A precision control method and device, computer storage medium and stringer

Abstract

The application discloses a precision control method and device, a computer storage medium and a stringer, and relates to the technical field of photovoltaics, wherein the precision control method is applied to the stringer, the stringer comprises a positioning camera and a vibration acquisition device, the vibration acquisition device is used for acquiring a vibration curve of the positioning camera, and the precision control method comprises the following steps: controlling the vibration acquisition device to acquire the vibration curve of the positioning camera in real time; judging a vibration state of the positioning camera in real time according to the vibration curve, wherein the vibration state comprises a first vibration state; and when the positioning camera is in the first vibration state, the positioning precision of the positioning camera is compensated. The positioning precision and stability of the positioning camera are improved, and the stability of the stringer is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of photovoltaic, more particularly, to a precision control method and device, computer storage medium and string placing machine. BACKGROUND

[0002] In the production process of a photovoltaic module, the cell string processed by a stringer is transported to the recognition position of a positioning camera of a string placing machine, and is placed on a glass plate after being recognized by the positioning camera.

[0003] In actual production, the positioning camera will shake due to the shaking of the infrastructure of the production site, resulting in misalignment of the cell string layout operation. SUMMARY

[0004] Therefore, the present application provides a precision control method and device, computer storage medium and string placing machine, which are used to improve the positioning accuracy and stability of the positioning camera, and further improve the stability of the string placing machine.

[0005] In a first aspect, the present application provides a precision control method applied to a string placing machine, the string placing machine comprising a positioning camera and a vibration acquisition device, the vibration acquisition device being configured to acquire a vibration curve of the positioning camera, and the precision control method comprising:

[0006] controlling the vibration acquisition device to acquire the vibration curve of the positioning camera in real time;

[0007] judging the vibration state of the positioning camera in real time according to the vibration curve, the vibration state comprising a first vibration state;

[0008] compensating for the positioning accuracy of the positioning camera when the positioning camera is in the first vibration state.

[0009] Optionally, in the present application:

[0010] the positioning camera further has a stationary state, and before the vibration acquisition device acquires the vibration curve of the positioning camera in real time, the precision control method further comprises:

[0011] obtaining a first vibration amplitude and a second vibration amplitude when the positioning camera is in the stationary state, the second vibration amplitude being greater than the first vibration amplitude.

[0012] Optionally, in the present application:

[0013] the positioning camera further has a stable state, and judging the vibration state of the positioning camera in real time according to the vibration curve comprises:

[0014] comparing the vibration amplitude of the vibration curve with the first vibration amplitude and the second vibration amplitude;

[0015] when the vibration amplitude of the vibration curve is less than the first vibration amplitude, the positioning camera is in the stable state.

[0016] When the vibration amplitude of the vibration curve is greater than the first vibration amplitude and less than or equal to the second vibration amplitude, the positioning camera is in a first vibration state;

[0017] When the vibration amplitude of the vibration curve is greater than the second vibration amplitude, the positioning camera is in a second vibration state.

[0018] Optionally, wherein:

[0019] When the positioning camera is in the first vibration state, compensating the positioning accuracy of the positioning camera comprises:

[0020] When the positioning camera is in the first vibration state, determining a vibration compensation parameter according to the real-time collected vibration curve and the first vibration amplitude;

[0021] Compensating the positioning accuracy of the positioning camera according to the vibration compensation parameter.

[0022] Optionally, wherein:

[0023] Compensating the positioning accuracy of the positioning camera according to the vibration compensation parameter comprises:

[0024] Compensating the real-time collected vibration curve according to the vibration compensation parameter to generate a compensated vibration curve;

[0025] Controlling the positioning camera to position according to the compensated vibration curve, and continuously controlling the vibration collecting device to collect the vibration curve of the positioning camera in real time.

[0026] Optionally, wherein:

[0027] After compensating the positioning accuracy of the positioning camera when the positioning camera is in the first vibration state, the accuracy control method further comprises:

[0028] When the positioning camera is in the second vibration state, controlling the positioning camera to suspend operation until the positioning camera is in the first vibration state or a stable state, and then controlling the positioning camera to continue operation.

[0029] In a second aspect, the present application further provides an accuracy control device, comprising: a processor and a communication interface, the communication interface and the processor are coupled, and the processor is used to run a computer program or instructions to realize the accuracy control method described in the first aspect.

[0030] In a third aspect, the present application further provides a computer storage medium, and the computer storage medium stores instructions, when the instructions are run, the accuracy control method described in the first aspect is realized.

[0031] In a fourth aspect, the application further provides a stringer arranging machine, which comprises a positioning camera, a vibration acquisition device, and the precision control device described in the second aspect, the precision control device being in communication connection with the positioning camera and the vibration acquisition device, and the vibration acquisition device being configured to acquire vibration parameters of the positioning camera.

[0032] Optionally, wherein:

[0033] The stringer arranging machine further comprises a battery string placement area located below the positioning camera and a stringer arranging device located at one side of the positioning camera, the positioning camera being configured to perform positioning identification on the battery string in the battery string placement area, and the stringer arranging device being configured to arrange the battery string after the positioning identification.

[0034] Compared with the prior art, the precision control method and device, the computer storage medium, and the stringer arranging machine provided by the application at least achieve the following beneficial effects:

[0035] The precision control method provided by the application can use the vibration acquisition device to acquire the vibration curve of the positioning camera in real time, and determine the vibration state of the positioning camera according to the acquired vibration curve, so as to realize real-time monitoring of the vibration state of the positioning camera, and compensate for the positioning accuracy of the positioning camera when it is determined that the positioning camera is in the first vibration state. Therefore, the precision control method provided by the application can monitor and adjust the positioning accuracy of the positioning camera in real time, improve the positioning accuracy and stability of the positioning camera, reduce the influence on the stringer arranging machine, improve the stability of the stringer arranging machine during operation, and thus improve the production efficiency.

[0036] Of course, implementing any product of the application does not necessarily need to achieve all the technical effects described above at the same time.

[0037] Other features and advantages of the application will become apparent from the following detailed description of exemplary embodiments thereof, taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0038] The accompanying drawings incorporated in and forming a part of the specification, illustrate embodiments of the application and, together with the description, serve to explain the principles of the application.

[0039] Figure 1 A flowchart of the precision control method provided by the embodiment of the application is shown;

[0040] Figure 2 A structural schematic diagram of the stringer arranging machine provided by the embodiment of the application is shown. DETAILED DESCRIPTION

[0041] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. Note that the relative arrangement, numerical expressions, and numerical values of components and steps set forth in these embodiments are not limiting to the scope of the present application unless specifically stated otherwise.

[0042] The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the scope of the application or its application or uses.

[0043] Techniques, methods, and apparatus known to those of ordinary skill in the relevant art can not be discussed in detail herein, but should be considered as part of the specification, where appropriate.

[0044] In all of the examples shown and discussed herein, any specific values should be interpreted as merely exemplary, and not as a limitation. Other examples of exemplary embodiments can therefore have different values.

[0045] It should be noted that like reference numerals and letters in the various figures indicate similar items, and thus, once any certain item is defined in one figure, it is not necessary to discuss it further in subsequent figures.

[0046] In the production process of a photovoltaic module, the cell string processed by a string welding machine is conveyed by a conveying belt to a positioning camera recognition position of a string placing machine. After the positioning camera recognition determines the position of the cell string, a robot handle absorbs the cell sheet by a suction nozzle in a vacuum mode, and places the cell sheet on a table surface on which a module front glass and a film are placed according to a system setting program until the required number of cell sheets for a module is completed.

[0047] In an actual production site, the string placing machine generates a misalignment in a cell string layout operation. According to analysis, the main reason for inducing the misalignment of the string placing machine is the shaking of the positioning camera caused by the shaking of the infrastructure in the production site. The information collected by the positioning camera under this condition is unstable, and the current control program does not have the collection and correction capability, which leads to the objective existence of the misalignment in the layout operation.

[0048] Currently, a fixed-position camera mounting bracket is tried. This operation has a low actual benefit in the process, and the improvement effect is poor. Since the influence cannot be eliminated, the fact that the influence objectively exists is defaulted, and the influence is adjusted as much as possible to achieve the desired effect.

[0049] To solve the above technical problems, the present application provides a precision control method and device, computer storage medium and string placing machine, which can improve the positioning accuracy and stability of the positioning camera, and further improve the stability of the string placing machine.

[0050] The following will be described in detail in combination with the drawings and specific embodiments.

[0051] Figure 1 As shown in the flowchart of the precision control method provided by the embodiments of the present application.

[0052] As shown in the flowchart of the precision control method provided by the embodiments of the present application. Figure 1 As shown in the flowchart of the precision control method provided by the embodiments of the present application.

[0053] S100, control the vibration acquisition device to collect the vibration curve of the positioning camera in real time.

[0054] Based on this, considering that the positioning camera will shake under the influence of the surrounding environment, resulting in positioning deviation, the embodiments of the present application collect the vibration curve of the positioning camera in real time through the vibration acquisition device installed on the positioning camera, realize real-time monitoring of the vibration of the positioning camera in a complex environment, and express the mechanical vibration of the positioning camera in the form of a vibration curve, which is more intuitive and facilitates subsequent adjustment of the positioning precision.

[0055] In some examples, the vibration curve collected by the embodiments of the present application is specifically a vibration curve of the center point coordinates in the lens of the positioning camera, and the center point coordinates when the positioning camera is completely stationary are taken as the coordinate origin (0, 0). When the positioning camera vibrates, the center point produces displacement, and the center point coordinates also change accordingly. The vibration curve collected by the vibration acquisition device can show the trend, form and direction of the center point displacement. At the same time, the positioning precision of the positioning camera can also be characterized by the displacement of the center point, i.e. the collected vibration curve, realizing the visualization of the positioning precision.

[0056] For example, the vibration acquisition device can be a vibration sensor, specifically a displacement sensor. The specific model of the displacement sensor can be selected according to actual production needs, and the embodiments of the present application do not enumerate them one by one.

[0057] As a possible implementation manner, the positioning camera also has a stationary state, and before the vibration acquisition device is controlled to collect the vibration curve of the positioning camera in real time, the precision control method further includes:

[0058] When the positioning camera is in the stationary state, a first vibration amplitude and a second vibration amplitude are obtained, and the second vibration amplitude is greater than the first vibration amplitude.

[0059] Therefore, the precision control method provided by the embodiment of the present application can obtain two preset vibration amplitudes when the positioning camera is in a static state before starting to collect the vibration curve of the positioning camera. Since the ideal state of the positioning camera is a completely static state, the vibration amplitudes obtained when the positioning camera is in the static state can be used as reference data of the real-time collected vibration curve, which facilitates subsequent analysis of the vibration curve and adjustment of the positioning precision. Considering that the displacement of the positioning camera during vibration needs to be monitored in the embodiment of the present application, a physical quantity that can reflect the vibration intensity, i.e., the vibration amplitude, is used to quantitatively analyze the vibration curve. In actual production, the excitation received by the swing string machine and the positioning camera is diversified and complex. Therefore, the embodiment of the present application presets two different vibration amplitudes to perform multi-level vibration analysis on the collected vibration curve, which facilitates subsequent precision adjustment of different degrees according to different vibration states of the positioning camera.

[0060] In some examples, the specific values of the first vibration amplitude and the second vibration amplitude are related to the adjustment capability of the control device used. In actual use, a control device with high cost and high precision or a more advanced algorithm can be used to further optimize the adjustment of the positioning precision of the positioning camera. When the specific values of the first vibration amplitude and the second vibration amplitude are determined, a large amount of data during the vibration of the positioning camera also needs to be used to participate in the formulation. The vibration experiment of the positioning camera can be performed to obtain experimental data before the precision adjustment is performed.

[0061] S200, judging the vibration state of the positioning camera in real time according to the vibration curve, the vibration state including a first vibration state.

[0062] The positioning camera also has a stable state. The real-time judgment of the vibration state of the positioning camera according to the vibration curve includes:

[0063] comparing the vibration amplitude of the vibration curve with the first vibration amplitude and the second vibration amplitude;

[0064] When the vibration amplitude of the vibration curve is less than the first vibration amplitude, the positioning camera is in the stable state;

[0065] When the vibration amplitude of the vibration curve is greater than the first vibration amplitude and less than or equal to the second vibration amplitude, the positioning camera is in the first vibration state;

[0066] When the vibration amplitude of the vibration curve is greater than the second vibration amplitude, the positioning camera is in the second vibration state.

[0067] Based on this, in the process of analyzing and determining the collected vibration curve, the vibration amplitude in the vibration curve is extracted for comparison with the preset vibration amplitude, so that it can be intuitively determined that the current positioning camera is in which vibration state. Considering that it is difficult to maintain complete stillness for the positioning camera in the actual production site, the application embodiment defines the case where the vibration amplitude of the vibration curve is less than the first vibration amplitude as the stable state of the positioning camera. In the stable state, the positioning camera maintains stillness or occurs small-amplitude vibration, which does not affect the positioning recognition of the positioning camera and the subsequent stringing operation of the stringing machine, and also does not affect the product quality. When the vibration amplitude of the vibration curve is greater than the first vibration amplitude after comparison, the positioning camera under the action of external excitation occurs large-amplitude vibration, which affects the positioning operation and product quality, and the positioning accuracy of the positioning camera needs to be adjusted and compensated. Considering that the adjustment capability of the control device has limitations, the precision compensation operation beyond the upper limit of the adjustment capability of the device cannot achieve the expected adjustment effect, therefore, the application embodiment sets the second vibration amplitude as the judgment standard of whether it can be adjusted. If the vibration amplitude of the vibration curve is greater than the first vibration amplitude and less than or equal to the second vibration amplitude, it is judged that the positioning camera is in the first vibration state, at this time the vibration of the positioning camera can be adjusted by the control device, and if the vibration amplitude of the vibration curve is greater than the second vibration amplitude, it is judged that the positioning camera is in the second vibration state, at this time the vibration of the positioning camera exceeds the adjustment capability range of the control device.

[0068] In some examples, when the vibration amplitude of the vibration curve is equal to the second vibration amplitude, the operation can be further set according to the actual production situation. If the expected adjustment effect can be achieved after adjustment, the case where the vibration amplitude of the vibration curve is equal to the second vibration amplitude is attributed to the first vibration state, and the precision adjustment operation is performed. If the expected effect cannot be achieved after adjustment, the case where the vibration amplitude of the vibration curve is equal to the second vibration amplitude is attributed to the second vibration state.

[0069] S300, when the positioning camera is in the first vibration state, the positioning accuracy of the positioning camera is compensated.

[0070] When the positioning camera is in the first vibration state, the positioning accuracy of the positioning camera is compensated.

[0071] When the positioning camera is in the first vibration state, the vibration compensation parameter is determined according to the real-time collected vibration curve and the first vibration amplitude.

[0072] The positioning accuracy of the positioning camera is compensated according to the vibration compensation parameter.

[0073] Based on this, after judging that the positioning camera is in the first vibration state, the embodiment of the application can generate a vibration compensation parameter according to the collected vibration curve and the first vibration amplitude, and compensate the positioning accuracy of the positioning camera by using the vibration compensation parameter, so that the positioning camera can be close to the stable state from the first vibration state, and the positioning deviation caused by vibration can be reduced as much as possible, the positioning accuracy and stability of the positioning camera are improved, the stable operation of the swing string machine is realized, and the product quality and production efficiency are improved.

[0074] As a possible implementation manner, compensating the positioning accuracy of the positioning camera according to the vibration compensation parameter comprises:

[0075] compensating the real-time collected vibration curve according to the vibration compensation parameter to generate a compensated vibration curve;

[0076] controlling the positioning camera to position according to the compensated vibration curve, and continuously controlling the vibration collecting device to collect the vibration curve of the positioning camera in real time.

[0077] Based on this, when adjusting the accuracy of the positioning camera in the first vibration state, the collected vibration curve can be compensated according to the vibration compensation parameter. Specifically, the vibration compensation parameter is compensated to the center point coordinate in the lens of the positioning camera. The center point coordinate is displaced synchronously when the positioning camera vibrates after being compensated and corrected. At this time, the vibration curve generated by the center point coordinate is a compensated vibration curve, the vibration amplitude of the compensated vibration curve is less than the first vibration amplitude, the positioning camera is in a stable state, and then the positioning camera positions and identifies according to the compensated and corrected center point coordinate and the compensated vibration curve. As can be seen, the embodiment of the application compensates and corrects the positioning accuracy of the positioning camera by using the generated vibration compensation parameter, adjusts the positioning camera from the first vibration state to the stable state, reduces the influence on the positioning camera and the swing string machine, maximizes the positioning accuracy and the stability of the equipment operation under the condition that the external environment is not changed, and further improves the product quality and production efficiency. Considering that the vibration of the positioning camera in actual production is a continuous process, the vibration collecting device is continuously controlled to collect the real-time vibration curve in the process of parameter correction and compensation, that is, real-time collection and real-time correction and compensation are performed at each time point, the positioning accuracy of the positioning camera is continuously adjusted in real time, the positioning accuracy and stability of the positioning camera are further improved, the stability of the swing string machine is further improved, and the production efficiency and product quality are further improved.

[0078] It should be noted that the embodiment of the application also compensates and corrects other coordinate points in the lens of the positioning camera when correcting and compensating the center point coordinate in the lens of the positioning camera.

[0079] For example, the time interval between compensation and acquisition can be determined based on the vibration acquisition device and control equipment used, as well as the actual production needs. This application embodiment does not limit this.

[0080] As one possible implementation, after compensating for the positioning accuracy of the positioning camera when it is in the first vibration state, the accuracy control method also includes:

[0081] When the positioning camera is in the second vibration state, control the positioning camera to pause operation until the positioning camera is in the first vibration state or a stable state, then control the positioning camera to resume operation.

[0082] Based on this, in the accuracy control method provided in the embodiments of this application, when it is determined that the positioning camera is in the second stable state, the vibration amplitude of the positioning camera is too large and exceeds the adjustment capability range of the control device. The positioning camera can be controlled to pause operation and wait for the positioning camera to be in the first vibration state or stable state, that is, after the external excitation weakens or stops, before continuing to operate the positioning camera, so as to avoid the positioning camera from being seriously misaligned due to excessive vibration.

[0083] For example, in this embodiment of the application, an alarm device that is communicatively connected to the positioning camera can be added. The alarm device can serve as a warning when the positioning camera is in the second vibration state.

[0084] Based on this, the precision control method provided in this application embodiment can utilize a vibration acquisition device to collect the vibration curve of the positioning camera in real time, and determine the vibration state of the positioning camera based on the collected vibration curve, thereby realizing real-time monitoring of the vibration state of the positioning camera. This facilitates timely monitoring of whether the positioning camera is vibrating and timely adjustments. When it is determined that the positioning camera is in the first vibration state, the positioning accuracy of the positioning camera is compensated. Therefore, the precision control method provided in this application embodiment can monitor and adjust the positioning accuracy of the positioning camera in real time, thereby improving the positioning accuracy and stability of the positioning camera without changing the environment, reducing the impact on the stringing machine, improving the stability of the stringing machine during operation, and thus improving the first pass rate in component production, increasing production line cycle time, and improving production efficiency and product quality.

[0085] Figure 2 The diagram shown is a structural schematic of the stringing machine provided in an embodiment of this application.

[0086] like Figure 2 As shown, based on the same inventive concept, this application also provides a precision control device 12, including: a processor and a communication interface, the communication interface and the processor being coupled, the processor being used to run computer programs or instructions to implement the precision control method described in the above embodiments.

[0087] Compared with the prior art, the precision control device 12 has the same beneficial effects as the precision control method provided in the above embodiment, and details are not repeated here.

[0088] It should be noted that, Figure 2 The precision control device 12 shown is only a structural schematic of the precision control device 12 in the embodiments of the present application, and the precision control device 12 can also have other structural forms, which are not limited in the present application.

[0089] Based on the same inventive concept, the present application also provides a computer storage medium, which stores instructions, and when the instructions are executed, the precision control method described in the first aspect is implemented.

[0090] Compared with the prior art, the computer storage medium has the same beneficial effects as the precision control method provided in the above embodiment, and details are not repeated here.

[0091] As Figure 2 shown, based on the same inventive concept, the present application also provides a string placing machine, which includes the positioning camera 10, the vibration acquisition device 13, and the precision control device 12 described in the second aspect. The precision control device 12 is in communication connection with the positioning camera 10 and the vibration acquisition device 13. The vibration acquisition device 13 is used to acquire the vibration parameters of the positioning camera 10.

[0092] Compared with the prior art, the string placing machine has the same beneficial effects as the precision control method provided in the above embodiment, and details are not repeated here.

[0093] Exemplarily, as Figure 2 shown, the vibration acquisition device 13 is in communication connection with the positioning camera 10 through the signal transmission line 14.

[0094] As a possible implementation manner, as Figure 2 shown, the string placing machine further includes the battery string placement area 15 located below the positioning camera 10 and the string placing device 11 located at one side of the positioning camera 10. The positioning camera 10 is used to position and identify the battery string on the battery string placement area 15. The string placing device 11 is used to place the positioned and identified battery string.

[0095] Based on this, as Figure 2 shown, under the action of the precision control method provided in the embodiments of the present application, the positioning camera 10 can accurately position and distinguish the battery string in the battery string placement area 15 under the premise of ensuring the positioning accuracy, and then the string placing device 11 places the positioned and identified battery string, thereby ensuring the stable operation of the string placing machine and improving the product quality and production efficiency.

[0096] To sum up, the precision control method and device, computer storage medium and stringer provided by the application at least achieve the following beneficial effects:

[0097] The precision control method provided by the application can use the vibration acquisition device to collect the vibration curve of the positioning camera in real time, and judge the vibration state of the positioning camera according to the collected vibration curve, so as to realize real-time monitoring of the vibration state of the positioning camera, and compensate for the positioning accuracy of the positioning camera when it is judged that the positioning camera is in the first vibration state. Therefore, the precision control method provided by the application can monitor and adjust the positioning accuracy of the positioning camera in real time, improve the positioning accuracy and stability of the positioning camera, reduce the influence on the stringer, improve the stability of the stringer during operation, and further improve the production efficiency.

[0098] Although some specific embodiments of the application have been described in detail through examples, those skilled in the art should understand that the above examples are only for illustration, not for limiting the scope of the application. Those skilled in the art should understand that the above embodiments can be modified without departing from the scope and spirit of the application. The scope of the application is defined by the appended claims.

Claims

1. A precision control method characterized by comprising: The application is applied to a swing string machine, the swing string machine comprises a positioning camera and a vibration acquisition device, the vibration acquisition device is used to acquire a vibration curve of the positioning camera, the vibration curve of the positioning camera is a vibration curve of a center point coordinate in a lens of the positioning camera, a center point coordinate when the positioning camera is completely static is taken as a coordinate origin (0, 0), when the positioning camera vibrates, the center point generates displacement, and the center point coordinate also changes accordingly; The precision control method comprises: controlling the vibration acquisition device to acquire the vibration curve of the positioning camera in real time; judging a vibration state of the positioning camera in real time according to the vibration curve, the vibration state comprising a first vibration state; The positioning camera also has a static state, before the controlling the vibration acquisition device to acquire the vibration curve of the positioning camera in real time, the precision control method further comprises: when the positioning camera is in the static state, obtaining a first vibration amplitude and a second vibration amplitude, the second vibration amplitude being greater than the first vibration amplitude; The positioning camera also has a stable state, the judging the vibration state of the positioning camera in real time according to the vibration curve comprises: comparing a vibration amplitude of the vibration curve with the first vibration amplitude and the second vibration amplitude; when the vibration amplitude of the vibration curve is less than the first vibration amplitude, the positioning camera is in the stable state; when the vibration amplitude of the vibration curve is greater than the first vibration amplitude and less than or equal to the second vibration amplitude, the positioning camera is in the first vibration state; when the vibration amplitude of the vibration curve is greater than the second vibration amplitude, the positioning camera is in a second vibration state; When the positioning camera is in the first vibration state, compensating positioning precision of the positioning camera; which comprises: when the positioning camera is in the first vibration state, determining a vibration compensation parameter according to the vibration curve acquired in real time and the first vibration amplitude; compensating the positioning precision of the positioning camera according to the vibration compensation parameter, so that the positioning camera approaches the stable state from the first vibration state.

2. The precision control method of claim 1, wherein The compensating the positioning precision of the positioning camera according to the vibration compensation parameter comprises: compensating the vibration curve acquired in real time according to the vibration compensation parameter to generate a compensated vibration curve; controlling the positioning camera to position according to the compensated vibration curve, and continuously controlling the vibration acquisition device to acquire the vibration curve of the positioning camera in real time.

3. The precision control method of claim 1, wherein After the compensating the positioning precision of the positioning camera when the positioning camera is in the first vibration state, the precision control method further comprises: When the positioning camera is in the second vibration state, controlling the positioning camera to pause running until the positioning camera is in the first vibration state or the stable state, and then controlling the positioning camera to continue running.

4. An accuracy control apparatus characterized by comprising: comprises: a processor and a communication interface, the communication interface and the processor are coupled, the processor is used to run a computer program or instruction, so as to realize the precision control method in any one of claims 1-3.

5. A computer storage medium, characterized in that, The computer storage medium stores instructions, and when the instructions are executed, the precision control method in any one of claims 1-3 is implemented.

6. A pendulum string machine characterized by The swing string machine comprises a positioning camera, a vibration acquisition device, and the precision control device in claim 4, the precision control device is in communication connection with the positioning camera and the vibration acquisition device, and the vibration acquisition device is used for acquiring vibration parameters of the positioning camera.

7. The pendulum string machine of claim 6, wherein, The swing string machine further comprises a battery string placement area below the positioning camera and a swing string device on one side of the positioning camera, the positioning camera is used for positioning and identifying battery strings on the battery string placement area, and the swing string device is used for swinging the positioned and identified battery strings.

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