CN111751136A

CN111751136A - POS machine test system based on binocular vision subassembly

Info

Publication number: CN111751136A
Application number: CN202010607245.6A
Authority: CN
Inventors: 林懿; 李果; 钟辉; 徐程东; 徐泰
Original assignee: Broconcentric Automation Technology Shanghai Co ltd
Current assignee: Broconcentric Automation Technology Shanghai Co ltd
Priority date: 2020-06-29
Filing date: 2020-06-29
Publication date: 2020-10-09

Abstract

The invention discloses a binocular vision component-based POS machine testing system, which comprises the following testing steps: s1: adjusting any one fixing tool to enable the POS machine installed on the fixing tool to incline by a certain angle; s2: controlling the mechanical arm to drive the card holder equipment to approach the fixed tool, and positioning the spatial position of the POS machine by using a binocular vision assembly; s3: controlling the mechanical arm to drive the card holder equipment to approach the POS machine to finish testing, and then changing the inclination angle of the POS machine; s4: repeating S2-S3. The invention has the beneficial effects that: the mechanical arm is used for replacing a human hand to carry out testing, so that the personnel cost is saved, and the testing efficiency is improved; the test of many POS machines can be carried out simultaneously, and angle can be adjusted many times in the test to every POS machine to test out the angle that the payment success rate of punching the card is the highest, the location structure of arm can the accurate determination position of punching the card, and test accuracy is high.

Description

POS machine test system based on binocular vision subassembly

Technical Field

The application belongs to the technical field of automatic testing, and particularly relates to a POS machine testing system based on binocular vision components.

Background

The sale terminal-POS is a multifunctional terminal, it is installed in special commercial tenant of credit card and acceptance network point, and connected with computer to form network, and can implement electronic fund automatic transfer, and it has the functions of supporting consumption, preauthorization, balance inquiry and transfer, etc. and is safe, quick and reliable in use. The POS has the advantages of facilitating the consumption settlement of the shopper, reducing the cash clearing link of the merchant, accelerating the fund turnover speed, effectively avoiding the risks of counterfeit money and cash safety management and the like. According to the relevant national and industrial standards, all financial IC (terminal) devices are subjected to a plurality of functional and safe compliance tests before being marketed. There are a number of problems with ordinary manual testing: the efficiency is not high, the statistics is time-consuming, the tests are not consistent, and the test system of the POS machine test equipment in the prior art is not perfect.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: the POS machine testing system based on the binocular vision component is provided for solving the defect that the POS machine testing system in the prior art is not perfect enough.

The technical scheme adopted by the invention for solving the technical problems is as follows:

a POS machine testing system based on binocular vision components,

the component comprises:

the mechanical arm is used for simulating the hand of a person to operate the card holder equipment;

the testing platform frame is arranged around the mechanical arm, and a plurality of fixing tools for fixing the POS machine are arranged on the inner side of the testing platform frame; the fixed tool can adjust the inclination degree of the POS machine arranged on the fixed tool;

the binocular vision component is arranged on the mechanical arm and comprises a pair of cameras, and the optical axes of the two cameras form a certain angle and are used for shooting the POS machine through the two cameras to obtain the spatial position information of the POS machine;

the testing steps comprise:

s1: adjusting any one fixing tool to enable the POS machine installed on the fixing tool to incline by a certain angle;

s2: controlling the mechanical arm to drive the cardholder equipment to approach the fixed tool, and positioning the spatial position of the POS machine by using a binocular vision assembly;

s3: controlling the mechanical arm to drive the cardholder equipment to approach the POS machine to finish testing, and then changing the inclination angle of the POS machine;

s4: repeating S2-S3.

Preferably, in the binocular vision component-based three-dimensional positioning system of the present invention, the step of positioning the spatial position of the POS machine using the binocular vision component includes:

s21: establishing a relative position relation of two cameras in a binocular vision component through a calibration plate, shooting the calibration plate through the binocular vision component and teaching a mechanical arm, and establishing a mapping relation between a three-dimensional space coordinate and a mechanical arm coordinate;

s22: the two cameras shoot a measured object at the same time, the same three features are extracted from the images shot by the two cameras, the positions of the features in a three-dimensional space are calculated according to the position relation of the two cameras and the pixel coordinates of the features in the images, the three-dimensional space coordinates are converted into mechanical arm coordinates, a plane is established on the basis of the mechanical arm coordinates, and the spatial distance of the mechanical arm relative to the measured object is positioned.

Preferably, in step S21, the binocular vision assembly based three-dimensional positioning system shoots the calibration board through the binocular vision assembly, moves the calibration board, shoots again, and repeats the action for 5-10 times.

Preferably, in the binocular vision component-based three-dimensional positioning system of the present invention, the fixing tool can adjust the upper and lower inclinations or the left and right inclinations of the POS machine mounted on the fixing tool.

Preferably, in the binocular vision component-based three-dimensional positioning system, the fixed tool can adjust the included angle between the upper and lower inclinations of the POS machine installed on the fixed tool and the horizontal plane to be 0-90 degrees.

Preferably, the binocular vision unit-based three-dimensional positioning system of the present invention changes the angle of upper and lower inclinations of the POS machine by 5 ° to 10 ° or by 5 ° to 10 ° each time compared to the original one at step S3.

Preferably, in the binocular vision unit-based three-dimensional positioning system of the present invention, in step S1, the angle between the POS machine and the horizontal plane is 45 °.

Preferably, in the binocular vision component-based three-dimensional positioning system, the test platform frame is provided with a plurality of fixed tool mounting tables around the circumference, and each fixed tool mounting table comprises a plurality of layers of fixed flat plates for bearing the fixed tools; the fixed frock includes:

the tool frame is fixed on the fixed flat plate;

the fixed bottom plate is fixed on the tool frame;

and the clamping device is arranged on the fixed bottom plate and used for clamping two sides of the POS machine.

Preferably, the three-dimensional positioning system based on the binocular vision assembly is characterized in that the tool frame is provided with an arc-shaped adjusting groove, and an angle positioning screw for connecting the fixed bottom plate is arranged in the adjusting groove; the fixed bottom plate can rotate along the adjusting groove, and the angle positioning screw can be fixed in the adjusting groove to position the fixed bottom plate.

Preferably, in the binocular vision component-based three-dimensional positioning system, the fixed flat plate is connected to the fixed tool mounting table through a rotating shaft and can rotate around the rotating shaft under the driving of the driving piece, so that the fixed tool inclines left and right.

The invention has the beneficial effects that: the mechanical arm is used for replacing a human hand to carry out testing, so that the personnel cost is saved, and the testing efficiency is improved; the test of many POS machines can be carried out simultaneously, and angle can be adjusted many times in the test to every POS machine to test out the angle that the payment success rate of punching the card is the highest, the location structure of arm can the accurate determination position of punching the card, and test accuracy is high.

Drawings

The technical solution of the present application is further explained below with reference to the drawings and the embodiments.

FIG. 1 is a schematic diagram of an overall structure of a POS machine anthropomorphic test device according to an embodiment of the present application;

FIG. 2 is a schematic view of a robotic arm according to an embodiment of the present application;

FIG. 3 is a schematic structural diagram of a fixing tool according to an embodiment of the present application;

FIG. 4 is a schematic structural diagram of a fixed tool mounting table according to an embodiment of the present disclosure;

fig. 5 is a schematic structural view of a binocular vision unit according to an embodiment of the present application;

fig. 6 is a schematic view of the positioning of the binocular vision assembly of the embodiment of the present application;

fig. 7 is a flow chart of positioning of binocular vision components of an embodiment of the present application.

The reference numbers in the figures are:

1-a test platform frame; 2-fixing a tool mounting table; 3, a mechanical arm; 5-a power supply box; 6-a three color status light; 7-total electric box; 8-a wiring hole; 9-strip-shaped fixed support; 10-laser rangefinder; 11-a click pen; 12-point side key pen; 13-a ring light source; 14-a suction cup connection mechanism; 15-a sucker; 16-a fixed base plate; 17-a clamping mechanism; 18-a POS machine; 19-a clamping mechanism; 20-POS machine set screw; 21-U-shaped holes; 22-connecting screws for the fixed bottom plate and the tool frame; 23-connecting screws for fixing the flat plate and the tool frame; 24-a tooling frame; 25-a wiring groove; 26-a support profile; 27-U-shaped hole; 28-fixing the flat plate; 29-fixing the tool; 30-ground feet; 31-a camera lens; 32-a camera; 33-camera fixed mount; 34-camera mounting plate; 35-camera fixed mount; 36-a camera; 37-camera lens; 241-adjusting groove.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be considered limiting of the scope of the present application. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the invention, the meaning of "a plurality" is two or more unless otherwise specified.

In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art through specific situations.

The technical solutions of the present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Examples

The embodiment provides a POS machine anthropomorphic test device, as shown in fig. 1 to 4, including:

the mechanical arm 3 is used for simulating the hand of a person to operate the cardholder equipment;

the testing platform frame 1 is arranged around the mechanical arm 3, and a plurality of fixing tools 29 for fixing the POS machine are arranged on the inner side of the testing platform frame 1;

binocular vision subassembly installs on the arm 3, binocular vision subassembly includes a pair of

camera

32, 36, two become certain angle between the optical axis of

camera

32, 36, through two

camera

32, 36 shoot the POS machine on the fixed frock 29, can acquire the spatial position information of POS machine.

Specifically, in this embodiment, the detection is performed by using a POS robot simulation test device, which includes the following steps:

s1, the mechanical arm 3 moves to the calibration photographing position, the left camera 32 and the right camera 36 photograph the calibration plate, the calibration plate is moved, photographing is carried out again, and the action is repeated for 5-10 times. The positional relationship of the left camera 32 and the right camera 36 is established by calibrating the pixel coordinates of the board in the images taken by the left camera 32 and the right camera 36.

S2, the mechanical arm 3 moves to the material taking position for shooting, the binocular vision component shoots the cardholder equipment, three features on the cardholder equipment are extracted, the actual three-dimensional coordinates of the three features are obtained by utilizing the position relation of the left camera 32 and the right camera 36 and the pixel coordinates of the three features on the cardholder equipment through calculation, a plane is constructed according to the coordinates, and the mechanical arm 3 is guided to obtain the cardholder equipment.

S3, lifting the mechanical arm 3 to a test shooting position, shooting the POS machine by using a binocular vision component, extracting three features on the POS machine, calculating to obtain actual three-dimensional coordinates of the three features by using the position relation of the left camera 32 and the right camera 36 and pixel coordinates of the three features on the POS machine, constructing a plane by using the actual three-dimensional coordinates, and guiding the mechanical arm 3 to drive the card holder equipment to quickly approach the POS machine to complete the test.

According to the POS machine anthropomorphic test equipment, the mechanical arm is used for replacing a human hand to carry out testing, so that the personnel cost is saved, and the test efficiency is improved; binocular vision subassembly on the arm can the accurate determination position of punching the card, and the test accuracy is high.

Specifically, as shown in fig. 1, the device for supplying power to the apparatus includes a power supply box 5 and a main power box 7, and the test apparatus further includes a three-color status light 6 for indicating three operating states of the apparatus.

Preferably, in the POS anthropomorphic testing device of the present embodiment, as shown in fig. 2, the end of the robot arm 3 is provided with a gripping device for gripping a fixed article. Specifically, the grasping device is used for grasping a card holder card or a mobile device (a mobile phone, a smart watch, etc.). In this embodiment, the gripping device can support a load of 500g, and the robot arm can keep the adsorbed load stable and not fall off when performing high-speed operation, and the robot arm of this embodiment is a six-axis robot arm with a load of not less than 4kg, and when the robot arm carries a load of 4kg, the linear motion speed can reach more than 1m/s, and the acceleration/deceleration of the linear motion can reach 10m/s 2. The mechanical arm is used for completing actions such as card taking and card swiping tests.

Preferably, in the POS simulation test apparatus of the present embodiment, as shown in fig. 2, a key device is further disposed at an end of the mechanical arm 3, and the key device is configured to simulate a human hand to click a key on the POS machine. The key action on the front side or the two sides of the terminal can be carried out.

Preferably, in the POS anthropomorphic testing device of the present embodiment, as shown in fig. 2, a laser range finder 10 is disposed on one side of the key device. The distance between the key device and the terminal is determined using the laser range finder 10 to facilitate key operation.

Preferably, in the POS robot-based testing apparatus of the present embodiment, as shown in fig. 5, the binocular vision component includes:

a camera fixing plate 34 fixed to an end of the robot arm 3;

camera fixing brackets 33, 35 fixed on both sides of the camera fixing plate 34;

cameras

32 and 36 symmetrically arranged on the camera fixing brackets 33 and 35 at two sides;

and an ambient light source 13 mounted at the end of the robot arm 3 at the front end of the camera fixing plate 34 for illuminating the environment to facilitate the photographing of the

cameras

32, 36.

Specifically, the optical axes of camera 32 and camera 36 are angled at about 30 degrees.

Preferably, as shown in fig. 1 and 4, the POS robot anthropomorphic test device of this embodiment, the test platform frame 1 is provided with a plurality of fixed tool mounting tables 2 around the circumference, and each fixed tool mounting table 2 includes:

the fixed flat plates 28 are arranged on a plurality of layers and used for bearing the fixed tool 29;

the wiring groove 25 is arranged on one side of the fixed tool mounting table 2 along the vertical direction and used for providing a wire arrangement space;

and the ground feet 30 are arranged at the bottom of the fixed tool mounting platform 2 and used for adjusting the balance of the fixed tool mounting platform 2 on the ground.

Preferably, as shown in fig. 3, the POS robot simulation testing apparatus of this embodiment, the fixing tool 29 includes:

a tool frame 24 fixed to the fixing plate 28;

the fixed bottom plate 16 is fixed on the tool frame 24;

and clamping

devices

17 and 19 provided on the fixed base plate 16 for clamping both sides of the POS machine 18.

Specifically, in this embodiment, the fixing tool 29 is made of black bakelite, the fixing tool 29 is compatible with a common POS terminal, no metal is present within 15cm around the fixing tool 29, and the center distance between adjacent fixing tools is greater than 50 cm. The robotic arm 3 may cover all of the stationary tooling 29 and the test platform frame 1 is equipped with a programmable power on/off device for each POS machine.

Preferably, as shown in fig. 3, the tooling frame 24 of the POS anthropomorphic testing device of the present embodiment has an arc-shaped adjusting groove 241, and an angle positioning screw for connecting the fixing base plate 16 is arranged in the adjusting groove 241; the fixing base plate 16 can be rotated along the adjustment groove 241, and the angle set screw can be fixed in the adjustment groove 241 to position the fixing base plate 16. Specifically, in the preferred embodiment, the fixed bottom plate 16 of the fixture frame 24 can be adjusted in angle, so that each POS to be tested can receive tests at different angles, a comparison test for swiping a card is facilitated, and the POS can be tested more easily and successfully swiping a card at which angle the POS is placed. Specifically, the fixing base plate 16 is rotatably connected to the tool frame 24 through the fixing base plate and the tool frame connection screw 22, and the tool frame 24 is fixed to the fixing plate 28 through the fixing plate and the tool frame connection screw 23. When the angle set screw is loosened, the fixed base plate 16 can be rotated, i.e. the POS machine thereon can be adjusted in angle, and when the angle set screw is locked again, the POS machine angle will be fixed at a specific angle.

Preferably, in the three-dimensional positioning system based on binocular vision components of the present embodiment, the fixed flat plate 28 is connected to the fixed tool mounting table 2 through a rotating shaft, and can rotate around the rotating shaft under the driving of the driving part, so that the fixed tool 29 tilts left and right. This structure makes the POS machine increase on the basis that upper and lower slope is adjustable, and it is adjustable to have left and right slope, can experiment POS machine when controlling the slope the success rate of punching the card.

Preferably, as shown in fig. 3, in the POS anthropomorphic test device of this embodiment, a U-shaped hole 21 is provided on the fixing base plate 16, a POS positioning screw 20 is provided in the U-shaped hole 21, and the POS positioning screw 20 can clamp the POS machine 18 by adjusting a position at which the POS positioning screw 20 is fixed in the U-shaped hole 21.

Preferably, in the POS anthropomorphic testing device of the present embodiment, as shown in fig. 2, the gripping device is a suction cup 15, and the key device includes a click pen 11 and a side key pen 12; and the laser device is arranged in the middle of the grabbing device and used for emitting cross line laser so as to mark the central point of the POS machine to be detected. Specifically, the suction cup 15 of the present embodiment is a cylindrical structure, and the bottom of the suction cup must be made of a non-metallic material within 15 cm. The sucker 15 is coaxial with the Z axis of the coordinate system of the mechanical arm 3. The suction cup 15 is arranged on the flange surface of the 6 th shaft of the mechanical arm. The sucking disc 15 can follow the sucking and card-holding people's equipment of vacuum pump cooperation, the sucking disc support 500 g's load, the arm do high-speed action can keep the load of absorption stable and do not take place to drop.

The embodiment provides a POS machine test system based on binocular vision subassembly, and the part includes:

the testing platform frame 1 is arranged around the mechanical arm 3, and a plurality of fixing tools 29 for fixing the POS machine are arranged on the inner side of the testing platform frame 1; the fixed tool 29 can adjust the inclination degree of the POS machine installed on the fixed tool;

the binocular vision component is arranged on the mechanical arm 3 and comprises a pair of

cameras

32 and 36, and the optical axes of the two

cameras

32 and 36 form a certain angle and are used for shooting the POS machine through the two

cameras

32 and 36 to acquire the spatial position information of the POS machine;

the testing steps comprise:

s1: adjusting any one fixing tool 29 to enable the POS machine installed on the fixing tool 29 to incline by a certain angle;

s2: controlling the mechanical arm 3 to drive the cardholder equipment to approach the fixed tool 29, and positioning the spatial position of the POS machine by using a binocular vision component;

s3: controlling the mechanical arm 3 to drive the cardholder equipment to approach the POS machine to finish testing, and then changing the inclination angle of the POS machine;

s4: repeating S2-S3.

According to the three-dimensional positioning system based on the binocular vision assembly, the mechanical arm is used for replacing a human hand to carry out testing, so that the personnel cost is saved, and the testing efficiency is improved; the test of many POS machines can be carried out simultaneously, and angle can be adjusted many times in the test to every POS machine to test out the angle that the payment success rate of punching the card is the highest, the location structure of arm can the accurate determination position of punching the card, and test accuracy is high.

Preferably, in the binocular vision component-based three-dimensional positioning system of the embodiment, as shown in fig. 7, the step of positioning the spatial position of the POS machine using the binocular vision component includes:

In image measurement process and machine vision application, in order to determine the correlation between the three-dimensional geometric position of a certain point on the surface of an object in space and the corresponding point of the image, a geometric model of camera imaging must be established, and the parameters of the geometric model are the parameters of the camera. Under most conditions, the parameters can be obtained only through experiments and calculation, the process of solving the parameters is called as camera calibration, and the parameters mainly refer to internal and external parameters of the camera. As shown in fig. 6, b is the distance between the optical centers of the two cameras, and f is the principal distance of the cameras. The origin of the camera coordinate system is located at the optical center and the imaging plane should be located behind the camera coordinate system. However, to simplify the calculation process, it is assumed that the imaging plane is located in front of the camera coordinate system. The image coordinate system is established on the imaging plane, and the coordinate axes are denoted by u and v. P is a point in space whose projections on the image coordinate system are P', respectively, and points such as P are called conjugate points. In binocular vision calibration, the internal parameters include left and right camera lens principal distance f, lens distortion k, and pixel size S_x,S_yAnd the like. The extrinsic parameters mainly refer to the relation between the camera coordinate systems of the left camera and the right camera relative to the world coordinate system, and use the rotation matrix R₁And a translation transformation matrix T₁Representing the relationship of the camera coordinate system of the left camera to the world coordinate system, R₂，T₂The relationship of the camera coordinate system of the right camera to the world coordinate system and the position relationship of the right camera relative to the left camera are represented by a rotation matrix R and a translation transformation matrix T. Determining these parameters requires 4 steps:

(1) one point P in the world coordinate system_w＝(X_w,Y_w,Z_w)^TConversion into camera coordinate system P_c＝(X_c,Y_c,Z_c)^TThe transformation is a rigid transformation, and the transformation relation between them is P_c＝R*P_w+ T. Wherein T ═ T_x,t_y,t_z) Is a translation transformation matrix, R ═ (a, b, c) is a rotation transformation matrix, and a, b, c represent the rotation angles of the object around the X, Y, Z axes of the camera coordinate system, respectively. 6 parameters (T) in R and T_x,t_y,t_zA, b, c) are called camera semaphores, which determine the relative position between the camera coordinate system and the world coordinate system.

(2) Combining three-dimensional space point P_cFrom the camera coordinate system to the imaging plane coordinate system. Can be expressed as:

however, in the actual projection process, the distortion of the lens can cause the coordinates (u, v)^TThe value of (c) is changed. For most lenses, radial distortion can be considered. At this time, the corresponding relation is:

(3) converting the points (u ', v') from the imaging plane coordinate system to image coordinates can be expressed as:

(4) the internal and external parameters of the left camera and the right camera can be obtained through the three steps. Let X be the coordinate of any point in space in the world coordinate system_wThe non-homogeneous coordinates of the left and right camera coordinate systems are X respectively₁，X₂Then, there are:

elimination of X_wObtaining:

the positional relationship between the two cameras can then be expressed as:

and obtaining the values of the matrix R and the matrix T.

In light of the foregoing description of the preferred embodiments according to the present application, it is to be understood that various changes and modifications may be made without departing from the spirit and scope of the invention. The technical scope of the present application is not limited to the contents of the specification, and must be determined according to the scope of the claims.

Claims

1. A POS machine testing system based on binocular vision components is characterized in that,

the component comprises:

the mechanical arm (3) is used for simulating the hand of a person to operate the cardholder equipment;

the testing platform frame (1) is arranged around the mechanical arm (3), and a plurality of fixing tools (29) for fixing the POS machine are arranged on the inner side of the testing platform frame (1); the fixed tool (29) can adjust the inclination degree of the POS machine arranged on the fixed tool;

the binocular vision component is arranged on the mechanical arm (3) and comprises a pair of cameras (32 and 36), and the optical axes of the two cameras (32 and 36) form a certain angle and are used for shooting the POS machine through the two cameras (32 and 36) to acquire the spatial position information of the POS machine;

the testing steps comprise:

s1: adjusting any one fixing tool (29) to enable the POS machine installed on the fixing tool (29) to incline by a certain angle;

s2: controlling the mechanical arm (3) to drive the cardholder equipment to approach the fixed tool (29), and positioning the spatial position of the POS machine by using a binocular vision assembly;

s3: controlling the mechanical arm (3) to drive the cardholder equipment to approach the POS machine to finish testing, and then changing the inclination angle of the POS machine;

s4: repeating S2-S3.

2. The binocular vision assembly-based three-dimensional positioning system of claim 1, wherein the step of positioning the spatial position of the POS machine using the binocular vision assembly comprises:

3. The binocular vision assembly-based three-dimensional positioning system of claim 1, wherein in the step S21, the calibration plate is photographed by the binocular vision assembly, moved, photographed again, and this action is repeated 5-10 times.

4. The binocular vision assembly-based three-dimensional positioning system of any one of claims 1 to 3, wherein the fixing tool (29) can adjust up and down tilt or left and right tilt of a POS machine installed on itself.

5. The binocular vision assembly-based three-dimensional positioning system of claim 4, wherein the fixing tool (29) can adjust the included angle between the upper and lower inclinations of the POS machine installed on the fixing tool and the horizontal plane to be 0-90 °.

6. The binocular vision assembly-based three-dimensional positioning system of claim 5, wherein in the step S3, the angle of inclination of the upper and lower POS machine is changed by 5 ° -10 ° or by 5 ° -10 ° each time compared to the original angle.

7. The binocular vision assembly-based three-dimensional positioning system of claim 6, wherein in the step S1, the POS machine is at an angle of 45 ° to the horizontal.

8. The binocular vision assembly based three-dimensional positioning system according to any one of claims 4-7, wherein the test platform frame (1) is provided with a plurality of fixed tooling mounting tables (2) around a circumference, the fixed tooling mounting tables (2) comprising a plurality of layers of fixed flat plates (28) for carrying the fixed tooling (29); the fixing tool (29) comprises:

a tool frame (24) fixed on the fixed flat plate (28);

the fixed bottom plate (16) is fixed on the tool frame (24);

and clamping devices (17, 19) arranged on the fixed base plate (16) and used for clamping two sides of the POS machine (18).

9. The binocular vision assembly-based three-dimensional positioning system of claim 8, wherein the tooling frame (24) is provided with a circular arc-shaped adjusting groove (241), and an angle positioning screw for connecting the fixed base plate (16) is arranged in the adjusting groove (241); the fixed bottom plate (16) can rotate along the adjusting groove (241), and the angle positioning screw can be fixed in the adjusting groove (241) to position the fixed bottom plate (16).

10. The binocular vision assembly-based three-dimensional positioning system of claim 9, wherein the fixed flat plate (28) is connected to the fixed tool mounting table (2) through a rotating shaft, and can rotate around the rotating shaft under the driving of a driving part, so that the fixed tool (29) can be tilted left and right.