurement results and improve the accuracy of the test. Moreover, compared to the prior art, this application can adjust the position of the target object in the first and / or second directions, thereby placing the target object at different angles relative to the first detection device, to traverse different field-of-view angles of the first and second detection devices.

[0171] Moreover, by adjusting the position of the target object in the first and / or second directions, this application can traverse different field-of-view angles of the first and second detection devices, and can comprehensively test whether the influence of the skin on the performance of the first detection device in measuring under various field-of-view angles is within an appropriate range, and the operation is simple and convenient.

[0172] Of course, after testing whether the performance impact of the first skin on the measurement of the first detection device at various field angles is within a suitable range, the first skin can be replaced with the second skin, and a similar testing method can be used to test the performance impact of the second skin on the measurement of the first detection device at various field angles. This will not be elaborated here. It should be noted that when the positions of the first detection device, the second detection device, and the slide rail completely coincide with the positions of the first detection device, the second detection device, and the slide rail during the testing of the second skin, some data from the testing of the first skin can be used to simplify the testing process of the second skin. Examples of this will not be provided here.

[0173] Because the development of skin panels takes a long time, the testing method provided in this application can be applied at skin panel manufacturers, reducing the matching test time between the skin panel and the detection device. If applied at vehicle manufacturers, the assembly of the skin panel and the detection device can be carried out in the same workshop during vehicle production. If the matching between a particular skin panel and the detection device does not meet the requirements, the skin panel and the detection device can be calibrated, reducing the requirements for skin panel design, manufacturing processes, tolerances, and shape, and improving production efficiency.

[0174] In the embodiment shown in Figure 4, this application uses the relative difference between the measurement results of the two detection devices without a skin and the relative difference between the measurement results of the two detection devices with a first skin. This allows for the determination of the accuracy error generated by the first detection device when detecting at a first angle after the first skin is installed. In other words, it tests whether the performance impact of the first skin on the first detection device when detecting at the first angle is within a suitable range. Thus, by using the relative difference between the measurement results of the two detection devices without a skin and the relative difference between the measurement results of the two detection devices with a first skin, this application tests the performance impact of the first skin on the detection device, reducing the influence of the accuracy of the detection device itself and improving the accuracy of the test. Furthermore, since this application compares the relative differences of the results, relatively accurate test results can be obtained even in complex environments, which is beneficial for quickly realizing the matching verification of the skin and the detection device on the skin production line.

[0175] The methods of the embodiments of this application have been described above. Below, some apparatuses for implementing the aforementioned methods are described. It should be understood that the division of units in the apparatuses provided in the embodiments of this application is only a logical functional division. In actual implementation, all or part of the units can be integrated into a single physical entity, or they can be physically separated. Furthermore, the units in the apparatus can be implemented in the form of a processor calling software; for example, the apparatus includes a processor connected to a memory, the memory storing instructions, and the processor calling the instructions stored in the memory to implement any of the above methods or to implement the functions of each unit of the apparatus. The processor is, for example, a general-purpose processor, such as a Central Processing Unit (CPU) or a microprocessor, and the memory is either internal to the apparatus or external to the apparatus. Alternatively, the units in the device can be implemented as hardware circuits. The functionality of some or all units can be achieved through the design of these hardware circuits, which can be understood as one or more processors. For example, in one implementation, the hardware circuit is an application-specific integrated circuit (ASIC). The functionality of some or all of the above units is achieved through the design of the logical relationships between the components within the circuit. In another implementation, the hardware circuit can be implemented using a programmable logic device (PLD). Taking a field-programmable gate array (FPGA) as an example, it can include a large number of logic gates. The connection relationships between the logic gates are configured through a configuration file, thereby achieving the functionality of some or all of the above units. All units of the above device can be implemented entirely through processor-invoked software, entirely through hardware circuits, or partially through processor-invoked software with the remaining parts implemented through hardware circuits.

[0176] In this application embodiment, a processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction read and execute capabilities, such as a Central Processing Unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a type of microprocessor), or a digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. These logical relationships of hardware circuits are fixed or reconfigurable. For example, the processor is a hardware circuit implemented using an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a Neural Network Processing Unit (NPU), a Tensor Processing Unit (TPU), a Deep Learning Processing Unit (DPU), etc.

[0177] As can be seen, each unit in the above device can be one or more processors (or processing circuits) configured to implement the above methods, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0178] Furthermore, the units in the above devices can be integrated in whole or in part, or they can be implemented independently. In one implementation, these units are integrated together as a system-on-a-chip (SOC). The SOC may include at least one processor for implementing any of the above methods or implementing the functions of the units in the device. The at least one processor may be of different types, such as CPU and FPGA, CPU and artificial intelligence processor, CPU and GPU, etc.

[0179] Several possible devices are listed below.

[0180] Please refer to Figure 11, which is a schematic diagram of the structure of a computing module 110 provided in an embodiment of this application. Optionally, the computing module 110 can be an independent device, such as a personal computer. Alternatively, the computing module 110 can also be a component in an independent device (such as a node), such as a chip or integrated circuit. The computing module 110 is used to implement the methods executed by the computing module in the aforementioned test methods, such as the methods executed by the computing module in any one or more of the test methods shown in the embodiments shown in Figure 4.

[0181] As shown in Figure 11, the calculation module 110 includes an acquisition unit 1101 and a processing unit 1102. The acquisition unit 1101 is used to implement one or more operations such as acquisition, reception, transmission, connection establishment, and response, and further includes other operations for implementing the test method. The processing unit 1102 is used to implement one or more operations such as processing, calculation, determination, and generation, and further includes other operations for implementing the test method.

[0182] For related descriptions, please refer to the description of the embodiment shown in Figure 4, which will not be described in detail here.

[0183] Please refer to Figure 12, which is a schematic diagram of another computing module provided in an embodiment of this application. The computing module 120 can be an independent device, such as a node, or a device included in an independent device, such as a chip, software module, or integrated circuit. The computing module 120 may include at least one processor 1201 and a communication interface 1202. Optionally, it may also include at least one memory 1203. Further optionally, it may also include a connection line 1204, wherein the processor 1201, the communication interface 1202, and / or the memory 1203 are connected through the connection line 1204, and / or communicate with each other through the connection line 1204 to transmit control signals and / or data signals.

[0184] in:

[0185] Processor 1201 is a module that performs arithmetic and / or logical operations, and may specifically include one or more of the following modules: filter, modem, power amplifier, low noise amplifier (LNA), baseband processor, radio frequency processor, radio frequency circuit, central processing unit (CPU), application processor (AP), microcontroller unit (MCU), electronic control unit (ECU), graphics processing unit (GPU), microprocessor unit (MPU), application specific integrated circuit (ASIC), image signal processor (ISP), digital signal processor (DSP), field programmable gate array (FPGA), complex programmable logic device (CPLD), or coprocessor, etc.

[0186] The communication interface 1202 can be used to provide information input or output to the at least one processor, or to receive signals sent from the outside and / or send signals to the outside.

[0187] For example, communication interface 1202 may include interface circuitry.

[0188] For example, the communication interface 1202 may include a wired link interface such as an Ethernet cable, or a wireless link interface (Wi-Fi, Bluetooth, general wireless transmission, vehicle short-range communication technology and other short-range wireless communication technologies, etc.).

[0189] Optionally, the communication interface 1202 may also include a radio frequency transmitter, an antenna, etc. When the communication interface 1202 includes an antenna, the number of antennas can be one or more.

[0190] As one possible design, if the computing module 120 is a standalone device, the communication interface 1202 may include a receiver and a transmitter. The receiver and transmitter may be the same component or different components. When the receiver and transmitter are the same component, this component may be referred to as a transceiver.

[0191] As another possible design, if the computing module 120 is a chip or circuit, the communication interface 1202 may include an input interface and an output interface, which may be the same interface or different interfaces.

[0192] Alternatively, the functions of the communication interface 1202 can be implemented by a transceiver circuit or a dedicated transceiver chip.

[0193] The memory 1203 provides storage space, in which data such as the operating system and computer programs can be stored. The memory 1203 can be one or a combination of several of the following: random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or compact disc read-only memory (CD-ROM).

[0194] The functions and actions of each module or unit in the above-listed calculation module 120 are merely illustrative examples.

[0195] Each functional unit in the calculation module 120 can be used to implement the methods implemented by the calculation module in the aforementioned test methods, such as the methods implemented by the calculation module in the test method shown in Figure 4.

[0196] Optionally, the processor 1201 may be a processor specifically designed to perform the aforementioned methods (for ease of distinction, referred to as a dedicated processor), or a processor that performs the aforementioned methods by calling a computer program (for ease of distinction, referred to as a dedicated processor). Optionally, at least one processor may include both dedicated processors and general-purpose processors.

[0197] Optionally, if the computing module 120 includes at least one memory 1203, and the processor 1201 implements the aforementioned test method by calling a computer program, the computer program can be stored in the memory 1203.

[0198] This application also provides a chip, which includes logic circuitry and a communication interface. The communication interface is used to receive or transmit signals; the logic circuitry is used to receive or transmit signals through the communication interface. The chip is used to implement the aforementioned test method, such as the test method shown in Figure 4.

[0199] This application also provides a computer-readable storage medium storing instructions that, when executed on at least one processor (or computing module), implement the aforementioned test method, such as the test method shown in Figure 4.

[0200] This application also provides a computer program product, which includes computer instructions for implementing the aforementioned test method, such as the test method shown in FIG4.

[0201] This application embodiment also provides a terminal, which includes the aforementioned computing module 110 and / or computing module 120.

[0202] As one possible implementation, the terminal includes a terminal node, wherein the terminal can be a smart terminal or transportation tool such as a vehicle, drone, or robot.

[0203] In the description of this application, the terms “center,” “upper,” “lower,” “vertical,” “horizontal,” “inner,” “outer,” “left,” “side,” etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0204] In the embodiments of this application, the term "end" appearing in terms such as "one end", "the other end", "left end", "right end", "upper end", "lower end", and "connecting end" is not limited to end head, end point, or end face, but also includes a portion extending axially and / or radially from the end head, end point, or end face on the device or element to which the end head, end point, or end face belongs.

[0205] In this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0206] In this application, "at least one" in the embodiments refers to one or more items, and "more than one" refers to two or more items. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or multiple items. For example, at least one of a, b, or c can represent: a, b, c, (a and b), (a and c), (b and c), or (a and b and c), where a, b, and c can be single or multiple. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship.

[0207] Furthermore, unless otherwise stated, the use of ordinal numbers such as "first" and "second" in the embodiments of this application is for distinguishing multiple objects and is not for limiting the order, timing, priority, or importance of multiple objects. Similarly, terms like "first angle measurement data" and "second angle measurement data" are merely for the convenience of describing new parameters in different implementations and do not indicate differences in their execution operations, importance, data content, etc.

[0208] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

Claims

1. A testing method, characterized in that, The method is applied to a testing system, the testing system including a first detection device, a second detection device, and a target object, and the method includes: The first detection device detects the target object without skin and obtains first angle measurement data, wherein the target object is located at a first angle relative to the first detection device; The second detection device detects the target object without skin and obtains second angle measurement data; The first detection device detects the target object with the first skin in place, and obtains the third angle measurement data; The second detection device detects the target object with the first skin in place, and obtains fourth angle measurement data; Based on the angle difference between the first angle measurement data and the second angle measurement data and the angle difference between the third angle measurement data and the fourth angle measurement data, the accuracy error generated by the first detection device when detecting at the first angle after setting the first skin is determined.

2. The method according to claim 1, characterized in that, The first angle measurement data includes a first horizontal angle along a first direction. The second angle measurement data includes a second horizontal angle along the first direction. The third angle measurement data includes a third horizontal angle along the first direction. The fourth angle data includes a fourth horizontal angle along the first direction.

3. The method according to claim 2, characterized in that, The determination of the accuracy error generated by the first detection device when detecting at the first angle after setting the first skin, based on the angle difference between the first angle measurement data and the second angle measurement data and the angle difference between the third angle measurement data and the fourth angle measurement data, includes: Based on the angle difference between the first horizontal angle and the second horizontal angle and the angle difference between the third horizontal angle and the fourth horizontal angle, the horizontal accuracy error generated by the first detection device when detecting at the first angle after setting the first skin is determined.

4. The method according to any one of claims 1-3, characterized in that, The first angle measurement data includes a first pitch angle along the second direction. The second angle measurement data includes a second pitch angle along the second direction. The third angle measurement data includes a third pitch angle along the second direction. The fourth angle measurement data includes a fourth pitch angle along the second direction.

5. The method according to claim 4, characterized in that, The determination of the accuracy error generated by the first detection device when detecting at the first angle after setting the first skin, based on the angle difference between the first angle measurement data and the second angle measurement data and the angle difference between the third angle measurement data and the fourth angle measurement data, includes: Based on the angle difference between the first pitch angle and the second pitch angle and the angle difference between the third pitch angle and the fourth pitch angle, the pitch accuracy error generated by the first detection device when detecting at the first angle after setting the first skin is determined.

6. The method according to any one of claims 1-5, characterized in that, The first angle includes a fifth horizontal angle along a first direction and / or a fifth pitch angle along a second direction.

7. The method according to any one of claims 1-6, characterized in that, The testing system also includes a support frame and slide rails. The first detection device and the second detection device are mounted on the support frame. The first detection device and the second detection device are in the same position in the first direction and the third direction, but in different positions in the second direction. Along the third direction upwards, the first detection device and the second detection device are positioned facing the slide rail; The slide rail is used to adjust the position of the target object in the first direction and / or the second direction.

8. The method according to claim 7, characterized in that, The slide rail is used to adjust the position of the target object in a first direction, and the slide rail includes a first track that slides along the first direction, which is perpendicular to the third direction.

9. The method according to claim 8, characterized in that, The first angle is a horizontal angle in the first direction and is related to a first distance, which is the distance between the first endpoint of the first track and the target object in the first direction.

10. The method according to claim 7, characterized in that, The slide rail is used to adjust the position of the target object in a second direction. The slide rail includes a second track that slides along the second direction, the second direction being perpendicular to the third direction and perpendicular to the first direction.

11. The method according to claim 10, characterized in that, The pitch angle of the first angle in the second direction is related to the second distance, which is the distance between the second endpoint of the second track and the target object in the second direction.

12. The method according to any one of claims 7-11, characterized in that, After determining the accuracy error generated by the first detection device when detecting at the first angle after setting the first skin, based on the angle difference between the first angle measurement data and the second angle measurement data and the angle difference between the third angle measurement data and the fourth angle measurement data, the method further includes: After the target is moved to a second angle relative to the first detection device, the first detection device detects the target without skin and obtains fifth angle measurement data. The second angle is different from the first angle, and the first angle and the second angle are within the adjustable angle range of the slide rail. The second detection device detects the target object without skin and obtains the sixth angle measurement data; The first detection device detects the target object with the first skin in place, and obtains the seventh angle measurement data; The second detection device detects the target object with the first skin in place, and obtains the eighth angle measurement data; Based on the angle difference between the fifth and sixth angle measurement data and the angle difference between the seventh and eighth angle measurement data, the accuracy error generated by the first detection device when detecting at the second angle after setting the first skin is determined.

13. A testing system, characterized in that, The testing system includes a first detection device, a second detection device, a target object, and a computing module. The first detection device is used to detect the target object without skin and obtain first angle measurement data, wherein the target object is located at a first angle relative to the first detection device; The second detection device is used to detect the target object without skin to obtain second angle measurement data; The first detection device is used to detect the target object when the first skin is set, and obtain the third angle measurement data; The second detection device is used to detect the target object when the first skin is in place, and to obtain fourth angle measurement data; The calculation module is used for: Based on the angle difference between the first angle measurement data and the second angle measurement data and the angle difference between the third angle measurement data and the fourth angle measurement data, the accuracy error generated by the first detection device when detecting at the first angle after setting the first skin is determined.

14. The testing system according to claim 13, characterized in that, The testing system also includes a support frame and slide rails. The first detection device and the second detection device are mounted on the support frame. The first detection device and the second detection device are in the same position in the first direction and the third direction, but in different positions in the second direction. Along the third direction upward, the first detection device and the second detection device are arranged facing the slide rail, and the first skin is disposed between the first detection device and the second detection device and the slide rail; The slide rail is used to adjust the position of the target object in the first direction and / or the second direction.

15. The testing system according to claim 14, characterized in that, The slide rail is used to adjust the position of the target object in a first direction, and the slide rail includes a first track that slides along the first direction, which is perpendicular to the third direction.

16. The testing system according to claim 14, characterized in that, The slide rail is used to adjust the position of the target object in a second direction. The slide rail includes a second track that slides along the second direction, the second direction being perpendicular to the third direction and perpendicular to the first direction.

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