Multi-mode head position measurement method and device, electronic equipment and storage medium

Abstract

The application provides a multi-mode head position measurement method and device, electronic equipment and storage medium, the method comprises: the plurality of servo cylinders arranged at intervals are all taken as first controlled objects, and a first control instruction is generated for each first controlled object; the first current motion information of each first controlled object is determined in real time respectively; in the case that the first current driving force corresponding to the first current force parameter reaches the corresponding first limit driving force, the first current position is taken as the first limit position of the first controlled object. Through the technical scheme provided in the embodiment of the application, the first controlled object runs at a lower speed under the limitation of a smaller limit driving force, and when reaching the first limit position, it will not cause a larger kinetic energy impact and a larger pressure on the coating machine and other equipment; and the position of the plurality of servo cylinders is measured at the same time, and the efficiency is higher.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of position measurement, in particular to a multi-nozzle position measurement method and device, electronic equipment and storage medium. BACKGROUND

[0002] The coating machine is a key equipment in many coating industries, such as advanced packaging coating of semiconductors, coating of perovskite solar cells, coating of hydrogen fuel cell electrodes, and thin film transistor coating in liquid crystal display. The control of the nozzle of the coating machine is the most important, which is directly related to the coating quality and the quality of finished products. The nozzle of the intelligent coating machine is controlled by a servo cylinder, which can automatically adjust the stroke, and compared with the traditional manual adjustment, it improves the efficiency and the coating quality. The movement stroke of the servo cylinder is usually greater than the allowed operating range of the nozzle, so it is necessary to determine the allowed operating range of the servo cylinder after installation to avoid damage to the equipment.

[0003] The adjustment of the nozzle is usually based on the extreme positions as the reference positions, and whether the reference positions can be accurately determined relates to the effect of the subsequent adjustment. The coating machine often needs to be replaced and cleaned or replaced with parts. After replacing the nozzle each time, the installation position of the servo cylinder will change, which will change the reference position and the allowed operating range of the servo cylinder, so it is necessary to find the accurate upper and lower limit positions to accurately determine the allowed operating range of the servo cylinder.

[0004] Currently, the servo cylinder is mainly controlled to stop at the upper and lower limit positions, and the current position is read as the upper and lower limit positions, but the coating machine has multiple nozzles (usually has dozens or even hundreds of nozzles), and multiple servo cylinders are simultaneously operated to the upper limit position or the lower limit position, which is easy to squeeze the inside of the coating machine at multiple points, causing damage to the equipment. SUMMARY

[0005] To solve the existing technical problems, the embodiments of the present application provide a multi-nozzle position measurement method, device, electronic equipment and storage medium.

[0006] In a first aspect, the embodiments of the present application provide a multi-nozzle position measurement method, comprising:

[0007] The multiple servo cylinders arranged at intervals are all taken as first controlled objects, and a first control instruction is generated for each of the first controlled objects; the first control instruction is used to control the first controlled object to move in a first direction at a first speed, and the first control instruction is provided with a first limit value used to represent a first limit driving force allowed by the first controlled object when moving; the first speed is less than half of a maximum speed at which the first controlled object can run; the first limit driving force is greater than a driving force required by the first controlled object under zero load when running in the first direction at the first speed, and is less than half of a maximum driving force that can be provided by the first controlled object;

[0008] First current motion information of each of the first controlled objects is determined in real time respectively, the first current motion information includes a first current position and a first current force parameter used to represent a first current driving force size; the first current position is a position of the first controlled object at a current time when moving in the first direction, and the first current driving force is a driving force of the first controlled object at the current time when moving in the first direction;

[0009] In a case where the first current driving force corresponding to the first current force parameter reaches the corresponding first limit driving force, the first current position is taken as a first limit position of the first controlled object.

[0010] In a possible implementation, the first current motion information of each of the first controlled objects is determined in real time, and includes:

[0011] A first current current feedback value of each of the first controlled objects is determined in real time, and the first current current feedback value is taken as the first current force parameter; the first current current feedback value is a current feedback value used to control the first controlled object to move in the first direction at the current time;

[0012] Alternatively, a first current pressure value of the first controlled object is determined in real time, and the first current pressure value is taken as the first current force parameter; the first current pressure value is a pressure value between the first controlled object and an obstacle at the current time when the first controlled object moves in the first direction.

[0013] In a possible implementation, in a case where the first current pressure value is taken as the first current force parameter, the method further includes:

[0014] In a case where the first current pressure value rises to a maximum value and remains unchanged, it is determined that the first current driving force corresponding to the first current force parameter reaches the first limit driving force.

[0015] In a possible implementation, the method further comprises: taking the first current position as the contact position of the first controlled object in the first direction when the first current driving force corresponding to the first current force parameter starts to increase.

[0016] Alternatively, the first current motion information further comprises a first current speed, and the method further comprises: taking the first current position as the contact position of the first controlled object in the first direction when the first current driving force corresponding to the first current force parameter starts to increase and the first current speed starts to decrease.

[0017] In a possible implementation, after taking the first current position as the first limit position of the first controlled object, the method further comprises:

[0018] generating a second control instruction for each of the first controlled objects; the second control instruction is used to control the first controlled object to move in a second direction at a second speed, and the second control instruction is provided with a second limit value used to represent a second limit driving force allowed by the first controlled object when moving; the second direction is opposite to the first direction; the second speed is less than half of the maximum speed at which the first controlled object can run; the second limit driving force is greater than the driving force required by the first controlled object with zero load when running in the second direction at the second speed, and is less than half of the maximum driving force that can be provided by the first controlled object;

[0019] determining second current motion information of each of the first controlled objects in real time respectively, the second current motion information comprising a second current position and a second current force parameter used to represent the size of a second current driving force; the second current position is the position of the first controlled object at the current time when moving in the second direction, and the second current driving force is the driving force of the first controlled object at the current time when moving in the second direction;

[0020] taking the second current position as a second limit position of the first controlled object when the second current driving force corresponding to the second current force parameter reaches the corresponding second limit driving force.

[0021] In a possible implementation, when the first direction is a downward direction and the second direction is an upward direction, the first limit driving force is less than the second limit driving force.

[0022] When the first direction is an upward direction and the second direction is a downward direction, the first limit driving force is greater than the second limit driving force.

[0023] In a possible implementation, the method further includes:

[0024] The plurality of servo cylinders other than the first controlled object are set as second controlled objects, and third control instructions are generated for each of the second controlled objects during determination of the first limit position of the first controlled object. The third control instructions are used to control the second controlled objects to move in a second direction at a third speed, and the third control instructions are provided with third limit values used to represent third limit driving forces allowed when the second controlled objects move. The second direction is opposite to the first direction. The third speed is less than half of a maximum speed at which the second controlled objects can move. The third limit driving force is greater than a driving force required by the second controlled objects with zero load when moving in the second direction at the third speed, and less than half of a maximum driving force that can be provided by the second controlled objects.

[0025] Third current motion information of each of the second controlled objects is determined in real time, respectively. The third current motion information includes a third current position and a third current force parameter used to represent a third current driving force. The third current position is a position of the second controlled object at a current time when the second controlled object moves in the second direction. The third current driving force is a driving force of the second controlled object at the current time when the second controlled object moves in the second direction.

[0026] When the third current driving force corresponding to the third current force parameter reaches the corresponding third limit driving force, the third current position is taken as a third limit position of the second controlled object.

[0027] In a second aspect, an embodiment of the present application further provides a position measurement device of a multi-mode head, including:

[0028] The first control module is used to set the plurality of servo cylinders as first controlled objects, and generate first control instructions for each of the first controlled objects. The first control instructions are used to control the first controlled objects to move in a first direction at a first speed, and the first control instructions are provided with first limit values used to represent first limit driving forces allowed when the first controlled objects move. The first speed is less than half of a maximum speed at which the first controlled objects can move. The first limit driving force is greater than a driving force required by the first controlled objects with zero load when moving in the first direction at the first speed, and less than half of a maximum driving force that can be provided by the first controlled objects.

[0029] The first real-time determination module is used to determine the first current motion information of each of the first controlled objects in real time. The first current motion information includes the first current position and the first current force parameter for representing the magnitude of the first current driving force. The first current position is the position of the first controlled object at the current moment when it moves along the first direction, and the first current driving force is the driving force of the first controlled object at the current moment when it moves along the first direction.

[0030] The first limit position determination module is used to determine the first limit position of the first controlled object when the first current driving force corresponding to the first current force parameter reaches the corresponding first limit driving force.

[0031] Thirdly, embodiments of the present invention provide an electronic device, including a bus, a transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor. The transceiver, the memory, and the processor are connected via the bus. When the computer program is executed by the processor, it implements the steps in the multi-mode head position measurement method described above.

[0032] Fourthly, embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps in the multi-mode head position measurement method described in any of the above claims.

[0033] The multi-head position measurement method, device, electronic device, and storage medium provided in this invention allow the first controlled object to operate at a relatively low speed, preventing significant kinetic energy impact on equipment such as coating machines when it reaches its first limit position. Even if the equipment at the first limit position obstructs the first controlled object's continued movement after it reaches the first limit position, the driving force provided to the first controlled object (i.e., the first current driving force) will not exceed this first limit driving force, thus preventing the first controlled object from exerting excessive pressure on the equipment. Furthermore, by treating multiple servo cylinders spaced apart as a group of controlled objects, position measurement can be performed simultaneously on these controlled objects, resulting in high measurement efficiency. Even if multiple servo cylinders reach the same limit position in the same direction (e.g., simultaneously reaching the first limit position in the first direction), the spaced-apart servo cylinders will not cause significant impact. Under the constraint of the first limit value, the force exerted by the dispersed multiple servo cylinders is negligible, effectively preventing equipment such as coating machines from being squeezed or deformed. Attached Figure Description

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the background, the accompanying drawings needed to be used in the embodiments of the present application or the background will be described below.

[0035] Figure 1 A flow chart of a position measurement method of a multi-die head provided by an embodiment of the present application is shown;

[0036] Figure 2 A control schematic diagram of a plurality of servo cylinders in the position measurement method of the multi-die head provided by an embodiment of the present application is shown;

[0037] Figure 3 A structural schematic diagram of a position measurement device of a multi-die head provided by an embodiment of the present application is shown;

[0038] Figure 4 A structural schematic diagram of an electronic device for executing the position measurement method of the multi-die head provided by an embodiment of the present application is shown. DETAILED DESCRIPTION

[0039] The embodiments of the present application will be described below with reference to the accompanying drawings.

[0040] Figure 1 A flow chart of a position measurement method of a multi-die head provided by an embodiment of the present application is shown, the position measurement method of the multi-die head can realize position measurement of a plurality of die heads, for example, position measurement of a plurality of die heads in a coating machine; when it is necessary to determine the limit position of a servo cylinder, the servo cylinder can be controlled based on the position measurement method; for example, after the servo cylinder (die head) is re-installed on the coating machine, or when it is necessary to calibrate the limit position of the servo cylinder, the servo cylinder can be controlled based on the position measurement method. As shown in the figure, the method comprises: Figure 1

[0041] Step 101: a plurality of servo cylinders arranged at intervals are all taken as first controlled objects, and a first control instruction is generated for each first controlled object; the first control instruction is used to control the first controlled object to move in a first direction at a first speed, and the first control instruction is provided with a first limit value used to represent a first limit driving force allowed by the first controlled object when moving; the first speed is less than half of the maximum speed at which the first controlled object can run; the first limit driving force is greater than a driving force required by the first controlled object with zero load when running in the first direction at the first speed, and is less than half of the maximum driving force that can be provided by the first controlled object.

[0042] ​In this embodiment of the invention, the mold head is controlled by a servo electric cylinder. By controlling the movement of the servo electric cylinder, the motion control of the mold head can be achieved. The servo electric cylinder is a linear servo driver, capable of linear motion. This servo electric cylinder itself is an existing mature technology and will not be described in detail here. Multiple mold heads correspondingly have multiple servo electric cylinders. In this embodiment of the invention, multiple servo electric cylinders spaced apart are treated as a group of controlled objects, and this group of servo electric cylinders is synchronously controlled using the same or similar control methods. For ease of description, these servo electric cylinders are referred to as the first controlled object.

[0043] For example, such as Figure 2 As shown, the coating machine contains six dies and correspondingly has six servo cylinders. According to the arrangement of the servo cylinders, they are named servo cylinder 1, servo cylinder 2, servo cylinder 3, servo cylinder 4, servo cylinder 5, and servo cylinder 6. Servo cylinders 1, servo cylinder 3, and servo cylinder 5 are arranged at intervals, and servo cylinders 1 and servo cylinder 4 are also arranged at intervals. It can be determined which servo cylinders need to be the first controlled object based on the actual situation. Figure 2 Taking servo cylinder 1, servo cylinder 3, and servo cylinder 5 as a group of controlled objects as an example. Optionally, multiple servo cylinders that are spaced apart and evenly arranged are all considered as the first controlled object.

[0044] In this embodiment of the invention, a corresponding control instruction, namely a first control instruction, is generated for all first controlled objects. The first control instruction is used to control the movement direction and speed of the first controlled object and to limit the ultimate driving force of the first controlled object.

[0045] Specifically, the first control command is used to control the first controlled object to move along the first direction. After receiving the first control command, each first controlled object can move along the first direction. By generating the first control command for all the first controlled objects, all the first controlled objects can move in the same direction.

[0046] The first control command also sets the movement speed of the first controlled object, i.e., the first speed; the first controlled object can run at the first speed by responding to the first control command. The first speed is a relatively low speed. In this embodiment of the invention, the first speed is less than half of the maximum speed that the first controlled object (i.e., the servo cylinder) can operate at; for example, the first speed is less than 10% of the maximum speed that the first controlled object can operate at, for example, the first speed is 8%, 5%, etc., of the maximum speed that the first controlled object can operate at. Optionally, the first speed is a fixed value, and correspondingly, the first control command is used to control the first controlled object to run at a constant speed. Different first controlled objects can move at the same first speed or at different first speeds; this embodiment does not limit this.

[0047] And the first control instruction is also provided with a limit value of the first controlled object, i.e. the first limit value, which is used to represent the limit driving force allowed by the first controlled object in the position measurement process, i.e. the first limit driving force, in other words, the driving force of the first controlled object cannot exceed the first limit driving force. For example, the first limit value can be directly the first limit driving force; or the first limit value can also be a parameter which can indirectly represent the size of the first limit driving force, for example, the control system of the first controlled object contains two closed-loop controls of current and speed, the control system can provide different driving forces to the first controlled object by providing different sizes of driving currents (the driving current is a set value, the current of the control servo cylinder is close to the set value, i.e. the actual current of the control servo cylinder is close to the set value; the control system can feedback the size of the actual current of the control servo cylinder, the current feedback value feedback by the control system; generally, the current feedback value is close to but not exactly the same as the driving current), i.e. the driving current and the driving force have a corresponding relationship, at this time, the limit driving current corresponding to the first limit driving force can also be taken as the first limit value, i.e. the driving current of the first controlled object cannot exceed the limit driving current.

[0048] And the first limit driving force is also a small driving force; in the embodiment of the present application, the first limit driving force is less than half of the maximum driving force that can be provided by the first controlled object; for example, the first limit driving force is less than 10% of the maximum driving force that can be provided by the first controlled object, for example, the first limit driving force is 8% or 5% of the maximum driving force that can be provided by the first controlled object. Different first controlled objects can be provided with the same first limit driving force or different first limit driving forces, which is not limited in the embodiment.

[0049] In addition, in order to ensure that the first controlled object can run at the first speed, the first limit driving force also needs to be greater than the driving force required by the first controlled object with zero load when running in the first direction at the first speed; i.e. when the first controlled object needs a driving force F1 to drive the first controlled object to run in the first direction at the first speed, the first limit driving force needs to be greater than the driving force F1.

[0050] Step 102: respectively determining the first current motion information of each first controlled object in real time, the first current motion information including the first current position and the first current force parameter used to represent the size of the first current driving force; the first current position is the position of the first controlled object at the current time when moving in the first direction; the first current driving force is the driving force of the first controlled object at the current time when moving in the first direction.

[0051] In the embodiment of the present application, during the process that the first controlled object moves along the first direction, the information capable of representing the current motion state of the first controlled object, i.e., the first current motion information, can be determined in real time; wherein, the first current motion information of the first controlled object can be acquired at a high sampling frequency, i.e., the sampling frequency is higher than a certain preset frequency or the sampling interval is lower than a certain preset time; for example, if the sampling interval is less than 0.1s, it can be considered as real-time.

[0052] The first current motion information includes the position of the first controlled object at the current time when the first controlled object moves along the first direction, i.e., the first current position. For example, the first controlled object (servo cylinder) generally has a position sensor which can measure the position of the first controlled object in real time. Alternatively, the position sensor can be arranged at the end of the first controlled object, and accordingly, the first current position is the end position of the first controlled object. Since the first controlled object (i.e., the servo cylinder) itself has a certain elasticity (for example, there is a gap between adjacent two assembly parts, or there is a gap between gears, etc.), it will cause the position of some parts to still have a slight change after the first controlled object reaches the limit position. The end of the first controlled object is generally the end of a rigid structure, for example, the end of the first controlled object is generally the end of a screw rod mechanism, and the screw rod mechanism is a rigid structure which will not deform after reaching the limit position. Therefore, taking the end position of the first controlled object at the current time as the first current position can more accurately represent the position of the first controlled object, especially the relative position between the first controlled object and the device.

[0053] In addition, the first current motion information further includes a first current force parameter, and the first current force parameter is used to represent the size of the first current driving force; wherein, the first current driving force is the driving force of the first controlled object at the current time when the first controlled object moves along the first direction. For example, the first current force parameter is directly the first current driving force, i.e., the first current force parameter itself can directly represent the size of the first current driving force. Alternatively, the first current force parameter can also be represented based on other parameters which are not driving forces, and the embodiment of the present application does not limit this.

[0054] Optionally, the above step 102 of "determining the first current motion information of each first controlled object in real time" can include the following step A1:

[0055] Step A1: determining the first current current feedback value of each first controlled object in real time, and taking the first current current feedback value as the first current force parameter; the first current current feedback value is the current feedback value of the current used to control the first controlled object to move along the first direction.

[0056] Specifically, since the first controlled object can obtain different driving forces of different sizes based on different driving currents, the driving current can be taken as the first current force parameter, and the actual form of the driving current is a current feedback value fed back by the linear servo driver, so the current feedback value can be taken as the first current force parameter; specifically, when controlling the first controlled object to move in the first direction, the current feedback value fed back by the control system of the first controlled object can be obtained in real time, the current feedback value is the current value collected by the first controlled object, and the current feedback value at the current time (i.e. the first current force parameter) is taken as the first current force parameter.

[0057] Alternatively, the step 102 "determining the first current motion information of each first controlled object in real time" can also include the following step A2:

[0058] Step A2: determining the first current pressure value of the first controlled object in real time, and taking the first current pressure value as the first current force parameter; the first current pressure value is the pressure value between the first controlled object and the obstacle at the current time when the first controlled object moves in the first direction.

[0059] In the embodiment of the application, although the pressure value between the first controlled object and the obstacle has no direct relationship with the driving force of the first controlled object, since the purpose of setting the first limit value in the embodiment of the application is to limit the driving force of the first controlled object when reaching the limit position (i.e. the first limit position described below), the pressure value between the first controlled object and the obstacle will change before and after the first controlled object reaches the limit position, at this time, the driving force of the first controlled object and the pressure value between the first controlled object and the obstacle can be considered to have a corresponding relationship, and the driving force of the first controlled object can be represented by the pressure value, i.e. the current pressure value (i.e. the first current pressure value) between the first controlled object and the obstacle can be taken as the first current force parameter to represent the size of the first current driving force.

[0060] The first current position is the position at the current time, the first current force parameter is the force parameter at the current time, and the first current driving force is the driving force at the current time. As the first current motion information is determined in real time (essentially, determined discretely multiple times), the determined first current position, first current force parameter, and first current driving force can also change in real time at different times. The first current position, first current force parameter, and first current driving force in the embodiments of the present application do not represent a specific value or a parameter at a specific time. Of course, at the current time, the first current position, first current force parameter, and first current driving force are a specific value determined at the current time. In addition, the first current current feedback value, first current pressure value, and the first current speed described below are similar, and other current positions (such as the second current position and the third current position) are also similar, and the subsequent description is omitted.

[0061] Step 103: In the case where the first current driving force corresponding to the first current force parameter reaches the corresponding first limit driving force, the first current position is taken as the first limit position of the first controlled object.

[0062] Specifically, the control system of the first controlled object is a closed-loop system. When the first controlled object is running normally, a large driving force is not needed. If the first controlled object encounters an obstacle, the obstacle will hinder the first controlled object from running at a normal speed, resulting in a reduced speed. In order to enable the first controlled object to still run at a normal speed (for example, the first speed), the closed-loop control system will instruct to output a larger driving force, for example, to work with a larger driving current (correspondingly, a larger current feedback value will be fed back at this time), so as to increase the speed of the first controlled object. In the process of position measurement, the first controlled object moves in the first direction, and encounters an obstacle, which indicates that the first controlled object has reached a limit position. The limit position is referred to as the first limit position in the embodiments of the present application. At this time, the speed of the first controlled object will decrease, and the control system will continue to increase the driving force, that is, the first current driving force will increase. Since the first limit value is set in advance, the first current driving force will not exceed the first limit driving force. Therefore, when the first controlled object reaches the first limit position, the first current driving force of the first controlled object will increase to the first limit driving force. Correspondingly, if the first current driving force increases to the first limit driving force, it also indicates that the first controlled object has reached the first limit position. At this time, the first current position can be taken as the first limit position.

[0063] Wherein, in the case of taking the first current feedback value as the first current force parameter, the first current driving force corresponding to the first current feedback value can be determined based on the corresponding relationship between the current feedback value and the driving force, and then it can be judged whether the first limit driving force is reached. Or, since the current feedback value of the first controlled object rises first and then remains unchanged due to the limiting effect of the first limit value when the first controlled object reaches the vicinity of the first limit position, the specific value of the first current feedback value can not be concerned, and only the first current feedback value rising to the maximum and remaining unchanged is needed, at this time, it can be considered that the first current driving force corresponding to the first current feedback value reaches the first limit driving force.

[0064] In the case of taking the first current pressure value as the first current force parameter, the strict corresponding relationship between the first current pressure value and the first current driving force is relatively difficult to determine, but similar to the first current feedback value described above, when the first controlled object reaches the vicinity of the first limit position, the first current pressure value of the first controlled object will also rise first (rise from zero), and then remain unchanged due to the limiting effect of the first limit value. Therefore, in the case of the first current pressure value rising to the maximum value and remaining unchanged, it is determined that the first current driving force corresponding to the first current force parameter reaches the first limit driving force, and the first current position at this time can be used as the first limit position of the first controlled object.

[0065] Optionally, in order to further improve the measurement accuracy, the first limit position of the first controlled object can be determined multiple times, that is, the above steps 101-103 are executed multiple times, and the same first speed and first limit value can be set in each execution process, or different first speed and first limit value can be set. After determining a plurality of first limit positions, the average or maximum of the plurality of first limit positions can be taken as the finally determined first limit position of the first controlled object, and then the normal operating range of the first controlled object can be determined based on the finally determined first limit position.

[0066] The position measurement method provided by the embodiment of the application can prevent the first controlled object from exerting a large pressure on the device when the first controlled object reaches the first limit position, and can prevent the device from being squeezed and deformed.

[0067] Optionally, the position measurement method further comprises a process of determining the contact position, which can comprise the following step B1:

[0068] Step B1: when the first current driving force corresponding to the first current force parameter starts to increase, the first current position is taken as the contact position of the first controlled object in the first direction.

[0069] The contact position refers to the position of the servo cylinder (for example, the first controlled object) when the servo cylinder just contacts the coating machine device. Since the coating machine device has a certain elasticity, the servo cylinder will continue to advance a small distance after reaching the contact position until reaching the limit position (the coating machine device will be slightly deformed until the device cannot be deformed any more, and the slight deformation is generally allowed and does not affect the subsequent normal operation of the coating machine device). The contact position and the limit position are two positions close to each other.

[0070] In the embodiment of the application, for convenience of description, the contact position of the first controlled object in the first direction is referred to as the first contact position. Specifically, when the first controlled object reaches the first contact position, the coating machine device will hinder the first controlled object from continuing to move, and the first controlled object needs a larger driving force to continue to run at the first speed, so the first current force parameter will start to increase, for example, the first current current feedback value starts to increase, or the first current pressure value starts to increase from zero (or the first current pressure value becomes a non-zero value). The first current position at this time can be taken as the first contact position of the first controlled object. Subsequently, since the coating machine device can be slightly deformed, the first controlled object can continue to run a small distance in the first direction from the first contact position until the first current force parameter reaches a maximum value, that is, the first controlled object reaches the first limit position.

[0071] Alternatively, if the first current motion information further comprises a first current speed, the process of determining the first contact position can further comprise the following step B2:

[0072] Step B2: If the first current driving force corresponding to the first current force parameter starts to increase and the first current speed starts to decrease, the first current position is taken as the contact position of the first controlled object in the first direction. The first current speed refers to the speed of the first controlled object in the first direction at the current time.

[0073] In the embodiment of the present application, the speed of the first controlled object at the current time, i.e., the first current speed, can be determined in real time in step 102. If the first current speed starts to decrease and the first current driving force starts to increase, it can be considered that the first controlled object has contacted the coating machine device, and the first current position is the first contact position. The first contact position is determined based on the first current speed and the first current force parameter in the embodiment of the present application, and the determined first contact position is more accurate.

[0074] Alternatively, since the coating machine die has two limit positions, for example, the coating machine die moves up and down, and has an upper limit position and a lower limit position. After determining the first limit position of the die in the first direction based on steps 101-103, the second limit position of the die in the opposite direction can also be determined. Specifically, after step 103 "taking the first current position as the first limit position of the first controlled object", the position measurement method further comprises the following steps C1-C3:

[0075] Step C1: generating a second control instruction for each first controlled object; the second control instruction is used to control the first controlled object to move in the second direction at a second speed, and the second control instruction is provided with a second limit value for indicating the second limit driving force allowed by the first controlled object when moving; the second direction is opposite to the first direction; the second speed is less than half of the maximum speed of the first controlled object; the second limit driving force is greater than the driving force required by the first controlled object under zero load when moving in the second direction at the second speed, and less than half of the maximum driving force provided by the first controlled object.

[0076] Similar to the control of the first controlled object to move in the first direction based on the first control instruction, the embodiment of the present application also generates a second control instruction for controlling the first controlled object to move in a second direction, which is opposite to the first direction. Specifically, the second control instruction is used to control the first controlled object to move in the second direction at a second speed, and a second limit value is also set to limit the limit driving force, i.e., the second limit driving force, allowed by the first controlled object when moving in the second direction.

[0077] wherein, similar to the first speed and the first limit driving force, the second speed is also a lower speed, and the second limit driving force is also a smaller driving force. The first speed and the second speed can be the same or different, and the first limit driving force and the second limit driving force can be the same or different, which can be determined based on actual conditions.

[0078] Optionally, the coating machine die is generally moved up and down, and correspondingly, the servo cylinder is also moved up and down; the extrusion force of the servo cylinder on the coating machine is related to the driving force of the servo cylinder and also related to the weight of the servo cylinder (or the die) itself. In this case, one of the first direction and the second direction is a downward direction, and the other is an upward direction; a smaller limit driving force should be set when the servo cylinder moves downward, and a larger limit driving force can be set when the servo cylinder moves downward. Specifically, in the case where the first direction is the downward direction and the second direction is the upward direction, the first limit driving force is smaller than the second limit driving force; in the case where the first direction is the upward direction and the second direction is the downward direction, the first limit driving force is larger than the second limit driving force. Those skilled in the art can understand that the downward direction is the overall downward direction, which can be an oblique downward direction or a vertical downward direction; the upward direction is similar, and is not described herein.

[0079] Step C2: determining the second current motion information of each first controlled object in real time, respectively, the second current motion information including a second current position and a second current force parameter for indicating the size of the second current driving force; the second current position is the position of the first controlled object at the current time when moving in the second direction, and the second current driving force is the driving force of the first controlled object at the current time when moving in the second direction.

[0080] In this embodiment of the invention, similar to step 102 above, during the movement of the first controlled object along the second direction, information characterizing the current motion state of the first controlled object, namely the second current motion information, can also be determined in real time. Accordingly, the second current motion information includes a second current position and a second current force parameter; wherein the second current position and the second current force parameter are similar to the first current position and the first current force parameter described above, and will not be elaborated further here.

[0081] For example, the second current motion information could also be the current current feedback value or the current pressure value. Specifically, step C2, "determining the second current motion information of each first controlled object in real time," could include the following steps C21 or C22:

[0082] Step C21: Determine the second current feedback value of each first controlled object in real time, and use the second current feedback value as the second current force parameter; the second current feedback value is the current feedback value used to control the first controlled object to move along the second direction at the current moment.

[0083] Step C22: Determine the second current pressure value of the first controlled object in real time, and use the second current pressure value as the second current force parameter; the second current pressure value is the pressure value between the first controlled object and the obstacle at the current moment when the first controlled object moves along the second direction.

[0084] In performing step C22, pressure sensors can be installed at both ends of the first controlled object to detect the first current pressure value and the second current pressure value.

[0085] Step C3: When the second current driving force corresponding to the second current force parameter reaches the corresponding second limit driving force, the second current position is taken as the second limit position of the first controlled object.

[0086] In this embodiment of the invention, similar to step 103 above, when the first controlled object reaches the limit position along the second direction, this limit position is referred to as the second limit position. The operating range of the first controlled object can be determined based on this first and second limit positions; for example, the operating range of the first controlled object is between the first and second limit positions, or the operating range is a sub-interval of the interval defined by the first and second limit positions.

[0087] Optionally, when the first controlled object moves along the second direction, a corresponding contact position, i.e., the second contact position, can also be determined. Similar to the process of determining the first contact position in steps B1 and B2 above, the process of determining the second contact position may include:

[0088] Step D1: when the second current driving force corresponding to the second current force parameter starts to increase, the second current position is taken as the contact position of the second controlled object in the second direction, i.e., the second contact position.

[0089] Step B2: when the second current driving force corresponding to the second current force parameter starts to increase and the second current speed starts to decrease, the second current position is taken as the second contact position of the first controlled object. The second current speed refers to the speed at the current time when the first controlled object moves in the second direction, and the second current speed is a parameter in the second current motion information.

[0090] In the embodiment of the present application, by controlling the movement of the first controlled object in the first direction and the second direction, the limit positions and the contact positions of the first controlled object in the two directions can be determined, and then the normal operation range of the first controlled object can be determined based on the requirements.

[0091] For example, the upward movement and the downward movement of the first controlled object are measured based on the position measurement method provided in the embodiment of the present application, and the limit positions and the first contact position in the upward and downward directions are determined; if the upper limit position, the upper contact position, the lower contact position, and the lower limit position are represented by A, B, C, and D respectively, the movement range of the first controlled object can be from position B to position C, or from position A to position D, or from a certain position (for example, the midpoint between A and B) to a certain position (for example, the midpoint between C and D), which can be determined based on the actual situation.

[0092] In the embodiment of the present application, for other servo cylinders except the first controlled object, the first limit position of the other servo cylinders can also be determined based on the above steps 101-103, etc.; for example, the other servo cylinders arranged at intervals are taken as new first controlled objects, and the above steps 101-103 are repeatedly executed until the position measurement of all servo cylinders is completed.

[0093] Alternatively, to improve the measurement efficiency, the position measurement of the first controlled object can be performed at the same time as the position measurement of other servo cylinders. Specifically, the position measurement method further includes the following steps E1-E3:

[0094] Step E1: setting a plurality of other servo cylinders as second controlled objects, except for the first controlled object; generating a third control instruction for each second controlled object in the process of determining the first limit position of the first controlled object; the third control instruction is used to control the second controlled object to move in a second direction at a third speed, and the third control instruction is provided with a third limit value for indicating a third limit driving force allowed by the second controlled object when moving; the second direction is opposite to the first direction; the third speed is less than half of the maximum speed at which the second controlled object can run; the third limit driving force is greater than the driving force required by the second controlled object with zero load when running in the second direction at the third speed, and less than half of the maximum driving force that can be provided by the second controlled object.

[0095] In the embodiment of the present application, part of the servo cylinders arranged at intervals are set as first controlled objects, and another part of the servo cylinders arranged at intervals (for example, at least part of the servo cylinders except the first controlled objects) are set as another group of controlled objects, i.e. second controlled objects. In the process of determining the first limit position of the first controlled object, i.e. in the process of the first controlled object needing to move in the first direction, a third control instruction for controlling the second controlled object to move in the opposite second direction is generated, so that the first controlled object moves in the first direction and the second controlled object moves in the second direction, thereby determining the limit position of the second controlled object in the second direction (i.e. the third limit position) when determining the first limit position of the first controlled object in the first direction. The third control instruction is similar to the second control instruction described above, which will not be described here.

[0096] For example, referring to FIG. 1, Figure 2 As shown in FIG. 1, the servo cylinder 1, the servo cylinder 3 and the servo cylinder 5 are all first controlled objects, and all move in the first direction under the action of the first control instruction, as shown in FIG. 1. Figure 2 As shown in FIG. 1, the servo cylinder 1, the servo cylinder 3 and the servo cylinder 5 all move downward. And the servo cylinder 2, the servo cylinder 4 and the servo cylinder 6 are all second controlled objects, and all move in the second direction under the action of the third control instruction, as shown in FIG. 1. Figure 2 As shown in FIG. 1, the servo cylinder 2, the servo cylinder 4 and the servo cylinder 6 all move upward. Therefore, the lower limit position of the first controlled object and the upper limit position of the second controlled object can be determined at the same time.

[0097] Further, in the process of determining the second limit position of the first controlled object, a control instruction for controlling the second controlled object to move in the first direction is generated, for example, a fourth control instruction, which is similar to the first control instruction described above, and will not be described here. By controlling the second controlled object to move in the first direction, the limit position of the second controlled object in the first direction, for example, the fourth limit position, etc. can also be determined.

[0098] Step E2: determining third current motion information of each second controlled object in real time respectively, the third current motion information including a third current position and a third current force parameter used for representing a third current driving force size; the third current position is a position of the second controlled object in a case of moving along the second direction at a current time, and the third current driving force is a driving force of the second controlled object in the case of moving along the second direction at the current time.

[0099] Step E3: in a case where the third current driving force corresponding to the third current force parameter reaches a corresponding third limit driving force, taking the third current position as a third limit position of the second controlled object.

[0100] In the embodiment of the application, the steps E2-E3 are similar to the steps C2-C3 of the above embodiment, and the difference mainly lies in that the steps E2-E3 are suitable for controlling the second controlled object to move along the second direction, and the steps C2-C3 are suitable for controlling the first controlled object to move along the second direction; but the first controlled object and the second controlled object are essentially the same, and are both servo cylinders.

[0101] The position measurement method provided by the embodiment of the application determines the limit position of a part of servo cylinders (i.e. the first controlled object) in the first direction and the limit position of another part of servo cylinders (i.e. the second controlled object) in the second direction by using the characteristics that the servo cylinders can move in two directions, so that the measurement efficiency is improved without excessively pressing the coating machine device.

[0102] The above describes in detail the position measurement method of the multi-nozzle provided by the embodiment of the application, and the method can also be realized by a corresponding device, and the position measurement device of the multi-nozzle provided by the embodiment of the application is described in detail below.

[0103] Figure 3 A structure schematic diagram of a position measurement device of a multi-nozzle provided by the embodiment of the application is shown. As shown in the figure, the position measurement device of the multi-nozzle includes: Figure 3

[0104] ​The first control module 31 is configured to set each of the plurality of servo cylinders as a first controlled object, and generate a first control instruction for each of the first controlled objects; the first control instruction is used to control the first controlled object to move in a first direction at a first speed, and the first control instruction is provided with a first limit value used to represent a first limit driving force allowed by the first controlled object when moving; the first speed is less than half of a maximum speed at which the first controlled object can move; the first limit driving force is greater than a driving force required by the first controlled object with zero load when moving in the first direction at the first speed, and is less than half of a maximum driving force that can be provided by the first controlled object;

[0105] The first real-time determination module 32 is configured to determine first current motion information of each of the first controlled objects in real time, respectively; the first current motion information includes a first current position and a first current force parameter used to represent a first current driving force; the first current position is a position of the first controlled object at a current time when the first controlled object moves in the first direction; and the first current driving force is a driving force of the first controlled object at the current time when the first controlled object moves in the first direction.

[0106] The first limit position determination module 33 is configured to, when the first current driving force corresponding to the first current force parameter reaches the corresponding first limit driving force, determine the first current position as a first limit position of the first controlled object.

[0107] In a possible implementation, the first real-time determination module 32 is configured to determine the first current motion information of each of the first controlled objects in real time, including:

[0108] determining a first current current feedback value of each of the first controlled objects in real time, and taking the first current current feedback value as the first current force parameter; the first current current feedback value is a current feedback value used to control the first controlled object to move in the first direction at the current time;

[0109] or, determining a first current pressure value of the first controlled object in real time, and taking the first current pressure value as the first current force parameter; the first current pressure value is a pressure value between the first controlled object and an obstacle at the current time when the first controlled object moves in the first direction.

[0110] In a possible implementation, when the first current pressure value is taken as the first current force parameter, the first limit position determination module 33 is further configured to:

[0111] determining that the first current driving force corresponding to the first current force parameter reaches the first limit driving force in the case that the first current pressure value rises to a maximum value and remains unchanged.

[0112] In a possible implementation, the apparatus further comprises a contact position determining module.

[0113] The contact position determining module is configured to determine the first current position as the contact position of the first controlled object in the first direction in the case that the first current driving force corresponding to the first current force parameter starts to increase.

[0114] Alternatively, the first current motion information further comprises a first current speed, and the contact position determining module is configured to determine the first current position as the contact position of the first controlled object in the first direction in the case that the first current driving force corresponding to the first current force parameter starts to increase and the first current speed starts to decrease.

[0115] In a possible implementation, the apparatus further comprises:

[0116] a second control module configured to generate a second control instruction for each of the first controlled objects after the first limit position determining module 33 determines the first current position as the first limit position of the first controlled object; the second control instruction is configured to control the first controlled object to move in a second direction at a second speed, and the second control instruction is provided with a second limit value used to represent a second limit driving force allowed by the first controlled object when moving; the second direction is opposite to the first direction; the second speed is less than half of the maximum speed at which the first controlled object can run; the second limit driving force is greater than the driving force required by the first controlled object with zero load when running in the second direction at the second speed, and is less than half of the maximum driving force that can be provided by the first controlled object;

[0117] a second real-time determining module configured to determine second current motion information of each of the first controlled objects in real time, respectively; the second current motion information comprises a second current position and a second current force parameter used to represent a size of a second current driving force; the second current position is a position of the first controlled object at a current time in the case that the first controlled object moves in the second direction; and the second current driving force is a driving force of the first controlled object at the current time in the case that the first controlled object moves in the second direction;

[0118] a second limit position determining module configured to determine a second current position as a second limit position of the first controlled object in the case that a second current driving force corresponding to the second current force parameter reaches the corresponding second limit driving force.

[0119] In a possible implementation, when the first direction is a downward direction and the second direction is an upward direction, the first limit driving force is smaller than the second limit driving force.

[0120] When the first direction is an upward direction and the second direction is a downward direction, the first limit driving force is greater than the second limit driving force.

[0121] In a possible implementation, the device further includes:

[0122] The third control module is configured to set a plurality of other servo cylinders other than the first controlled object as second controlled objects, generate a third control instruction for each of the second controlled objects in the process of determining the first limit position of the first controlled object, and control the second controlled objects to move in a second direction at a third speed, wherein the third control instruction is provided with a third limit value for representing a third limit driving force allowed when the second controlled objects move, the second direction is opposite to the first direction, the third speed is less than half of a maximum speed at which the second controlled objects can move, the third limit driving force is greater than a driving force required by the second controlled objects with zero load when moving in the second direction at the third speed, and is less than half of a maximum driving force that can be provided by the second controlled objects.

[0123] The third real-time determination module is configured to determine third current motion information of each of the second controlled objects in real time, wherein the third current motion information includes a third current position and a third current force parameter for representing a third current driving force, the third current position is a position of the second controlled object at a current time when moving in the second direction, and the third current driving force is a driving force of the second controlled object at the current time when moving in the second direction.

[0124] The third limit position determination module is configured to determine a third limit position of the second controlled object as the third current position when the third current driving force corresponding to the third current force parameter reaches the corresponding third limit driving force.

[0125] It should be noted that the multi-mode head position measuring device provided by the above embodiment is only used as an example to illustrate the division of the above functional modules when realizing the corresponding functions, and in actual application, the above functions can be completed by different functional modules according to the needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the above described functions. In addition, the multi-mode head position measuring device and the multi-mode head position measuring method provided by the above embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0126] In addition, the embodiment of the application further provides an electronic device, which comprises a bus, a transceiver, a memory, a processor and a computer program stored in the memory and capable of running on the processor, the transceiver, the memory and the processor are connected through the bus respectively, the computer program is executed by the processor to realize each process of the above multi-mode head position measuring method embodiment and achieve the same technical effect, to avoid repetition, which will not be repeated here.

[0127] Specifically, referring to Figure 4 The embodiment of the application further provides an electronic device, which comprises a bus 1110, a processor 1120, a transceiver 1130, a bus interface 1140, a memory 1150 and a user interface 1160.

[0128] In the embodiment of the application, the electronic device further comprises a computer program stored in the memory 1150 and capable of running on the processor 1120, and the computer program is executed by the processor 1120 to realize each process of the above multi-mode head position measuring method embodiment.

[0129] The transceiver 1130 is used for receiving and sending data under the control of the processor 1120.

[0130] In the embodiment of the application, the bus architecture (represented by the bus 1110) can include any number of interconnected buses and bridges, and the bus 1110 connects various circuits including one or more processors represented by the processor 1120 and the memory represented by the memory 1150 together.

[0131] Bus 1110 represents one or more of any of several types of bus structures, including an address bus, a data bus, a control bus, a memory bus, and a storage bus, each of which can be implemented using various technologies and standards. Bus 1110 can include one or more buses implementing various bus standards, such as an Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MCA) bus, Extended ISA (EISA) bus, Advanced Graphics Port (AGP), and / or a Peripheral Component Interconnect (PCI) bus.

[0132] Processor 1120 can be an integrated circuit chip located on a bus, or a plurality of chips configured to be communicatively coupled to a bus. Processor 1120 can be a general purpose processor, a central processing unit (CPU), a network processing unit (NPU), a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a complex programmable logic device (CPLD), a programmable logic array (PLA), a microcontroller unit (MCU), or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The methods, steps, and logical block diagrams disclosed in the embodiments of the present application can be implemented or executed by the processor. For example, the processor can be a single-core processor or a multi-core processor, and the processor can be integrated into a single chip or located in multiple different chips.

[0133] The processor 1120 can be a microprocessor or any conventional processor. The disclosed method steps in conjunction with the embodiments of the present application can be directly executed by a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. The software modules can be located in a readable storage medium known in the art, such as a random access memory (RAM), a flash memory, a read-only memory (ROM), a programmable ROM (PROM), an erasable PROM (EPROM), a register, etc. The readable storage medium is located in a memory, and the processor reads the information in the memory to complete the steps of the above method in conjunction with the hardware thereof.

[0134] The bus 1110 can also connect various other circuits or devices, such as peripheral devices, voltage stabilizers, or power management circuits, together. The bus interface 1140 provides an interface between the bus 1110 and the transceiver 1130, which are well known in the art. Therefore, the embodiments of the present application will not be further described.

[0135] The transceiver 1130 can be one element or multiple elements, such as multiple receivers and transmitters, which provide a unit for communicating with various other devices on a transmission medium. For example, the transceiver 1130 receives external data from other devices, and the transceiver 1130 is used to send data processed by the processor 1120 to other devices. Depending on the nature of the computer system, a user interface 1160 can also be provided, such as a touch screen, a physical keyboard, a display, a mouse, a speaker, a microphone, a trackball, a joystick, a stylus.

[0136] It should be understood that the memory 1150 in the embodiments of the present application can further include a memory remotely disposed with respect to the processor 1120, which can be connected to a server through a network. One or more portions of the above-mentioned network can be an ad hoc network, an intranet, an extranet, a virtual private network (VPN), a local area network (LAN), a wireless LAN (WLAN), a wide area network (WAN), a wireless wide area network (WWAN), a metropolitan area network (MAN), the Internet, a public switched telephone network (PSTN), a public or private telephone network, a wireless phone network, a wireless network, a Wi-Fi network, and a combination of two or more of the above-mentioned networks. For example, the wireless phone network and the wireless network can be a global system for mobile communications (GSM) system, a code division multiple access (CDMA) system, a worldwide interoperability for microwave access (WiMAX) system, a general packet radio service (GPRS) system, a wideband code division multiple access (WCDMA) system, a long term evolution (LTE) system, an LTE frequency division duplex (FDD) system, an LTE time division duplex (TDD) system, an LTE-advanced (LTE-A) system, a universal mobile telecommunications system (UMTS) system, an enhanced mobile broadband (eMBB) system, a massive machine type of communication (mMTC) system, an ultra-reliable low latency communications (uRLLC) system, and the like.

[0137] It should be understood that the memory 1150 in the embodiments of the present application can be a volatile memory or a non-volatile memory, or can include both a volatile memory and a non-volatile memory. Among them, the non-volatile memory includes a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically EPROM (EEPROM), or a flash memory.

[0138] The volatile memory includes random access memory (RAM), which acts to provide external cache to the processor. By way of example, and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate SDRAM (DDR SDRAM), Enhanced SDRAM (ESDRAM), SynchBurst DRAM (SLDRAM), and direct Rambus RAM (DRRAM). The memory 1150 of the subject electronic device includes, but is not limited to, other suitable types of memory, such as flash memory, a hard disk drive, or a combination of memory types. For example, the memory 1150 can include a non-removable memory, a removable memory, or a combination of both.

[0139] In an embodiment of the present application, the memory 1150 stores an operating system 1151 and an application program 1152, including the following elements: executable modules, data structures, or a subset thereof, or an extended set thereof.

[0140] In particular, the operating system 1151 includes various system programs, such as a framework layer, a core library layer, a driver layer, and the like, for implementing various basic services and processing hardware-based tasks. The application program 1152 includes various application programs, such as a media player (Media Player), a browser (Browser), and the like, for implementing various application services. The program for implementing the method of the embodiment of the present application can be included in the application program 1152. The application program 1152 includes applets, objects, components, logic, data structures, and other computer system executable instructions for performing specific tasks or implementing specific abstract data types.

[0141] In addition, the embodiment of the present application also provides a computer readable storage medium, which stores a computer program, the computer program is executed by a processor to implement each process of the above-mentioned multi-nozzle position measurement method embodiment, and can achieve the same technical effects. To avoid repetition, it will not be repeated here.

[0142] Computer-readable storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Computer-readable storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, memory cards, solid-state RAM, or any other medium which can be used to store the desired information in a non-transitory fashion. According to specific embodiments of the present application, computer-readable storage media does not include transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission media (e.g., light pulses passing through a fiber-optic cable), or electrical signals transmitted through a wire.

[0143] In several embodiments provided in the present application, it should be understood that the disclosed apparatus, electronic device and method can be implemented in other manners. For example, the division of the apparatus embodiments is merely a logical function division, and there can be other division manners in actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0144] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, and can be located in one position or distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to solve the problems to be solved by the embodiments of the present application.

[0145] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can be a physically independent unit, or two or more units can be integrated into one unit. The integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0146] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present application essentially or the part that contributes to the prior art, or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (including a personal computer, a server, a data center, or other network devices) to execute all or part of the steps of the methods described in the various embodiments of the present application. The storage medium includes various media listed above.

[0147] In the description of the embodiments of the present application, those skilled in the art should know that the embodiments of the present application can be implemented as methods, devices, electronic devices and computer readable storage media. Therefore, the embodiments of the present application can be embodied in the following forms: complete hardware, complete software (including firmware, resident software, microcode, etc.), and a combination of hardware and software. In addition, in some embodiments, the embodiments of the present application can also be embodied in the form of a computer program product in one or more computer readable storage media, which includes computer program code.

[0148] The above computer readable storage medium can adopt any combination of one or more computer readable storage media. The computer readable storage medium includes an electrical, magnetic, optical, electromagnetic, infrared or semiconductor system, device or component, or any combination thereof. More specific examples of computer readable storage medium include portable computer diskette, hard disk, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM), flash memory (Flash Memory), optical fiber, compact disk read only memory (CD-ROM), optical storage device, magnetic storage device or any combination thereof. In the embodiments of the present application, the computer readable storage medium can be any tangible medium containing or storing a program that can be used or combined with an instruction execution system, device or component.

[0149] The computer program code contained in the above computer readable storage medium can be transmitted by any appropriate medium, including wireless, wire, optical cable, radio frequency (Radio Frequency, RF) or any appropriate combination thereof.

[0150] Computer program code for carrying out operations of embodiments of the present application can be written in an assembly language, an instruction-set-architecture (ISA) language, machine language, machine dependent language, microcode, firmware, state-setting data, integrated circuit configuration data, or in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer program code can execute entirely on a user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0151] Embodiments of the present application are described with reference to flow diagrams and / or block diagrams.

[0152] It should be understood that each block of the flowchart and / or block diagrams, and combinations of blocks in the flowchart and / or block diagrams, can be implemented by computer readable program instructions. These computer readable program instructions can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0153] These computer readable program instructions can also be stored in a computer readable storage medium that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable storage medium produce an article of manufacture including instructions which implement the function / act specified in the flowchart and / or block diagram block or blocks.

[0154] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0155] The above merely describes specific implementation of the embodiments of the present application, but the protection scope of the embodiments of the present application is not limited thereto, any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the embodiments of the present application, which should be covered in the protection scope of the embodiments of the present application. Therefore, the protection scope of the embodiments of the present application should be subject to the protection scope of the claims.

Claims

1. A method of measuring the position of a multi-die head, characterized by, The method comprises: a plurality of servo cylinders are set as first controlled objects, and a first control instruction is generated for each first controlled object; the first control instruction is used to control the first controlled object to move in a first direction at a first speed, and the first control instruction is provided with a first limit value used to represent a first limit driving force allowed by the first controlled object when moving; the first speed is less than half of a maximum speed at which the first controlled object can run; the first limit driving force is greater than a driving force required by the first controlled object under zero load when running in the first direction at the first speed, and is less than half of a maximum driving force that can be provided by the first controlled object; first current motion information of each first controlled object is determined in real time, respectively, and the first current motion information comprises a first current position and a first current force parameter used to represent a first current driving force; the first current position is a position of the first controlled object at a current time when the first controlled object moves in the first direction, and the first current driving force is a driving force of the first controlled object at the current time when the first controlled object moves in the first direction; in a case where the first current driving force corresponding to the first current force parameter reaches the corresponding first limit driving force, the first current position is taken as a first limit position of the first controlled object.

2. The method of claim 1, wherein, The method of determining the first current motion information of each first controlled object in real time comprises: a first current current feedback value of each first controlled object is determined in real time, and the first current current feedback value is taken as the first current force parameter; the first current current feedback value is a current feedback value used to control the first controlled object to move in the first direction at the current time; or, a first current pressure value of the first controlled object is determined in real time, and the first current pressure value is taken as the first current force parameter; the first current pressure value is a pressure value between the first controlled object and an obstacle at the current time when the first controlled object moves in the first direction.

3. The method of claim 2, wherein, In a case where the first current pressure value is taken as the first current force parameter, the method further comprises: in a case where the first current pressure value rises to a maximum value and remains unchanged, it is determined that the first current driving force corresponding to the first current force parameter reaches the first limit driving force.

4. The method of claim 1, wherein, The method further comprises: when the first current driving force corresponding to the first current force parameter starts to increase, the first current position is taken as a contact position of the first controlled object in the first direction; or, the first current motion information further comprises a first current speed, and the method further comprises: when the first current driving force corresponding to the first current force parameter starts to increase and the first current speed starts to decrease, the first current position is taken as the contact position of the first controlled object in the first direction.

5. The method according to any one of claims 1 to 4, characterized in that, After the first current position is taken as the first limit position of the first controlled object, the method further comprises: The second control instruction is used for controlling the first controlled object to move in a second direction and at a second speed, and the second control instruction is provided with a second limit value for representing a second limit driving force allowed by the first controlled object when moving; the second direction is opposite to the first direction; the second speed is less than half of a maximum speed at which the first controlled object can run; the second limit driving force is greater than a driving force required by the first controlled object under a zero load when moving in the second direction and at the second speed, and is less than half of a maximum driving force that can be provided by the first controlled object; Second current motion information of each first controlled object is determined in real time respectively, and the second current motion information includes a second current position and a second current force parameter for representing a second current driving force; the second current position is a position of the first controlled object at a current time when moving in the second direction, and the second current driving force is a driving force of the first controlled object at the current time when moving in the second direction; In a case where the second current driving force corresponding to the second current force parameter reaches the corresponding second limit driving force, the second current position is taken as a second limit position of the first controlled object.

6. The method of claim 5, wherein, In a case where the first direction is a downward direction and the second direction is an upward direction, the first limit driving force is less than the second limit driving force. In a case where the first direction is an upward direction and the second direction is a downward direction, the first limit driving force is greater than the second limit driving force.

7. The method according to any one of claims 1 to 4, characterized in that, Further comprising: A plurality of other servo cylinders other than the first controlled object are arranged at intervals and are taken as second controlled objects; In a process of determining the first limit position of the first controlled object, a third control instruction is generated for each second controlled object; the third control instruction is used for controlling the second controlled object to move in a second direction and at a third speed, and the third control instruction is provided with a third limit value for representing a third limit driving force allowed by the second controlled object when moving; the second direction is opposite to the first direction; the third speed is less than half of a maximum speed at which the second controlled object can run; the third limit driving force is greater than a driving force required by the second controlled object under a zero load when moving in the second direction and at the third speed, and is less than half of a maximum driving force that can be provided by the second controlled object; Third current motion information of each second controlled object is determined in real time respectively, and the third current motion information includes a third current position and a third current force parameter for representing a third current driving force; The third current position is a position of the second controlled object at a current time when moving in the second direction, and the third current driving force is a driving force of the second controlled object at the current time when moving in the second direction; In a case where the second current driving force corresponding to the second current force parameter reaches the corresponding second limit driving force, the second current position is taken as a second limit position of the first controlled object. In a case where the third current driving force corresponding to the third current force parameter reaches the corresponding third limit driving force, the third current position is taken as a third limit position of the second controlled object.

8. A position measuring device for a multi-die, characterized by The application relates to a position measurement method of a multi-mold head. The first control module is used for taking a plurality of servo cylinders arranged at intervals as first controlled objects, and generating a first control instruction for each first controlled object. The first control instruction is used for controlling the first controlled object to move in a first direction at a first speed, and the first control instruction is provided with a first limit value used for representing a first limit driving force allowed by the first controlled object when moving; the first speed is less than half of a maximum speed at which the first controlled object can move; the first limit driving force is greater than a driving force required by the first controlled object under zero load when moving in the first direction at the first speed, and is less than half of a maximum driving force that can be provided by the first controlled object; The first real-time determination module is used for determining first current movement information of each first controlled object in real time, respectively, wherein the first current movement information comprises a first current position and a first current force parameter used for representing a first current driving force size. The first current position is a position of the first controlled object at a current time in a case where the first controlled object moves in the first direction, and the first current driving force is a driving force of the first controlled object at the current time in the case where the first controlled object moves in the first direction. The first limit position determination module is used for taking the first current position as a first limit position of the first controlled object in a case where the first current driving force corresponding to the first current force parameter reaches the corresponding first limit driving force.

9. An electronic device comprising a bus, a transceiver, a memory, a processor, and a computer program stored on the memory and executable on the processor, the transceiver, the memory and the processor being connected by the bus, characterized in that, The computer program is executed by the processor to realize the steps in the position measurement method of the multi-mold head according to any one of claims 1 to 7.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to realize the steps in the position measurement method of the multi-mold head according to any one of claims 1 to 7.

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