A method, apparatus, device, and storage medium for motion accuracy compensation

Abstract

This invention discloses a motion accuracy compensation method, apparatus, device, and storage medium. The method includes: controlling a moving component to move with the theoretical position of an optical point in a standard plate as the target, and acquiring the motor position reached by the moving component and the optical position of the optical point acquired by a visual positioning sensor at the motor position; the standard plate includes multiple optical points arranged at predetermined intervals; determining the actual position of the optical point based on the theoretical position, the optical position, and the motor position; and responding to a control command for the moving component, performing accuracy compensation on the desired position in the control command based on the theoretical and actual positions of the optical points in the standard plate to obtain a compensated position. The technical solution of this invention can improve the motion accuracy of a moving component while controlling costs.

Description

Technical Field

[0001] This invention relates to the field of needle testing machine technology, and in particular to a motion accuracy compensation method, device, equipment and storage medium. Background Technology

[0002] When testing circuit boards, automatic pin testing machines require a moving guide rail to carry the test head of the fixture, which then performs a pressing test upon reaching the test position. Since the test components often require high precision, the moving guide rail must also possess higher precision than the test components themselves.

[0003] Current technologies often ensure the accuracy of the test head's movement by improving the machining precision of the mechanical components in automatic needle testing machines. Simultaneously, optical grating rulers and displacement sensors are added for displacement calibration to further improve motion accuracy. However, optical grating rulers are expensive, and the accuracy they can achieve far exceeds the precision required by automatic needle testing machines, leading to increased testing costs and wasted resources. Summary of the Invention

[0004] This invention provides a motion accuracy compensation method, apparatus, device, and storage medium to solve the problem of high accuracy compensation cost caused by using grating rulers.

[0005] According to one aspect of the present invention, a motion accuracy compensation method is provided, characterized in that it includes:

[0006] Using the theoretical position of the optical point in the standard plate as the target, the moving part is controlled to move, and the motor position reached by the moving part and the optical position of the optical point collected by the visual positioning sensor at the motor position are obtained; the standard plate includes multiple optical points arranged at a set interval;

[0007] The actual position of the optical point is determined based on its theoretical position, optical position, and motor position.

[0008] In response to control commands for moving parts, the desired position in the control commands is compensated for based on the theoretical and actual positions of the optical points in the standard plate to obtain the compensated position.

[0009] According to another aspect of the present invention, a motion accuracy compensation device is provided, characterized in that it comprises:

[0010] The motion component control module is used to control the motion component to move with the theoretical position of the optical point in the standard plate as the target, and to obtain the motor position reached by the motion component and the optical position of the optical point collected by the visual positioning sensor at the motor position; the standard plate includes multiple optical points arranged at a set interval;

[0011] The actual position determination module is used to determine the actual position of the optical point based on the theoretical position, optical position, and motor position of the optical point.

[0012] The compensation position determination module is used to respond to control commands for moving parts, and to perform precision compensation on the desired position in the control command based on the theoretical and actual positions of the optical points in the standard plate, so as to obtain the compensation position.

[0013] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0014] At least one processor; and

[0015] A memory communicatively connected to the at least one processor; wherein,

[0016] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the motion accuracy compensation method according to any embodiment of the present invention.

[0017] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the motion accuracy compensation method according to any embodiment of the present invention.

[0018] The technical solution of this invention aims at the theoretical position of an optical point in a standard board, controls a moving component to move, and then obtains the motor position reached by the moving component and the optical position of the optical point collected by the visual positioning sensor at the motor position. Based on the theoretical position, optical position, and motor position of the optical point, the actual position of the optical point is determined. Finally, in response to the control command for the moving component, the desired position in the control command is compensated for accuracy according to the theoretical and actual positions of the optical point in the standard board to obtain the compensated position. This can improve motion accuracy while controlling costs.

[0019] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1a This is a flowchart of a motion accuracy compensation method provided in Embodiment 1 of the present invention;

[0022] Figure 1b This is a schematic diagram of motion accuracy compensation according to Embodiment 1 of the present invention;

[0023] Figure 2 This is a flowchart of a motion accuracy compensation method provided in Embodiment 2 of the present invention;

[0024] Figure 3 This is a schematic diagram of a motion accuracy compensation device according to Embodiment 3 of the present invention;

[0025] Figure 4 This is a schematic diagram of the structure of an electronic device that implements the motion accuracy compensation method of the present invention. Detailed Implementation

[0026] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0027] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0028] Example 1

[0029] Figure 1aThe flowchart below provides a motion accuracy compensation method according to Embodiment 1 of the present invention. This embodiment is applicable to situations where motion accuracy compensation is performed using a standard board and a visual positioning sensor. The method can be executed by a motion accuracy compensation device, which can be implemented in hardware and / or software and can be configured in various general-purpose computing devices. Figure 1a As shown, the method includes:

[0030] S110. Using the theoretical position of the optical point in the standard plate as the target, control the moving part to move, and obtain the motor position reached by the moving part, as well as the optical position of the optical point collected by the visual positioning sensor at the motor position; the standard plate includes multiple optical points arranged at a set interval.

[0031] A standard plate is a glass plate printed with multiple optical dots arranged in a matrix pattern. The standard plate can be installed within the movement range of a moving part for motion accuracy compensation. For example, starting from the upper left corner, an optical dot is generated at predetermined intervals in both the horizontal and vertical directions, forming a complete standard plate.

[0032] A theoretical coordinate system is established with the optical point at the center of the standard plate as the origin, the row containing the optical point at the center as the X-axis, and the column containing the optical point at the center as the Y-axis. The coordinates of the optical point in this theoretical coordinate system are the theoretical positions of the optical points. For example, in the theoretical coordinate system, the theoretical position of the optical point in the lower left corner is (-W / 2, -H / 2), and the theoretical position of the optical point in the upper right corner is (W / 2, H / 2). The theoretical positions of other optical points to be calculated can be determined based on the coordinates of the optical point in the lower left corner, the interval between adjacent optical points, and the arrangement of the optical points to be calculated.

[0033] In this embodiment of the invention, the moving parts are first controlled to move, with the theoretical positions of the optical points in the standard plate as the targets. After the moving parts stop moving, the motor position sent by the motor positioning sensor associated with the moving parts is acquired; this is the actual position reached by the moving parts. Due to the limited precision of the mechanical guide rail and the motor, this motor position often differs from the target. Simultaneously, to calibrate the movement of the moving parts, the optical position of the optical point collected by the visual positioning sensor at the motor position can also be acquired. This optical position is the location of the center of the optical point within the field of view of the visual positioning sensor. Ideally, the theoretical position of the optical point, the motor position, and the center of the field of view of the visual positioning sensor should coincide. However, due to the motion errors of the moving parts and the positioning errors of the visual positioning sensor, the theoretical position, the motor position, and the optical position of the optical point on the visual positioning sensor often differ.

[0034] The visual positioning sensor can be a camera mounted on the drive shaft of the moving part, such as a charge-coupled device (CCD) camera, which collects optical positions to perform accuracy compensation for the moving part.

[0035] S120. Based on the theoretical position, optical position, and motor position of the optical point, determine the actual position of the optical point.

[0036] In this embodiment of the invention, after obtaining the optical position of the optical point and the motor position, the actual position of the optical point is calculated based on the theoretical position, the actual position, and the current motor position. This allows for subsequent accuracy compensation of the moving component based on the theoretical and actual positions of the optical point. Specifically, firstly, the optical position, measured in pixels, is converted to millimeters. Then, the deviation between the theoretical and actual positions of the optical point is calculated. Based on this deviation, the motor position of the moving component is compensated to obtain the actual position of the optical point.

[0037] It should be noted that in this embodiment, the above operation is performed for each optical point in the standard plate to obtain the actual position of each optical point. Finally, the theoretical and actual positions of all optical points in the standard plate can be stored to obtain a calibration file. This calibration file can be applied to subsequent motion control of moving parts to improve motion accuracy through precision compensation.

[0038] S130: In response to the control command for the moving part, the desired position in the control command is compensated for with precision based on the theoretical and actual positions of the optical points in the standard plate to obtain the compensated position.

[0039] In this embodiment of the invention, after calculating the theoretical and actual positions of each optical point in the standard plate, the desired position in the control command is compensated for accuracy based on the theoretical and actual positions of the optical points in the standard plate to obtain the compensated position. Specifically, after receiving the control command of the moving part, the desired position in the control command is read, and then an optical point adjacent to the desired position is determined in the optical points of the standard plate as the compensated optical point, such as... Figure 1b As shown, four optical points—A, B, C, and D—encircling the desired position are used as compensation optical points. Furthermore, based on the theoretical and actual positions of these compensation optical points, the desired position is precisely compensated to obtain the compensated position, which is then used to control the moving parts.

[0040] In a specific example, such as Figure 1bAs shown, a theoretical coordinate system is established with the optical point at the center of the standard plate as the origin, the row containing the optical point at the center as the X-axis, and the column containing the optical point at the center as the Y-axis. In this theoretical coordinate system, the interval between adjacent optical points is INR. The desired position is point Q, and the four compensation optical points adjacent to the desired position are identified as A, B, C, and D. First, the compensation optical point D, which is closest to point Q, is taken as the target optical point. The distance x between point Q and the target optical point D in the X-axis direction is calculated, and the distance y in the Y-axis direction is also calculated.

[0041] Furthermore, the first ratio of distance x to the theoretical distance CD, and the second ratio of distance y to the theoretical distance BD are calculated respectively. Finally, by multiplying the actual distance CD by the first ratio, the distance between point Q and the target optical point D in the actual optical point coordinates is obtained along the X-axis. Similarly, by multiplying the actual distance BD by the second ratio, the distance between point Q and the target optical point D in the actual optical point coordinates is obtained along the Y-axis. Finally, based on the distance between point Q and the target optical point D in the actual optical point coordinates, the compensation position for point Q is obtained. Here, the theoretical distance is the distance between two points calculated using the theoretical position, and the actual distance is the distance between two points calculated using the actual position.

[0042] The technical solution of this invention targets the theoretical position of an optical point in a standard board, controls a moving component to move, and then obtains the motor position reached by the moving component and the optical position of the optical point collected by the visual positioning sensor at the motor position. Based on the theoretical position, optical position, and motor position of the optical point, the actual position of the optical point is determined. Finally, in response to the control command for the moving component, the desired position in the control command is compensated for accuracy according to the theoretical and actual positions of the optical point in the standard board to obtain the compensated position. Compared with the method of using a grating ruler to improve motion accuracy, motion accuracy can be improved while controlling costs.

[0043] Example 2

[0044] Figure 2 This is a flowchart of a motion accuracy compensation method provided in Embodiment 2 of the present invention. This embodiment further refines the above embodiment, providing specific steps for determining the actual position of an optical point based on its theoretical position, optical position, and motor position. It also describes the accuracy compensation of the desired position in the control command based on the theoretical and actual positions of the optical points in the standard board, resulting in the specific compensated position. Figure 2 As shown, the method includes:

[0045] S210. Using the theoretical position of the optical point in the standard board as the target, control the moving part to move, and obtain the motor position reached by the moving part, as well as the optical position of the optical point collected by the visual positioning sensor at the motor position; the standard board includes multiple optical points arranged at a set interval.

[0046] S220. Based on the theoretical and optical positions of the optical point, determine the distance deviation between the optical position and the theoretical position of the optical point.

[0047] S230. Based on the distance deviation and motor position, determine the actual position of the optical point.

[0048] In this embodiment of the invention, after obtaining the theoretical position, actual position, and current motor position of the optical point, the distance deviation between the theoretical and actual positions of the optical point is first calculated. Further, the motor position is compensated based on the aforementioned distance deviation to obtain the actual position of the optical point. The specific calculation formula is as follows:

[0049] x 实际 =x 电 +(x1*3.815-x2)

[0050] Where, x 实际 It is the actual position of the optical point, x 电 x1 is the position of the motor, x2 is the optical position of the optical point (in pixels), 3.815 is the conversion factor from pixels to millimeters, and x2 is the theoretical position of the optical point.

[0051] By calculating the actual position of optical points, the actual position of optical points can be calculated based on visual positioning sensors, thereby improving motion accuracy while keeping costs under control.

[0052] S240, In response to a control command for a moving part, determine an optical point in the optical points of a standard plate that is adjacent to the desired position in the control command as a compensation optical point.

[0053] In this embodiment of the invention, after receiving a control command for a moving component, the optical points adjacent to the desired position in the control command are first determined from the optical points of the standard plate as compensation optical points. Specifically, in the theoretical coordinate system, the distance between adjacent optical points is a fixed value; therefore, multiple minimum squares with fixed side lengths can be formed by the optical points. After obtaining the desired position in the control command, it is first determined which minimum square the desired position is located within, and the four optical points constituting that minimum square are used as compensation optical points.

[0054] S250: Based on the theoretical and actual positions of the compensation optical points, the desired position is compensated for with precision to obtain the compensated position.

[0055] In this embodiment of the invention, the desired position is obtained by precision compensation through the theoretical and actual positions of the compensating optical point. Specifically, based on the theoretical and desired positions of the compensating optical point, the horizontal and vertical proportions of the desired position within the square containing the compensating optical point are calculated. Finally, based on the actual position of the compensating optical point and the aforementioned horizontal and vertical proportions, the corresponding compensating position is calculated.

[0056] Optionally, based on the theoretical and actual positions of the compensating optical point, the desired position is compensated for with higher precision to obtain the compensated position, including:

[0057] Based on the desired position and the theoretical position of the compensation optical point, the target optical point is determined among the compensation optical points;

[0058] Based on the desired position and the theoretical position of the target optical point, the first distance between the desired position and the target optical point in the horizontal axis direction and the second distance in the vertical axis direction in the theoretical coordinate system are determined; the theoretical coordinate system is established with the center of the standard plate as the origin and the rows and columns of the optical points as the horizontal and vertical axes, respectively.

[0059] Based on the first distance, the second distance, and the specified interval of the optical points in the standard plate, calculate the horizontal axis distance ratio and the vertical axis distance ratio of the desired position;

[0060] Based on the proportion of horizontal axis distance, the proportion of vertical axis distance, and the actual position of the compensation optical point, the desired position is compensated with precision to obtain the compensated position.

[0061] In this optional embodiment, a specific method is provided for precision compensation of a desired position based on the theoretical and actual positions of compensation optical points to obtain the compensated position: First, based on the desired position and the theoretical positions of the compensation optical points, the distance between the desired position and each compensation optical point is calculated, and the target optical point is determined among the compensation optical points according to the distance. Then, based on the theoretical positions of the desired position and the target optical point, a first distance along the horizontal axis and a second distance along the vertical axis of the desired position and the target optical point in the theoretical coordinate system are determined. Further, based on the first distance, the second distance, and the specified interval of optical points in the standard plate, the proportion of the horizontal and vertical distances of the desired position are calculated. Finally, based on the actual positions of the compensation optical points, the horizontal and vertical distances between the desired position and the target optical point in the actual coordinate system are determined through the proportions of the horizontal and vertical distances, and the compensated position corresponding to the desired position is determined based on these distances and the actual position of the target optical point.

[0062] Optionally, based on the proportion of distance along the horizontal axis, the proportion of distance along the vertical axis, and the actual position of the compensation optical point, the desired position is compensated for with precision to obtain the compensated position, including:

[0063] In the compensation optical points, the compensation optical point with the same horizontal coordinate as the target optical point is determined as the vertical optical point, and the compensation optical point with the same vertical coordinate as the target optical point is determined as the horizontal optical point.

[0064] Calculate the actual abscissa of the optical point based on the actual positions of the target optical point and the longitudinal optical point, as well as the proportion of the horizontal axis distance.

[0065] Based on the actual positions of the target optical point and the transverse optical point, as well as the proportion of the vertical axis distance, the actual vertical coordinate of the optical point is calculated, and the compensation position corresponding to the desired position is formed by the actual horizontal coordinate and the actual total coordinate.

[0066] In this optional embodiment, a specific method is provided for precision compensation of a desired position based on the proportion of horizontal and vertical distances, and the actual position of the compensation optical point, to obtain the compensated position: First, based on the theoretical coordinate system, a compensation optical point with the same horizontal coordinate as the target optical point is determined as the vertical optical point, and a compensation optical point with the same vertical coordinate as the target optical point is determined as the horizontal optical point. Then, based on the actual positions of the target optical point and the vertical optical point, the actual distance between them is calculated. Multiplying the actual distance by the proportion of horizontal distances yields the vertical distance between the desired optical point and the target optical point, thus obtaining the actual horizontal coordinate of the desired optical point. Similarly, based on the actual positions of the target optical point and the horizontal optical point, the actual distance between them is calculated. Multiplying the actual distance by the proportion of vertical distances yields the horizontal distance between the desired optical point and the target optical point, thus obtaining the actual vertical coordinate of the desired optical point. Finally, the actual horizontal and vertical coordinates of the desired optical point constitute the compensated position corresponding to the desired position.

[0067] Optionally, after determining the actual location of the optical point, the following may also be included:

[0068] Based on the theoretical and actual positions of the optical points, a calibration file is generated and stored.

[0069] The calibration file is used for accuracy compensation of moving parts. It includes the theoretical and actual positions of all optical points on the standard plate. For example, the calibration file stores the corresponding identifier, theoretical position, and actual position of each optical point.

[0070] In this optional embodiment, after calculating the actual position of the optical point, a calibration file is generated and stored based on the theoretical and actual positions of the optical point, so that the theoretical and actual positions of the required optical point can be directly read from the calibration file during subsequent motion accuracy compensation.

[0071] Optionally, the technical solution of this embodiment also includes:

[0072] In response to the control command for the test head in the flying probe tester, the desired position in the control command is compensated for according to the calibration file to obtain the compensated position;

[0073] The motion control of the test head is achieved by replacing the desired position with a compensation position.

[0074] In this optional embodiment, after receiving a control command for the test head in the flying probe tester, the desired position contained in the control command is read. Then, based on the calibration file, the desired position in the control command is compensated for in terms of accuracy to obtain the compensated position. Finally, the test head is directly controlled using the compensated position.

[0075] The technical solution of this invention targets the theoretical position of an optical point in a standard board, controls a moving component to move, and then obtains the motor position reached by the moving component and the optical position of the optical point collected by the visual positioning sensor at the motor position. Based on the theoretical and optical positions of the optical points, the distance deviation between the optical and theoretical positions of the optical points is determined. Furthermore, based on the distance deviation and the motor position, the actual position of the optical point is determined. Finally, in response to the control command for the moving component, an optical point adjacent to the desired position in the control command is determined as a compensation optical point in the optical points of the standard board. Based on the theoretical and actual positions of the compensation optical points, the desired position is compensated for in terms of accuracy to obtain the compensation position. By calculating the compensation position through visual positioning and the standard board, the cost is significantly reduced compared to using a grating ruler to improve motion accuracy.

[0076] Example 3

[0077] Figure 3 This is a schematic diagram of a motion accuracy compensation device provided in Embodiment 3 of the present invention. Figure 3 As shown, the device includes:

[0078] The motion component control module 310 is used to control the motion component to move with the theoretical position of the optical point in the standard plate as the target, and to obtain the motor position reached by the motion component and the optical position of the optical point collected by the visual positioning sensor at the motor position; the standard plate includes a plurality of optical points arranged at a set interval;

[0079] The actual position determination module 320 is used to determine the actual position of the optical point based on the theoretical position, optical position, and motor position of the optical point.

[0080] The compensation position determination module 330 is used to respond to the control command for the moving part, and to perform accuracy compensation on the desired position in the control command based on the theoretical and actual positions of the optical points in the standard plate to obtain the compensation position.

[0081] The technical solution of this invention targets the theoretical position of an optical point in a standard board, controls a moving component to move, and then obtains the motor position reached by the moving component and the optical position of the optical point collected by the visual positioning sensor at the motor position. Based on the theoretical position, optical position, and motor position of the optical point, the actual position of the optical point is determined. Finally, in response to the control command for the moving component, the desired position in the control command is compensated for accuracy according to the theoretical and actual positions of the optical point in the standard board to obtain the compensated position. Compared with the method of using a grating ruler to improve motion accuracy, motion accuracy can be improved while controlling costs.

[0082] Optional, the actual position determination module 320 is specifically applied to:

[0083] Based on the theoretical and optical positions of the optical point, determine the distance deviation between the optical position and the theoretical position of the optical point;

[0084] The actual position of the optical point is determined based on the distance deviation and the motor position.

[0085] Optionally, the compensation position determination module 330 includes:

[0086] The compensation optical point determination unit is used to determine an optical point adjacent to the desired position in the control command among the optical points of the standard plate as a compensation optical point.

[0087] The compensation position determination unit is used to perform precision compensation on the desired position based on the theoretical and actual positions of the compensation optical point to obtain the compensation position.

[0088] Optionally, the compensation location determination unit includes:

[0089] The target optical point determination subunit is used to determine the target optical point among the compensation optical points based on the desired position and the theoretical position of the compensation optical point;

[0090] The distance calculation subunit is used to determine, based on the expected position and the theoretical position of the target optical point, the first distance in the horizontal direction and the second distance in the vertical direction of the expected position and the target optical point in the theoretical coordinate system; the theoretical coordinate system is established with the center of the standard plate as the origin and the rows and columns of the optical points as the horizontal and vertical axes, respectively.

[0091] The distance percentage calculation subunit is used to calculate the horizontal axis distance percentage and the vertical axis distance percentage of the desired position based on the first distance, the second distance and the specified interval of the optical points in the standard plate.

[0092] The compensation position determination subunit is used to perform precision compensation on the desired position based on the horizontal axis distance ratio, the vertical axis distance ratio, and the actual position of the compensation optical point, so as to obtain the compensation position.

[0093] Optionally, the compensation location determination sub-unit is used specifically for:

[0094] Among the compensation optical points, a compensation optical point with the same horizontal coordinate as the target optical point is determined as a vertical optical point, and a compensation optical point with the same vertical coordinate as the target optical point is determined as a horizontal optical point;

[0095] Based on the actual positions of the target optical point and the longitudinal optical point, and the proportion of the horizontal axis distance, the actual horizontal coordinate of the optical point is calculated.

[0096] Based on the actual positions of the target optical point and the lateral optical point, and the ratio of the vertical axis distance, the actual vertical coordinate of the optical point is calculated, and the compensation position corresponding to the desired position is formed by the actual horizontal coordinate and the actual total coordinate.

[0097] Optionally, the motion accuracy compensation device also includes:

[0098] The calibration file generation module is used to generate and store a calibration file based on the theoretical and actual positions of the optical points after determining their actual positions.

[0099] Optionally, the motion accuracy compensation device also includes:

[0100] The control command response module is used to respond to the control command for the test head in the flying probe tester, and to perform accuracy compensation on the desired position in the control command according to the calibration file to obtain the compensated position;

[0101] A motion control module is used to control the motion of the test head by replacing the desired position with the compensated position.

[0102] The motion accuracy compensation device provided in the embodiments of the present invention can execute the motion accuracy compensation method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0103] Example 4

[0104] Figure 4A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0105] like Figure 4 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0106] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0107] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as motion accuracy compensation methods.

[0108] In some embodiments, the motion accuracy compensation method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or mounted on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the motion accuracy compensation method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the motion accuracy compensation method by any other suitable means (e.g., by means of firmware).

[0109] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0110] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0111] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0112] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0113] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0114] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0115] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0116] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A motion accuracy compensation method, characterized in that, Applications in the field of flying probe testing machine technology include: Using the theoretical position of the optical point in the standard plate as the target, the moving part is controlled to move, and the motor position reached by the moving part and the optical position of the optical point collected by the visual positioning sensor at the motor position are obtained; the standard plate includes multiple optical points arranged at a set interval; The actual position of the optical point is determined based on its theoretical position, optical position, and motor position. In response to control commands for moving parts, the desired position in the control commands is compensated for with precision based on the theoretical and actual positions of the optical points in the standard plate to obtain the compensated position. Based on the theoretical and actual positions of the optical points in the standard plate, the desired position in the control command is compensated for accuracy to obtain the compensated position, including: Among the optical points on the standard plate, an optical point adjacent to the desired position in the control command is determined as a compensation optical point. Based on the theoretical and actual positions of the compensation optical points, the desired position is compensated for with precision to obtain the compensation position; Based on the theoretical and actual positions of the compensation optical point, the desired position is compensated for with precision to obtain the compensated position, including: Based on the desired position and the theoretical position of the compensation optical point, the target optical point is determined among the compensation optical points; Based on the desired position and the theoretical position of the target optical point, the first distance between the desired position and the target optical point in the horizontal axis direction and the second distance in the vertical axis direction in the theoretical coordinate system are determined; the theoretical coordinate system is established with the center of the standard plate as the origin and the rows and columns of the optical points as the horizontal and vertical axes, respectively. Based on the first distance, the second distance, and the specified interval of the optical points in the standard plate, calculate the horizontal axis distance ratio and the vertical axis distance ratio of the desired position; Based on the horizontal axis distance ratio, the vertical axis distance ratio, and the actual position of the compensation optical point, the desired position is compensated for with precision to obtain the compensated position.

2. The method according to claim 1, characterized in that, Based on the theoretical position, optical position, and motor position of the optical point, the actual position of the optical point is determined, including: Based on the theoretical and optical positions of the optical point, determine the distance deviation between the optical position and the theoretical position of the optical point; The actual position of the optical point is determined based on the distance deviation and the motor position.

3. The method according to claim 1, characterized in that, Based on the horizontal axis distance ratio, the vertical axis distance ratio, and the actual position of the compensation optical point, the desired position is compensated for with precision to obtain the compensated position, including: Among the compensation optical points, a compensation optical point with the same horizontal coordinate as the target optical point is determined as a vertical optical point, and a compensation optical point with the same vertical coordinate as the target optical point is determined as a horizontal optical point; Based on the actual positions of the target optical point and the longitudinal optical point, and the proportion of the horizontal axis distance, the actual horizontal coordinate of the optical point is calculated. Based on the actual positions of the target optical point and the lateral optical point, and the ratio of the vertical axis distance, the actual vertical coordinate of the optical point is calculated, and the compensation position corresponding to the desired position is formed by the actual horizontal coordinate and the actual total coordinate.

4. The method according to claim 1, characterized in that, After determining the actual location of the optical point, the following steps are also included: Based on the theoretical and actual positions of the optical points, a calibration file is generated and stored.

5. The method according to claim 4, characterized in that, Also includes: In response to the control command for the test head in the flying probe tester, the desired position in the control command is compensated for accuracy according to the calibration file to obtain the compensated position; The test head is motion controlled by replacing the desired position with the compensated position.

6. A motion accuracy compensation device, characterized in that, Applications in the field of flying probe testing machine technology include: The motion component control module is used to control the motion component to move with the theoretical position of the optical point in the standard plate as the target, and to obtain the motor position reached by the motion component and the optical position of the optical point collected by the visual positioning sensor at the motor position; the standard plate includes multiple optical points arranged at a set interval; The actual position determination module is used to determine the actual position of the optical point based on the theoretical position, optical position, and motor position of the optical point. The compensation position determination module is used to respond to the control command for the moving part, and to perform precision compensation on the desired position in the control command based on the theoretical and actual positions of the optical points in the standard plate to obtain the compensation position; The compensation location determination module includes: The compensation optical point determination unit is used to determine an optical point adjacent to the desired position in the control command among the optical points of the standard plate as a compensation optical point. The compensation position determination unit is used to perform precision compensation on the desired position based on the theoretical and actual positions of the compensation optical point to obtain the compensation position; The compensation location determination unit includes: The target optical point determination subunit is used to determine the target optical point among the compensation optical points based on the desired position and the theoretical position of the compensation optical point; The distance calculation subunit is used to determine, based on the expected position and the theoretical position of the target optical point, the first distance in the horizontal direction and the second distance in the vertical direction of the expected position and the target optical point in the theoretical coordinate system; the theoretical coordinate system is established with the center of the standard plate as the origin and the rows and columns of the optical points as the horizontal and vertical axes, respectively. The distance percentage calculation subunit is used to calculate the horizontal axis distance percentage and the vertical axis distance percentage of the desired position based on the first distance, the second distance and the specified interval of the optical points in the standard plate. The compensation position determination subunit is used to perform precision compensation on the desired position based on the horizontal axis distance ratio, the vertical axis distance ratio, and the actual position of the compensation optical point, so as to obtain the compensation position.

7. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the motion accuracy compensation method according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the motion accuracy compensation method according to any one of claims 1-5.

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