Chip pickup mechanism control method and system and storage medium

Abstract

The invention provides a chip pickup mechanism control method and system and a storage medium, and the method comprises the steps: obtaining a matrix conversion relation among a three-dimensional coordinate system of a pickup claw, a three-dimensional coordinate system of an operation disc and a three-dimensional coordinate system of optical navigation equipment through registration; controlling optical navigation equipment to receive optical signals reflected by the dynamic reference plate and the static reference plate, analyzing the optical signals to obtain a real-time relative distance and a real-time relative angle between the pick-up claw and the operation disc, further judging whether the pick-up claw and the operation disc are in an operation pose range or not, and determining whether the pick-up claw and the operation disc are in an operation pose range or not based on grid distribution parameters of chips on the operation disc; and mechanical arm operation control data and pick-up claw operation control data are analyzed and obtained, so that follow-up operation is executed. After the matrix conversion relation between the three-dimensional coordinate systems corresponding to the pick-up claw, the operation disc and the optical navigation equipment is obtained through registration, whether the pick-up claw and the operation disc are in the operation pose range or not is judged, then the pick-up claw of the mechanical arm is controlled to pick up the chip, the operation precision can be improved, and chip damage is avoided.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and more particularly to a method, system and storage medium for accurately picking up chips by controlling a robotic arm during a manufacturing process. Background Art

[0002] A chip, or integrated circuit (IC for short), is a miniature electronic device or component that uses a specific process to interconnect transistors, resistors, capacitors, inductors and other components through wiring, is manufactured on a semiconductor wafer or dielectric substrate and packaged in a tube shell. It can be said that chips are the core component of modern electronic devices.

[0003] Chip assembly refers to the process of removing the chip from the rotating disk and bonding it to the circuit board to form an overall structure, thereby realizing the corresponding circuit function. Chip assembly includes at least operations such as picking, transferring, and placing. This is a high-tech process involving numerous control instructions, requiring high stability and high precision. Traditional manual operation is prone to errors, requiring operators to wear gloves to operate in a dust-free state, requiring high personal operation requirements, and being extremely susceptible to personal operation. In addition, there are problems such as low efficiency, which cannot meet the growing demand for chip manufacturing. As an automated operating device that can simulate the movements of human arms, the robotic arm can complete various complex movements in three-dimensional space, thereby completing various operations in chip assembly.

[0004] The development of chip manufacturing has experienced a leap from millimeter level to micron level, and then to submicron level and nanometer level. As chips become smaller and smaller, the difficulty of chip assembly becomes greater and greater. How to accurately and non-destructively pick up chips through a robotic arm is a technical problem that the industry needs to solve urgently. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a chip picking mechanism control method, system and storage medium to address the above-mentioned defects of the prior art, which can improve the operational accuracy of chip picking, minimize chip damage and ensure that the chip is assembled in place.

[0006] The technical solution adopted by the present invention to solve the technical problem is as follows: A chip picking mechanism control method, the method is based on a mechanical arm, a picking claw, a running disk, a dynamic reference board, a static reference board and an optical navigation device, the picking claw is fixedly arranged at the end of the mechanical arm, the dynamic reference board is fixedly arranged on the picking claw, the static reference board is fixedly arranged on the running disk, the optical navigation device determines the real-time position of the picking claw and the running disk by collecting optical signals of the dynamic reference board and the static reference board, the method comprises the following steps: S1. Establishing a three-dimensional coordinate system for the pickup claw, a three-dimensional coordinate system for the running disk, and a three-dimensional coordinate system for the optical navigation device; S2. Align the picking claw, the running disk and the optical navigation device to obtain the matrix conversion relationship between the picking claw three-dimensional coordinate system, the running disk three-dimensional coordinate system and the optical navigation device three-dimensional coordinate system; S3. Control the optical navigation device to transmit optical signals to the dynamic reference board and the static reference board; S4. Control the optical navigation device to receive the light signal reflected by the dynamic reference plate and the static reference plate, and obtain the real-time relative distance and real-time relative angle between the pickup claw and the running disk based on the analysis of the light signal reflected by the dynamic reference plate and the static reference plate; S5. Compare the ideal relative distance and the real-time relative distance between the picking claw and the running disk to obtain the real-time distance difference, compare the ideal relative angle and the real-time relative angle between the picking claw and the running disk to obtain the real-time angle difference, and judge whether the picking claw and the running disk are in the operating posture range according to the real-time distance difference and the real-time angle difference; when the picking claw and the running disk are in the operating posture range, execute the next step, otherwise feedback the operation instruction to adjust the relative position between the picking claw and the running disk until the picking claw and the running disk are in the operating posture range and then execute the next step; S6. Analyze and obtain the robot operation control data and the picking claw operation control data based on the chip grid distribution parameters on the running disk; S7. Execute the robot arm operation control data to control the robot arm to move to the specified position, and execute the picking claw operation control data to control the picking claw to pick up the chip.

[0007] Compared with the prior art, the beneficial effect of the present technical solution is: after obtaining the matrix transformation relationship between the three-dimensional coordinate systems corresponding to the picking claw, the rotating disk and the optical navigation device through registration, it is determined whether the picking claw and the rotating disk are in the operating posture range, and then the robotic arm picking claw is controlled to pick up the chip, which can improve the operating accuracy and avoid chip damage.

[0008] Further, a plurality of registration feature points are arranged on the running disk, and the plurality of registration feature points are not collinear, and the step S2 specifically comprises the following steps: S201. Control the picking claw to stay on the registration feature point on the running disk; S202. Obtain the coordinate values ​​of the registration feature points on the three-dimensional coordinate system of the running disk based on the structural parameters of the running disk. , , ], based on the structural parameters of the picking claw, the coordinate values ​​of the registration feature points in the three-dimensional coordinate system of the picking claw are obtained [ , , ], based on the light signal reflected by the dynamic reference plate or the static reference plate, the coordinate value of the registration feature point in the three-dimensional coordinate system of the optical navigation device is obtained. , , ]; among them, the superscript Indicates the three-dimensional coordinate system of the running disk, the superscript represents the three-dimensional coordinate system of the picking claw, and the superscript Represents the three-dimensional coordinate system of the optical navigation device, subscript Represents the coordinate value corresponding to the th registration feature point; S203. Calculate the translation vector between the three-dimensional coordinate system of the running disk and the three-dimensional coordinate system of the picking claw based on [, , ] and [, , ] , based on [, , ] and [, , ], calculate the translation vector between the three-dimensional coordinate system of the running disk and the three-dimensional coordinate system of the optical navigation device , based on [, , ] and [, , ] the translation vector between the three-dimensional coordinate system of the picking claw and the three-dimensional coordinate system of the optical navigation device ,in, = - , = - , = -; S204. Calculate the covariance matrix between the three-dimensional coordinate system of the running disk and the three-dimensional coordinate system of the picking claw based on [, , ] and [, , ] , based on [, , ] and [, , ], the covariance matrix between the three-dimensional coordinate system of the running disk and the three-dimensional coordinate system of the optical navigation device is calculated , based on the covariance matrix between the three-dimensional coordinate system of the picking claw and the three-dimensional coordinate system of the optical navigation device [, , ] and [, , ] ,in, = (-) ( - ) , =(-)( - ), =(-)(-) , The maximum value of is the transposed matrix; S205. Based on, and, the rotation matrix between the three-dimensional coordinate system of the running disk and the three-dimensional coordinate system of the picking claw is obtained. , the rotation matrix between the three-dimensional coordinate system of the running disk and the three-dimensional coordinate system of the optical navigation device , the rotation matrix between the three-dimensional coordinate system of the picking claw and the three-dimensional coordinate system of the optical navigation device ; S205.Based on , Analyze and obtain the matrix transformation relationship between the three-dimensional coordinate system of the operating disk and the three-dimensional coordinate system of the picking claw, the matrix transformation relationship between the three-dimensional coordinate system of the operating disk and the three-dimensional coordinate system of the optical navigation device, and the matrix transformation relationship between the three-dimensional coordinate system of the picking claw and the three-dimensional coordinate system of the optical navigation device.

[0009] The beneficial effect of adopting the above scheme is: before each operation, the picking claw is controlled to stay on multiple alignment feature points, and the coordinate values ​​of each alignment feature point in the three-dimensional coordinate system of the picking claw, the three-dimensional coordinate system of the running disk and the three-dimensional coordinate system of the optical navigation device are correspondingly collected, and the matrix transformation relationship between the three three-dimensional coordinate systems is obtained by analyzing the translation vectors and rotation matrices between the three three-dimensional coordinate systems. Based on the matrix transformation relationship, when the coordinate value of a certain point in a certain three-dimensional coordinate system is known, the coordinate value of the point in the other two three-dimensional coordinate systems can be directly obtained, so as to prepare data for the subsequent analysis of the real-time relative distance and real-time relative angle between the picking claw and the running disk through optical signals, thereby effectively improving the operation accuracy.

[0010] Furthermore, the step S4 specifically includes the following steps: S401. According to the optical signal reflected by the dynamic reference plate, the real-time coordinate value of the dynamic reference plate in the three-dimensional coordinate system of the optical navigation device is analyzed and obtained. , , ], according to the light signal reflected by the static reference plate, the real-time coordinate value of the static reference plate in the three-dimensional coordinate system of the optical navigation device is analyzed and obtained. , , ]; S402. Calculate the real-time relative distance between the picking claw and the running disk based on [, , ] and [, , ] ,in, = ; S403. Calculate the Euler angle parameters of the dynamic reference plate based on [, , ] and [, , ] , , ] and the Euler angle parameters of the static reference plate [ , , ],in, is the pitch angle relative to the three-dimensional coordinate system of the optical navigation device, is the yaw angle relative to the three-dimensional coordinate system of the optical navigation device, is the roll angle relative to the three-dimensional coordinate system of the optical navigation device, the subscript d represents the parameter corresponding to the dynamic reference plate, and the subscript s represents the parameter corresponding to the static reference plate; S404. Calculate the real-time relative angle between the pickup claw and the running plate according to the dynamic reference plate Euler angle parameters [, , ] and the static reference plate Euler angle parameters [, , ], wherein the real-time relative angle includes the real-time relative pitch angle, the real-time relative yaw angle and the real-time relative roll angle, wherein the real-time relative pitch angle , real-time relative yaw angle , real-time relative roll angle .

[0011] The beneficial effect of adopting the above scheme is: the real-time relative distance between the picking claw and the running disk is calculated based on the real-time coordinate values ​​of the dynamic reference plate and the static reference plate, and then the real-time relative angle between the two is comprehensively judged through the real-time relative pitch angle, real-time relative yaw angle and real-time relative roll angle. The relative angle and relative distance between the picking claw and the running disk can be comprehensively judged, providing a data basis for operational reliability.

[0012] Furthermore, the step S5 specifically includes the following steps: S501. Obtaining a preset ideal relative distance and the ideal relative angle, wherein the ideal relative angle includes the ideal relative pitch angle , ideal relative yaw angle , Ideal relative roll angle ; S502. Acquire real-time relative distance and real-time relative angle, wherein the real-time relative angle includes real-time relative pitch angle, real-time relative yaw angle, and real-time relative roll angle; S503. Calculate real-time distance difference =-; S504. Calculate the real-time angle difference, which includes the real-time relative pitch angle difference, the real-time relative yaw angle difference and the real-time relative roll angle difference. , real-time relative yaw angle difference , real-time relative roll angle difference ; S505. Analyze whether the picking claw and the running disk are in the operating posture range according to the operating posture judgment condition, wherein the operating posture judgment condition is whether , , and ; When the above-mentioned operating posture judgment conditions are met, it means that the picking claw and the operating disk are in the operating posture range, otherwise the feedback operation instruction adjusts the relative position between the picking claw and the operating disk until the picking claw and the operating disk are in the operating posture range and then executes the next step.

[0013] The beneficial effects of adopting the above scheme are: by comparing the preset ideal relative distance with the real-time relative distance, it is possible to determine whether the relative distance between the picking claw and the running disk is within a reasonable operating range; by comparing the ideal relative pitch angle, the ideal relative yaw angle, and the ideal relative roll angle with the real-time relative pitch angle, the real-time relative yaw angle, and the real-time relative roll angle, it is possible to determine whether the relative angle between the picking claw and the running disk is within a reasonable operating range.

[0014] Furthermore, the step S6 specifically includes the following steps: S601. Obtaining the chip grid distribution parameters of the running disk, wherein the chip grid distribution parameters include the number of rows, the number of columns and the spacing distance of the elements on the running disk; S602. The position of the component located in the first row and first column is defined as the control origin coordinate value (0, 0), and the control sequence coordinate value (n*di, m*di) of each component position is calculated accordingly; wherein m indicates that the component is in the mth row, n indicates that the component is in the nth column, and di indicates the interval distance between two components; S603. Generate a movement instruction of the robot arm according to the control origin coordinate value (0, 0) and the control sequence coordinate value (n*di, m*di), and obtain the robot arm operation control data according to the movement instruction; S604. Generate a picking instruction of the picking claw according to the control origin coordinate value (0, 0) and the control sequence coordinate value (n*di, m*di), and obtain the picking claw operation control data according to the picking instruction.

[0015] The beneficial effect of adopting the above scheme is: when the alignment, relative distance and relative angle evaluation between the three-dimensional coordinate systems have been completed in the early stage, the robot arm operation control data and the picking claw operation control data are adaptively generated according to the chip grid distribution parameters, which can ensure that the robot arm and the picking claw complete the chip picking action in a navigation manner under the cooperation of the optical navigation equipment and the dynamic reference board and the static reference board, thereby improving the operational accuracy of chip picking, minimizing chip damage, and ensuring that the chip is assembled in place.

[0016] Correspondingly, a chip picking mechanism control system is provided, the system is based on a mechanical arm, a picking claw, a running disk, a dynamic reference board, a static reference board and an optical navigation device, the picking claw is fixedly arranged at the end of the mechanical arm, the dynamic reference board is fixedly arranged on the picking claw, the static reference board is fixedly arranged on the running disk, the optical navigation device determines the real-time position of the picking claw and the running disk by collecting the optical signals of the dynamic reference board and the static reference board, and the system comprises: A coordinate system establishment module, used to establish a three-dimensional coordinate system of the picking claw, a three-dimensional coordinate system of the running disk and a three-dimensional coordinate system of the optical navigation device; A registration module is used to register the picking claw, the running disk and the optical navigation device, and obtain the matrix conversion relationship between the three-dimensional coordinate system of the picking claw, the three-dimensional coordinate system of the running disk and the three-dimensional coordinate system of the optical navigation device; An optical signal transmitting module, used for controlling the optical navigation device to transmit optical signals to the dynamic reference board and the static reference board; An optical signal analysis module is used to control the optical navigation device to receive the optical signals reflected by the dynamic reference plate and the static reference plate, and obtain the real-time relative distance and real-time relative angle between the picking claw and the running plate based on the optical signal analysis reflected by the dynamic reference plate and the static reference plate; An operation posture judgment module is used to compare the ideal relative distance and the real-time relative distance between the picking claw and the running disk to obtain a real-time distance difference, compare the ideal relative angle and the real-time relative angle between the picking claw and the running disk to obtain a real-time angle difference, and judge whether the picking claw and the running disk are in the operation posture range according to the real-time distance difference and the real-time angle difference; when the picking claw and the running disk are in the operation posture range, perform the operation, otherwise feedback the operation instruction to adjust the relative position between the picking claw and the running disk, until the picking claw and the running disk are in the operation posture range and then perform the operation; An operation control data analysis module is used to analyze and obtain the operation control data of the robot arm and the operation control data of the picking claw based on the chip grid distribution parameters on the running disk; The action execution module is used to execute the robot arm operation control data to control the robot arm to move to the specified position, and execute the picking claw operation control data to control the picking claw to pick up the chip.

[0017] Further, a plurality of registration feature points are arranged on the running disk, and the plurality of registration feature points are not collinear, and the registration module specifically comprises: A positioning unit, used to control the picking claw to stay on the registration feature point on the running disk; A coordinate value acquisition unit, used for acquiring the coordinate values ​​[, , ] of the registration feature points in the three-dimensional coordinate system of the running disk based on the structural parameters of the running disk, acquiring the coordinate values ​​[, , ] of the registration feature points in the three-dimensional coordinate system of the picking claw based on the structural parameters of the picking claw, and acquiring the coordinate values ​​[, , ] of the registration feature points in the three-dimensional coordinate system of the optical navigation device based on the light signal reflected by the dynamic reference plate or the static reference plate; wherein, the superscript represents the three-dimensional coordinate system of the running disk, the superscript represents the three-dimensional coordinate system of the picking claw, the superscript represents the three-dimensional coordinate system of the optical navigation device, and the subscript represents the coordinate value corresponding to the th registration feature point; A translation vector acquisition unit is used to calculate the translation vector between the three-dimensional coordinate system of the running disk and the three-dimensional coordinate system of the picking claw based on [, , ] and [, , ], calculate the translation vector between the three-dimensional coordinate system of the running disk and the three-dimensional coordinate system of the optical navigation device based on [, , ] and [, , ], and calculate the translation vector between the three-dimensional coordinate system of the picking claw and the three-dimensional coordinate system of the optical navigation device based on [, , ] and [, , ], wherein, =-, =-, =-; A covariance matrix acquisition unit is used to calculate the covariance matrix between the three-dimensional coordinate system of the running disk and the three-dimensional coordinate system of the picking claw based on [, , ] and [, , ], calculate the covariance matrix between the three-dimensional coordinate system of the running disk and the three-dimensional coordinate system of the optical navigation device based on [, , ] and [, , ], and calculate the covariance matrix between the three-dimensional coordinate system of the picking claw and the three-dimensional coordinate system of the optical navigation device based on [, , ] and [, , ], wherein, =(-)(-), =(-)(-), =(-)(-), which is the maximum value of , and is the transposed matrix; A rotation matrix acquisition unit is used to analyze based on , and to obtain the rotation matrix between the three-dimensional coordinate system of the running disk and the three-dimensional coordinate system of the picking claw, the rotation matrix between the three-dimensional coordinate system of the running disk and the three-dimensional coordinate system of the optical navigation device, and the rotation matrix between the three-dimensional coordinate system of the picking claw and the three-dimensional coordinate system of the optical navigation device; The matrix transformation relationship analysis unit is used to analyze and obtain the matrix transformation relationship between the three-dimensional coordinate system of the operating disk and the three-dimensional coordinate system of the picking claw, the matrix transformation relationship between the three-dimensional coordinate system of the operating disk and the three-dimensional coordinate system of the optical navigation device, and the matrix transformation relationship between the three-dimensional coordinate system of the picking claw and the three-dimensional coordinate system of the optical navigation device based on,, and,.

[0018] Furthermore, the optical signal analysis module specifically includes: A real-time coordinate analysis unit, configured to analyze and obtain the real-time coordinate value [, , ] of the dynamic reference plate in the three-dimensional coordinate system of the optical navigation device according to the acquired light signal reflected by the dynamic reference plate, and to analyze and obtain the real-time coordinate value [, , ] of the static reference plate in the three-dimensional coordinate system of the optical navigation device according to the acquired light signal reflected by the static reference plate; A relative distance calculation unit is used to calculate the real-time relative distance between the picking claw and the running disk based on [, , ] and [, , ], wherein, =; an Euler angle calculation unit, used for calculating the Euler angle parameters [, , ] of the dynamic reference plate and the Euler angle parameters [, , ] of the static reference plate based on [, , ] and [, , ], wherein is the pitch angle relative to the three-dimensional coordinate system of the optical navigation device, is the yaw angle relative to the three-dimensional coordinate system of the optical navigation device, is the roll angle relative to the three-dimensional coordinate system of the optical navigation device, the subscript d represents the parameter corresponding to the dynamic reference plate, and the subscript s represents the parameter corresponding to the static reference plate; A relative angle calculation unit is used to calculate the real-time relative angle of the picking claw and the running disk according to the dynamic reference plate Euler angle parameters [, , ] and the static reference plate Euler angle parameters [, , ], wherein the real-time relative angle includes the real-time relative pitch angle, the real-time relative yaw angle and the real-time relative roll angle, wherein the real-time relative pitch angle, the real-time relative yaw angle and the real-time relative roll angle.

[0019] Furthermore, the operation posture judgment module specifically includes: An ideal parameter acquisition unit, used to acquire a preset ideal relative distance and an ideal relative angle, wherein the ideal relative angle includes an ideal relative pitch angle, an ideal relative yaw angle, and an ideal relative roll angle; A real-time parameter acquisition unit, used to acquire a real-time relative distance and a real-time relative angle, wherein the real-time relative angle includes a real-time relative pitch angle, a real-time relative yaw angle, and a real-time relative roll angle; The distance difference calculation unit is used to calculate the real-time distance difference, where =-; An angle difference calculation unit, used for calculating a real-time angle difference, wherein the real-time angle difference includes a real-time relative pitch angle difference, a real-time relative yaw angle difference and a real-time relative roll angle difference, the real-time relative pitch angle difference, the real-time relative yaw angle difference and the real-time relative roll angle difference; The judgment and analysis unit is used to analyze whether the picking claw and the running disk are in the operating posture range according to the operating posture judgment condition, wherein the operating posture judgment condition is whether , , and are satisfied at the same time; when the above operating posture judgment conditions are satisfied, it means that the picking claw and the running disk are in the operating posture range, otherwise, the operation instruction is fed back to adjust the relative position between the picking claw and the running disk until the picking claw and the running disk are in the operating posture range; The operation control data analysis module specifically includes: A grid parameter acquisition unit, used to acquire the chip grid distribution parameters of the running disk, wherein the chip grid distribution parameters include the number of rows, the number of columns and the spacing distance of the components on the running disk; A sequence coordinate analysis unit is used to define the position of the component located in the first row and first column as the control origin coordinate value (0, 0), and traverse and calculate the control sequence coordinate value (n*di, m*di) of each component position based on this; where m means that the component is in the mth row, n means that the component is in the nth column, and di means the interval distance between two components; A robot operation control data generating unit is used to generate a movement instruction of the robot according to the control origin coordinate value (0, 0) and the control sequence coordinate value (n*di, m*di), and obtain the robot operation control data according to the movement instruction; The picking claw operation control data generating unit is used to generate a picking instruction of the picking claw according to the control origin coordinate value (0, 0) and the control sequence coordinate value (n*di, m*di), and obtain the picking claw operation control data according to the picking instruction.

[0020] Correspondingly, a storage medium stores a computer program, wherein the computer program includes program instructions. When the program instructions are executed by a processor, the processor executes the chip picking mechanism control method as described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a flow chart of the chip picking mechanism control method of the present invention.

[0022] Figure 2 It is a structural schematic diagram of the chip picking mechanism control system of the present invention.

[0023] In the figure, the components represented by the reference numerals are as follows: Coordinate system establishment module 1, registration module 2, optical signal transmission module 3, optical signal analysis module 4, operation posture judgment module 5, operation control data analysis module 6, action execution module 7. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the present invention clearer and more specific, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0025] In the description of the present invention, it should be understood that the orientations or positional relationships indicated by the terms "center", "upper", "lower", "front", "back", "left", "right", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0026] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two components. When a component is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other component or there can also be a central component. When a component is considered to be "connected" to another element, it can be directly connected to the other element or there can be a central element at the same time. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] A chip, or integrated circuit (IC for short), is a miniature electronic device or component that uses a specific process to interconnect transistors, resistors, capacitors, inductors and other components through wiring, is manufactured on a semiconductor wafer or dielectric substrate and packaged in a tube shell. It can be said that chips are the core component of modern electronic devices.

[0028] Chip assembly refers to the process of removing the chip from the rotating disk and bonding it to the circuit board to form an overall structure, thereby realizing the corresponding circuit function. Chip assembly includes at least operations such as picking, transferring, and placing. This is a high-tech process involving numerous control instructions, requiring high stability and high precision. Traditional manual operation is prone to errors, requiring operators to wear gloves to operate in a dust-free state, requiring high personal operation requirements, and being extremely susceptible to personal operation. In addition, there are problems such as low efficiency, which cannot meet the growing demand for chip manufacturing. As an automated operating device that can simulate the movements of human arms, the robotic arm can complete various complex movements in three-dimensional space, thereby completing various operations in chip assembly.

[0029] The development of chip manufacturing has experienced a leap from millimeter level to micron level, and then to submicron level and nanometer level. As chips become smaller and smaller, the difficulty of chip assembly becomes greater and greater. How to accurately and non-destructively pick up chips through a robotic arm is a technical problem that the industry needs to solve urgently.

[0030] In order to solve the above problems, the present technical solution proposes a chip picking mechanism control method, system and storage medium. In particular, the method, system and storage medium are based on a mechanical arm, a picking claw, a running disk, a dynamic reference plate, a static reference plate and an optical navigation device. The picking claw is fixedly arranged at the end of the mechanical arm, the dynamic reference plate is fixedly arranged on the picking claw, and the static reference plate is fixedly arranged on the running disk. The optical navigation device determines the real-time position of the picking claw and the running disk by collecting the optical signals of the dynamic reference plate and the static reference plate. Both the dynamic reference plate and the static reference plate are provided with reflective marking points. The optical signals emitted by the optical navigation device are reflected by the reflective marking points on the dynamic reference plate and the static reference plate, and then enter the optical navigation device. The optical navigation device can obtain the real-time position of the dynamic reference plate and the static reference plate according to the analysis of the received optical signals.

[0031] like Figure 1 As shown, a chip picking mechanism control method comprises the following steps: S1. Establish a three-dimensional coordinate system of the picking claw according to the structural parameters of the picking claw, establish a three-dimensional coordinate system of the running disk according to the structural parameters of the running disk, and establish a three-dimensional coordinate system of the optical navigation device according to the technical parameters of the optical navigation device. The structural parameters of the picking claw mainly include its length, width and central axis direction, the structural parameters of the running disk mainly include its length, width, center point, and the technical parameters of the optical navigation device include resolution, field of view, focal length, spectral range, etc. Usually. The picking claw and the running disk can establish corresponding three-dimensional coordinate systems according to the structural parameters, and the optical navigation device builds its three-dimensional coordinate system according to specific technical parameters before leaving the factory, which can be directly called during subsequent use.

[0032] S2. Align the picking claw, the running disk and the optical navigation device, and obtain the matrix conversion relationship between the picking claw three-dimensional coordinate system, the running disk three-dimensional coordinate system and the optical navigation device three-dimensional coordinate system. That is, obtain the matrix conversion relationship between the picking claw three-dimensional coordinate system and the running disk three-dimensional coordinate system, obtain the matrix conversion relationship between the picking claw three-dimensional coordinate system and the optical navigation device three-dimensional coordinate system, and obtain the matrix conversion relationship between the picking running disk three-dimensional coordinate system and the optical navigation device three-dimensional coordinate system. The so-called registration is to establish a conversion relationship. After completing the pairwise registration operation between the picking claw, the running disk and the optical navigation device, when the coordinate value of a certain spatial point in any three-dimensional coordinate system of the picking claw three-dimensional coordinate system, the running disk three-dimensional coordinate system and the optical navigation device three-dimensional coordinate system is known, the coordinate value of this point in the other two three-dimensional coordinate systems can be calculated accordingly.

[0033] S3. Control the optical navigation device to transmit light signals to the dynamic reference board and the static reference board. In this step, while ensuring that the dynamic reference board and the static reference board are within the field of view of the optical navigation device, the optical navigation device can be directly controlled to transmit light signals, and the emitted light signals can be reflected after being irradiated on the dynamic reference board and the static reference board.

[0034] S4. Control the optical navigation device to receive the light signals reflected by the dynamic reference plate and the static reference plate, and obtain the real-time relative distance and the real-time relative angle between the pickup claw and the running disk based on the light signals reflected by the dynamic reference plate and the static reference plate. After receiving the light signals reflected by the dynamic reference plate and the static reference plate, the optical navigation device can further analyze and obtain the positions of the pickup claw and the running disk respectively. Similarly, the real-time relative distance and the real-time relative angle between the pickup claw and the running disk can be obtained.

[0035] S5. compare the ideal relative distance and the real-time relative distance between the picking claw and the running disk to obtain the real-time distance difference, compare the ideal relative angle and the real-time relative angle between the picking claw and the running disk to obtain the real-time angle difference, and judge whether the picking claw and the running disk are in the operating posture range according to the real-time distance difference and the real-time angle difference; when the picking claw and the running disk are in the operating posture range, execute the next step, otherwise feedback the operation instruction to adjust the relative position between the picking claw and the running disk until the picking claw and the running disk are in the operating posture range and then execute the next step. If the distance between the picking claw and the running disk is too close or too far, and the angle between the picking claw and the running disk is too large or too small, it is not conducive to controlling the picking claw to pick up the chip on the running disk through the mechanical arm. The purpose of step S5 is to ensure that the picking claw and the running disk are in a reasonable relative position to ensure that the picking action is effective.

[0036] S6. Based on the grid distribution parameters of the chips on the running disk, analyze and obtain the operation control data of the manipulator and the operation control data of the picking claw. The distribution of the chips on the running disk is known. The role of step S6 is to digitize the distribution of the chips on the running disk to obtain the grid distribution parameters of the chips. On this basis, due to the matrix conversion relationship between the three-dimensional coordinate system of the picking claw, the three-dimensional coordinate system of the running disk and the three-dimensional coordinate system of the optical navigation device in step S2, the operation control data of the manipulator and the picking claw can be generated in a targeted manner.

[0037] S7. Execute the robot arm operation control data to control the robot arm to move to the specified position, and execute the picking claw operation control data to control the picking claw to pick up the chip. The robot arm operation control data is used to control the robot arm to stay at a certain point on the running disk, and the picking claw operation control data is used to control the picking claw to move downward to clamp the chip at that point on the running disk. Step S7 is the final execution step, which is used to pick up the chips on the running disk one by one.

[0038] The innovation of this technical solution over the prior art is that: first, before the picking claw is controlled by the mechanical arm to operate the chips listed in the running disk for the first time, the picking claw, the running disk and the optical navigation device are first aligned, so as to establish a matrix conversion relationship between any two of the three coordinate systems of the picking claw, the running disk and the optical navigation device, that is, to establish a matrix conversion relationship between the picking claw three-dimensional coordinate system and the running disk three-dimensional coordinate system, to establish a matrix conversion relationship between the picking claw three-dimensional coordinate system and the optical navigation device three-dimensional coordinate system, and to establish a matrix conversion relationship between the running disk three-dimensional coordinate system and the optical navigation device three-dimensional coordinate system. Second, by exchanging optical signals between the optical navigation device and the dynamic reference board and the static reference board, the real-time relative distance and real-time relative angle between the picking claw and the running disk are obtained, and it is determined whether the picking claw and the running disk are within the operating posture range before the next operation is performed, which can effectively prevent the picking operation errors caused by insufficient steering of the mechanical arm and the picking claw. Third, before each operation, the robot arm operation control data and the picking claw operation control data are analyzed and obtained according to the chip grid distribution parameters, and then the robot arm and the picking claw are operated separately to ensure accurate operation.

[0039] Based on the above technical solution, after obtaining the matrix conversion relationship between the three-dimensional coordinate systems corresponding to the picking claw, the rotating disk and the optical navigation device through registration, it is determined whether the picking claw and the rotating disk are in the operating posture range, and then the robotic arm picking claw is controlled to pick up the chip, which can improve the operation accuracy and avoid chip damage.

[0040] Preferably, a plurality of registration feature points are provided on the running disk, and the plurality of registration feature points are not collinear, and the step S2 specifically comprises the following steps: S201. Control the picking claw to stay on the registration feature point on the running disk. From a structural point of view, the registration feature point matches the picking claw, which can ensure that the picking claw can stay firmly on the registration feature point. When the picking claw stays on the registration feature point on the running disk, it is necessary to ensure that the picking claw and the running disk are relatively fixed.

[0041] S202. Obtain the coordinate values ​​[,, ] of the registration feature points in the three-dimensional coordinate system of the operating disk based on the structural parameters of the operating disk, obtain the coordinate values ​​[, , ] of the registration feature points in the three-dimensional coordinate system of the picking claw based on the structural parameters of the picking claw, and obtain the coordinate values ​​[, , ] of the registration feature points in the three-dimensional coordinate system of the optical navigation device based on the light signal reflected by the dynamic reference plate or the static reference plate; wherein, the superscript represents the three-dimensional coordinate system of the operating disk, the superscript represents the three-dimensional coordinate system of the picking claw, the superscript represents the three-dimensional coordinate system of the optical navigation device, and the subscript represents the coordinate value corresponding to the th registration feature point. In step S201, when the picking claw stops at one of the registration feature points on the running disk, it is necessary to obtain the coordinate value of the registration feature point in the three-dimensional coordinate system of the running disk, the three-dimensional coordinate system of the picking claw and the three-dimensional coordinate system of the optical navigation device. Since the picking claw and the running disk are relatively fixed, and the structural parameters of the picking claw and the structural parameters of the running disk are known, the coordinate value of the registration feature point in the three-dimensional coordinate system of the running disk and the three-dimensional coordinate system of the picking claw can be directly determined. After the optical navigation device exchanges optical signals with the dynamic reference plate or the static reference plate, the coordinate value of the registration feature point in the three-dimensional coordinate system of the optical navigation device can be obtained based on the preset parameters of the optical navigation device. After step S202 is executed, the coordinate value corresponding to the same registration feature point in the three-dimensional coordinate system of the picking claw, the three-dimensional coordinate system of the running disk and the three-dimensional coordinate system of the optical navigation device can be obtained. When the picking claw stops at another registration feature point on the running disk, repeating the above operation can also obtain the coordinate value corresponding to the "another registration feature point" in the picking claw three-dimensional coordinate system, the running disk three-dimensional coordinate system and the optical navigation device three-dimensional coordinate system.

[0042] S203. Based on [, , ] and [, , ], calculate the translation vector between the three-dimensional coordinate system of the running disk and the three-dimensional coordinate system of the picking claw, based on [, , ] and [, , ], calculate the translation vector between the three-dimensional coordinate system of the running disk and the three-dimensional coordinate system of the optical navigation device, based on [, , ] and [, , ], calculate the translation vector between the three-dimensional coordinate system of the picking claw and the three-dimensional coordinate system of the optical navigation device, wherein, =-, =-, =-. To establish a matrix transformation relationship between two three-dimensional coordinate systems, it is necessary to obtain the translation vector and rotation matrix between the two three-dimensional coordinate systems. Step S203 calculates the translation vector between any two of the three-dimensional coordinate systems of the picking claw, the running disk and the optical navigation device based on [, , ], [, , ] and [, , ].

[0043] S204. Based on [, , ] and [, , ], calculate the covariance matrix between the three-dimensional coordinate system of the running disk and the three-dimensional coordinate system of the picking claw, based on [, , ] and [, , ], calculate the covariance matrix between the three-dimensional coordinate system of the running disk and the three-dimensional coordinate system of the optical navigation device, based on [, , ] and [, , ], calculate the covariance matrix between the three-dimensional coordinate system of the picking claw and the three-dimensional coordinate system of the optical navigation device, wherein, =(-)(-), =(-)(-), =(-)(-), is the maximum value of, is the transposed matrix. In step S204, the covariance matrix is ​​usually constructed by de-centroided coordinates.

[0044] S205. Based on, and, the rotation matrix between the three-dimensional coordinate system of the running disk and the three-dimensional coordinate system of the picking claw, the rotation matrix between the three-dimensional coordinate system of the running disk and the three-dimensional coordinate system of the optical navigation device, and the rotation matrix between the three-dimensional coordinate system of the picking claw and the three-dimensional coordinate system of the optical navigation device are obtained. In step S204, the covariance matrix is ​​usually constructed by de-centroiding the coordinates, and in step S205, the rotation matrix is ​​solved by singular value decomposition, and then the covariance matrix between the three-dimensional coordinate system of the running disk and the three-dimensional coordinate system of the picking claw, the covariance matrix between the three-dimensional coordinate system of the running disk and the three-dimensional coordinate system of the optical navigation device, and the covariance matrix between the three-dimensional coordinate system of the picking claw and the three-dimensional coordinate system of the optical navigation device are obtained. It should be noted that the de-centroiding covariance matrix construction and the singular value decomposition to solve the rotation matrix are both prior arts, and the present technical solution does not make innovations here.

[0045] S205. Based on,, and,, analyze and obtain the matrix transformation relationship between the three-dimensional coordinate system of the operating disk and the three-dimensional coordinate system of the picking claw, the matrix transformation relationship between the three-dimensional coordinate system of the operating disk and the three-dimensional coordinate system of the optical navigation device, and the matrix transformation relationship between the three-dimensional coordinate system of the picking claw and the three-dimensional coordinate system of the optical navigation device.

[0046] Based on the above technical solution, before each operation, the picking claw is controlled to stay on multiple alignment feature points, and the coordinate values ​​of each alignment feature point in the three-dimensional coordinate system of the picking claw, the three-dimensional coordinate system of the running disk and the three-dimensional coordinate system of the optical navigation device are correspondingly collected. By analyzing the translation vectors and rotation matrices between the above three three-dimensional coordinate systems, the matrix transformation relationship between the above three three-dimensional coordinate systems is obtained. Based on the matrix transformation relationship, when the coordinate value of a certain point in a certain three-dimensional coordinate system is known, the coordinate value of the point in the other two three-dimensional coordinate systems can be directly obtained, so as to prepare data for the subsequent analysis of the real-time relative distance and real-time relative angle between the picking claw and the running disk through optical signals, thereby effectively improving the operation accuracy.

[0047] Preferably, the step S4 specifically includes the following steps: S401. According to the light signal reflected by the acquired dynamic reference plate, the real-time coordinate value [, , ] of the dynamic reference plate in the three-dimensional coordinate system of the optical navigation device is analyzed, and according to the light signal reflected by the acquired static reference plate, the real-time coordinate value [, , ] of the static reference plate in the three-dimensional coordinate system of the optical navigation device is analyzed. After completing the alignment process in step S1, the coordinate conversion relationship between the three-dimensional coordinate system of the picking claw, the three-dimensional coordinate system of the running disk and the three-dimensional coordinate system of the optical navigation device can be obtained. Based on this, when the optical navigation device transmits light signals to the dynamic reference plate and the static reference plate and receives light signals reflected from the dynamic reference plate and the static reference plate, the real-time coordinate value [, , ] of the dynamic reference plate in the three-dimensional coordinate system of the optical navigation device and the real-time coordinate value [, , ] of the static reference plate in the three-dimensional coordinate system of the optical navigation device can be directly obtained. Based on the above two real-time coordinate values, the dynamic reference plate and the static reference plate can be positioned in real time. Since the dynamic reference plate is fixedly arranged on the picking claw and the static reference plate is fixedly arranged on the running disk, the picking claw and the running disk can be positioned.

[0048] S402. Calculate the real-time relative distance between the picking claw and the running disk based on [, , ] and [, , ], where, =. In step S402, the distance between the picking claw and the running disk in the three-dimensional space can be directly calculated by the two coordinate values ​​of [, , ] and [, , ].

[0049] S403. Based on [, , ] and [, , ], calculate the Euler angle parameters [, , ] of the dynamic reference plate and the Euler angle parameters [, , ] of the static reference plate, where is the pitch angle relative to the three-dimensional coordinate system of the optical navigation device, is the yaw angle relative to the three-dimensional coordinate system of the optical navigation device, is the roll angle relative to the three-dimensional coordinate system of the optical navigation device, the subscript d represents the parameters corresponding to the dynamic reference plate, and the subscript s represents the parameters corresponding to the static reference plate.

[0050] S404. Calculate the real-time relative angles of the pickup claw and the running plate according to the dynamic reference plate Euler angle parameters [, , ] and the static reference plate Euler angle parameters [, , ], wherein the real-time relative angles include the real-time relative pitch angle, the real-time relative yaw angle and the real-time relative roll angle, wherein the real-time relative pitch angle, the real-time relative yaw angle and the real-time relative roll angle. In step S404, the real-time relative pitch angle indicates the tilt difference of the dynamic reference plate relative to the static reference plate in the vertical direction, the real-time relative yaw angle indicates the rotation difference of the dynamic reference plate relative to the static reference plate in the horizontal direction, and the real-time relative roll angle indicates the rolling difference of the dynamic reference plate relative to the static reference plate in the left-right direction.

[0051] Based on the above technical solution, the real-time relative distance between the picking claw and the operating disk is calculated by the real-time coordinate values ​​of the dynamic reference plate and the static reference plate, and then the real-time relative angle between the two is comprehensively judged by the real-time relative pitch angle, real-time relative yaw angle and real-time relative roll angle. The relative angle and relative distance between the picking claw and the operating disk can be comprehensively judged, providing a data basis for operational reliability.

[0052] Preferably, the step S5 specifically includes the following steps: S501. Obtain preset ideal relative distance and ideal relative angle, wherein the ideal relative angle includes an ideal relative pitch angle, an ideal relative yaw angle, and an ideal relative roll angle. In this step, when configuring the robot arm, the pickup claw, the running disk, the dynamic reference board, the static reference board, and the optical navigation device, the ideal relative distance and the ideal relative angle are known, and can be directly used as the data basis for determining the real-time relative distance and the real-time relative angle.

[0053] S502. Obtain real-time relative distance and real-time relative angle, wherein the real-time relative angle includes real-time relative pitch angle, real-time relative yaw angle, and real-time relative roll angle. Unlike the ideal relative distance and ideal relative angle, which can be directly called, the real-time relative distance and real-time relative angle reflect the real-time status of the picking claw and the running disk. In step S502, the optical navigation device obtains the real-time relative distance and real-time relative angle by receiving the light signal reflected by the dynamic reference plate and the static reference plate.

[0054] S503. Calculate the real-time distance difference = -. The real-time distance difference is obtained by directly calculating the ideal relative distance and the real-time relative distance.

[0055] S504. Calculate the real-time angle difference, which includes the real-time relative pitch angle difference, the real-time relative yaw angle difference and the real-time relative roll angle difference. The real-time relative pitch angle difference, the real-time relative yaw angle difference and the real-time relative roll angle difference are directly calculated to obtain the real-time angle difference.

[0056] S505. Analyze whether the picking claw and the running disk are in the operating posture range according to the operating posture judgment conditions, wherein the operating posture judgment conditions are whether , , and are satisfied at the same time; when the above operating posture judgment conditions are satisfied, it means that the picking claw and the running disk are in the operating posture range, otherwise the operation instruction is fed back to adjust the relative position between the picking claw and the running disk until the picking claw and the running disk are in the operating posture range and then execute the next step. In step S505, there are multiple operating posture judgment standards, namely, , , and . It should be noted that only when the above multiple operating posture judgment standards are all established, it is judged that the picking claw and the running disk are in the operating posture range, otherwise it is necessary to feedback the operation instruction to adjust the relative position between the picking claw and the running disk until the above multiple operating posture judgment standards are satisfied.

[0057] Based on the above technical scheme, by comparing the preset ideal relative distance with the real-time relative distance, it is possible to determine whether the relative distance between the picking claw and the running disk is within a reasonable operating range; by comparing the ideal relative pitch angle, the ideal relative yaw angle, and the ideal relative roll angle with the real-time relative pitch angle, the real-time relative yaw angle, and the real-time relative roll angle respectively, it is possible to determine whether the relative angle between the picking claw and the running disk is within a reasonable operating range.

[0058] Preferably, the step S6 specifically includes the following steps: S601. Obtain the chip grid distribution parameters of the running disk, the chip grid distribution parameters including the number of rows, columns and spacing of the components on the running disk. Generally speaking, the chip size is mostly very small. In the field of chip assembly technology, the running disk is a regular rectangle or square, and multiple chips are neatly arranged on the running disk. The chip grid distribution parameters, including the number of rows, columns and spacing, can intuitively reflect the chip distribution. The components on the running disk refer to the chips.

[0059] S602. Define the position of the component in the first row and first column as the control origin coordinate value (0, 0), and traverse and calculate the control sequence coordinate value (n*di, m*di) of each component position based on this; wherein m indicates that the component is in the mth row, n indicates that the component is in the nth column, and di indicates the spacing between two components. As mentioned above, in view of the regular shape of the running disk, and the chip picking sequence generally spreads inward from the corners, based on this, in step S602, based on this regular shape, first define the position of the component in the first row and first column as the control origin coordinate value (0, 0), and based on this, the control sequence coordinate value (n*di, m*di) of the position of the component in the mth row and nth column can be obtained.

[0060] S603. Generate a movement instruction of the robot arm according to the control origin coordinate value (0, 0) and the control sequence coordinate value (n*di, m*di), and obtain the robot arm operation control data according to the movement instruction.

[0061] S604. Generate a pickup instruction for the pickup claw according to the control origin coordinate value (0, 0) and the control sequence coordinate value (n*di, m*di), and obtain the pickup claw operation control data according to the pickup instruction. Steps S603 and S604 are common technologies in the field of numerical control. The robot arm operation control data and the pickup claw operation control data can be obtained by controlling the sequence coordinate value (n*di, m*di). The following provides an embodiment of obtaining the robot arm operation control data and the pickup claw operation control data: function generateInstructions(m, n, di): instructions = [ ] for i in range(m): for j in range(n): # Calculate coordinates x = j * di y = i * di # Generate move instructions moveCommand = "MOVE_TO("+str(x)+", " + str(y)+")" instructions.append(moveCommand) # Generate pickup instructions pickCommand = "PICK_UP()" instructions.append(pickCommand) # Add placement instructions if necessary # placeCommand = "PLACE_AT(...)" # instructions.append(placeCommand) return instructions.

[0062] Based on the above technical solution, when the alignment, relative distance and relative angle evaluation between the three-dimensional coordinate systems have been completed in the early stage, the robot arm operation control data and the picking claw operation control data are adaptively generated according to the chip grid distribution parameters. This can ensure that the robot arm and the picking claw complete the chip picking action in a navigation manner with the cooperation of the optical navigation device and the dynamic reference board and the static reference board, thereby improving the operational accuracy of chip picking, minimizing chip damage, and ensuring that the chip is assembled in place.

[0063] like Figure 2 As shown, the technical solution also provides a chip picking mechanism control system, the system includes a coordinate system establishment module 1, a registration module 2, an optical signal transmission module 3, an optical signal analysis module 4, an operation posture judgment module 5, an operation control data analysis module 6 and an action execution module 7. Specifically, the coordinate system establishment module 1 is used to establish a three-dimensional coordinate system of the picking claw according to the structural parameters of the picking claw, establish a three-dimensional coordinate system of the running disk according to the structural parameters of the running disk, and establish a three-dimensional coordinate system of the optical navigation device according to the technical parameters of the optical navigation device. The registration module 2 is used to align the picking claw, the running disk and the optical navigation device, and obtain the matrix conversion relationship between the three-dimensional coordinate system of the picking claw, the three-dimensional coordinate system of the running disk and the three-dimensional coordinate system of the optical navigation device. The optical signal transmission module 3 is used to control the optical navigation device to transmit optical signals to the dynamic reference plate and the static reference plate. The optical signal analysis module 4 is used to control the optical navigation device to receive the optical signals reflected by the dynamic reference plate and the static reference plate, and obtain the real-time relative distance and real-time relative angle between the picking claw and the running disk based on the optical signal analysis reflected by the dynamic reference plate and the static reference plate. The operation posture judgment module 5 is used to compare the ideal relative distance and the real-time relative distance between the picking claw and the running disk to obtain the real-time distance difference, compare the ideal relative angle and the real-time relative angle between the picking claw and the running disk to obtain the real-time angle difference, and judge whether the picking claw and the running disk are in the operation posture range according to the real-time distance difference and the real-time angle difference; when the picking claw and the running disk are in the operation posture range, the operation is executed, otherwise the operation instruction is fed back to adjust the relative position between the picking claw and the running disk until the picking claw and the running disk are in the operation posture range and then the operation is executed.

[0064] The operation control data analysis module 6 is used to analyze and obtain the operation control data of the robot arm and the operation control data of the picking claw based on the chip grid distribution parameters on the running disk. The action execution module 7 is used to execute the operation control data of the robot arm to control the robot arm to run to the specified position, and execute the operation control data of the picking claw to control the picking claw to pick up the chip.

[0065] Preferably, a plurality of registration feature points are arranged on the running disk, and the plurality of registration feature points are not collinear, and the registration module 2 specifically includes a positioning unit, a coordinate value acquisition unit, a translation vector acquisition unit, a covariance matrix acquisition unit, a rotation matrix acquisition unit, and a matrix conversion relationship analysis unit, specifically: A positioning unit, used to control the picking claw to stay on the registration feature point on the running disk; A coordinate value acquisition unit, used for acquiring the coordinate values ​​[, , ] of the registration feature points in the three-dimensional coordinate system of the running disk based on the structural parameters of the running disk, acquiring the coordinate values ​​[, , ] of the registration feature points in the three-dimensional coordinate system of the picking claw based on the structural parameters of the picking claw, and acquiring the coordinate values ​​[, , ] of the registration feature points in the three-dimensional coordinate system of the optical navigation device based on the light signal reflected by the dynamic reference plate or the static reference plate; wherein, the superscript represents the three-dimensional coordinate system of the running disk, the superscript represents the three-dimensional coordinate system of the picking claw, the superscript represents the three-dimensional coordinate system of the optical navigation device, and the subscript represents the coordinate value corresponding to the th registration feature point; A translation vector acquisition unit is used to calculate the translation vector between the three-dimensional coordinate system of the running disk and the three-dimensional coordinate system of the picking claw based on [, , ] and [, , ], calculate the translation vector between the three-dimensional coordinate system of the running disk and the three-dimensional coordinate system of the optical navigation device based on [, , ] and [, , ], and calculate the translation vector between the three-dimensional coordinate system of the picking claw and the three-dimensional coordinate system of the optical navigation device based on [, , ] and [, , ], wherein, =-, =-, =-; A covariance matrix acquisition unit is used to calculate the covariance matrix between the three-dimensional coordinate system of the running disk and the three-dimensional coordinate system of the picking claw based on [, , ] and [, , ], calculate the covariance matrix between the three-dimensional coordinate system of the running disk and the three-dimensional coordinate system of the optical navigation device based on [, , ] and [, , ], and calculate the covariance matrix between the three-dimensional coordinate system of the picking claw and the three-dimensional coordinate system of the optical navigation device based on [, , ] and [, , ], wherein, =(-)(-), =(-)(-), =(-)(-), which is the maximum value of , and is the transposed matrix; A rotation matrix acquisition unit is used to analyze based on , and to obtain the rotation matrix between the three-dimensional coordinate system of the running disk and the three-dimensional coordinate system of the picking claw, the rotation matrix between the three-dimensional coordinate system of the running disk and the three-dimensional coordinate system of the optical navigation device, and the rotation matrix between the three-dimensional coordinate system of the picking claw and the three-dimensional coordinate system of the optical navigation device; The matrix transformation relationship analysis unit is used to analyze and obtain the matrix transformation relationship between the three-dimensional coordinate system of the operating disk and the three-dimensional coordinate system of the picking claw, the matrix transformation relationship between the three-dimensional coordinate system of the operating disk and the three-dimensional coordinate system of the optical navigation device, and the matrix transformation relationship between the three-dimensional coordinate system of the picking claw and the three-dimensional coordinate system of the optical navigation device based on,, and,.

[0066] Preferably, the optical signal analysis module 4 specifically includes a real-time coordinate analysis unit, a relative distance calculation unit, an Euler angle calculation unit and a relative angle calculation unit, specifically: A real-time coordinate analysis unit, configured to analyze and obtain the real-time coordinate value [, , ] of the dynamic reference plate in the three-dimensional coordinate system of the optical navigation device according to the acquired light signal reflected by the dynamic reference plate, and to analyze and obtain the real-time coordinate value [, , ] of the static reference plate in the three-dimensional coordinate system of the optical navigation device according to the acquired light signal reflected by the static reference plate; A relative distance calculation unit is used to calculate the real-time relative distance between the picking claw and the running disk based on [, , ] and [, , ], wherein, =; an Euler angle calculation unit, used for calculating the Euler angle parameters [, , ] of the dynamic reference plate and the Euler angle parameters [, , ] of the static reference plate based on [, , ] and [, , ], wherein is the pitch angle relative to the three-dimensional coordinate system of the optical navigation device, is the yaw angle relative to the three-dimensional coordinate system of the optical navigation device, is the roll angle relative to the three-dimensional coordinate system of the optical navigation device, the subscript d represents the parameter corresponding to the dynamic reference plate, and the subscript s represents the parameter corresponding to the static reference plate; A relative angle calculation unit is used to calculate the real-time relative angle of the picking claw and the running disk according to the dynamic reference plate Euler angle parameters [, , ] and the static reference plate Euler angle parameters [, , ], wherein the real-time relative angle includes the real-time relative pitch angle, the real-time relative yaw angle and the real-time relative roll angle, wherein the real-time relative pitch angle, the real-time relative yaw angle and the real-time relative roll angle.

[0067] Preferably, the operation posture judgment module 5 specifically includes an ideal parameter acquisition unit, a real-time parameter acquisition unit, a distance difference calculation unit, an angle difference calculation unit and a judgment analysis unit, specifically: An ideal parameter acquisition unit, used to acquire a preset ideal relative distance and an ideal relative angle, wherein the ideal relative angle includes an ideal relative pitch angle, an ideal relative yaw angle, and an ideal relative roll angle; A real-time parameter acquisition unit, used to acquire a real-time relative distance and a real-time relative angle, wherein the real-time relative angle includes a real-time relative pitch angle, a real-time relative yaw angle, and a real-time relative roll angle; The distance difference calculation unit is used to calculate the real-time distance difference, where =-; The angle difference calculation unit is used to calculate the real-time angle difference, wherein the real-time angle difference includes the real-time relative pitch angle difference, the real-time relative yaw angle difference and the real-time relative roll angle difference.

[0068] The judgment and analysis unit is used to analyze whether the picking claw and the operating disk are in the operating posture range according to the operating posture judgment conditions, wherein the operating posture judgment conditions are whether,, and are satisfied at the same time; when the above-mentioned operating posture judgment conditions are satisfied, it means that the picking claw and the operating disk are in the operating posture range, otherwise the feedback operation instruction adjusts the relative position between the picking claw and the operating disk until the picking claw and the operating disk are in the operating posture range.

[0069] Preferably, the operation control data analysis module 6 specifically includes a grid parameter acquisition unit, a sequence coordinate analysis unit, a robot arm operation control data generation unit and a picking claw operation control data generation unit, specifically: A grid parameter acquisition unit, used to acquire the chip grid distribution parameters of the running disk, wherein the chip grid distribution parameters include the number of rows, the number of columns and the spacing distance of the components on the running disk; A sequence coordinate analysis unit is used to define the position of the component located in the first row and first column as the control origin coordinate value (0, 0), and traverse and calculate the control sequence coordinate value (n*di, m*di) of each component position based on this; where m means that the component is in the mth row, n means that the component is in the nth column, and di means the interval distance between two components; A robot operation control data generating unit is used to generate a movement instruction of the robot according to the control origin coordinate value (0, 0) and the control sequence coordinate value (n*di, m*di), and obtain the robot operation control data according to the movement instruction; The picking claw operation control data generating unit is used to generate a picking instruction of the picking claw according to the control origin coordinate value (0, 0) and the control sequence coordinate value (n*di, m*di), and obtain the picking claw operation control data according to the picking instruction.

[0070] Correspondingly, the present application also provides a storage medium, wherein the storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a processor, the processor executes the chip picking mechanism control method.

[0071] Correspondingly, the technical solution also provides a storage medium, wherein the storage medium stores a computer program, wherein the computer program includes program instructions. When the program instructions are executed by a processor, the processor executes the chip picking mechanism control method as described above.

[0072] It should be understood that the application of the present invention is not limited to the above examples. For ordinary technicians in this field, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A chip picking mechanism control method, characterized in that: The method is based on a mechanical arm, a picking claw, a running disk, a dynamic reference board, a static reference board and an optical navigation device. The picking claw is fixedly arranged at the end of the mechanical arm, the dynamic reference board is fixedly arranged on the picking claw, and the static reference board is fixedly arranged on the running disk. The optical navigation device determines the real-time positions of the picking claw and the running disk by collecting optical signals of the dynamic reference board and the static reference board. The method comprises the following steps: S1. Establishing a three-dimensional coordinate system for the pickup claw, a three-dimensional coordinate system for the running disk, and a three-dimensional coordinate system for the optical navigation device; S2. Align the picking claw, the running disk and the optical navigation device to obtain the matrix conversion relationship between the picking claw three-dimensional coordinate system, the running disk three-dimensional coordinate system and the optical navigation device three-dimensional coordinate system; S3. Control the optical navigation device to transmit optical signals to the dynamic reference board and the static reference board; S4. Control the optical navigation device to receive the light signal reflected by the dynamic reference plate and the static reference plate, and obtain the real-time relative distance and real-time relative angle between the pickup claw and the running disk based on the analysis of the light signal reflected by the dynamic reference plate and the static reference plate; S5. Compare the ideal relative distance and the real-time relative distance between the picking claw and the running disk to obtain the real-time distance difference, compare the ideal relative angle and the real-time relative angle between the picking claw and the running disk to obtain the real-time angle difference, and judge whether the picking claw and the running disk are in the operating posture range according to the real-time distance difference and the real-time angle difference; when the picking claw and the running disk are in the operating posture range, execute the next step, otherwise feedback the operation instruction to adjust the relative position between the picking claw and the running disk until the picking claw and the running disk are in the operating posture range and then execute the next step; S6. Analyze and obtain the robot operation control data and the picking claw operation control data based on the chip grid distribution parameters on the running disk; S7. Execute the robot arm operation control data to control the robot arm to move to the specified position, and execute the picking claw operation control data to control the picking claw to pick up the chip.

2. A chip picking mechanism control method according to claim 1, characterized in that: A plurality of registration feature points are arranged on the running disk, and the plurality of registration feature points are not collinear, and the step S2 specifically comprises the following steps: S201. Control the picking claw to stay on the registration feature point on the running disk; S202. Obtain the coordinate values ​​of the registration feature points on the three-dimensional coordinate system of the running disk based on the structural parameters of the running disk. , , ], based on the structural parameters of the picking claw, the coordinate values ​​of the registration feature points in the three-dimensional coordinate system of the picking claw are obtained [ , , ], based on the light signal reflected by the dynamic reference plate or the static reference plate, the coordinate value of the registration feature point in the three-dimensional coordinate system of the optical navigation device is obtained. , , ]; among them, the superscript Indicates the three-dimensional coordinate system of the running disk, the superscript represents the three-dimensional coordinate system of the picking claw, and the superscript Represents the three-dimensional coordinate system of the optical navigation device, subscript Represents the coordinate value corresponding to the th registration feature point; S203. Calculate the translation vector between the three-dimensional coordinate system of the running disk and the three-dimensional coordinate system of the picking claw based on [, , ] and [, , ] , based on [, , ] and [, , ], calculate the translation vector between the three-dimensional coordinate system of the running disk and the three-dimensional coordinate system of the optical navigation device , based on [, , ] and [, , ] the translation vector between the three-dimensional coordinate system of the picking claw and the three-dimensional coordinate system of the optical navigation device ,in, = - ， = - ， = -； S204. Calculate the covariance matrix between the three-dimensional coordinate system of the running disk and the three-dimensional coordinate system of the picking claw based on [, , ] and [, , ] , based on [, , ] and [, , ], the covariance matrix between the three-dimensional coordinate system of the running disk and the three-dimensional coordinate system of the optical navigation device is calculated , based on the covariance matrix between the three-dimensional coordinate system of the picking claw and the three-dimensional coordinate system of the optical navigation device [, , ] and [, , ] ,in, = (-) ( - ) ， =(-)( - )， =(-)(-) , The maximum value of is the transposed matrix; S205. Based on, and, the rotation matrix between the three-dimensional coordinate system of the running disk and the three-dimensional coordinate system of the picking claw is obtained. , the rotation matrix between the three-dimensional coordinate system of the running disk and the three-dimensional coordinate system of the optical navigation device , the rotation matrix between the three-dimensional coordinate system of the picking claw and the three-dimensional coordinate system of the optical navigation device ; S205.Based on , Analyze and obtain the matrix transformation relationship between the three-dimensional coordinate system of the operating disk and the three-dimensional coordinate system of the picking claw, the matrix transformation relationship between the three-dimensional coordinate system of the operating disk and the three-dimensional coordinate system of the optical navigation device, and the matrix transformation relationship between the three-dimensional coordinate system of the picking claw and the three-dimensional coordinate system of the optical navigation device.

3. A chip picking mechanism control method according to claim 1, characterized in that: The step S4 specifically comprises the following steps: S401. According to the optical signal reflected by the dynamic reference plate, the real-time coordinate value of the dynamic reference plate in the three-dimensional coordinate system of the optical navigation device is analyzed and obtained. , , ], according to the light signal reflected by the static reference plate, the real-time coordinate value of the static reference plate in the three-dimensional coordinate system of the optical navigation device is analyzed and obtained. , , ]; S402. Calculate the real-time relative distance between the picking claw and the running disk based on [, , ] and [, , ] ,in, = ； S403. Calculate the Euler angle parameters of the dynamic reference plate based on [, , ] and [, , ] , , ] and the Euler angle parameters of the static reference plate [ , , ],in, is the pitch angle relative to the three-dimensional coordinate system of the optical navigation device, is the yaw angle relative to the three-dimensional coordinate system of the optical navigation device, is the roll angle relative to the three-dimensional coordinate system of the optical navigation device, the subscript d represents the parameter corresponding to the dynamic reference plate, and the subscript s represents the parameter corresponding to the static reference plate; S404. Calculate the real-time relative angle between the pickup claw and the running plate according to the dynamic reference plate Euler angle parameters [, , ] and the static reference plate Euler angle parameters [, , ], wherein the real-time relative angle includes the real-time relative pitch angle, the real-time relative yaw angle and the real-time relative roll angle, wherein the real-time relative pitch angle , real-time relative yaw angle , real-time relative roll angle .

4. A chip picking mechanism control method according to claim 3, characterized in that: The step S5 specifically comprises the following steps: S501. Obtaining a preset ideal relative distance and the ideal relative angle, wherein the ideal relative angle includes the ideal relative pitch angle , ideal relative yaw angle , Ideal relative roll angle ; S502. Acquire real-time relative distance and real-time relative angle, wherein the real-time relative angle includes real-time relative pitch angle, real-time relative yaw angle, and real-time relative roll angle; S503. Calculate real-time distance difference =-; S504. Calculate the real-time angle difference, which includes the real-time relative pitch angle difference, the real-time relative yaw angle difference and the real-time relative roll angle difference. , real-time relative yaw angle difference , real-time relative roll angle difference ; S505. Analyze whether the picking claw and the running disk are in the operating posture range according to the operating posture judgment condition, wherein the operating posture judgment condition is whether , , and ; When the above-mentioned operating posture judgment conditions are met, it means that the picking claw and the operating disk are in the operating posture range, otherwise the feedback operation instruction adjusts the relative position between the picking claw and the operating disk until the picking claw and the operating disk are in the operating posture range and then executes the next step.

5. A chip picking mechanism control method according to claim 1, characterized in that: The step S6 specifically comprises the following steps: S601. Obtaining the chip grid distribution parameters of the running disk, wherein the chip grid distribution parameters include the number of rows, the number of columns and the spacing distance of the elements on the running disk; S602. The position of the component located in the first row and first column is defined as the control origin coordinate value (0, 0), and the control sequence coordinate value (n*di, m*di) of each component position is calculated accordingly; wherein m indicates that the component is in the mth row, n indicates that the component is in the nth column, and di indicates the interval distance between two components; S603. Generate a movement instruction of the robot arm according to the control origin coordinate value (0, 0) and the control sequence coordinate value (n*di, m*di), and obtain the robot arm operation control data according to the movement instruction; S604. Generate a picking instruction of the picking claw according to the control origin coordinate value (0, 0) and the control sequence coordinate value (n*di, m*di), and obtain the picking claw operation control data according to the picking instruction.

6. A chip picking mechanism control system, characterized in that: The system is based on a mechanical arm, a picking claw, a running disk, a dynamic reference board, a static reference board and an optical navigation device. The picking claw is fixedly arranged at the end of the mechanical arm, the dynamic reference board is fixedly arranged on the picking claw, and the static reference board is fixedly arranged on the running disk. The optical navigation device determines the real-time positions of the picking claw and the running disk by collecting optical signals of the dynamic reference board and the static reference board. The system includes: A coordinate system establishment module, used to establish a three-dimensional coordinate system of the picking claw, a three-dimensional coordinate system of the running disk and a three-dimensional coordinate system of the optical navigation device; A registration module is used to register the picking claw, the running disk and the optical navigation device, and obtain the matrix conversion relationship between the three-dimensional coordinate system of the picking claw, the three-dimensional coordinate system of the running disk and the three-dimensional coordinate system of the optical navigation device; An optical signal transmitting module, used for controlling the optical navigation device to transmit optical signals to the dynamic reference board and the static reference board; An optical signal analysis module is used to control the optical navigation device to receive the optical signals reflected by the dynamic reference plate and the static reference plate, and obtain the real-time relative distance and real-time relative angle between the picking claw and the running plate based on the optical signal analysis reflected by the dynamic reference plate and the static reference plate; An operation posture judgment module is used to compare the ideal relative distance and the real-time relative distance between the picking claw and the running disk to obtain a real-time distance difference, compare the ideal relative angle and the real-time relative angle between the picking claw and the running disk to obtain a real-time angle difference, and judge whether the picking claw and the running disk are in the operation posture range according to the real-time distance difference and the real-time angle difference; when the picking claw and the running disk are in the operation posture range, perform the operation, otherwise feedback the operation instruction to adjust the relative position between the picking claw and the running disk, until the picking claw and the running disk are in the operation posture range and then perform the operation; An operation control data analysis module is used to analyze and obtain the operation control data of the robot arm and the operation control data of the picking claw based on the chip grid distribution parameters on the running disk; The action execution module is used to execute the robot arm operation control data to control the robot arm to move to the specified position, and execute the picking claw operation control data to control the picking claw to pick up the chip.

7. A chip picking mechanism control system according to claim 6, characterized in that: The running disk is provided with a plurality of registration feature points, and the plurality of registration feature points are not collinear, and the registration module specifically comprises: A positioning unit, used to control the picking claw to stay on the registration feature point on the running disk; A coordinate value acquisition unit, used for acquiring the coordinate values ​​[, , ] of the registration feature points in the three-dimensional coordinate system of the running disk based on the structural parameters of the running disk, acquiring the coordinate values ​​[, , ] of the registration feature points in the three-dimensional coordinate system of the picking claw based on the structural parameters of the picking claw, and acquiring the coordinate values ​​[, , ] of the registration feature points in the three-dimensional coordinate system of the optical navigation device based on the light signal reflected by the dynamic reference plate or the static reference plate; wherein, the superscript represents the three-dimensional coordinate system of the running disk, the superscript represents the three-dimensional coordinate system of the picking claw, the superscript represents the three-dimensional coordinate system of the optical navigation device, and the subscript represents the coordinate value corresponding to the th registration feature point; A translation vector acquisition unit is used to calculate the translation vector between the three-dimensional coordinate system of the running disk and the three-dimensional coordinate system of the picking claw based on [, , ] and [, , ], calculate the translation vector between the three-dimensional coordinate system of the running disk and the three-dimensional coordinate system of the optical navigation device based on [, , ] and [, , ], and calculate the translation vector between the three-dimensional coordinate system of the picking claw and the three-dimensional coordinate system of the optical navigation device based on [, , ] and [, , ], wherein, =-，=-，=-； A covariance matrix acquisition unit is used to calculate the covariance matrix between the three-dimensional coordinate system of the running disk and the three-dimensional coordinate system of the picking claw based on [, , ] and [, , ], calculate the covariance matrix between the three-dimensional coordinate system of the running disk and the three-dimensional coordinate system of the optical navigation device based on [, , ] and [, , ], and calculate the covariance matrix between the three-dimensional coordinate system of the picking claw and the three-dimensional coordinate system of the optical navigation device based on [, , ] and [, , ], wherein, =(-)(-)， =(-)(-)， =(-)(-), which is the maximum value of , and is the transposed matrix; A rotation matrix acquisition unit is used to analyze based on , and to obtain the rotation matrix between the three-dimensional coordinate system of the running disk and the three-dimensional coordinate system of the picking claw, the rotation matrix between the three-dimensional coordinate system of the running disk and the three-dimensional coordinate system of the optical navigation device, and the rotation matrix between the three-dimensional coordinate system of the picking claw and the three-dimensional coordinate system of the optical navigation device; The matrix transformation relationship analysis unit is used to analyze and obtain the matrix transformation relationship between the three-dimensional coordinate system of the operating disk and the three-dimensional coordinate system of the picking claw, the matrix transformation relationship between the three-dimensional coordinate system of the operating disk and the three-dimensional coordinate system of the optical navigation device, and the matrix transformation relationship between the three-dimensional coordinate system of the picking claw and the three-dimensional coordinate system of the optical navigation device based on,, and,.

8. A chip picking mechanism control system according to claim 6, characterized in that: The optical signal analysis module specifically includes: A real-time coordinate analysis unit, configured to analyze and obtain the real-time coordinate value [, , ] of the dynamic reference plate in the three-dimensional coordinate system of the optical navigation device according to the acquired light signal reflected by the dynamic reference plate, and to analyze and obtain the real-time coordinate value [, , ] of the static reference plate in the three-dimensional coordinate system of the optical navigation device according to the acquired light signal reflected by the static reference plate; A relative distance calculation unit is used to calculate the real-time relative distance between the picking claw and the running disk based on [, , ] and [, , ], wherein, =； an Euler angle calculation unit, used for calculating the Euler angle parameters [, , ] of the dynamic reference plate and the Euler angle parameters [, , ] of the static reference plate based on [, , ] and [, , ], wherein is the pitch angle relative to the three-dimensional coordinate system of the optical navigation device, is the yaw angle relative to the three-dimensional coordinate system of the optical navigation device, is the roll angle relative to the three-dimensional coordinate system of the optical navigation device, the subscript d represents the parameter corresponding to the dynamic reference plate, and the subscript s represents the parameter corresponding to the static reference plate; A relative angle calculation unit is used to calculate the real-time relative angle of the picking claw and the running disk according to the dynamic reference plate Euler angle parameters [, , ] and the static reference plate Euler angle parameters [, , ], wherein the real-time relative angle includes the real-time relative pitch angle, the real-time relative yaw angle and the real-time relative roll angle, wherein the real-time relative pitch angle, the real-time relative yaw angle and the real-time relative roll angle.

9. A chip picking mechanism control system according to claim 6, characterized in that: The operation posture judgment module specifically includes: An ideal parameter acquisition unit, used to acquire a preset ideal relative distance and an ideal relative angle, wherein the ideal relative angle includes an ideal relative pitch angle, an ideal relative yaw angle, and an ideal relative roll angle; A real-time parameter acquisition unit, used to acquire a real-time relative distance and a real-time relative angle, wherein the real-time relative angle includes a real-time relative pitch angle, a real-time relative yaw angle, and a real-time relative roll angle; The distance difference calculation unit is used to calculate the real-time distance difference, where =-; An angle difference calculation unit, used for calculating a real-time angle difference, wherein the real-time angle difference includes a real-time relative pitch angle difference, a real-time relative yaw angle difference and a real-time relative roll angle difference, the real-time relative pitch angle difference, the real-time relative yaw angle difference and the real-time relative roll angle difference; The judgment and analysis unit is used to analyze whether the picking claw and the running disk are in the operating posture range according to the operating posture judgment condition, wherein the operating posture judgment condition is whether , , and are satisfied at the same time; when the above operating posture judgment conditions are satisfied, it means that the picking claw and the running disk are in the operating posture range, otherwise, the operation instruction is fed back to adjust the relative position between the picking claw and the running disk until the picking claw and the running disk are in the operating posture range; The operation control data analysis module specifically includes: A grid parameter acquisition unit, used to acquire the chip grid distribution parameters of the running disk, wherein the chip grid distribution parameters include the number of rows, the number of columns and the spacing distance of the components on the running disk; A sequence coordinate analysis unit is used to define the position of the component located in the first row and first column as the control origin coordinate value (0,0), and traverse and calculate the control sequence coordinate value (n*di, m*di) of each component position based on this; wherein m indicates that the component is in the mth row, n indicates that the component is in the nth column, and di indicates the interval distance between two components; A robot operation control data generating unit is used to generate a movement instruction of the robot according to the control origin coordinate value (0, 0) and the control sequence coordinate value (n*di, m*di), and obtain the robot operation control data according to the movement instruction; The picking claw operation control data generating unit is used to generate a picking instruction of the picking claw according to the control origin coordinate value (0, 0) and the control sequence coordinate value (n*di, m*di), and obtain the picking claw operation control data according to the picking instruction.

10. A storage medium, characterized in that: The storage medium stores a computer program, and the computer program includes program instructions. When the program instructions are executed by the processor, the processor executes the chip picking mechanism control method according to any one of claims 1 to 5.

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