Probe position verification method and system, electronic device and storage medium

Abstract

The embodiment of the application provides a kind of probe position verification method, system, electronic equipment and storage medium, belong to the technical field of automated test equipment, method includes: determining the first initial field of view center on calibration plate;The preset coordinate offset of target probe is acquired, and the needle position coordinate is determined according to preset coordinate offset and first initial field of view center;Target probe is moved to needle position coordinate and is stuck needle, and the needle image after sticking needle is acquired based on first initial field of view center;From needle image, the trace coordinate after target probe sticking needle is determined, and the actual coordinate offset of target probe is determined according to trace coordinate and first initial field of view center;According to the size relationship between preset coordinate offset and actual coordinate offset, the position verification result of target probe is obtained.The probe position verification method provided in the application can improve the efficiency and accuracy of probe verification, and improve the precision and stability of probe through verification.

Description

Technical Field

[0001] This application relates to the field of automated testing equipment technology, and in particular to a probe position verification method, system, electronic device and storage medium. Background Technology

[0002] In the process of calibrating the position of probes, related technologies often require visual observation of the calibration plate to calculate the probe position after the probe is inserted. This results in low efficiency and accuracy. Alternatively, probe position calibration methods that use contact testing to determine the probe position also face problems such as low calibration efficiency. Therefore, none of these methods can improve the accuracy and stability of the probe. Summary of the Invention

[0003] The main objective of this application is to provide a probe position verification method, system, electronic device, and storage medium that can improve the efficiency and accuracy of probe verification, thereby enhancing the precision and stability of the probe.

[0004] To achieve the above objectives, a first aspect of this application proposes a probe position verification method, the method comprising:

[0005] A first initial field of view center is determined on the calibration plate; a preset coordinate offset of the target probe is obtained, and the needle insertion position coordinates of the target probe are determined based on the preset coordinate offset and the first initial field of view center; the target probe is moved to the needle insertion position coordinates on the calibration plate for needle insertion, and a needle insertion image of the calibration plate after needle insertion is obtained based on the first initial field of view center; the trace coordinates of the target probe after needle insertion are determined from the needle insertion image, and the actual coordinate offset of the target probe is determined based on the trace coordinates and the first initial field of view center; the position verification result of the target probe is obtained based on the relationship between the preset coordinate offset and the actual coordinate offset.

[0006] According to some embodiments of this application, determining the first initial field of view center on the calibration plate includes: attaching a thin sheet to the upper surface of the calibration plate and acquiring an initial field of view image on the calibration plate after attachment; determining a flat area of ​​the field of view in the initial field of view image, and determining a calibration position for image acquisition in the flat area of ​​the field of view; determining the center position of the field of view as the first initial field of view center at the calibration position. The thin sheet is used to form a puncture mark after the target probe penetrates the calibration plate.

[0007] According to some embodiments of this application, the preset coordinate offset is obtained through the following steps: determining a second initial field of view center on the calibration plate; selecting an arbitrary offset position for the target probe; and obtaining the preset coordinate offset of the target probe based on the offset position and the second initial field of view center.

[0008] According to some embodiments of this application, there are multiple target probes; the step of selecting an arbitrary offset position for the target probe and obtaining a preset coordinate offset of the target probe based on the offset position and the second initial field of view center includes: selecting a corresponding offset position for each target probe according to an equally divided positional relationship; obtaining a preset coordinate offset of the corresponding target probe based on each offset position and the second initial field of view center; the step of obtaining a position verification result of the target probe based on the magnitude relationship between the preset coordinate offset and the actual coordinate offset includes: obtaining a sub-position verification result of each target probe based on the magnitude relationship between each preset coordinate offset and the corresponding actual coordinate offset; and obtaining an overall position verification result based on each sub-position verification result.

[0009] According to some embodiments of this application, the method further includes: obtaining preset needle coordinates based on the first initial field of view center; calculating reference needle coordinates based on the preset needle coordinates and the position verification result; moving the target probe to the preset needle coordinates on the calibration plate for needle insertion; obtaining an actual needle insertion image of the calibration plate after needle insertion based on the first initial field of view center; and comparing the reference needle coordinates with the actual needle insertion image to obtain a check result of the target probe position relationship.

[0010] According to some embodiments of this application, obtaining the preset needle insertion coordinates based on the first initial visual field center includes: equidistantly planning longitudinal preset needle insertion coordinates based on the first initial visual field center; equidistantly planning transverse preset needle insertion coordinates based on the first initial visual field center; and obtaining the preset needle insertion coordinates based on the longitudinal preset needle insertion coordinates and the transverse preset needle insertion coordinates.

[0011] According to some embodiments of this application, determining the coordinates of the trace after the target probe is inserted from the needle image includes: marking the puncture mark area after the target probe is inserted in the needle image;

[0012] The pixel coordinates of the center position of the puncture mark area in the puncture image are determined, and the pixel coordinates are determined as the trace coordinates after the target probe is punctured.

[0013] To achieve the above objectives, a second aspect of this application provides a probe position verification system, the system comprising: a first initial field of view center determination module, configured to determine a first initial field of view center on a calibration plate; a needle insertion position coordinate determination module, configured to acquire a preset coordinate offset of a target probe, and determine the needle insertion position coordinates of the target probe based on the preset coordinate offset and the first initial field of view center; a needle insertion image acquisition module, configured to move the target probe to the needle insertion position coordinates on the calibration plate for needle insertion, and acquire a needle insertion image of the calibration plate after needle insertion based on the first initial field of view center; an actual coordinate offset determination module, configured to determine the trace coordinates of the target probe after needle insertion from the needle insertion image, and determine the actual coordinate offset of the target probe based on the trace coordinates and the first initial field of view center; and a position verification result acquisition module, configured to obtain the position verification result of the target probe based on the relationship between the preset coordinate offset and the actual coordinate offset.

[0014] To achieve the above objectives, a third aspect of this application provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the probe position verification method described in any one of the embodiments of the first aspect of this application.

[0015] To achieve the above objectives, a fourth aspect of the present application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the probe position verification method described in any one of the embodiments of the first aspect of the present application.

[0016] The probe position verification method, system, electronic device, and storage medium proposed in this application can determine the offset between the field of view center and the needle coordinates on a calibration board, and compare the preset coordinate offset with the actual coordinate offset to obtain the probe position verification result. Compared with the method of visually observing the calibration board and manually setting and calculating, the probe position verification method provided in this application has higher efficiency and accuracy, and can improve the accuracy and stability of the probe through verification. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the probe position verification system provided in an embodiment of this application;

[0018] Figure 2 This is a flowchart of the probe position verification method provided in the embodiments of this application;

[0019] Figure 3 yes Figure 2 The flowchart of step S101 in the text;

[0020] Figure 4 This is a probe puncture mark diagram provided in one embodiment of this application;

[0021] Figure 5 This is a flowchart illustrating the process of obtaining a preset coordinate offset, as shown in one embodiment of this application;

[0022] Figure 6 yes Figure 5 The flowchart of step S302 in the text;

[0023] Figure 7 yes Figure 2 The flowchart of step S105 in the process;

[0024] Figure 8 This is another flowchart provided by the probe position verification method in the embodiments of this application;

[0025] Figure 9 yes Figure 8 The flowchart of step S601 in the process;

[0026] Figure 10 This is a schematic diagram of reference needle coordinates provided in one embodiment of this application;

[0027] Figure 11 This is a schematic diagram comparing reference needle insertion coordinates with an actual needle insertion image provided in one embodiment of this application;

[0028] Figure 12 This is a schematic diagram illustrating the determination of the coordinates of the needle insertion mark from a needle insertion image according to an embodiment of this application;

[0029] Figure 13 This is a flowchart of determining trace coordinates from a needle puncture image provided in one embodiment of this application;

[0030] Figure 14 This is a schematic diagram of the probe position verification system provided in another embodiment of this application;

[0031] Figure 15 This is a schematic diagram of the hardware structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0033] It should be noted that although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first," "second," etc., in the specification, claims, and the aforementioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0034] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0035] In the manufacturing process of electronic devices, flying probe testing equipment is commonly used to inspect components on PCBs or PCBAs to determine the stability of their functions. As the electronics manufacturing industry becomes increasingly integrated and miniaturized, the precision requirements for the probe placement on flying probe testing equipment are also rising. As a consumable component in flying probe testing, the probe is prone to deformation during replacement and use. Probe wear and displacement both affect the placement accuracy, causing the probe to fail to accurately contact the test points on the components, thus impacting the test results. Therefore, it is necessary to periodically calibrate the probe position relationships to ensure test stability.

[0036] However, in the process of testing probes, visual judgment is often used, which is not accurate enough, or probes can only be checked one by one, and it is impossible to obtain the position coordinate relationship of multiple probes and complete the test of multi-probe coordination.

[0037] Based on this, embodiments of this application provide a probe position verification method, system, electronic device, and storage medium, which can improve the response speed of data reading.

[0038] The probe position verification method, system, electronic device, and storage medium provided in this application are specifically described through the following embodiments. First, the probe position verification system in this application is described.

[0039] Reference Figure 1 In some embodiments, the probe position verification system may include a flying probe testing module 101, an image acquisition module 102, a display module 103, and a processing module 104.

[0040] In some embodiments, the flying probe test module 101 is used to test components on a PCB board or PCBA board using probes to ensure the stability of the circuit and function of each PCB board or PCBA board. In some embodiments of this application, the flying probe test module 101 is used to prick a thin sheet, leaving a prick mark, so that the probe position verification system can verify the accuracy of the probe prick on the flying probe test module 101.

[0041] In some embodiments, the image acquisition module 102 can be used to acquire images and the coordinates of the needles on the images, and transmit the acquired images to the processing module 104 for processing. It is understood that the image acquisition module 102 can be a camera module. In some embodiments, the image acquisition module 102 can acquire images from a video and obtain the acquired image coordinates, and transmit the acquired images and image coordinates to the processing module 104 for processing.

[0042] In some embodiments, the display module 103 is used to display the image or image coordinates acquired by the image acquisition module. The display module 103 can also overlay the images to facilitate comparison between the predicted needle insertion point and the actual needle insertion point. In some embodiments, the display module 103 is also used to display the verification results of each probe so that the operator can perform subsequent operations.

[0043] In some embodiments, the processing module 104 may include one or more processing units, such as an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a memory, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural network processing unit (NPU). These different processing units may be independent devices or integrated into one or more processing modules 104.

[0044] The controller can be the nerve center and command center of the electronic device. The controller can generate operation control signals based on instruction operation codes and timing signals to control the fetching and execution of instructions. For example, the controller can perform operations such as probe puncture, selecting the center point of the puncture mark on an image, obtaining the coordinates of the puncture position from the image, and obtaining and verifying the probe position relationship, etc., according to instructions. This application does not limit these operations.

[0045] In some embodiments, the processor may also include a memory for storing instructions and data. In some embodiments, the memory in the processor is a cache memory. This memory can store instructions or data that the processor has just used or that are used repeatedly. If the processor needs to use the instruction or data again, it can directly retrieve it from the memory. For example, the processor can directly retrieve the result of the previous probe position calibration from the memory and compare it with the result of the current probe position calibration; or, it can store the position verification results of different probes to facilitate subsequent testing of the PCB board or PCBA board, avoiding re-verification every time the PCB board or PCBA board is tested, thus improving the efficiency of the probe position verification system.

[0046] The probe position verification method in this application can be illustrated by the following embodiments.

[0047] It should be noted that in all specific embodiments of this application, when processing data related to user identity or characteristics, such as user information, user behavior data, user historical data, and user location information, user permission or consent is obtained first. For example, when obtaining user-stored data and user cached data access requests, user permission or consent is obtained first. Furthermore, the collection, use, and processing of this data comply with relevant laws, regulations, and standards of the relevant countries and regions. In addition, when embodiments of this application need to obtain sensitive personal information of users, separate permission or consent from the user is obtained through pop-ups or redirection to a confirmation page. Only after obtaining the user's separate permission or consent is the necessary user-related data for the normal operation of the embodiments of this application obtained.

[0048] Reference Figure 2 This is an optional flowchart of the probe position verification method provided in the embodiments of this application. Figure 2 The method may include, but is not limited to, steps S101 to S105.

[0049] Step S101: Determine the first initial field of view center on the calibration plate;

[0050] Step S102: Obtain the preset coordinate offset of the target probe, and determine the needle insertion position coordinates of the target probe based on the preset coordinate offset and the first initial field of view center.

[0051] Step S103: Move the target probe to the needle insertion position coordinates on the calibration plate and insert the needle, and obtain the needle insertion image of the calibration plate after needle insertion based on the first initial field of view center;

[0052] Step S104: Determine the coordinates of the trace after the target probe is inserted from the needle insertion image, and determine the actual coordinate offset of the target probe based on the trace coordinates and the first initial field of view center.

[0053] Step S105: Based on the relationship between the preset coordinate offset and the actual coordinate offset, the position verification result of the target probe is obtained.

[0054] It is understood that the probe position verification method provided in this application embodiment can verify the position of a single probe or perform collaborative verification of the positions of multiple probes to improve the verification efficiency and obtain the positional relationship between multiple probes.

[0055] It is understood that any device capable of acquiring and uploading clear images can be used for auxiliary verification of probe positions in this application. In some embodiments, the image acquisition device can also be a camera, camcorder, scanner, or other devices with photographic capabilities, such as mobile phones or tablets. It is understood that compared to probe position verification methods such as directly observing or calculating the probe position visually, or determining the probe position through contact testing, this application uses a high-resolution image acquisition device. The operator directly selects the coordinates of the marks left by each probe on the acquired puncture image to confirm whether the probe tip is abnormal. This method is more accurate and efficient than direct visual judgment. In the embodiments of this application, a camera module can be used to assist in probe position verification. The resolution of a camera module is higher than that of general image acquisition devices, allowing for more accurate probe position verification.

[0056] In some embodiments, a thin sheet that is easily punctured by the probe can be first adhered to the calibration plate. After the probe punctures the sheet, a puncture mark can be easily left on the sheet, thus facilitating probe calibration without damaging the probe. In some embodiments, the sheet can be a consumable material that easily produces puncture marks, such as copper foil, aluminum foil, or adhesive tape. It is understood that there are many types of consumable materials that easily produce puncture marks, and they are inexpensive, which can save on probe calibration costs. It is also understood that the adhered consumable material can be reused multiple times; during calibration, other flat areas of the used consumable material without puncture marks can be selected to conserve consumable materials.

[0057] In some embodiments, the camera module can be moved to capture images to confirm whether the current position is suitable for verification. Specifically, it can be determined whether the sheet is flat and pasted at the current position, and whether there are any pin marks on the sheet. Alternatively, the camera module can be moved above a preset verification position before pasting the sheet, which can then be used as the calibration position.

[0058] In some embodiments, after determining the calibration position, the coordinate point corresponding to the mechanical coordinates of the X-axis and Y-axis of the current camera module is taken as the first initial field of view center (x1, y1). For example, the coordinates of the first field of view center can be (0, 0).

[0059] In some embodiments, the preset coordinate offset is used to predetermine a fixed offset value of the probe module relative to the first initial field of view center. That is, the preset coordinate offset is the offset of the flying probe testing device, i.e., the probe module, with the first initial field of view center as the reference. Specifically, the preset coordinate offset is the pre-set offset between the target probe and any field of view center. Since each probe has an offset from any field of view center, it is impossible for the coordinates of each probe to be (0,0). Therefore, setting a fixed preset coordinate offset in advance can directly calculate the probe position coordinates without repeatedly confirming and setting the coordinate offset.

[0060] Understandably, the preset coordinate offset, representing the needle insertion coordinates, can be used as coarse positioning. The probe module, using the initial field of view center as a reference, moves within the camera module's field of view through this coarse positioning to ensure that the probe module inserts the needle within the camera module's field of view. Furthermore, to facilitate subsequent direct movement of the probe module within the field of view, the preset coordinate offset can be used as a fixed value in subsequent verification processes. When verifying the probe position, the probe module can be moved directly without repeatedly obtaining the preset coordinate offset.

[0061] In some embodiments, the preset coordinate offset can be represented by (x) N1 y N1 The preset offsets correspond to the number of probes currently being detected. Each probe has one preset offset, so there can be one or more preset offsets. For example, a probe module has four probes to be inspected. To facilitate observation and calculation, the probes can be arranged side by side, so the horizontal or vertical coordinates of each probe are the same. For example, the preset coordinate offsets of the four probes are: Probe 1: (2,2), Probe 2: (3,2), Probe 3: (4,2), Probe 4: (5,2). If the coordinates of the first field of view center are (0,0), then according to the target probe's needle position coordinates = preset coordinate offsets + first initial field of view center, the needle position coordinates of the four probes are calculated as: Probe 1: (2,2), Probe 2: (3,2), Probe 3: (4,2), Probe 4: (5,2).

[0062] It is understood that the probe insertion positions can be arranged side by side or dispersed. Multiple probes can be inserted simultaneously or one probe at a time. This application embodiment will not elaborate on this in detail.

[0063] In some embodiments, after calculating the needle insertion position coordinates, the target probe is moved to the needle insertion position coordinates on the calibration plate for needle insertion. After needle insertion, since the needle insertion position coordinates are based on the first initial field of view center, the camera module needs to obtain the needle insertion image on the calibration plate based on the first initial field of view center. For example, if the coordinates of the first initial field of view center are (0,0), then the camera module needs to acquire the needle insertion image based on the coordinates (0,0).

[0064] In some embodiments, the coordinates of the puncture marks left by the target probe can be determined from the acquired puncture images. For example, if there are four target probes (i.e., four probes to be verified), four puncture mark coordinates are acquired. It is understood that the puncture area may be large when the target probe is punctured, making it impossible to obtain a precise coordinate value. In this case, a coordinate needs to be selected from the puncture area as the puncture mark coordinate. Specifically, the puncture mark coordinate can be manually selected. The operator acquires the puncture image and selects the center point of the puncture mark as the puncture mark coordinate based on the puncture area in the image. In another embodiment, the controller in the probe position verification system can determine the puncture marks according to operation instructions and select the puncture mark coordinates of each probe from the puncture marks.

[0065] In some embodiments, since the actual coordinate offset of the target probe = trace coordinates - coordinates of the first initial field of view center, the actual coordinate offset of the target probe can be determined based on the trace coordinates and the first initial field of view center. For example, if the trace coordinates of the four probes are probe 1: (2.01,2), probe 2: (3,2.02), probe 3: (4,2), and probe 4: (5.001,2), and the first initial field of view center is (0,0), then the actual coordinate offsets of the target probes are probe 1: (2.01,2), probe 2: (3,2.02), probe 3: (4,2), and probe 4: (5.001,2).

[0066] In some embodiments, the position verification result of each probe is obtained by subtracting the smaller offset coordinate from the larger offset coordinate, or by subtracting the larger offset coordinate from the smaller offset coordinate and then taking the absolute value. For example, assuming the actual coordinate offsets are probe 1: (2.01,2), probe 2: (3,2.02), probe 3: (4,2), and probe 4: (5.001,2), and the preset coordinate offsets are probe 1: (2,2), probe 2: (3,2), probe 3: (4,2), and probe 4: (5,2), then subtracting the preset coordinate offset from the actual coordinate offset, or subtracting the actual coordinate offset from the preset coordinate offset and then taking the absolute value, yields the position verification result as probe 1: (0.01,0), probe 2: (0,0.02), probe 3: (0,0), and probe 4: (0.001,0).

[0067] Understandably, the position verification result is the probe's position verification result. That is to say, if the original probe was straight, if the probe is worn or the tip is bent, it may cause the probe to fail to pierce the target area that the probe should have pierced. The position verification result is used to reflect the amount of deviation of the probe from the normal value.

[0068] In some embodiments, a preset threshold is used to determine the accuracy of probe insertion. If the coordinates between the two final offsets are greater than this threshold, the accuracy of probe insertion is considered too low, and the probe needs to be repaired or replaced. If the coordinates between the two final offsets are less than or equal to this threshold, the accuracy of probe insertion is considered to be within the normal range, and the probe is functioning normally.

[0069] In some embodiments, a threshold can be set to (0.01, 0.01). If the position verification results are: Probe 1: (0.01, 0), Probe 2: (0, 0.02), Probe 3: (0, 0), and Probe 4: (0.001, 0), then Probe 2's verification result is unqualified and needs to be adjusted or replaced. In another embodiment, a threshold can be set to (0.05, 0.05), then all four probes will pass the verification, and the probes will function normally.

[0070] The probe position verification method proposed in this application can determine the offset between the center of the field of view and the needle coordinates on the calibration plate, and compare the preset coordinate offset with the actual coordinate offset to obtain the probe position verification result. Compared with the method of visually observing the calibration plate and manually setting and calculating, the probe position verification method provided in this application has higher efficiency and accuracy, and can improve the precision and stability of the probe through verification.

[0071] Please see Figure 3 In some embodiments, step S101 may include steps S201 to S203:

[0072] Step S201: Attach a thin film to the upper surface of the calibration plate and obtain an initial field-of-view image on the calibration plate after attachment;

[0073] Step S202: Determine the flat area of ​​the field of view in the initial field of view image, and determine the calibration position for image acquisition in the flat area of ​​the field of view;

[0074] Step S203: On the calibration position, determine the center position of the field of view as the first initial field of view center.

[0075] Understandably, the thin sheet is used to create a puncture mark after the target probe penetrates the calibration plate.

[0076] Reference Figure 4 , Figure 4 This is a probe puncture mark diagram provided in one embodiment of this application. In some embodiments, a thin sheet that is easily punctured by the probe can be first pasted onto the calibration plate. After the probe punctures the sheet, puncture marks can be easily left on the sheet, thus facilitating probe calibration without damaging the probe. In some embodiments, the sheet can be a consumable material that easily produces puncture marks, such as copper foil, aluminum foil, or adhesive tape. It is understood that there are many types of consumable materials that easily produce puncture marks, and they are inexpensive, which can save on probe calibration costs. It is also understood that the pasted consumable material can be reused multiple times. During calibration, other flat areas of the used consumable material without puncture marks can be selected to save on the use of consumable materials.

[0077] In some embodiments, after a thin sheet is attached to the upper surface of the calibration plate, the camera module acquires an initial field-of-view image of the calibration plate, so that the subsequent probe module can insert a needle into the thin sheet on the calibration plate and capture the puncture mark through the camera module.

[0078] In some embodiments, needle insertion can be performed in a flat area within the camera's field of view to prevent unevenness and ensure the effectiveness of the insertion. It is understood that any flat area within the camera's field of view can be used as the insertion area.

[0079] In some embodiments, to facilitate subsequent image acquisition using the camera module, a first initial field of view center (x1, y1) can be determined. The camera module acquires images through this first initial field of view center, calculates the offset coordinates, and obtains the corresponding correction results. For example, the coordinate points corresponding to the mechanical coordinates of the current camera module's X and Y axes can be used as the first initial field of view center (x1, y1). For ease of calculation, the coordinates of the first initial field of view center can be set to (0, 0). It is understood that the coordinates of the first initial field of view center can be set to any value, such as (2, 2), (3, 3), etc., within the field of view center and without hindering the probe module from inserting the needle. This application embodiment does not impose specific limitations on this.

[0080] Reference Figure 5 In some embodiments, the preset coordinate offset is obtained through the following steps S301 to S302:

[0081] Step S301: Determine the second initial field of view center on the calibration plate;

[0082] Step S302: Select an arbitrary offset position for the target probe, and obtain the preset coordinate offset of the target probe based on the offset position and the second initial field of view center.

[0083] In some embodiments, the preset coordinate offset is used to predetermine a fixed offset value of the probe module relative to the first initial field of view center. That is, the preset coordinate offset is the offset of the flying probe testing device, i.e., the probe module, with the first initial field of view center as the reference. Specifically, the preset coordinate offset is the pre-set offset between the target probe and any field of view center. Since each probe has an offset from any field of view center, it is impossible for the coordinates of each probe to be (0,0). Therefore, setting a fixed preset coordinate offset in advance can directly calculate the probe position coordinates without repeatedly confirming and setting the coordinate offset.

[0084] Understandably, the preset coordinate offset, representing the needle insertion coordinates, can be used as coarse positioning. The probe module, using the initial field of view center as a reference, moves within the camera module's field of view through this coarse positioning to ensure that the probe module inserts the needle within the camera module's field of view. Furthermore, to facilitate subsequent direct movement of the probe module within the field of view, the preset coordinate offset can be used as a fixed value in subsequent verification processes. When verifying the probe position, the probe module can be moved directly without repeatedly obtaining the preset coordinate offset.

[0085] In some embodiments, when determining the preset coordinate offset, a second initial field of view center (x2, y2) can be determined on the calibration plate. It is understood that the second initial field of view center can be the mechanical coordinate of the camera module or another coordinate within the field of view of the camera.

[0086] In some embodiments, after determining the second initial field of view center, an offset position is then manually or randomly selected within the field of view so that both the second initial field of view center and the offset position are within the field of view. It is understood that the first initial field of view center and the offset position can be selected manually by the operator, or an instruction code for selecting the corresponding position coordinates can be input to the probe position verification system, and the controller will generate a control signal and perform the corresponding operation.

[0087] In some embodiments, the second initial field of view center can be set to (0,0), and the offset positions of the four probes can be: probe 1: (1,1), probe 2: (1,2), probe 3: (1,3), and probe 4: (1,4). Then, according to the preset coordinate offset = offset position - second initial field of view center, the preset coordinate offsets of the four probes can be calculated as: probe 1: (1,1), probe 2: (1,2), probe 3: (1,3), and probe 4: (1,4). It can be understood that when determining the preset offset position, the needle insertion position coordinates of the target probe can be calculated based on the first initial field of view center.

[0088] In some embodiments, there are multiple target probes.

[0089] Reference Figure 6 In some embodiments, step S302 may include, but is not limited to, steps S401 to S402:

[0090] Step S401: Select the corresponding offset position for each target probe according to the equally divided positional relationship;

[0091] Step S402: Obtain the preset coordinate offset of the target probe based on each offset position and the second initial field of view center.

[0092] In some embodiments, there may be one or more target probes, such as three or four. Simultaneous collaborative testing of multiple probes can save probe verification time and make the positional relationship between multiple probes more intuitive.

[0093] It is understandable that the probes are generally arranged in a regular pattern to facilitate obtaining the positional relationships between the probes and to ensure that each probe has the same preset coordinate offset. In other embodiments, the probe positions may be irregularly set within the field of view of the camera module. In some embodiments, the positions between the probes can be equally divided.

[0094] In some embodiments, the second initial field of view center can be set to (0,0), and the offset positions of the four probes can be: probe 1: (1,1), probe 2: (1,2), probe 3: (1,3), and probe 4: (1,4). Then, according to the preset coordinate offset = offset position - second initial field of view center, the preset coordinate offsets of the four probes can be calculated as: probe 1: (1,1), probe 2: (1,2), probe 3: (1,3), and probe 4: (1,4). It can be understood that when determining the preset offset position, the needle insertion position coordinates of the target probe can be calculated based on the first initial field of view center.

[0095] Reference Figure 7 In some embodiments, step S105 includes, but is not limited to, steps S501 to S502:

[0096] Step S501: Based on the relationship between each preset coordinate offset and the corresponding actual coordinate offset, obtain the sub-position verification result of each target probe.

[0097] Step S502: Obtain the overall position verification result based on the verification results of each sub-position.

[0098] In some embodiments, each time the four probes of the probe module are calibrated, the positions of the four probes are taken as sub-positions. In some embodiments, the probes can be labeled as probe 1, probe 2, probe 3, and probe 4.

[0099] In some embodiments, based on the relationship between the preset coordinate offset and the actual coordinate offset, the position verification result of each probe is obtained by subtracting the smaller offset coordinate from the larger offset coordinate, or by subtracting the larger offset coordinate from the smaller offset coordinate and then taking the absolute value. For example, assuming the actual coordinate offsets are probe 1: (2.01,2), probe 2: (3,2.02), probe 3: (4,2), and probe 4: (5.001,2), and the preset coordinate offsets are probe 1: (2,2), probe 2: (3,2), probe 3: (4,2), and probe 4: (5,2), then by subtracting the preset coordinate offset from the actual coordinate offset, or by subtracting the actual coordinate offset from the preset coordinate offset and then taking the absolute value, the position verification result is probe 1: (0.01,0), probe 2: (0,0.02), probe 3: (0,0), and probe 4: (0.001,0).

[0100] In some embodiments, a preset threshold is used to determine the accuracy of probe insertion. If the coordinates between the two final offsets are greater than this threshold, the accuracy of probe insertion is considered too low, and the probe needs to be repaired or replaced. If the coordinates between the two final offsets are less than or equal to this threshold, the accuracy of probe insertion is considered to be within the normal range, and the probe is functioning normally.

[0101] In some embodiments, a threshold can be set to (0.01, 0.01). If the position verification results are: Probe 1: (0.01, 0), Probe 2: (0, 0.02), Probe 3: (0, 0), Probe 4: (0.001, 0), then Probe 2 fails the verification and needs to be adjusted or replaced. In another embodiment, a threshold can be set to (0.05, 0.05), then all probe verification results are qualified, and the probes are considered to be functioning normally.

[0102] Reference Figure 8 In some embodiments, the probe position verification method further includes steps S601 to S604:

[0103] Step S601: Obtain the preset needle placement coordinates based on the first initial field of view center;

[0104] Step S602: Calculate the reference needle coordinates based on the preset needle coordinates and position verification results;

[0105] Step S603: Move the target probe to the preset needle-puncturing coordinates on the calibration plate and perform needle puncture. Obtain the actual needle-puncture image of the calibration plate after needle puncture based on the first initial field of view center.

[0106] Step S604: Compare the reference needle coordinates with the actual needle image to obtain the inspection results of the target probe position relationship.

[0107] In some embodiments, the verification results of the probe can be checked. Specifically, preset needle coordinates can be obtained based on a first initial field of view center, which can be set to (0,0). It is understood that any coordinates within the field of view of the camera module can be set as preset needle coordinates.

[0108] In some embodiments, the preset pinning coordinates of the four probes can be set as follows: Probe 1: (3,1), Probe 2: (3,2), Probe 3: (3,3), and Probe 4: (3,4). It is understood that the preset pinning coordinates are used to verify the probe calibration results. As long as the probes are within the field of view of the camera module, the operator can set the preset pinning coordinates themselves.

[0109] In some embodiments, reference needle coordinates are calculated based on preset needle coordinates and the calculated position verification results. Specifically, if the position verification results are qualified, and the coordinates of each probe are: Probe 1: (0.01,0), Probe 2: (0,0.02), Probe 3: (0,0), Probe 4: (0.001,0), and the preset needle coordinates are Probe 1: (3,1), Probe 2: (3,2), Probe 3: (3,3), Probe 4: (3,4), then the calculated reference needle coordinates are Probe 1: (3.01,1), Probe 2: (3,2.02), Probe 3: (3,3), Probe 4: (3.001,4).

[0110] Furthermore, the probe module directly inserts needles at preset needle coordinates, and the image acquisition module acquires the actual needle insertion image of the calibration board based on the first initial field of view center. Understandably, after acquiring the actual needle insertion image, the display module will display the corresponding image. Simultaneously, reference needle coordinates for four probes are generated on the same needle insertion image. The operator observes and compares the four needle insertion points on the actual needle insertion image with the reference needle coordinates to check the degree of overlap. If the four needle insertion points coincide with the reference needle coordinates, it indicates that the probe position verification result is accurate and each probe is working normally.

[0111] Understandably, besides the operator obtaining the inspection results of the target probe position relationship through observation, the probe position relationship verification system can also use a controller to calculate the overlap between the reference needle coordinates and the needle point. For example, if the overlap between the reference needle coordinates and the needle point is above 95%, it is considered qualified. If the calculated overlap is 99%, it indicates that the probe position verification result is accurate and each probe is working normally.

[0112] Understandably, if the needle insertion point does not match the reference needle insertion coordinates, that is, if the result obtained by the operator through observation or by calculating the overlap is that the needle insertion point does not coincide with the reference coordinates or the overlap is low, it means that the position verification result is inaccurate and the probe module needs to be re-verified.

[0113] Reference Figure 9 In some embodiments, step S601 includes, but is not limited to, steps S701 to S703:

[0114] Step S701: Based on the first initial visual field center, plan the longitudinal preset needle insertion coordinates at equal intervals;

[0115] Step S702: Based on the first initial visual field center, plan the lateral preset needle placement coordinates at equal intervals;

[0116] Step S703: Obtain the preset needle coordinates based on the preset vertical needle coordinates and the preset horizontal needle coordinates.

[0117] Reference Figures 10 to 11 In some embodiments, to further check the positional relationship of the target probe, preset needle coordinates can be planned at equal intervals in the longitudinal and lateral directions within the camera's field of view. It is understood that two sets of lateral preset needle coordinates, two sets of longitudinal preset needle coordinates, or multiple sets of preset needle coordinates can also be set to further check the probe position verification results; this application does not impose specific limitations on this.

[0118] For example, four preset vertical needle coordinates can be set at equal intervals as probe 1: (2,1), probe 2: (2,2), probe 3: (2,3), and probe 4: (2,4).

[0119] For example, four horizontal preset needle coordinates can be set at equal intervals as probe 1: (1,2), probe 2: (2,2), probe 3: (3,2), and probe 4: (4,2).

[0120] Specifically, after setting the preset vertical and horizontal needle coordinates, the preset needle coordinates are obtained, and the probe module can perform needle insertion at the preset needle coordinates.

[0121] It is understandable that the results of checking the positional relationship of the target probe have been discussed in the above embodiments and will not be repeated here.

[0122] Reference Figure 12 In some embodiments, the coordinates of the target probe's puncture mark are determined from the puncture image, including but not limited to steps S801 to S802:

[0123] Step S801: Mark the puncture mark area of ​​the target probe after puncture in the puncture image;

[0124] Step S802: Determine the pixel coordinates of the center position of the puncture mark area in the puncture image, and set the pixel coordinates as the trace coordinates after the target probe is punctured.

[0125] Reference Figure 13In some embodiments, the coordinates of the puncture marks left by the target probe can be determined from the acquired puncture images. For example, if there are four target probes (i.e., four probes to be verified), four puncture coordinates are acquired. It is understood that the puncture area may be large when the target probe is punctured, making it impossible to obtain a precise coordinate value. In this case, a coordinate needs to be selected from the puncture area as the puncture coordinate. Specifically, the puncture coordinate can be manually selected. The operator acquires the puncture image and selects the center point of the puncture area as the puncture coordinate. In another embodiment, the controller in the probe position verification system can determine the puncture area based on the operation command and select the puncture coordinates of each probe from the puncture area.

[0126] Please see Figure 14 This application also provides a probe position verification system that can implement the above-described probe position verification method. The probe position verification system includes:

[0127] The first initial field-of-view center determination module 1401 is used to determine the first initial field-of-view center on the calibration plate;

[0128] The needle insertion position coordinate determination module 1402 is used to obtain the preset coordinate offset of the target probe and determine the needle insertion position coordinate of the target probe based on the preset coordinate offset and the first initial field of view center.

[0129] The needle insertion image acquisition module 1403 is used to move the target probe to the needle insertion position coordinates on the calibration plate for needle insertion, and acquire the needle insertion image of the calibration plate after needle insertion based on the first initial field of view center.

[0130] The actual coordinate offset determination module 1404 is used to determine the trace coordinates of the target probe after needle insertion from the needle insertion image, and to determine the actual coordinate offset of the target probe based on the trace coordinates and the first initial field of view center.

[0131] The position verification result acquisition module 1405 is used to obtain the position verification result of the target probe based on the relationship between the preset coordinate offset and the actual coordinate offset.

[0132] It is understood that the probe position verification method provided in this application embodiment can verify the position of a single probe or perform collaborative verification of the positions of multiple probes to improve the verification efficiency and obtain the positional relationship between multiple probes.

[0133] It is understood that any device capable of acquiring and uploading clear images can be used for auxiliary verification of probe positions in this application. In some embodiments, the image acquisition device can also be a camera, camcorder, scanner, or other devices with photographic capabilities, such as mobile phones or tablets. It is understood that compared to probe position verification methods such as directly observing or calculating the probe position visually, or determining the probe position through contact testing, this application uses a high-resolution image acquisition device. The operator directly selects the coordinates of the marks left by each probe on the acquired puncture image to confirm whether the probe tip is abnormal. This method is more accurate and efficient than direct visual judgment. In the embodiments of this application, a camera module can be used to assist in probe position verification. The resolution of a camera module is higher than that of general image acquisition devices, allowing for more accurate probe position verification.

[0134] In some embodiments, a thin sheet that is easily punctured by the probe can be first adhered to the calibration plate. After the probe punctures the sheet, a puncture mark can be easily left on the sheet, thus facilitating probe calibration without damaging the probe. In some embodiments, the sheet can be a consumable material that easily produces puncture marks, such as copper foil, aluminum foil, or adhesive tape. It is understood that there are many types of consumable materials that easily produce puncture marks, and they are inexpensive, which can save on probe calibration costs. It is also understood that the adhered consumable material can be reused multiple times; during calibration, other flat areas of the used consumable material without puncture marks can be selected to conserve consumable materials.

[0135] In some embodiments, the camera module can be moved to capture images to confirm whether the current position is suitable for verification. Specifically, it can be determined whether the sheet is flat and pasted at the current position, and whether there are any pin marks on the sheet. Alternatively, the camera module can be moved above a preset verification position before pasting the sheet, which can then be used as the calibration position.

[0136] In some embodiments, after determining the calibration position, the coordinate point corresponding to the mechanical coordinates of the X-axis and Y-axis of the current camera module is taken as the first initial field of view center (x1, y1). For example, the coordinates of the first field of view center can be (0, 0).

[0137] In some embodiments, the preset coordinate offset is used to predetermine a fixed offset value of the probe module relative to the first initial field of view center. That is, the preset coordinate offset is the offset of the flying probe testing device, i.e., the probe module, with the first initial field of view center as the reference. Specifically, the preset coordinate offset is the pre-set offset between the target probe and any field of view center. Since each probe has an offset from any field of view center, it is impossible for the coordinates of each probe to be (0,0). Therefore, setting a fixed preset coordinate offset in advance can directly calculate the probe position coordinates without repeatedly confirming and setting the coordinate offset.

[0138] Understandably, the preset coordinate offset, representing the needle insertion coordinates, can be used as coarse positioning. The probe module, using the initial field of view center as a reference, moves within the camera module's field of view through this coarse positioning to ensure that the probe module inserts the needle within the camera module's field of view. Furthermore, to facilitate subsequent direct movement of the probe module within the field of view, the preset coordinate offset can be used as a fixed value in subsequent verification processes. When verifying the probe position, the probe module can be moved directly without repeatedly obtaining the preset coordinate offset.

[0139] In some embodiments, the preset coordinate offset can be represented by (x) N1 y 11 The preset offsets correspond to the number of probes currently being detected. Each probe has one preset offset, so there can be one or more preset offsets. For example, a probe module has four probes to be inspected. To facilitate observation and calculation, the probes can be arranged side by side, so the horizontal or vertical coordinates of each probe are the same. For example, the preset coordinate offsets of the four probes are: Probe 1: (2,2), Probe 2: (3,2), Probe 3: (4,2), Probe 4: (5,2). If the coordinates of the first field of view center are (0,0), then according to the target probe's needle position coordinates = preset coordinate offsets + first initial field of view center, the needle position coordinates of the four probes are calculated as: Probe 1: (2,2), Probe 2: (3,2), Probe 3: (4,2), Probe 4: (5,2).

[0140] It is understood that the probe insertion positions can be arranged side by side or dispersed. Multiple probes can be inserted simultaneously or one probe at a time. This application embodiment will not elaborate on this in detail.

[0141] In some embodiments, after calculating the needle insertion position coordinates, the target probe is moved to the needle insertion position coordinates on the calibration plate for needle insertion. After needle insertion, since the needle insertion position coordinates are based on the first initial field of view center, the camera module needs to obtain the needle insertion image on the calibration plate based on the first initial field of view center. For example, if the coordinates of the first initial field of view center are (0,0), then the camera module needs to acquire the needle insertion image based on the coordinates (0,0).

[0142] In some embodiments, the coordinates of the puncture marks left by the target probe can be determined from the acquired puncture images. For example, if there are four target probes (i.e., four probes to be verified), four puncture mark coordinates are acquired. It is understood that the puncture area may be large when the target probe is punctured, making it impossible to obtain a precise coordinate value. In this case, a coordinate needs to be selected from the puncture area as the puncture mark coordinate. Specifically, the puncture mark coordinate can be manually selected. The operator acquires the puncture image and selects the center point of the puncture mark as the puncture mark coordinate based on the puncture area in the image. In another embodiment, the controller in the probe position verification system can determine the puncture marks according to operation instructions and select the puncture mark coordinates of each probe from the puncture marks.

[0143] In some embodiments, since the actual coordinate offset of the target probe = trace coordinates - coordinates of the first initial field of view center, the actual coordinate offset of the target probe can be determined based on the trace coordinates and the first initial field of view center. For example, if the trace coordinates of the four probes are probe 1: (2.01,2), probe 2: (3,2.02), probe 3: (4,2), and probe 4: (5.001,2), and the first initial field of view center is (0,0), then the actual coordinate offsets of the target probes are probe 1: (2.01,2), probe 2: (3,2.02), probe 3: (4,2), and probe 4: (5.001,2).

[0144] In some embodiments, the position verification result of each probe is obtained by subtracting the smaller offset coordinate from the larger offset coordinate, or by subtracting the larger offset coordinate from the smaller offset coordinate and then taking the absolute value. For example, assuming the actual coordinate offsets are probe 1: (2.01,2), probe 2: (3,2.02), probe 3: (4,2), and probe 4: (5.001,2), and the preset coordinate offsets are probe 1: (2,2), probe 2: (3,2), probe 3: (4,2), and probe 4: (5,2), then subtracting the preset coordinate offset from the actual coordinate offset, or subtracting the actual coordinate offset from the preset coordinate offset and then taking the absolute value, yields the position verification result as probe 1: (0.01,0), probe 2: (0,0.02), probe 3: (0,0), and probe 4: (0.001,0).

[0145] Understandably, the position verification result is the probe's position verification result. That is to say, if the original probe was straight, if the probe is worn or the tip is bent, it may cause the probe to fail to pierce the target area that the probe should have pierced. The position verification result is used to reflect the amount of deviation of the probe from the normal value.

[0146] In some embodiments, a preset threshold is used to determine the accuracy of probe insertion. If the coordinates between the two final offsets are greater than this threshold, the accuracy of probe insertion is considered too low, and the probe needs to be repaired or replaced. If the coordinates between the two final offsets are less than or equal to this threshold, the accuracy of probe insertion is considered to be within the normal range, and the probe is functioning normally.

[0147] In some embodiments, a threshold can be set to (0.01, 0.01). If the position verification results are: Probe 1: (0.01, 0), Probe 2: (0, 0.02), Probe 3: (0, 0), and Probe 4: (0.001, 0), then Probe 2's verification result is unqualified and needs to be adjusted or replaced. In another embodiment, a threshold can be set to (0.05, 0.05), then all four probes will pass the verification, and the probes will function normally.

[0148] The probe position verification method proposed in this application can determine the offset between the center of the field of view and the needle coordinates on the calibration plate, and compare the preset coordinate offset with the actual coordinate offset to obtain the probe position verification result. Compared with the method of visually observing the calibration plate and manually setting and calculating, the probe position verification method provided in this application has higher efficiency and accuracy, and can improve the precision and stability of the probe through verification.

[0149] The specific implementation of the probe position verification system is basically the same as the specific embodiment of the probe position verification method described above, and will not be repeated here. Subject to meeting the requirements of the embodiments of this application, the probe position verification system may also be equipped with other functional modules to implement the probe position verification method in the above embodiments.

[0150] This application also provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the probe position verification method described above. This electronic device can be any smart terminal, including tablet computers, in-vehicle computers, etc.

[0151] Please see Figure 15 , Figure 15 The hardware structure of an electronic device according to another embodiment is illustrated. The electronic device includes:

[0152] The processor 1501 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application.

[0153] The memory 1502 can be implemented as a read-only memory (ROM), static storage device, dynamic storage device, or random access memory (RAM). The memory 1502 can store the operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 1502 and is called and executed by the processor 1501 using the probe position verification method of the embodiments of this application.

[0154] The input / output interface 1503 is used to implement information input and output;

[0155] The communication interface 1504 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0156] Bus 1505 transmits information between various components of the device (e.g., processor 1501, memory 1502, input / output interface 1503, and communication interface 1504);

[0157] The processor 1501, memory 1502, input / output interface 1503 and communication interface 1504 are connected to each other within the device via bus 1505.

[0158] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the probe position verification method described above.

[0159] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0160] The embodiments described in this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided by the embodiments of this application. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.

[0161] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of this application, and may include more or fewer steps than shown, or combine certain steps, or different steps.

[0162] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0163] Those skilled in the art will understand that all or some of the steps in the methods disclosed above, as well as the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, or suitable combinations thereof.

[0164] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0165] It should be understood that in this application, "at least one" and "several" refer to one or more, and "multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0166] In the embodiments provided in this application, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the system embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0167] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0168] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0169] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes multiple instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0170] The preferred embodiments of the present application have been described above with reference to the accompanying drawings, but this does not limit the scope of the claims of the present application. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and substance of the embodiments of the present application shall be within the scope of the claims of the present application.

Claims

1. A probe position verification method, characterized in that, The method includes: Determine the first initial field-of-view center on the calibration plate; Obtain the preset coordinate offset of the target probe, and determine the needle insertion position coordinates of the target probe based on the preset coordinate offset and the first initial field of view center; there are multiple target probes; the preset coordinate offset is obtained through the following steps: determine the second initial field of view center on the calibration plate; select the corresponding offset position for each target probe according to the equally divided position relationship; obtain the corresponding preset coordinate offset of the target probe based on each offset position and the second initial field of view center; Move the target probe to the needle insertion position coordinates on the calibration plate to perform needle insertion, and obtain the needle insertion image of the calibration plate after needle insertion based on the first initial field of view center; The coordinates of the mark left by the target probe after needle insertion are determined from the needle insertion image, and the actual coordinate offset of the target probe is determined based on the mark coordinates and the first initial field of view center. Based on the relationship between each preset coordinate offset and the corresponding actual coordinate offset, the sub-position verification result of each target probe is obtained; based on each sub-position verification result, the overall position verification result is obtained. The method further includes: obtaining preset needle coordinates based on the first initial field of view center; calculating reference needle coordinates according to the preset needle coordinates and the position verification result; moving the target probe to the preset needle coordinates on the calibration plate for needle insertion; obtaining an actual needle insertion image of the calibration plate after needle insertion based on the first initial field of view center; and comparing the reference needle coordinates with the actual needle insertion image to obtain a check result of the target probe position relationship.

2. The probe position verification method according to claim 1, characterized in that, Determining the first initial field-of-view center on the calibration plate includes: A thin film is attached to the upper surface of the calibration plate, and an initial field-of-view image of the calibration plate is obtained after attachment. In the initial field-of-view image, a flat area of ​​the field of view is determined, and within the flat area of ​​the field of view, a calibration position for image acquisition is determined; At the calibration position, the center position of the field of view is determined as the first initial field of view center; The thin sheet is used to form a puncture mark after the target probe penetrates the calibration plate.

3. The probe position verification method according to claim 1, characterized in that, The step of obtaining the preset needle placement coordinates based on the first initial visual field center includes: Based on the first initial visual center, the longitudinal preset needle insertion coordinates are planned at equal intervals; Based on the first initial visual center, the horizontal preset needle insertion coordinates are planned at equal intervals; The preset needle coordinates are obtained based on the preset vertical needle coordinates and the preset horizontal needle coordinates.

4. The probe position verification method according to claim 1, characterized in that, Determining the coordinates of the target probe's puncture mark from the puncture image includes: Mark the puncture mark area of ​​the target probe after puncture in the puncture image; The pixel coordinates of the center position of the puncture mark area in the puncture image are determined, and the pixel coordinates are determined as the trace coordinates after the target probe is punctured.

5. A probe position verification system, characterized in that, The system includes: The first initial field-of-view center determination module is used to determine the first initial field-of-view center on the calibration plate; A needle insertion position coordinate determination module is used to obtain a preset coordinate offset of the target probe, and determine the needle insertion position coordinate of the target probe based on the preset coordinate offset and the first initial field of view center; there are multiple target probes; the preset coordinate offset is obtained through the following steps: determining a second initial field of view center on the calibration plate; selecting a corresponding offset position for each target probe according to an equally divided position relationship; obtaining the corresponding preset coordinate offset of the target probe based on each offset position and the second initial field of view center; The needle insertion image acquisition module is used to move the target probe to the needle insertion position coordinates on the calibration plate to perform needle insertion, and acquire the needle insertion image of the calibration plate after needle insertion based on the first initial field of view center. The actual coordinate offset determination module is used to determine the trace coordinates of the target probe after needle insertion from the needle insertion image, and to determine the actual coordinate offset of the target probe based on the trace coordinates and the first initial field of view center. The position verification result acquisition module is used to obtain the sub-position verification result of each target probe based on the relationship between each preset coordinate offset and the corresponding actual coordinate offset; and to obtain the overall position verification result based on each sub-position verification result. The system is also used to: obtain preset needle-piercing coordinates based on the first initial field of view center; calculate reference needle-piercing coordinates based on the preset needle-piercing coordinates and the position verification result; move the target probe to the preset needle-piercing coordinates on the calibration plate for needle piercing; obtain the actual needle-piercing image of the calibration plate after needle piercing based on the first initial field of view center; and compare the reference needle-piercing coordinates with the actual needle-piercing image to obtain the check result of the target probe position relationship.

6. An electronic device, characterized in that, The electronic device includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the probe position verification method according to any one of claims 1 to 4.

7. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the probe position verification method according to any one of claims 1 to 4.

Images