Gantry deflection calibration method, device and computer readable storage medium

Abstract

The present invention relates to the industrial field, and discloses a gantry deflection calibration method, device and computer-readable storage medium. Among them, the gantry deflection calibration method is applied to the gantry, including: controlling the first parallel axis to fix the first end of the horizontal axis at the current position; providing a gradually increasing first power to drive the horizontal axis to rotate around the first end, and obtaining the distance between the position of the second end and the reference position when the first power reaches a preset power value as the first distance; providing a gradually increasing second power to drive the horizontal axis to rotate around the first end, and obtaining the distance between the position of the second end and the reference position when the second power reaches a preset power value as the second distance; obtaining the target position of the second end according to the first distance and the second distance; and controlling the second end to move to the target position. Compared with the prior art, the gantry deflection calibration method, device and computer-readable storage medium provided in the embodiments of the present invention have the advantage of avoiding the initial mechanical accumulation of the gantry.

Description

Technical Field

[0001] The present invention relates to the industrial field, and in particular to a gantry deflection calibration method, device and computer-readable storage medium. Background Art

[0002] Gantry linear drive control technology is widely used in precision manufacturing industries such as semiconductor packaging and testing, laser cutting and machine tool processing. The mechanical rigidity of these applications is strong, making it easier for gantry synchronization deviation to cause mechanical force accumulation, which requires higher synchronization of servo motor control. The initial deflection angle of the gantry will affect the degree of gantry force accumulation. The larger the deflection angle, the stronger the mechanical force accumulation during movement, which increases the control current of the servo, compresses the linear range of servo control, and seriously affects the synchronous control quality of the gantry servo. At present, the industrial control industry generally does not correct the initial deflection angle of the gantry, and a few will use external measuring instruments for mechanical calibration.

[0003] However, the inventors of the present invention have found that in some cases, mechanical installation deviations may lead to mechanical force accumulation at the absolute position. Even if the initial deflection angle of the gantry is absolutely mechanically calibrated, mechanical force accumulation may still exist at the initial position. Therefore, how to avoid the initial mechanical force accumulation of the gantry becomes a problem to be solved. Summary of the invention

[0004] The purpose of the embodiments of the present invention is to provide a gantry deflection angle calibration method, device and computer-readable storage medium, which can avoid the initial mechanical force accumulation of the gantry.

[0005] To solve the above technical problems, an embodiment of the present invention provides a gantry deflection calibration method, which is applied to a gantry including a first parallel axis, a second parallel axis and a transverse axis mounted on the first parallel axis and the second parallel axis, wherein the transverse axis includes a first end abutting against the first parallel axis and a second end abutting against the second parallel axis, and comprises: controlling the first parallel axis to fix the first end of the transverse axis at a current position; providing a gradually increasing first power to drive the transverse axis to rotate around the first end, the direction of the first power is the parallel direction of the first parallel axis, obtaining the distance between the position of the second end and a reference position when the first power reaches a preset power value as the first distance, and the reference position is the position of one end point of the second parallel axis; providing a gradually increasing second power to drive the transverse axis to rotate around the first end, the second power is opposite to the first power in direction, obtaining the distance between the position of the second end and the reference position when the second power reaches the preset power value as the second distance; obtaining the target position of the second end according to the first distance and the second distance; and controlling the second end to move to the target position.

[0006] An embodiment of the present invention also provides a gantry deflection angle calibration device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the gantry deflection angle calibration method as described above.

[0007] An embodiment of the present invention further provides a computer-readable storage medium storing a computer program, wherein the computer program implements the aforementioned gantry deflection angle calibration method when executed by a processor.

[0008] Compared with the prior art, the implementation mode of the present invention first fixes the first end of the horizontal axis on the first parallel axis so that the horizontal axis can rotate around the first end without the first end moving on the first parallel axis, then provides a first power to drive the horizontal axis to rotate around the first end, obtains a first distance between the position of the second end and the reference position when the first power increases to a preset power value, provides a second power in the opposite direction of the first power to drive the horizontal axis to rotate around the first end, obtains a second distance between the position of the second end and the reference position when the second power increases to a preset power value, and the target position of the horizontal axis when there is no mechanical force accumulation can be obtained based on the first distance and the second distance, and the second end can be controlled to move to the target position to avoid the initial mechanical force accumulation of the gantry.

[0009] In addition, acquiring the target position of the second end according to the first distance and the second distance includes: calculating an average value of the first distance and the second distance, and taking a position on the second parallel axis whose distance from the reference position is the average value as the target position.

[0010] In addition, after obtaining the distance between the position of the second end and the reference position when the first power reaches the preset power value as the first distance and before providing the gradually increasing second power to drive the horizontal axis to rotate around the first end along the second direction, the method further includes: providing a gradually decreasing third power to continue to drive the horizontal axis to rotate around the first end, the third power has the same direction as the first power, and obtaining the distance between the position of the second end and the reference position when the third power reaches zero as the third distance; after obtaining the distance between the position of the second end and the reference position when the second power reaches the preset power value as the second distance, the method further includes: providing a gradually decreasing fourth power to continue to drive the horizontal axis to rotate around the first end, the fourth power has the same direction as the second power, and obtaining the distance between the position of the second end and the reference position when the fourth power reaches zero as the fourth distance; obtaining the target position of the second end according to the first distance and the second distance includes: calculating the average value of the first distance, the second distance, the third distance, and the fourth distance, and taking the position on the second parallel axis whose distance from the reference position is the average value as the target position.

[0011] In addition, the provision of the gradually decreasing third power continues to drive the horizontal axis to rotate around the first end, including: presetting a first preset time length for the third power to be reduced to the zero value, and establishing a power command curve according to the preset power value and the first preset time length; providing the third power according to the power command curve to drive the horizontal axis to rotate around the first end.

[0012] In addition, after controlling the first parallel axis to fix the first end of the horizontal axis at the current position and before providing a gradually increasing first power to drive the horizontal axis to rotate around the first end, it also includes: judging whether the fixing time of the first end reaches a second preset time; if the fixing time of the first end reaches the second preset time, providing a gradually increasing first power along the first direction to drive the horizontal axis to rotate around the first end.

[0013] In addition, the provision of a gradually increasing first power along a first direction drives the horizontal axis to rotate around the first end, including: presetting a third preset time for the first power to reach the preset power value, establishing a power command curve according to the preset power value and the third preset time; providing the first power according to the power command curve to drive the horizontal axis to rotate around the first end.

[0014] In addition, before providing the gradually increasing first power to drive the horizontal axis to rotate around the first end along the first direction, the method further includes: acquiring rigidity data of the horizontal axis, and determining the preset power value according to the rigidity data.

[0015] In addition, the method of obtaining the distance between the position of the second end and the reference position when the first power reaches the preset power value as the first distance includes: controlling the horizontal axis to stop rotating when the first power reaches the preset power value; judging whether the duration of the horizontal axis stopping rotation reaches a fourth preset duration; if the duration of the horizontal axis stopping rotation reaches the fourth preset duration, obtaining the distance between the current position of the second end and the reference position as the first distance. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic structural diagram of a gantry frame used in the gantry angle calibration method provided in the first embodiment of the present invention;

[0017] Figure 2 It is a schematic flow chart of a gantry deflection angle calibration method provided by a first embodiment of the present invention;

[0018] Figure 3 It is a schematic flow chart of a gantry deflection angle calibration method provided by a second embodiment of the present invention;

[0019] Figure 4 It is a schematic structural diagram of a gantry angle calibration device provided in a third embodiment of the present invention. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical scheme and advantages of the present invention clearer, the following will be described in detail with reference to the accompanying drawings. However, it will be appreciated by those skilled in the art that in the various embodiments of the present invention, many technical details are provided in order to enable the reader to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed in the present application can be implemented.

[0021] The first embodiment of the present invention relates to a gantry deflection calibration method, which is applied to a gantry, such as Figure 1 As shown, the gantry includes a first parallel axis 10, a second parallel axis 20, and a transverse axis 30 mounted on the first parallel axis 10 and the second parallel axis 20, and the transverse axis 30 includes a first end 31 abutting against the first parallel axis 10 and a second end 32 abutting against the second parallel axis 20. The steps of the gantry deflection calibration method are as follows Figure 2 As shown, including:

[0022] Step S101: Control the first parallel axis to fix the first end of the horizontal axis at a current position.

[0023] Specifically, in this step, the first end of the horizontal axis can be fixed at the current position by electrically exciting the first parallel axis, that is, the first parallel axis is electrically excited, and the first parallel axis after electrical excitation allows the horizontal axis to rotate around the first end under the action of magnetic force, but cannot slide along the first parallel axis. It can be understood that the aforementioned fixing of the first end of the horizontal axis at the current position by means of electrical excitation is only a specific example in this embodiment, and does not constitute a limitation. In other embodiments of the present invention, other methods can also be used, and it is only necessary to ensure that the horizontal axis can rotate around the first end and cannot move on the first parallel axis. The specific setting can be flexibly made according to actual needs.

[0024] Preferably, in this step, after the first parallel rod is electrically excited and the first end of the horizontal axis is fixed at the current position, it is also determined whether the fixing time of the first end reaches the second preset time, and only when the fixing time of the first end reaches the second preset time, it is determined that the first end has been fixed firmly, and step S102 is performed, thereby improving the stability of the gantry during the overall test process.

[0025] Specifically, the second preset duration can be flexibly set as needed, for example, it can be 1 second, 2 seconds, 10 seconds, etc.

[0026] Step S102: providing a gradually increasing first power to drive the horizontal axis to rotate around the first end, and obtaining the distance between the position of the second end and the reference position when the first power reaches a preset power value as the first distance.

[0027] Specifically, in this step, a first power can be provided to the horizontal axis by a motor or other tool to drive the horizontal axis to rotate around the first end. When the first power is provided, the power value of the first power is gradually increased until the power value of the first power reaches a preset power value, and the position of the second end on the second parallel axis at this time is obtained, and the distance between the position of the second end on the second parallel axis at this time and the preset reference position is obtained as the first distance. Among them, the preset reference position can be any end point position of the second parallel axis.

[0028] In this embodiment, the direction of the first power is parallel to the extension direction of the first parallel axis, that is, the direction of the first power is parallel to the direction of the first parallel axis ( Figure 1 A direction in the middle).

[0029] Specifically, when setting the preset power value, it can be selected according to factors such as the rated output of the motor and the mechanical hardness of the horizontal axis. For example, in general, 20% to 40% of the rated output tension of the motor can be selected as the preset power value. When the rated output tension of the motor is large, a larger preset power value can be set. When the rated output tension of the motor is small, a smaller preset power value can be set. In addition, the preset power value can be adjusted according to the mechanical strength of the horizontal axis. The harder the mechanical rigidity, the larger the preset power value can be set. It can be understood that the above is only a specific example of the method of setting the preset power value in this embodiment, and does not constitute a limitation. In other embodiments of the present invention, the preset power value can also be adjusted in other ways, such as according to the structure of the gantry and other factors. It can be flexibly set according to actual needs.

[0030] In addition, before providing the first power, the time it takes for the first power to reach a preset power value can be estimated based on the performance of the motor and the mechanical rigidity of the horizontal axis, and this time can be used as the third preset time. Then, a growth curve of the first power can be established as a power command curve based on the preset power value and the third preset time. Then, the motor can be controlled to gradually increase the first power according to the power command curve to drive the horizontal axis to rotate around the first end.

[0031] Preferably, after the first power reaches the preset power value, the current position of the second end is acquired after a fourth preset time interval, that is, before acquiring the current position of the second end, it is first determined whether the second end stops moving for the fourth preset time interval, and the position of the second end is acquired after the second end stops moving for the second preset time interval, thereby improving the accuracy of acquiring the position of the second end and avoiding the influence of inertia on the accuracy of the position of the second end.

[0032] Specifically, in this embodiment, the first distance between the second end and the reference position can be obtained by a distance sensor set at the reference position. For example, the distance sensor is pre-installed at the reference position. During the movement of the second end, the distance sensor senses the distance between the second end and the reference position in real time. After detecting that the distance between the second end and the reference position does not change for a fourth preset time period, the current distance between the second end and the reference position is taken as the first distance. It can be understood that the above is only a specific example of obtaining the first distance in this embodiment and does not constitute a limitation. In other embodiments of the present invention, the first distance can also be obtained by human-computer interaction, that is, after the assistant measures the first distance, he inputs it in the human-computer interaction interface to obtain the first distance. The first distance can also be obtained by an infrared scanning device, an ultrasonic scanning device, etc. The specific settings can be flexibly made according to actual needs, and they are not listed here one by one.

[0033] Step S103: providing a gradually increasing second power to drive the horizontal axis to rotate around the first end, and obtaining the distance between the position of the second end and the reference position when the second power reaches a preset power value as the second distance.

[0034] Specifically, in this step, a second power can be provided to the horizontal axis through a tool such as a motor to drive the horizontal axis to rotate around the first end. When the second power is provided, the power value of the second power is gradually increased until the power value of the second power reaches a preset power value, and the position of the second end on the second parallel axis at this time is obtained, and the distance between the position of the second end on the second parallel axis at this time and the preset reference position is obtained as the second distance.

[0035] In this embodiment, the direction of the second power is parallel to the extension direction of the first parallel axis, and the direction of the second power is opposite to the direction of the first power (ie Figure 1 (the opposite direction of A).

[0036] In this embodiment, the increase speed of the second power and the first power can be the same, that is, the growth curve of the second power is established as the power command curve according to the preset power value and the third preset time, and then the motor is controlled to gradually increase the second power according to the power command curve to drive the horizontal axis to rotate around the first end. It can be understood that the aforementioned same increase speed of the second power and the first power is only a specific example of the second power in this embodiment, and does not constitute a limitation. In other embodiments of the present invention, the power command curves of the second power and the first power may be different, and can be flexibly set according to actual needs.

[0037] Step S104: Acquire a target position of the second end according to the first distance and the second distance.

[0038] Specifically, in this step, the target position of the second end can be obtained by calculating the average value of the first distance and the second distance, that is, the average value of the first distance and the second distance is used as the distance between the target position and the reference position, that is, the position on the second parallel rod whose distance from the reference position is the average value of the first distance and the second distance is used as the target position. It can be understood that the aforementioned method of obtaining the target position of the second end based on the average value of the first distance and the second distance is only a specific example of this embodiment and does not constitute a limitation. In other embodiments of the present invention, it can also be other methods such as obtaining the target position based on the first distance and the second distance after model training by a neural network model using the trained neural network model. The specific method can be flexibly set according to actual needs and will not be listed one by one here.

[0039] Step S105: controlling the second end to move to the target position.

[0040] Compared with the prior art, in the gantry angle calibration method provided in the first embodiment of the present invention, the first end of the horizontal axis is first fixed on the first parallel axis, so that the horizontal axis can rotate around the first end without the first end moving on the first parallel axis, and then a first power is provided to drive the horizontal axis to rotate around the first end, and a first distance between the position of the second end and the reference position when the first power increases to a preset power value is obtained, and a second power in the opposite direction to the first power is provided to drive the horizontal axis to rotate around the first end, and a second distance between the position of the second end and the reference position when the second power increases to a preset power value is obtained. The target position of the horizontal axis when there is no mechanical force accumulation can be obtained based on the first distance and the second distance, and the initial mechanical force accumulation of the gantry can be avoided by controlling the second end to move to the target position.

[0041] The second embodiment of the present invention relates to a gantry deflection calibration method. The second embodiment is substantially the same as the first embodiment, and the specific steps are as follows: Figure 3 As shown, including:

[0042] Step S201: Control the first parallel axis to fix the first end of the horizontal axis at the current position.

[0043] Step S202: providing a gradually increasing first power to drive the horizontal axis to rotate around the first end, and obtaining the distance between the position of the second end and the reference position when the first power reaches a preset power value as the first distance.

[0044] Step S203: providing a gradually decreasing third power to continue to drive the horizontal axis to rotate around the first end, and obtaining the distance between the position of the second end and the reference position when the third power reaches zero as the third distance.

[0045] Specifically, in this embodiment, the direction of the third power is the same as that of the first power. Similar to the first power, in this step, a first preset time length for the third power to be reduced to zero may be preset, and a power command curve may be established according to the preset power value and the first preset time length; and the third power may be provided according to the power command curve to drive the horizontal axis to rotate around the first end.

[0046] Step S204: providing a gradually increasing second power to drive the horizontal axis to rotate around the first end, and obtaining the distance between the position of the second end and the reference position when the second power reaches a preset power value as the second distance.

[0047] Step S205: providing a gradually decreasing fourth power to continue to drive the horizontal axis to rotate around the first end, and obtaining the distance between the position of the second end and the reference position when the fourth power reaches zero as the fourth distance.

[0048] Specifically, in this embodiment, the direction of the fourth power is the same as the direction of the second power. Similar to the second power, in this step, a first preset time length for the fourth power to be reduced to zero may be preset, and a power command curve may be established according to the preset power value and the first preset time length; and the third power may be provided according to the power command curve to drive the horizontal axis to rotate around the first end.

[0049] Step S206: Acquire the target position of the second end according to the first distance and the second distance.

[0050] Specifically, in this step, the average value among the first distance, the second distance, the third distance, and the fourth distance can be calculated as the distance between the target position and the reference position. It can be understood that calculating the average value among the first distance, the second distance, the third distance, and the fourth distance as the distance between the target position and the reference position is only a specific example in this embodiment and does not constitute a limitation. In other embodiments of the present invention, it can also be other methods such as obtaining the target position according to the first distance, the second distance, the third distance, and the fourth distance using the trained neural network model after model training by a neural network model. Specifically, it can be flexibly set according to actual needs, and will not be listed one by one here.

[0051] Step S207: controlling the second end to move to the target position.

[0052] Compared with the prior art, the second embodiment of the present invention retains the technical effect of the first embodiment and additionally acquires the third distance and the fourth distance, thereby increasing the accuracy of acquiring the target position.

[0053] The step division of the above methods is only for the purpose of clear description. When implemented, they can be combined into one step or some steps can be split and decomposed into multiple steps. As long as they contain the same logical relationship, they are all within the scope of protection of this patent; adding insignificant modifications to the algorithm or process or introducing insignificant designs without changing the core design of the algorithm and process are all within the scope of protection of this patent.

[0054] A third embodiment of the present invention relates to a gantry angle calibration device, such as Figure 4 As shown, it includes: at least one processor 301; and a memory 302 that is communicatively connected to the at least one processor 301; wherein the memory 302 stores instructions that can be executed by the at least one processor 301, and the instructions are executed by the at least one processor 301 so that the at least one processor 301 can execute the gantry deflection calibration method as described above.

[0055] The memory 302 and the processor 301 are connected in a bus manner, and the bus may include any number of interconnected buses and bridges, and the bus connects various circuits of one or more processors 301 and the memory 302 together. The bus can also connect various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be one element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices on a transmission medium. The data processed by the processor 301 is transmitted on a wireless medium through an antenna, and further, the antenna also receives data and transmits the data to the processor 301.

[0056] The processor 301 is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management and other control functions. The memory 302 can be used to store data used by the processor 301 when performing operations.

[0057] A fourth embodiment of the present invention relates to a computer-readable storage medium storing a computer program, which implements the above robot navigation method embodiment when executed by a processor.

[0058] Those skilled in the art can understand that all or part of the steps in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a program, and the program is stored in a storage medium, including several instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor to execute all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0059] Those skilled in the art will appreciate that the above-mentioned embodiments are specific examples for implementing the present invention, and in actual applications, various changes may be made thereto in form and detail without departing from the spirit and scope of the present invention.

Claims

1. A gantry deflection calibration method, applied to a gantry including a first parallel axis, a second parallel axis and a transverse axis mounted on the first parallel axis and the second parallel axis, wherein the transverse axis includes a first end abutting against the first parallel axis and a second end abutting against the second parallel axis, characterized in that: include: Controlling the first parallel axis to fix the first end of the horizontal axis at a current position; providing a gradually increasing first power to drive the horizontal axis to rotate around the first end, wherein the direction of the first power is a parallel direction of the first parallel axis, and obtaining a distance between a position of the second end and a reference position when the first power reaches a preset power value as a first distance, wherein the reference position is a position of an end point of the second parallel axis; providing a gradually increasing second power to drive the horizontal axis to rotate around the first end, wherein the second power is opposite in direction to the first power, and obtaining a distance between a position of the second end and the reference position when the second power reaches the preset power value as a second distance; Calculating an average value, and obtaining a target position of the second end according to the average value, wherein calculation parameters of the average value include at least the first distance and the second distance; The second end is controlled to move to the target position.

2. The gantry angle calibration method according to claim 1, characterized in that: After obtaining the distance between the position of the second end and the reference position when the first power reaches the preset power value as the first distance, and before providing the gradually increasing second power to drive the horizontal axis to rotate around the first end along the second direction, the method further includes: providing a gradually decreasing third power to continue to drive the horizontal axis to rotate around the first end, wherein the third power has the same direction as the first power, and obtaining the distance between the position of the second end and the reference position when the third power reaches zero as the third distance; After obtaining the distance between the position of the second end when the second power reaches the preset power value and the reference position as the second distance, the method further includes: providing a gradually decreasing fourth power to continue to drive the horizontal axis to rotate around the first end, the fourth power having the same direction as the second power, and obtaining a distance between the position of the second end and the reference position when the fourth power reaches zero as a fourth distance; The calculating the average value and obtaining the target position of the second end according to the average value includes: An average value of the first distance, the second distance, the third distance, and the fourth distance is calculated, and a position on the second parallel axis whose distance from the reference position is equal to the average value is set as the target position.

3. The gantry angle calibration method according to claim 2, characterized in that: The step of providing the gradually decreasing third power to continue to drive the horizontal shaft to rotate around the first end includes: Preset a first preset time duration for the third power to decrease to the zero value, and establish a power command curve according to the preset power value and the first preset time duration; The third power is provided according to the power command curve to drive the horizontal axis to rotate around the first end.

4. The gantry angle calibration method according to claim 1, characterized in that: After controlling the first parallel axis to fix the first end of the horizontal axis at a current position and before providing a gradually increasing first power to drive the horizontal axis to rotate around the first end, the method further includes: Determining whether the fixed duration of the first end reaches a second preset duration; If the fixed time length of the first end reaches the second preset time length, a gradually increasing first power is provided to drive the horizontal axis to rotate around the first end along a first direction.

5. The gantry angle calibration method according to claim 1, characterized in that: The step of providing a gradually increasing first power to drive the horizontal axis to rotate around the first end along a first direction comprises: Preset a third preset time duration for the first power to reach the preset power value, and establish a power command curve according to the preset power value and the third preset time duration; The first power is provided according to the power command curve to drive the horizontal axis to rotate around the first end.

6. The gantry angle calibration method according to claim 1, characterized in that: Before providing the gradually increasing first power to drive the horizontal axis to rotate around the first end along the first direction, the method further includes: The rigidity data of the horizontal axis is acquired, and the preset power value is determined according to the rigidity data.

7. The gantry angle calibration method according to claim 1, characterized in that: The obtaining, as the first distance, a distance between a position where the second end is located when the first power reaches a preset power value and a reference position includes: When the first power reaches the preset power value, the horizontal axis is controlled to stop rotating; Determining whether the duration of the horizontal axis stopping rotation reaches a fourth preset duration; If the duration of the horizontal axis stopping rotation reaches the fourth preset duration, the distance between the current position of the second end and the reference position is obtained as the first distance.

8. A gantry angle calibration device, characterized in that: include: at least one processor; as well as, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the gantry deflection angle calibration method as described in any one of claims 1 to 7.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the gantry angle calibration method according to any one of claims 1 to 7 is implemented.

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