Determination method of offset, determination method of moving route and control method of to-be-detected needle

Abstract

The invention provides an offset determination method, a moving route determination method, a to-be-detected needle control method and a to-be-detected needle control system. The offset determination method comprises the following steps: determining a first coordinate of a rotation center of a rotation mechanism, a second coordinate of a needle head when a standard needle is located at a set reference position, a third coordinate of the needle head when a to-be-detected needle is located at the set reference position, and a set rotation angle of the rotation mechanism; and based on the first coordinate, the second coordinate, the third coordinate and the set rotation angle, determining the superposition offset of the needle head of the to-be-detected needle relative to the needle head of the standard needle after the rotation mechanism rotates. According to the technical scheme, the superposition offset of the needle head of the to-be-detected needle relative to the needle head of the standard needle after rotation can be determined only according to the first coordinate, the second coordinate, the third coordinate and the set rotation angle of the rotation mechanism, so that the determination process of the superposition offset is relatively simple and efficient.

Description

Technical Field

[0001] The present disclosure relates to the technical field of data processing, and in particular to a method for determining an offset, a method for determining a moving route, a control method for a needle to be measured, and a control system. Background Art

[0002] In the manufacturing and precision machining fields, various needle tools are widely used in dispensing, testing, spraying and other processes, such as dispensing needles, test needles and spraying needles. In the process of dispensing, testing and spraying, a rotating mechanism is usually used to control the direction or posture of the needle tool in order to improve the process accuracy and stability. However, for these needle tools, if the needle tip is deformed due to factors such as material fatigue, temperature changes or long-term use, and an initial offset is generated, the initial offset will be amplified or extended as the rotation is performed by the rotating mechanism, thereby forming a superimposed offset caused by the deformation of the needle tip and the rotation of the rotating mechanism.

[0003] For needle-shaped tools, even extremely small offsets may directly affect the effect of the corresponding process. For example, during the dispensing process, if the needle tip of the dispensing needle is deformed relative to the standard dispensing needle, then when the current dispensing needle and the standard dispensing needle are in the same position, the needle tip of the current dispensing needle will be initially offset relative to the needle tip of the standard dispensing needle. This initial offset will be further aggravated as the needle tip rotates under the action of the rotating mechanism, resulting in a superimposed offset of the needle tip position. This superimposed offset will cause the movement trajectory of the needle tip to fail to overlap with the movement trajectory of the needle tip when the current dispensing needle moves along the preset movement route, resulting in the actual dispensing trajectory of the current dispensing needle deviating from the preset dispensing trajectory planned according to the standard dispensing needle, thereby affecting the accuracy and reliability of the dispensing process. Summary of the invention

[0004] The embodiments of the present disclosure provide a method for determining an offset, a method for determining a moving route, a method for controlling a needle to be measured, and a control system to solve one or more of the above-mentioned technical problems.

[0005] In a first aspect, an embodiment of the present disclosure provides a method for determining an offset, including:

[0006] Determine the first coordinate of the rotation center of the rotating mechanism, the second coordinate of the needle head when the standard needle is located at the set reference position, the third coordinate of the needle head when the needle to be measured is located at the set reference position, and the set rotation angle of the rotating mechanism;

[0007] Based on the first coordinate, the second coordinate, the third coordinate and the set rotation angle, the superposition offset of the needle head of the needle to be measured relative to the needle head of the standard needle after the rotation of the rotating mechanism is determined.

[0008] Optionally, the superimposed offset includes at least one of a first offset, a second offset and a third offset; the first offset includes the offset of the needle tip of the needle to be measured relative to the needle tip of the standard needle in a first direction after the rotating mechanism rotates; the second offset includes the offset of the needle tip of the needle to be measured relative to the needle tip of the standard needle in a second direction after the rotating mechanism rotates; the third offset includes the offset of the needle tip of the needle to be measured relative to the needle tip of the standard needle in a third direction after the rotating mechanism rotates.

[0009] Optionally, when the superimposed offset includes the first offset, determining the superimposed offset of the needle tip of the needle to be measured relative to the needle tip of the standard needle after the rotation mechanism rotates based on the first coordinate, the second coordinate, the third coordinate and the set rotation angle includes:

[0010] Based on the first coordinate and the second coordinate, determining a first distance between the needle head and the rotation center and a second distance between the needle head and the rotation center in the first direction when the standard needle is located at a set reference position;

[0011] Based on the first coordinate and the third coordinate, determine a third distance between the needle head and the rotation center and a fourth distance between the needle head and the rotation center in the first direction when the needle to be measured is located at the set reference position;

[0012] Based on the first distance, the second distance and the set rotation angle, the first position of the needle head relative to the rotation center when the standard needle is located at the target position is determined; when the standard needle and the needle to be measured are located at the set reference position, the standard needle and the needle to be measured are moved to the target position after the rotating mechanism rotates;

[0013] Based on the third distance, the fourth distance and the set rotation angle, determining a second position of the needle head relative to the rotation center when the needle to be measured is located at the target position;

[0014] A first offset is determined based on the first distance, the third distance, the first position, and the second position.

[0015] Optionally, when the superimposed offset further includes a third offset, the method further includes:

[0016] A third offset is determined based on the first distance, the third distance, the first position, and the second position.

[0017] Optionally, based on the first distance, the second distance and the set rotation angle, determining the first position of the needle head relative to the rotation center when the standard needle is located at the target position includes:

[0018] Based on the first distance and the second distance, determining a third position of the needle head relative to the rotation center when the standard needle is located at the set reference position;

[0019] Based on the third position and the set rotation angle, the first position is determined.

[0020] Optionally, based on the first distance, the second distance, the first position, and the second position, determining the first offset includes:

[0021] Based on the first distance and the first position, determining a fifth distance between the needle head and the rotation center in the first direction when the standard needle is located at the target position;

[0022] Based on the third distance and the second position, determining a sixth distance between the needle head and the rotation center in the first direction when the needle to be measured is located at the target position;

[0023] A first offset is determined based on the fifth distance and the sixth distance.

[0024] Optionally, based on the first distance, the third distance, the first position, and the second position, determining the third offset includes:

[0025] The first distance is used as the distance between the needle tip and the rotation center when the standard needle is located at the target position, and the third distance is used as the distance between the needle tip and the rotation center when the needle to be measured is located at the target position;

[0026] Based on the first distance and the first position, determining a seventh distance between the needle head and the rotation center in the third direction when the standard needle is located at the target position;

[0027] Based on the third distance and the second position, determining an eighth distance between the needle head and the rotation center in the third direction when the needle to be measured is located at the target position;

[0028] A third offset is determined based on the seventh distance and the eighth distance.

[0029] Optionally, the third coordinate is determined based on the second coordinate and an initial offset of the needle tip of the needle to be measured relative to the needle tip of the standard needle before the rotating mechanism rotates; the initial offset includes at least one of a fourth offset, a fifth offset and a sixth offset; the fourth offset includes the offset of the needle tip of the needle to be measured relative to the needle tip of the standard needle in a first direction before the rotating mechanism rotates; the fifth offset includes the offset of the needle tip of the needle to be measured relative to the needle tip of the standard needle in a second direction before the rotating mechanism rotates; the sixth offset includes the offset of the needle tip of the needle to be measured relative to the needle tip of the standard needle in a third direction before the rotating mechanism rotates.

[0030] Optionally, the fourth offset is determined by the following steps:

[0031] Controlling the standard needle to move along the first direction, determining the fourth coordinate of the needle tip of the standard needle when it passes through the first light beam and the fifth coordinate when it passes through the second light beam;

[0032] Controlling the needle to be measured to move along the first direction, and determining the sixth coordinate of the needle tip of the needle to be measured when it passes through the first light beam and the seventh coordinate when it passes through the second light beam;

[0033] A fourth offset is determined based on the fourth coordinate, the fifth coordinate, the sixth coordinate, and the seventh coordinate.

[0034] Optionally, the fifth offset is determined by the following steps:

[0035] Controlling the standard needle to move along the second direction, determining the eighth coordinate of the needle tip of the standard needle when it passes through the first light beam and the ninth coordinate when it passes through the second light beam;

[0036] Controlling the needle to be measured to move along the second direction, determining the tenth coordinate of the needle tip of the needle to be measured when it passes through the first light beam and the eleventh coordinate when it passes through the second light beam;

[0037] Based on the eighth coordinate, the ninth coordinate, the tenth coordinate, and the eleventh coordinate, a fifth offset is determined.

[0038] Optionally, the sixth offset is determined by the following steps:

[0039] Controlling the standard needle to move from a first starting position to a first ending position along a third direction, and determining a twelfth coordinate of the needle head when the standard needle moves to the first ending position;

[0040] Control the needle to be measured to move from a first starting position to a first ending position along a third direction, and determine the thirteenth coordinate of the needle head when the needle to be measured moves to the first ending position;

[0041] Determine a first coordinate difference between the thirteenth coordinate and the twelfth coordinate in the third direction;

[0042] Based on the first coordinate difference, a sixth offset is determined.

[0043] Optionally, the fourth coordinate is determined based on at least one of the fourteenth coordinate and the fifteenth coordinate; the fourteenth coordinate includes the coordinate when the needle tip of the standard needle enters the first light beam; the fifteenth coordinate includes the coordinate when the needle tip of the standard needle leaves the first light beam.

[0044] Optionally, when the fourth coordinate is determined based on the fourteenth coordinate and the fifteenth coordinate, the steps of determining the fourth coordinate are as follows:

[0045] Determining a first weight preconfigured for a fourteenth coordinate and a second weight preconfigured for a fifteenth coordinate;

[0046] A fourth coordinate is determined according to the fourteenth coordinate, the fifteenth coordinate, the first weight, and the second weight.

[0047] Optionally, when the fourth coordinate is determined based on the fourteenth coordinate or the fifteenth coordinate, the steps for determining the fourth coordinate are as follows:

[0048] The fourteenth or fifteenth coordinate is used as the fourth coordinate.

[0049] Optionally, controlling the standard needle to move along the first direction includes: controlling the standard needle to move along the first direction from a second starting position to a second ending position;

[0050] Controlling the needle to be measured to move along the first direction includes: controlling the needle to be measured to move along the first direction from a second starting position to a second ending position.

[0051] Optionally, determining a fourth offset of the needle tip of the needle to be measured relative to the needle tip of the standard needle in the first direction according to the fourth coordinate, the fifth coordinate, the sixth coordinate, and the seventh coordinate includes:

[0052] Determine a second coordinate difference between the sixth coordinate and the fourth coordinate in the first direction, and determine a third coordinate difference between the seventh coordinate and the fifth coordinate in the first direction;

[0053] Based on the second coordinate difference and the third coordinate difference, a fourth offset is determined.

[0054] Optionally, determining the fourth offset based on the second coordinate difference and the third coordinate difference includes:

[0055] determining a third weight preconfigured for the second coordinate difference and a fourth weight preconfigured for the third coordinate difference;

[0056] A fourth offset is determined based on the second coordinate difference, the third coordinate difference, the third weight, and the fourth weight.

[0057] Optionally, the fourth offset is determined by the following steps:

[0058] Controlling the standard needle to move along the first direction, and determining the sixteenth coordinate of the needle tip of the standard needle when it passes through the first light beam;

[0059] Controlling the needle to be measured to move along the first direction, and determining the seventeenth coordinate of the needle tip of the needle to be measured when it passes through the first light beam;

[0060] Based on the sixteenth coordinate and the seventeenth coordinate, a fourth offset is determined.

[0061] Optionally, the fifth offset is determined by the following steps:

[0062] Controlling the standard needle to move along the second direction, and determining the eighteenth coordinate of the needle tip of the standard needle when it passes through the second light beam;

[0063] Controlling the needle to be measured to move along the second direction, and determining the nineteenth coordinate of the needle tip of the needle to be measured when it passes through the second light beam;

[0064] Based on the eighteenth coordinate and the nineteenth coordinate, a fifth offset is determined.

[0065] Optionally, the first light beam is emitted by a first through-beam sensor; and the second light beam is emitted by a second through-beam sensor.

[0066] The present disclosure provides a method for determining a moving route, including:

[0067] Determine the superimposed offset of the needle tip of the needle to be measured relative to the needle tip of the standard needle after the rotating mechanism rotates to a set rotation angle; the superimposed offset is determined by executing the offset determination method provided in the embodiment of the present disclosure;

[0068] Based on the superimposed offset, the preset moving route is compensated to obtain a compensated moving route, so that the first moving trajectory of the needle when the needle to be tested moves according to the compensated moving route overlaps with the second moving trajectory of the needle when the standard needle moves according to the preset moving route.

[0069] Optionally, the superimposed offset includes at least one of a first offset, a second offset and a third offset; the first offset includes the offset of the needle tip of the needle to be measured relative to the needle tip of the standard needle in a first direction after the rotating mechanism rotates; the second offset includes the offset of the needle tip of the needle to be measured relative to the needle tip of the standard needle in a second direction after the rotating mechanism rotates; the third offset includes the offset of the needle tip of the needle to be measured relative to the needle tip of the standard needle in a third direction after the rotating mechanism rotates.

[0070] In a third aspect, an embodiment of the present disclosure provides a control method for a needle to be tested, comprising:

[0071] Determine a compensated moving route; the compensated moving route is determined by executing the moving route determination method provided in the embodiment of the present disclosure;

[0072] The needle to be measured is controlled to move along the compensated moving route.

[0073] In a fourth aspect, an embodiment of the present disclosure provides a control system, including: an offset determination module, a movement route determination module, and a control module;

[0074] An offset determination module, used to execute the offset determination method provided in the embodiment of the present disclosure to determine the stacking offset;

[0075] A moving route determination module, used to execute the moving route determination method provided in the embodiment of the present disclosure to obtain a compensated moving route;

[0076] The control module is used to execute the above method and control the needle to be measured to move along the compensated moving route.

[0077] Optionally, the superimposed offset includes at least one of a first offset, a second offset and a third offset; the first offset includes the offset of the needle tip of the needle to be measured relative to the needle tip of the standard needle in a first direction after the rotating mechanism rotates; the second offset includes the offset of the needle tip of the needle to be measured relative to the needle tip of the standard needle in a second direction after the rotating mechanism rotates; the third offset includes the offset of the needle tip of the needle to be measured relative to the needle tip of the standard needle in a third direction after the rotating mechanism rotates.

[0078] The above summary is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments and features described above, further aspects, embodiments and features of the present disclosure will be readily apparent by reference to the accompanying drawings and the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] The accompanying drawings are used to provide a further understanding of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings:

[0080] Figure 1 A schematic diagram of an exemplary dispensing apparatus consistent with some embodiments of the present disclosure is shown.

[0081] Figure 2 A schematic diagram of an exemplary three-dimensional spatial coordinate system consistent with some embodiments of the present disclosure is shown.

[0082] Figure 3 A flow chart of an exemplary determination method consistent with some embodiments of the present disclosure is shown.

[0083] Figure 4 Projections of exemplary locations on the XOZ plane are shown consistent with various embodiments of the present disclosure.

[0084] Figure 5A and Figure 5B Schematic diagrams showing exemplary needle movements consistent with various embodiments of the present disclosure are shown.

[0085] Fig. 6A and Figure 6B Schematic diagrams showing exemplary needle movements consistent with various embodiments of the present disclosure are shown.

[0086] Figure 7 A flow chart of an exemplary method for determining a movement route consistent with some embodiments of the present disclosure is shown.

[0087] Figure 8 A flow chart of an exemplary method for controlling a probe to be tested consistent with some embodiments of the present disclosure is shown.

[0088] Fig. 9 A schematic diagram of the structure of an exemplary control system consistent with some embodiments of the present disclosure is shown.

[0089] Fig.10 A block diagram of an exemplary electronic device consistent with some embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0090] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present disclosure. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0091] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present disclosure. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more features. In the description of the present disclosure, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0092] In the description of the present disclosure, 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, an electrical connection, or can communicate with each other; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0093] In the present disclosure, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or the first and second features being not in direct contact but in contact through another feature between them. Moreover, the first feature being "above", "above" and "above" the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature includes the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature. In the description of the present disclosure, "at least one" or "at least one of" a plurality of objects refers to any object or any combination of a plurality of objects, for example, "at least one of a1, a2, a3" includes: "alone a1", "alone a2", "alone a3", "a1 and a2", "a1 and a3", "a2 and a3", or "a1, a2 and a3".

[0094] The disclosure below provides many different embodiments or examples to realize different structures of the present disclosure. In order to simplify the disclosure of the present disclosure, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present disclosure. In addition, the present disclosure can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplicity and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present disclosure provides various specific examples of processes and materials, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0095] The embodiments of the present disclosure are described below in conjunction with the accompanying drawings. It should be understood that the embodiments described herein are only used to illustrate and explain the present disclosure, and are not used to limit the present disclosure.

[0096] To facilitate understanding of the technical solutions of the embodiments of the present disclosure, the following describes the related technologies of the embodiments of the present disclosure. The following related technologies can be combined with the technical solutions of the embodiments of the present disclosure as optional solutions, and they all belong to the protection scope of the embodiments of the present disclosure.

[0097] In the process of dispensing, testing and spraying, a rotating mechanism is usually used to control the direction or posture of the needle tool in order to improve the process accuracy and stability. The needle tool may include a syringe and a needle. The needle is fixed to one end of the syringe by the needle tail, and the other end of the syringe is mounted on the rotating mechanism. At the same time, the rotating mechanism is arranged on a three-axis servo system. In this case, the posture, direction and position of the needle can be controlled by controlling the rotation of the rotating mechanism, and the movement of the needle can be controlled by driving the rotating mechanism to move by the three-axis servo system.

[0098] In one example, reference Figure 1 , Figure 1 Schematic diagram of an exemplary dispensing device consistent with some embodiments of the present disclosure is shown. The dispensing device 100 includes a three-axis servo system ( Figure 1 The rotating mechanism 110 and the two dispensing needles 120 are respectively mounted on the rotating mechanism 110. The dispensing needle 120 includes a syringe 121 and a needle 122. One end of the syringe 121 is mounted on the rotating mechanism 110, and the needle 122 is mounted on the other end of the syringe 121. In this case, the posture, direction and position of the needles 122 of the two dispensing needles 120 can be controlled by controlling the rotation of the rotating mechanism 110, and the movement of the needles 122 of the two dispensing needles 120 can be controlled by driving the rotating mechanism 110 to move by the three-axis servo system.

[0099] For needle tools including dispensing needles, if the needle is deformed due to production errors, material fatigue, temperature changes or long-term use, an initial offset will occur. Under the action of the rotating mechanism, this initial offset will be amplified or extended as it rotates, forming a superimposed offset caused by the deformation of the needle and the rotation of the rotating mechanism.

[0100] At the same time, for needle-shaped tools, even extremely small offsets may directly affect the effect of the corresponding process. For example, during the dispensing process, if the needle tip of the dispensing needle is deformed relative to the standard dispensing needle, then when the current dispensing needle and the standard dispensing needle are in the same position, the needle tip of the current dispensing needle will be initially offset relative to the needle tip of the standard dispensing needle. This initial offset will be further aggravated as the needle tip rotates under the action of the rotating mechanism, resulting in a superimposed offset of the needle tip position. This superimposed offset will cause the movement trajectory of the needle tip to fail to overlap with the movement trajectory of the needle tip when the current dispensing needle moves according to the preset movement route, resulting in the actual dispensing trajectory of the current dispensing needle deviating from the preset dispensing trajectory planned according to the standard dispensing needle, thereby affecting the accuracy and reliability of the dispensing process.

[0101] In some embodiments, in order to improve the reliability of these needle-like tools in actual use and to improve the process effect of the corresponding process, the needle-like tool to be used can be used as a needle to be tested before use, and the superimposed offset of the needle tip of the needle to be tested relative to the needle tip of the standard needle can be determined, so as to judge whether the needle to be tested is suitable for use based on the superimposed offset, or when the superimposed offset is not 0, the preset moving route is compensated based on the superimposed offset, so that the first moving trajectory of the needle tip of the needle to be tested when it moves along the compensated moving route overlaps with the second moving trajectory of the needle tip when the standard needle moves along the preset moving route.

[0102] In the embodiment of the present disclosure, a method for determining an offset is provided. The method for determining an offset can first determine a first coordinate of the rotation center of the rotating mechanism, a second coordinate of the needle tip when the standard needle is located at a set reference position, a third coordinate of the needle tip when the needle to be measured is located at the set reference position, and a set rotation angle of the rotating mechanism. Then, based on the first coordinate, the second coordinate, the third coordinate, and the set rotation angle, the superimposed offset of the needle tip of the needle to be measured relative to the needle tip of the standard needle after the rotating mechanism rotates is determined.

[0103] The method for determining the offset provided in the embodiments of the present invention can determine the superimposed offset of the needle tip of the needle to be measured relative to the needle tip of the standard needle after rotation based on the first coordinate of the rotation center of the rotating mechanism, the second coordinate of the needle tip of the standard needle when it is in a set reference position, the third coordinate of the needle tip of the needle to be measured when it is in a set reference position, and the set rotation angle of the rotating mechanism, thereby making the process of determining the superimposed offset relatively simple and efficient.

[0104] The method for determining the offset provided in the embodiments of the present disclosure does not rely on the coordinates of the needle tip of the needle to be measured when it is at the target position after rotation and the coordinates of the needle tip of the standard needle when it is at the target position. Therefore, even when the coordinates of the needle tip of the needle to be measured when it is at the target position after rotation are difficult to determine due to irregular deformation of the needle tip, the superimposed offset can be accurately determined. In other words, the method for determining the offset provided in the embodiments of the present disclosure can still efficiently and accurately complete the determination of the superimposed offset even when the needle tip of the needle to be measured is irregularly deformed.

[0105] In some embodiments of the present disclosure, the standard needle and the needle to be tested may be various needle-shaped tools controlled by a three-axis servo system in the manufacturing industry and precision machining field, such as a dispensing needle, a test needle, and a spray needle, etc. The standard needle may be a calibrated needle-shaped tool used as a reference, and the needle to be tested may refer to a needle-shaped tool for which the superposition offset is to be determined.

[0106] In the embodiments of the present disclosure, the coordinates of the needle (such as the second coordinates, the third coordinates, etc. mentioned above, and other coordinates of the needle mentioned below) can be the coordinates of a pre-set position in the needle head in a pre-constructed three-dimensional space coordinate system. The position of the needle can be calibrated using the coordinates of the needle head. For example, the pre-set position in the needle head can be the needle tip position of the needle head, or it can be other positions of the needle head, such as a preset position above the needle tip (for example, a position 0.05 cm above the needle tip). The pre-set position is not specifically limited in the embodiments of the present disclosure.

[0107] In the embodiments of the present disclosure, the coordinates of the standard needle and the needle to be measured may refer to the coordinates of the designated positions of the standard needle and the needle to be measured in a pre-constructed three-dimensional space coordinate system. The positions of the standard needle and the needle to be measured may be the positions of the designated positions of the standard needle and the needle to be measured in a pre-constructed three-dimensional space coordinate system. The positions of the standard needle and the needle to be measured (such as the reference position mentioned above, and the target position, the first starting position, the first ending position, the second starting position, and the second ending position to be involved below) can be calibrated using the coordinates of the standard needle and the needle to be measured. For example, the designated positions of the standard needle and the needle to be measured may be the needle tail position of the needle head of the standard needle and the needle to be measured, or the middle position of the standard needle and the needle to be measured, or other positions of the standard needle and the needle to be measured, such as a preset position below the needle tail (for example, a position 0.1 cm below the needle tail). It should be noted that the designated position is not specifically limited in the embodiments of the present disclosure.

[0108] In some embodiments of the present disclosure, the set reference positions of the standard needle and the needle to be measured may include the initial positions of the standard needle and the needle to be measured. The target positions of the standard needle and the needle to be measured after the rotation mechanism rotates can be determined according to the set reference position and the set rotation angle. For example, in the case of setting the rotation angle, the target position can be determined by the rotation transformation of the rotation angle relative to the set reference position.

[0109] In an embodiment of the present disclosure, the superimposed offset may include the position difference between the needle head of the needle to be measured and the needle head of the standard needle when the needle to be measured and the standard needle are rotated from a set reference position to the same position driven by the rotating mechanism. The superimposed offset includes at least one of a first offset, a second offset, and a third offset. Among them, the first offset includes the offset of the needle head of the needle to be measured relative to the needle head of the standard needle in a first direction after the rotating mechanism rotates, the second offset includes the offset of the needle head of the needle to be measured relative to the needle head of the standard needle in a second direction after the rotating mechanism rotates, and the third offset includes the offset of the needle head of the needle to be measured relative to the needle head of the standard needle in a third direction after the rotating mechanism rotates.

[0110] In some embodiments of the present disclosure, the first direction, the second direction and the third direction may be any three different directions. For example, the first direction, the second direction and the third direction may be three mutually perpendicular directions. In the embodiments of the present disclosure, the first direction, the second direction and the third direction are not specifically limited. For ease of description, in some embodiments, the first direction represents the X-axis direction or the Y-axis direction in a pre-constructed three-dimensional space coordinate system, the second direction represents the Y-axis direction or the X-axis direction in a pre-constructed three-dimensional space coordinate system, and the third direction represents the Z-axis direction in a pre-constructed three-dimensional space coordinate system. For example, when the first direction is the X-axis direction, the second direction is the Y-axis direction; and when the first direction is the Y-axis direction, the second direction is the X-axis direction.

[0111] In one example, reference Figure 2 , Figure 2 A schematic diagram of an exemplary three-dimensional space coordinate system consistent with some embodiments of the present disclosure is shown, wherein the first direction refers to the X-axis direction, the second direction is the Y-axis direction, and the third direction refers to the Z-axis direction.

[0112] In some embodiments of the present disclosure, the method for determining the offset can be used to determine the superimposed offset of the needle head of the dispensing needle to be tested relative to the needle head of the standard dispensing needle after the rotating mechanism rotates. The needle to be tested may be the dispensing needle to be tested, and the standard needle may be the standard dispensing needle. In some embodiments of the present disclosure, the method for determining the superimposed offset can also be used to determine the superimposed offset of the needle head of the test needle to be tested relative to the needle head of the standard test needle after the rotating mechanism rotates. The needle to be tested may refer to the test needle to be tested, and the standard needle may refer to the standard test needle. In some embodiments of the present disclosure, the method for determining the superimposed offset can also be used to determine the superimposed offset of the needle head of the spraying needle to be tested relative to the needle head of the standard spraying needle after the rotating mechanism rotates. The needle to be tested may refer to the spraying needle to be tested, and the standard needle may refer to the standard spraying needle. Among them, the standard needle is not limited to a needle-shaped tool that can realize the dispensing, testing or spraying functions, but can also be a needle-shaped tool for other purposes (for example, detection).

[0113] In addition, it should be noted that the method for determining the offset involved in the above disclosure, as well as the method for determining the moving route and the method for controlling the needle to be tested to be involved in the following disclosure, the corresponding execution subjects can be applications, services, instances, functional modules in software form, virtual machines (VM) or cloud servers, etc., or hardware devices (such as servers, terminal devices) or hardware chips with the functions of determining the offset, determining the moving route or controlling the needle to be tested. The hardware chip can be a CPU (Central Processing Unit), GPU (Graphics Processing), FPGA (Field Programmable Gate Array), NPU (Neural-network Processing Unit), AI (Artificial Intelligence) acceleration card or DPU (Data Processing Unit), etc.

[0114] The following embodiments describe in detail the technical solution of the present disclosure and how the technical solution of the present disclosure solves the above technical problems. The following related technologies can be combined with the technical solution of the embodiments of the present disclosure as optional solutions, and they all belong to the protection scope of the embodiments of the present disclosure. The same or similar concepts or processes may not be repeated in some embodiments.

[0115] Figure 3 A flowchart of a method 300 for determining an offset provided in an embodiment of the present disclosure is shown. The method may include steps S302-S304.

[0116] In step S302, the first coordinate of the rotation center of the rotating mechanism, the second coordinate of the needle head when the standard needle is located at the set reference position, the third coordinate of the needle head when the needle to be measured is located at the set reference position, and the set rotation angle of the rotating mechanism are determined.

[0117] In step S304, based on the first coordinate, the second coordinate, the third coordinate and the set rotation angle, the superposition offset of the needle tip of the needle to be measured relative to the needle tip of the standard needle after the rotation of the rotating mechanism is determined.

[0118] In an embodiment of the present disclosure, the superimposed offset may include the position difference between the needle tip of the needle to be measured and the needle tip of the standard needle when the needle to be measured and the standard needle are rotated from a set reference position to the same position under the drive of the rotating mechanism. The superimposed offset includes at least one of a first offset, a second offset, and a third offset. In some embodiments of the present disclosure, the first direction, the second direction, and the third direction may be any three different directions. In an embodiment of the present disclosure, the first direction, the second direction, and the third direction may be three mutually perpendicular directions. In an embodiment of the present disclosure, the first direction, the second direction, and the third direction are not specifically limited. For ease of description, in some embodiments, the first direction refers to the X-axis direction or the Y-axis direction in a pre-constructed three-dimensional space coordinate system, the second direction refers to the Y-axis direction or the X-axis direction in a pre-constructed three-dimensional space coordinate system, and the third direction refers to the Z-axis direction in a pre-constructed three-dimensional space coordinate system.

[0119] In one example, if Figure 2 , Figure 5A , Figure 5B , Fig. 6A as well as Figure 6B As shown, the first direction is the X-axis direction, and the second direction is the Y-axis direction.

[0120] In another example, the first direction is the Y-axis direction, and the second direction is the X-axis direction.

[0121] In the embodiment of the present disclosure, the determination methods of the first offset, the second offset, and the third offset may be similar.

[0122] In some embodiments of the present disclosure, when the superimposed offset includes the first offset, when determining the superimposed offset of the needle tip of the needle to be measured relative to the needle tip of the standard needle after the rotation of the rotating mechanism based on the first coordinate, the second coordinate, the third coordinate and the set rotation angle, the first distance between the needle tip and the rotation center and the second distance in the first direction from the rotation center when the standard needle is located at the set reference position can be determined based on the first coordinate and the second coordinate. Then, based on the first coordinate and the third coordinate, the third distance between the needle tip and the rotation center and the fourth distance in the first direction from the rotation center when the needle to be measured is located at the set reference position are determined. Then, based on the first distance, the second distance and the set rotation angle, the first position of the needle tip relative to the rotation center when the standard needle is located at the target position is determined. Thereafter, based on the third distance, the fourth distance and the set rotation angle, the second position of the needle tip relative to the rotation center when the needle to be measured is located at the target position is determined. Finally, based on the first distance, the third distance, the first position and the second position, the first offset is determined.

[0123] In the embodiment of the present disclosure, when the standard needle and the needle to be measured are located at the set reference position, the standard needle and the needle to be measured move to the target position after the rotating mechanism rotates by the set rotation angle.

[0124] In some embodiments of the present disclosure, when the superimposed offset includes the second offset, when determining the superimposed offset of the needle tip of the needle to be measured relative to the needle tip of the standard needle after the rotating mechanism rotates the set rotation angle based on the first coordinate, the second coordinate, the third coordinate and the set rotation angle, the first distance between the needle tip and the rotation center and the ninth distance from the rotation center in the second direction when the standard needle is located at the set reference position can be determined based on the first coordinate and the second coordinate. Then, based on the first coordinate and the third coordinate, the third distance between the needle tip and the rotation center and the tenth distance from the rotation center in the second direction when the needle to be measured is located at the set reference position are determined. Then, based on the first distance, the ninth distance and the set rotation angle, the fourth position of the needle tip relative to the rotation center when the standard needle is located at the target position is determined. After that, based on the third distance, the tenth distance and the set rotation angle, the fifth position of the needle tip relative to the rotation center when the needle to be measured is located at the target position is determined. Finally, based on the first distance, the third distance, the fourth position and the fifth position, the second offset is determined.

[0125] In some embodiments of the present disclosure, when the superimposed offset includes a third offset, when determining the superimposed offset of the needle tip of the needle to be measured relative to the needle tip of the standard needle after the rotating mechanism rotates by the set rotation angle based on the first coordinate, the second coordinate, the third coordinate and the set rotation angle, the first distance between the needle tip and the rotation center and the second distance in the first direction from the rotation center when the standard needle is located at the set reference position can be determined based on the first coordinate and the second coordinate. Then, based on the first coordinate and the third coordinate, the third distance between the needle tip and the rotation center and the fourth distance in the first direction from the rotation center when the needle to be measured is located at the set reference position are determined. Then, based on the first distance, the second distance and the set rotation angle, the first position of the needle tip relative to the rotation center when the standard needle is located at the target position is determined. Afterwards, based on the third distance, the fourth distance and the set rotation angle, the second position of the needle tip relative to the rotation center when the needle to be measured is located at the target position is determined. Finally, based on the first distance, the third distance, the first position and the second position, the third offset is determined.

[0126] In some embodiments of the present disclosure, when the superimposed offset includes a third offset, when determining the superimposed offset of the needle tip of the needle to be measured relative to the needle tip of the standard needle after the rotating mechanism rotates the set rotation angle based on the first coordinate, the second coordinate, the third coordinate and the set rotation angle, the first distance between the needle tip and the rotation center and the ninth distance from the rotation center in the second direction when the standard needle is located at the set reference position can be determined based on the first coordinate and the second coordinate. Then, based on the first coordinate and the third coordinate, the third distance between the needle tip and the rotation center and the tenth distance from the rotation center in the second direction when the needle to be measured is located at the set reference position are determined. Then, based on the first distance, the ninth distance and the set rotation angle, the fourth position of the needle tip relative to the rotation center when the standard needle is located at the target position is determined. Afterwards, based on the third distance, the tenth distance and the set rotation angle, the fifth position of the needle tip relative to the rotation center when the needle to be measured is located at the target position is determined. Finally, based on the first distance, the third distance, the fourth position and the fifth position, the third offset is determined.

[0127] In the embodiment of the present disclosure, the third offset can be determined based on the first distance, the third distance, the first position and the second position, or based on the first distance, the third distance, the fourth position and the fifth position.

[0128] In some embodiments of the present disclosure, the superposition offset includes only the second offset, or includes the first offset, the second offset, and the third offset at the same time. In this case, the third offset can be determined based on the first distance, the third distance, the first position, and the second position. The third offset can also be determined based on the first distance, the third distance, the fourth position, and the fifth position. It is also possible to first determine a third offset based on the first distance, the third distance, the first position, and the second position, and then determine another third offset based on the first distance, the third distance, the fourth position, and the fifth position, and then determine the final third offset by weighted summing of the two third offsets.

[0129] In some embodiments of the present disclosure, the superposition offset includes only the first offset and the third offset. In this case, when the first offset is determined based on the first distance, the third distance, the first position, and the second position, the third offset can be further determined based on the first distance, the third distance, the first position, and the second position.

[0130] In some embodiments of the present disclosure, the superimposed offset includes only the second offset and the third offset. In this case, when the second offset is determined based on the first distance, the third distance, the fourth position, and the fifth position, the third offset can be further determined based on the first distance, the third distance, the fourth position, and the fifth position.

[0131] In the embodiment of the present disclosure, the determination method of the second offset and the third offset may be similar to the determination method of the first offset. The following will mainly describe the determination process of the first offset in detail, and the determination method of the second offset and the third offset may be inferred based on the description of the determination process of the first offset.

[0132] In the disclosed embodiment, the position of the needle relative to the rotation center can be identified by the angle between the line between the needle and the rotation center and the third direction on the first plane or the angle between the line between the needle and the rotation center and the third direction on the second plane. The first plane refers to a plane that is parallel to both the first direction and the third direction, and the second plane refers to a plane that is parallel to both the second direction and the third direction.

[0133] Among them, the first position mentioned above can be identified by the angle between the line between the needle head and the rotation center when the standard needle is located at the target position and the third direction on the first plane. The second position mentioned above can be identified by the angle between the line between the needle head and the rotation center when the needle to be measured is located at the target position and the third direction on the first plane. The fourth position mentioned above can be identified by the angle between the line between the needle head and the rotation center when the standard needle is located at the target position and the third direction on the second plane. The fifth position mentioned above can be identified by the angle between the line between the needle head and the rotation center when the needle to be measured is located at the target position and the third direction on the second plane.

[0134] The third position to be mentioned below can be identified by the angle between the line between the needle tip and the rotation center and the third direction on the first plane when the standard needle is located at the set reference position. The sixth position to be mentioned below can be identified by the angle between the line between the needle tip and the rotation center and the third direction on the first plane when the needle to be measured is located at the set reference position.

[0135] In some embodiments of the present disclosure, when determining the first position of the needle head relative to the rotation center when the standard needle is located at the target position based on the first distance, the second distance, and the set rotation angle, the third position of the needle head relative to the rotation center when the standard needle is located at the set reference position can be determined based on the first distance and the second distance. Then, the first position is determined based on the third position and the set rotation angle.

[0136] When determining the second position of the needle head relative to the rotation center when the needle to be measured is located at the target position based on the third distance, the fourth distance and the set rotation angle, the sixth position of the needle head relative to the rotation center when the needle to be measured is located at the set reference position can be determined based on the third distance and the fourth distance. Then, the second position is determined based on the sixth position and the set rotation angle.

[0137] In some embodiments of the present disclosure, the first position is identified by the angle between the line between the needle head and the rotation center and the third direction on the first plane when the standard needle is located at the target position, the second position is identified by the angle between the line between the needle head and the rotation center and the third direction on the first plane when the needle to be measured is located at the target position, the third position is identified by the angle between the line between the needle head and the rotation center and the third direction on the first plane when the standard needle is located at the set reference position, and the sixth position is identified by the angle between the line between the needle head and the rotation center and the third direction on the first plane when the needle to be measured is located at the set reference position. In this case, if the rotating mechanism rotates around the rotation center only parallel to the first plane, then in the process of determining the first position of the needle head relative to the rotation center when the standard needle is located at the target position based on the first distance, the second distance and the set rotation angle, the implementation process of determining the third position of the needle head relative to the rotation center when the standard needle is located at the set reference position based on the first distance and the second distance may include deriving the angle between the line between the needle head and the rotation center and the third direction on the first plane when the standard needle is located at the set reference position based on the first distance and the second distance.

[0138] Based on the third position and the set rotation angle, the implementation process of determining the first position may include taking the difference between the set rotation angle and the angle between the line between the needle tip and the rotation center and the third direction on the first plane when the standard needle is located at the set reference position, so as to determine the angle between the line between the needle tip and the rotation center and the third direction on the first plane when the standard needle is located at the target position.

[0139] In the process of determining the second position of the needle tip relative to the rotation center when the needle to be measured is at the target position based on the third distance, the fourth distance and the set rotation angle, the implementation process of determining the sixth position of the needle tip relative to the rotation center when the needle to be measured is at the set reference position based on the third distance and the fourth distance may include obtaining the angle between the line between the needle tip and the rotation center and the third direction on the first plane when the needle to be measured is at the set reference position based on the third distance and the fourth distance.

[0140] Based on the sixth position and the set rotation angle, the implementation process of determining the second position may include calculating the difference between the set rotation angle and the angle between the line between the needle tip and the rotation center when the needle to be measured is located at the set reference position and the third direction on the first plane, so as to determine the angle between the line between the needle tip and the rotation center when the needle to be measured is located at the target position and the third direction on the first plane.

[0141] In some embodiments of the present disclosure, the first position can be identified by the angle between the line between the needle head and the rotation center when the standard needle is located at the target position and the third direction on the first plane. The second position can be identified by the angle between the line between the needle head and the rotation center when the needle to be measured is located at the target position and the third direction on the first plane. The third position can be identified by the angle between the line between the needle head and the rotation center when the standard needle is located at the set reference position and the third direction on the first plane. The sixth position can be identified by the angle between the line between the needle head and the rotation center when the needle to be measured is located at the set reference position and the third direction on the first plane. When the rotation of the rotating mechanism around the rotation center does not only occur parallel to the first plane, then in the process of determining the first position of the needle head relative to the rotation center when the standard needle is located at the target position based on the first distance, the second distance and the set rotation angle, the implementation process of determining the third position of the needle head relative to the rotation center when the standard needle is located at the set reference position based on the first distance and the second distance can include first projecting the first distance and the second distance onto the plane parallel to the first plane to obtain the eleventh distance and the twelfth distance. Based on the eleventh distance and the twelfth distance, the angle between the line between the needle head and the rotation center on the first plane and the third direction when the standard needle is located at the set reference position is obtained.

[0142] Based on the third position and the set rotation angle, the implementation process of determining the first position may include first projecting the set rotation angle onto a plane parallel to the first plane to obtain a first projection angle. Then, the first projection angle and the angle between the line between the needle tip and the rotation center when the standard needle is located at the set reference position and the third direction on the first plane are subtracted to determine the angle between the line between the needle tip and the rotation center when the standard needle is located at the target position and the third direction on the first plane.

[0143] In the process of determining the second position of the needle head relative to the rotation center when the needle to be measured is located at the target position based on the third distance, the fourth distance and the set rotation angle, the implementation process of determining the sixth position of the needle head relative to the rotation center when the needle to be measured is located at the set reference position based on the third distance and the fourth distance may include first projecting the third distance and the fourth distance onto a plane parallel to the first plane to obtain the thirteenth distance and the fourteenth distance. Then, based on the thirteenth distance and the fourteenth distance, the angle between the line between the needle head and the rotation center and the third direction on the first plane when the needle to be measured is located at the set reference position is obtained.

[0144] Based on the sixth position and the set rotation angle, the implementation process of determining the second position may include first projecting the set rotation angle onto a plane parallel to the first plane to obtain a first projection angle. Then, the first projection angle and the angle between the line between the needle tip and the rotation center when the needle to be measured is located at the set reference position and the third direction on the first plane are calculated to determine the angle between the line between the needle tip and the rotation center when the needle to be measured is located at the target position and the third direction on the first plane.

[0145] In some embodiments of the present disclosure, when determining the first offset based on the first distance, the third distance, the first position, and the second position, assuming that the distance between the needle tip and the rotation center of the standard needle before and after rotation is the same, the first distance can be used to represent the distance between the needle tip and the rotation center when the standard needle is located at the target position. Then, based on the first distance and the first position, determine the fifth distance between the needle tip and the rotation center in the first direction when the standard needle is located at the target position. Then, based on the third distance and the second position, determine the sixth distance between the needle tip and the rotation center in the first direction when the needle to be measured is located at the target position. After that, determine the first offset based on the fifth distance and the sixth distance.

[0146] In the case where the first position is identified by the angle between the line between the needle head and the rotation center when the standard needle is at the target position and the third direction on the first plane, the second position is identified by the angle between the line between the needle head and the rotation center when the needle to be measured is at the target position and the third direction on the first plane, the third position is identified by the angle between the line between the needle head and the rotation center when the standard needle is at the set reference position and the third direction on the first plane, and the sixth position is identified by the angle between the line between the needle head and the rotation center when the needle to be measured is at the set reference position and the third direction on the first plane, when the rotating mechanism rotates only around the rotation center parallel to the first plane, then in the process of determining the first offset based on the first distance, the third distance, the first position and the second position, the implementation method of determining the fifth distance between the needle head and the rotation center in the first direction when the standard needle is at the target position based on the first distance and the first position can include obtaining the fifth distance between the needle head and the rotation center in the first direction when the standard needle is at the target position based on the first distance and the angle between the line between the needle head and the rotation center when the standard needle is at the target position and the third direction on the first plane.

[0147] Based on the third distance and the second position, an implementation method for determining the sixth distance between the needle tip and the rotation center in the first direction when the needle to be measured is located at the target position can include obtaining the sixth distance between the needle tip and the rotation center in the first direction when the needle to be measured is located at the target position based on the third distance and the angle between the line between the needle tip and the rotation center when the needle to be measured is located at the target position and the third direction on the first plane.

[0148] Based on the fifth distance and the sixth distance, an implementation manner of determining the first offset may include taking the difference between the fifth distance and the sixth distance to obtain the first offset.

[0149] In some embodiments of the present disclosure, in the first position, the angle between the line between the needle head and the rotation center when the standard needle is at the target position and the third direction on the first plane is identified; the second position is identified by the angle between the line between the needle head and the rotation center when the needle to be measured is at the target position and the third direction on the first plane is identified; the third position is identified by the angle between the line between the needle head and the rotation center when the standard needle is at the set reference position and the third direction on the first plane is identified; the sixth position is identified by the angle between the line between the needle head and the rotation center when the needle to be measured is at the set reference position and the third direction on the first plane is identified; when the rotating mechanism does not only rotate around the rotation center parallel to the first plane, then in the process of determining the first offset based on the first distance, the third distance, the first position and the second position, the implementation method of determining the fifth distance between the needle head and the rotation center in the first direction when the standard needle is at the target position based on the first distance and the first position may include first projecting the first distance onto a plane parallel to the first plane to obtain an eleventh distance. Then, based on the eleventh distance and the angle between the line between the needle tip and the rotation center on the first plane and the third direction when the standard needle is at the target position, the fifth distance between the needle tip and the rotation center in the first direction when the standard needle is at the target position is obtained.

[0150] Based on the third distance and the second position, the implementation method of determining the sixth distance between the needle head and the rotation center in the first direction when the needle to be measured is located at the target position may include first projecting the third distance onto a plane parallel to the first plane to obtain a thirteenth distance. Then, based on the thirteenth distance and the angle between the line between the needle head and the rotation center on the first plane and the third direction when the needle to be measured is located at the target position, the sixth distance between the needle head and the rotation center in the first direction when the needle to be measured is located at the target position is obtained.

[0151] Based on the fifth distance and the sixth distance, an implementation manner of determining the first offset may include taking the difference between the fifth distance and the sixth distance to obtain the first offset.

[0152] In some embodiments of the present disclosure, when determining the third offset based on the first distance, the third distance, the first position, and the second position, the first distance can be used to represent the distance between the needle tip and the rotation center when the standard needle is located at the target position, and the second distance can be used to represent the distance between the needle tip and the rotation center when the needle to be measured is located at the target position. Then, based on the first distance and the first position, the seventh distance between the needle tip and the rotation center in the third direction when the standard needle is located at the target position is determined. Then, based on the third distance and the second position, the eighth distance between the needle tip and the rotation center in the third direction when the needle to be measured is located at the target position is determined. After that, the third offset is determined based on the seventh distance and the eighth distance.

[0153] In the case where the first position is identified by the angle between the line between the needle head and the rotation center when the standard needle is at the target position and the third direction on the first plane, the second position is identified by the angle between the line between the needle head and the rotation center when the needle to be measured is at the target position and the third direction on the first plane, the third position is identified by the angle between the line between the needle head and the rotation center when the standard needle is at the set reference position and the third direction on the first plane, and the sixth position is identified by the angle between the line between the needle head and the rotation center when the needle to be measured is at the set reference position and the third direction on the first plane, if the rotating mechanism rotates only around the rotation center parallel to the first plane, then in the process of determining the third offset based on the first distance, the third distance, the first position and the second position, the implementation method of determining the seventh distance between the needle head and the rotation center in the third direction when the standard needle is at the target position based on the first distance and the first position can include obtaining the seventh distance between the needle head and the rotation center in the third direction when the standard needle is at the target position based on the first distance and the angle between the line between the needle head and the rotation center when the standard needle is at the target position and the third direction on the first plane.

[0154] Based on the third distance and the second position, an implementation method for determining the eighth distance between the needle tip and the rotation center in the third direction when the needle to be measured is located at the target position can include obtaining the eighth distance between the needle tip and the rotation center in the third direction when the needle to be measured is located at the target position based on the third distance and the angle between the line between the needle tip and the rotation center when the needle to be measured is located at the target position and the third direction on the first plane.

[0155] Based on the seventh distance and the eighth distance, an implementation manner of determining the third offset may include taking the difference between the seventh distance and the eighth distance to obtain the third offset.

[0156] In some embodiments of the present disclosure, in the first position, the angle between the line between the needle head and the rotation center and the third direction on the first plane is identified by the line between the needle head and the rotation center when the standard needle is at the target position; the second position is identified by the angle between the line between the needle head and the rotation center and the third direction on the first plane when the needle to be measured is at the target position; the third position is identified by the angle between the line between the needle head and the rotation center and the third direction on the first plane when the standard needle is at the set reference position; and the sixth position is identified by the angle between the line between the needle head and the rotation center and the third direction on the first plane when the needle to be measured is at the set reference position. If the rotating mechanism does not only rotate around the rotation center parallel to the first plane, then in the process of determining the third offset based on the first distance, the third distance, the first position and the second position, the implementation method of determining the seventh distance between the needle head and the rotation center in the third direction when the standard needle is at the target position based on the first distance and the first position may include first projecting the first distance onto a plane parallel to the first plane to obtain an eleventh distance. Then, based on the eleventh distance and the angle between the line between the needle tip and the rotation center on the first plane and the third direction when the standard needle is at the target position, the seventh distance between the needle tip and the rotation center in the third direction when the standard needle is at the target position is obtained.

[0157] Based on the third distance and the second position, the implementation method of determining the eighth distance between the needle tip and the rotation center in the third direction when the needle to be measured is located at the target position may include first projecting the third distance onto a plane parallel to the first plane to obtain the thirteenth distance. Then, based on the thirteenth distance and the angle between the line between the needle tip and the rotation center on the first plane and the third direction when the needle to be measured is located at the target position, the eighth distance between the needle tip and the rotation center in the third direction when the needle to be measured is located at the target position is obtained.

[0158] Based on the seventh distance and the eighth distance, an implementation manner of determining the third offset may include taking the difference between the seventh distance and the eighth distance to obtain the third offset.

[0159] In some embodiments of the present disclosure, when it is determined that the rotation of the rotating mechanism around the rotation center does not only occur parallel to the first plane, when determining the first offset and / or the third offset, the position of the rotation center, the position of the needle when the standard needle is located at the set reference position, the position of the needle when the needle to be measured is located at the set reference position, the position of the needle when the standard needle is located at the target position, the position of the needle when the needle to be measured is located at the target position, and the set rotation angle can be vertically projected onto the first plane to obtain the corresponding first projection position, second projection position, third projection position, fourth projection position, fifth projection position and first projection angle. Based on the first coordinate, the second coordinate and the third coordinate, the first projection coordinate corresponding to the first projection position, the second projection coordinate corresponding to the second projection position, and the third projection coordinate corresponding to the third projection position are determined.

[0160] Next, the eleventh distance (i.e., the projection of the first distance on the first plane) is identified by the distance between the first projection position and the second projection position on the first plane. The twelfth distance (i.e., the projection of the second distance on the first plane) is identified by the distance between the first projection position and the second projection position in the first direction. The thirteenth distance (i.e., the projection of the third distance on the first plane) is identified by the distance between the first projection position and the third projection position on the first plane. The fourteenth distance (i.e., the projection of the fourth distance on the first plane) is identified by the distance between the first projection position and the third projection position in the first direction. The fifth distance is identified by the distance between the first projection position and the fourth projection position in the first direction. The sixth distance is identified by the distance between the first projection position and the fifth projection position in the first direction. The seventh distance is identified by the distance between the first projection position and the fourth projection position in the third direction. The eighth distance is identified by the distance between the first projection position and the fifth projection position in the third direction.

[0161] The angle between the line between the first projection position and the second projection position and the third direction is used to identify the angle between the line between the needle tip and the rotation center and the third direction on the first plane when the standard needle is located at the set reference position. The angle between the line between the first projection position and the third projection position and the third direction is used to identify the angle between the line between the needle tip and the rotation center and the third direction on the first plane when the needle to be measured is located at the set reference position. The angle between the line between the first projection position and the fourth projection position and the third direction is used to identify the angle between the line between the needle tip and the rotation center and the third direction on the first plane when the standard needle is located at the target position. The angle between the line between the first projection position and the fifth projection position and the third direction is used to identify the angle between the line between the needle tip and the rotation center and the third direction on the first plane when the needle to be measured is located at the target position.

[0162] Next, "determine the first distance and the second distance based on the first coordinate and the second coordinate" and "respectively project the first distance and the second distance onto a plane parallel to the first plane to obtain the eleventh distance and the twelfth distance" are implemented as follows: using the first projection coordinate and the second projection coordinate, respectively determine the distance between the first projection position and the second projection position on the first plane and the distance between the first projection position and the second projection position in the first direction. "Determine the third distance and the fourth distance based on the first coordinate and the third coordinate" and "respectively project the third distance and the fourth distance onto a plane parallel to the first plane to obtain the thirteenth distance and the fourteenth distance" are implemented as follows: using the first projection coordinate and the third projection coordinate, respectively determine the distance between the first projection position and the third projection position on the first plane and the distance between the first projection position and the second projection position in the first direction.

[0163] Afterwards, "based on the eleventh distance and the twelfth distance, obtain the angle between the line between the needle tip and the rotation center and the third direction on the first plane when the standard needle is located at the set reference position" can be further implemented as: based on the distance between the first projection position and the second projection position on the first plane and the distance between the first projection position and the second projection position in the first direction, obtain the angle between the line between the first projection position and the second projection position and the third direction.

[0164] "Differentiate the first projection angle and the angle between the line connecting the needle tip and the rotation center when the standard needle is located at the set reference position and the third direction on the first plane to determine the angle between the line connecting the needle tip and the rotation center when the standard needle is located at the target position and the third direction on the first plane" is implemented as follows: Differentiate the first projection angle and the angle between the line connecting the first projection position and the second projection position and the third direction to determine the angle between the line connecting the first projection position and the fourth projection position and the third direction.

[0165] "Based on the thirteenth distance and the fourteenth distance, obtain the angle between the line connecting the needle tip and the rotation center and the third direction on the first plane when the needle to be measured is located at the set reference position" is implemented as follows: based on the distance between the first projection position and the third projection position on the first plane and the distance between the first projection position and the third projection position in the first direction, obtain the angle between the line connecting the first projection position and the third projection position and the third direction.

[0166] "Differentiate the first projection angle and the angle between the line connecting the needle tip and the rotation center when the needle to be measured is located at the set reference position and the third direction on the first plane to determine the angle between the line connecting the needle tip and the rotation center when the needle to be measured is located at the target position and the third direction on the first plane" is implemented as follows: Differentiate the first projection angle and the angle between the line connecting the first projection position and the third projection position and the third direction to determine the angle between the line connecting the first projection position and the fifth projection position and the third direction.

[0167] Finally, "based on the eleventh distance and the angle between the line between the needle tip and the rotation center and the third direction on the first plane when the standard needle is located at the target position, the fifth distance between the needle tip and the rotation center in the first direction when the standard needle is located at the target position" can be implemented as: based on the distance between the first projection position and the second projection position on the first plane and the angle between the line between the first projection position and the fourth projection position and the third direction, the distance between the first projection position and the fourth projection position in the first direction is obtained.

[0168] “Based on the thirteenth distance and the angle between the line between the needle tip and the rotation center and the third direction on the first plane when the needle tip to be measured is located at the target position, the sixth distance between the needle tip and the rotation center in the first direction when the needle tip to be measured is located at the target position is obtained” is implemented as follows: Based on the distance between the first projection position and the third projection position on the first plane and the angle between the line between the first projection position and the fifth projection position and the third direction, the distance between the first projection position and the fifth projection position in the first direction is obtained.

[0169] “Subtracting the fifth distance from the sixth distance to obtain the first offset” is implemented as: subtracting the distance between the first projection position and the fourth projection position in the first direction and the distance between the first projection position and the fifth projection position in the first direction to obtain the first offset.

[0170] “Based on the eleventh distance and the angle between the line between the needle tip and the rotation center and the third direction on the first plane when the standard needle is located at the target position, the seventh distance between the needle tip and the rotation center in the third direction when the standard needle is located at the target position” is implemented as follows: Based on the distance between the first projection position and the second projection position on the first plane and the angle between the line between the first projection position and the fourth projection position and the third direction, the distance between the first projection position and the fourth projection position in the third direction is obtained.

[0171] “Based on the thirteenth distance and the angle between the line between the needle tip and the rotation center and the third direction on the first plane when the needle tip to be measured is located at the target position, the eighth distance between the needle tip and the rotation center in the third direction when the needle tip to be measured is located at the target position” is implemented as follows: Based on the distance between the first projection position and the third projection position on the first plane and the angle between the line between the first projection position and the fifth projection position and the third direction, the distance between the first projection position and the fifth projection position in the third direction is obtained.

[0172] “Subtracting the seventh distance from the eighth distance to obtain a third offset” is implemented as: subtracting the distance between the first projection position and the fourth projection position in the third direction and the distance between the first projection position and the fifth projection position in the third direction to obtain a third offset.

[0173] First, the position of the rotation center, the position of the needle when the standard needle is located at the set reference position, the position of the needle when the needle to be measured is located at the set reference position, the position of the needle when the standard needle is located at the target position, the position of the needle when the needle to be measured is located at the target position, and the set rotation angle are vertically projected onto the first plane to obtain the corresponding first projection position, second projection position, third projection position, fourth projection position, fifth projection position and first projection angle, and then the relevant data after projection is used to determine the first offset and the third offset, which can simplify the determination process of the first offset and the third offset and reduce the amount of data calculation in the determination process of the first offset and the third offset.

[0174] The following combination Figure 4 The simplified process of determining the first offset and the third offset is described. Figure 4 Projections of exemplary locations on the XOZ plane are shown consistent with various embodiments of the present disclosure.

[0175] The position of the rotation center is vertically projected onto the first plane to obtain the corresponding first projection position A; the position of the needle head when the standard needle is at the set reference position is vertically projected onto the first plane to obtain the corresponding second projection position B; the position of the needle head when the needle to be measured is at the set reference position is vertically projected onto the first plane to obtain the corresponding third projection position C; the position of the needle head when the standard needle is at the target position is vertically projected onto the first plane to obtain the corresponding fourth projection position D; the position of the needle head when the needle to be measured is at the target position is vertically projected onto the first plane to obtain the corresponding fifth projection E; the set rotation angle is vertically projected onto the first plane to obtain the first projection angle Among them, the first plane can be Figure 4 Based on the first coordinate, the second coordinate and the third coordinate, the first projection coordinate a corresponding to position A, the second projection coordinate b corresponding to position B, and the third projection coordinate c corresponding to position C are determined. Figure 4 center, angle =The angle formed by the connecting line AB between position A and position B and the connecting line AD between position A and position D = The angle formed by the connecting line AC between position A and position C and the connecting line AE between position A and position E.

[0176] Then, using coordinates a and b, determine the distance between position A and position B on the XOZ plane. And the distance between position A and position B in the first direction (X-axis direction) . Use coordinates a and b to determine the distance between position A and position B on the first plane. And the distance between position A and position B in the X-axis direction .

[0177] Then, based on the distance And distance , the angle between the line between position A and the second projection position B and the X-axis direction is obtained . Figure 4 In the example, line AP is a line parallel to the XOZ plane and the third direction. = distance from position B to line AP, angle =The angle formed by straight line AP and the connecting line AB between position A and position B.

[0178] Among them, the angle can be determined by the following formula :

[0179] .

[0180] Getting the angle After that, you can adjust the angle And the angle Calculate the difference to determine the angle between the line between position A and the fourth projection position D and the third direction (Z axis direction) . Figure 4 Middle, Angle =The angle formed by straight line AP and the connecting line AD between position A and position D.

[0181] Similarly, based on distance And distance , the angle between the line between position A and position C and the X-axis direction is obtained . Figure 4 Middle, distance = the distance from position C to line AP, angle =The angle formed by the straight line AP and the connecting line AC between position A and position C.

[0182] Among them, the angle can be determined by the following formula :

[0183] .

[0184] Getting the angle After that, you can adjust the angle And the angle Take the difference to determine the angle between the line between position A and position E and the Z axis direction . Figure 4 Middle, Angle =The angle formed by straight line AP and the connecting line AE between position A and position E.

[0185] Finally, we can first base on the distance And the angle , the distance between position A and position D in the X-axis direction is obtained Based on the distance and the angle , and the distance between position A and position E in the X-axis direction is obtained Next, the distance And distance Take the difference and get the first offset. Figure 4 Middle, distance = the distance from position D to line AP, = the distance from position E to line AP.

[0186] Among them, the angle can be determined by the following formula :

[0187] .

[0188] The angle can be determined by the following formula :

[0189] .

[0190] Similarly, we can first and the angle , the distance between position A and position D in the Z-axis direction is obtained Based on the distance and the angle , the distance between position A and position E in the Z-axis direction is obtained Next, the distance And distance Take the difference and get the third offset. Figure 4 Middle, distance = distance from position A to line DQ, = The distance from position A to line EM. Line DQ is a line parallel to the X-axis and passing through position D. Point Q is the intersection of line DQ and line AP. Line EM is a line parallel to the X-axis and passing through position E. Point M is the intersection of line EM and line AP. The angle can be determined by the following formula: :

[0191] .

[0192] The angle can be determined by the following formula :

[0193] .

[0194] In some embodiments of the present disclosure, the third coordinate is determined based on the second coordinate and the initial offset of the needle tip of the needle to be measured relative to the needle tip of the standard needle before the rotating mechanism rotates. For example, the third coordinate is obtained by compensating the second coordinate based on the initial offset.

[0195] The initial offset may include the position difference between the needle head of the needle to be measured and the needle head of the standard needle when the needle to be measured and the standard needle are in the same position, which is usually used to identify the offset between the needle head of the standard needle and the needle head of the needle to be measured due to needle head deformation. The initial offset may include at least one of a fourth offset, a fifth offset, and a sixth offset. Among them, the fourth offset includes the offset of the needle head of the needle to be measured relative to the needle head of the standard needle in a first direction before the rotating mechanism rotates. The fifth offset includes the offset of the needle head of the needle to be measured relative to the needle head of the standard needle in a second direction before the rotating mechanism rotates. The sixth offset includes the offset of the needle head of the needle to be measured relative to the needle head of the standard needle in a third direction before the rotating mechanism rotates.

[0196] In some embodiments of the present disclosure, when determining the fourth offset, the standard needle may be first controlled to move along the first direction to determine the fourth coordinate of the needle tip of the standard needle when it passes through the first light beam and the fifth coordinate of the needle tip when it passes through the second light beam. Then, the needle to be measured is controlled to move along the first direction to determine the sixth coordinate of the needle tip of the needle to be measured when it passes through the first light beam and the seventh coordinate of the needle tip when it passes through the second light beam. Afterwards, the fourth offset is determined based on the fourth coordinate, the fifth coordinate, the sixth coordinate and the seventh coordinate.

[0197] In order to facilitate operation and improve the consistency between the fourth offset and the fifth offset, the fifth offset is usually determined by a method similar to the method for determining the fourth offset. When the fourth offset is determined by the above method, when determining the fifth offset, the standard needle can be controlled to move along the second direction to determine the eighth coordinate of the needle tip of the standard needle when it passes through the first light beam and the ninth coordinate when it passes through the second light beam. Then, the needle to be measured is controlled to move along the second direction to determine the tenth coordinate of the needle tip of the needle to be measured when it passes through the first light beam and the eleventh coordinate when it passes through the second light beam. After that, the fifth offset is determined based on the eighth coordinate, the ninth coordinate, the tenth coordinate and the eleventh coordinate.

[0198] In the disclosed embodiment, the fourth offset and / or the fifth offset can be determined by using the coordinate changes of the standard needle and the needle to be measured when they pass through the first light beam and the second light beam through the light beam detection technology. The light beam detection technology has the characteristics of non-contact, high sensitivity and high resolution, and can accurately capture the slight offset between the needle tip of the standard needle and the needle tip of the needle to be measured caused by the deformation of the needle tip. Based on the light beam detection technology, the offset is determined by recording the coordinate changes of the standard needle and the needle to be measured when they pass through the first light beam and the second light beam, which can improve the accuracy of the determined fourth offset and / or fifth offset.

[0199] In addition, the fourth offset and / or the fifth offset are determined by controlling the movement of the standard needle and the needle to be measured respectively and combining the light beam detection technology. This makes the determination process of the fourth offset and / or the fifth offset fast and convenient, thereby improving the determination efficiency of the fourth offset and / or the fifth offset.

[0200] In addition, the above-mentioned determination method of the fourth offset and / or the fifth offset has relatively loose requirements on the arrangement of the first light beam and the second light beam, so that the standard needle and the needle to be measured can pass through the first light beam and the second light beam respectively in sequence, without strictly controlling the relative position, angle or fixed spacing of the first light beam and the second light beam. This loose beam arrangement requirement significantly reduces the accuracy requirements for the photoelectric sensor, thereby reducing the difficulty of installing and debugging the photoelectric sensor. For example, when the first light beam is emitted by the first counter-beam sensor and the second light beam is emitted by the second counter-beam sensor, it is not necessary to accurately install and debug the first counter-beam sensor and the second counter-beam sensor so that the first light beam emitted by the first counter-beam sensor must be parallel to the first direction or the second direction, and the second light beam emitted by the second counter-beam sensor must be parallel to the second direction or the first direction, so that the light beams emitted by the first counter-beam sensor and the second counter-beam sensor can cover the paths of the standard needle and the needle to be measured.

[0201] In the embodiment of the present disclosure, since the method for determining the fifth offset is similar to the method for determining the fourth offset in principle, the following will focus on describing in detail the process for determining the fourth offset. The method for determining the fifth offset can be inferred based on the description of the process for determining the fourth offset.

[0202] In a possible implementation, in the process of controlling the standard needle to move along the first direction, in the process of controlling the needle tips of the standard needle and the needle to be measured to pass through the first light beam and the second light beam, the second starting position and the second ending position can be pre-selected, and the line between the second starting position and the second ending position is parallel to the first direction, and the line between the second starting position and the second ending position can pass through the first light beam and the second light beam. The standard needle can be controlled to move along the first direction from the second starting position to the second ending position, so that the standard needle is controlled to move along the first direction, and the needle tip of the standard needle passes through the first light beam and the second light beam. The needle to be measured can be controlled to move along the first direction from the second starting position to the second ending position, so that the needle tip of the needle to be measured passes through the first light beam and the second light beam.

[0203] In one example, if Figure 5A and Figure 5B As shown, Figure 5Aand 5B A schematic diagram of exemplary needle movement consistent with different embodiments of the present disclosure is shown. The first direction is the X-axis direction, the second direction is the Y-axis direction, the selected second starting position is point A, and the selected second ending position is point B. The line between point A and point B is parallel to the first direction, and the line between point A and point B passes through the first light beam g1 and the second light beam g2. In this case, the standard needle can be controlled to move along the first direction from point A to point B by controlling the standard needle to move along the first direction, and the needle to be measured can be controlled to move along the first direction by controlling the needle to be measured to move along the first direction from point A to point B. The positions of the first light beam g1 and the second light beam g2 enable the needle tips of the standard needle and the needle to be measured to pass through the first light beam g1 and the second light beam g2 in the process of controlling the standard needle and the needle to be measured to move from point A to point B along the first direction.

[0204] In some embodiments, reference Figure 5A and Figure 5B , the third starting position can be selected as point C, the third ending position can be selected as point D, and the line between point C and point D is parallel to the second direction, and the line between point C and point D passes through the first light beam g1 and the second light beam g2. The standard needle can be controlled to move along the second direction from point C to point D to achieve the control of the standard needle to move along the second direction, and the needle to be measured can be controlled to move along the second direction from point C to point D to achieve the control of the needle to be measured to move along the second direction. The positions of the first light beam g1 and the second light beam g2 are such that in the process of controlling the standard needle and the needle to be measured to move from point C to point D along the second direction, the needle tips of the standard needle and the needle to be measured can pass through the first light beam g1 and the second light beam g2.

[0205] In a possible implementation, the fourth coordinate is determined based on at least one of the fourteenth coordinate and the fifteenth coordinate. The fourteenth coordinate may include the coordinate when the tip of the standard needle enters the first light beam, and the fifteenth coordinate may include the coordinate when the tip of the standard needle leaves the first light beam. For example, when the beam widths of the first light beam and the second light beam reach a set width, the fourth coordinate may be determined based on both the fourteenth coordinate and the fifteenth coordinate, and when the beam widths of the first light beam and the second light beam are less than the set width, the fourth coordinate may be determined based only on the fourteenth coordinate or the fifteenth coordinate.

[0206] In some embodiments, the fourth coordinate can be determined based on the coordinates of the intersection of the standard needle and the first light beam during the movement of the standard needle along the first direction. For example, in some embodiments, the first light beam and the second light beam are collimated lights with narrow widths. When the standard needle moves along the first direction, the standard needle blocks the light path of the first light beam, and the fourteenth coordinate or the fifteenth coordinate is not distinguished. The fourth coordinate is determined based on the coordinates of the position where the standard needle blocks the first light beam.

[0207] When the beam widths of the first and second beams reach the set widths, the fourth coordinate can be determined based on the fourteenth and fifteenth coordinates at the same time, which is conducive to improving the accuracy of the fourth coordinate. When the beam widths of the first and second beams are less than the set widths, the fourteenth and fifteenth coordinates are less different or cannot be distinguished, and the fourteenth or fifteenth coordinates can be directly used as the fourth coordinate. The fifth coordinate when the needle tip of the standard needle passes through the second beam can be determined based on the same or similar method.

[0208] In some embodiments, a first light beam g1 and a second light beam g2 are formed by a through-beam sensor. When a standard needle or a needle to be measured passes through the first light beam g1 and the second light beam g2, the needle head blocks the first light beam g1 and the second light beam g2. The through-beam sensor records the moment when the first light beam g1 and the second light beam g2 are blocked. Combined with controlling the speed of the movement of the standard needle or the needle to be measured, the coordinates of the needle head of the standard needle or the needle to be measured passing through the first light beam g1 and the second light beam g2 can be determined. In some embodiments, the coordinates of the needle head of the standard needle or the needle to be measured when entering the first light beam g1 can be determined based on the falling edge of the output signal of the through-beam sensor, and the coordinates of the needle head of the standard needle or the needle to be measured when leaving the first light beam g1 can be determined based on the rising edge of the output signal of the through-beam sensor. This is beneficial to improving the accuracy of the determined coordinate values ​​and facilitating maintaining good consistency in multiple tests.

[0209] In some embodiments, Figure 5A As shown, the first direction is the X-axis direction, the second direction is the Y-axis direction, the selected second starting position is point A, the selected second ending position is point B, and the line between point A and point B is parallel to the first direction. The beam widths of the first light beam g1 and the second light beam g2 are less than the set width. In the process of controlling the standard needle to move from point A to point B along the first direction, the needle tip of the standard needle will pass through the first light beam g1 and the second light beam g2 in sequence. Based on the data collected by the photoelectric sensor, the coordinate E when the needle tip of the standard needle blocks the first light beam g1 and the coordinate F when the needle tip of the standard needle blocks the second light beam g2 can be determined. Among them, the fourth coordinate can be the coordinate E, and the fifth coordinate can be the coordinate F.

[0210] In this embodiment, the needle to be measured is controlled to move along the first direction, and the sixth coordinate of the needle tip of the needle to be measured when it passes through the first light beam g1 and the seventh coordinate of the needle tip of the needle to be measured when it passes through the second light beam g2 are determined. Figure 5A ), and the coordinate J ( Figure 5A not shown) to determine.

[0211] In some embodiments, in the process of controlling the standard needle to move from point C to point D along the second direction, the needle tip of the standard needle passes through the first light beam g1 and the second light beam g2 in sequence. Based on the data collected by the photoelectric sensor, the coordinate G of the needle tip of the standard needle when it passes through the first light beam g1 and the coordinate H of the needle tip of the standard needle when it passes through the second light beam g2 can be determined.

[0212] In the process of controlling the needle to be tested to move from point C to point D along the second direction, the tip of the needle to be tested will pass through the first light beam g1 and the second light beam g2 in sequence. Based on the data collected by the photoelectric sensor, the coordinate K ( Figure 5A The coordinate L (not shown) of the tip of the probe to be measured when it passes through the second beam g2 Figure 5A not shown).

[0213] In a possible implementation, the fourth coordinate is determined based on the fourteenth coordinate and the fifteenth coordinate, and the first weight preconfigured for the fourteenth coordinate and the second weight preconfigured for the fifteenth coordinate can be determined first. Then, the fourth coordinate is determined based on the fourteenth coordinate, the fifteenth coordinate, the first weight, and the second weight.

[0214] For example, the first weight and the second weight are both 0.5. When the fourth coordinate is determined based on the fourteenth coordinate and the fifteenth coordinate, the fourth coordinate can be determined by averaging the fourteenth coordinate and the fifteenth coordinate. In addition, the first weight can be configured as 0.3, the second weight as 0.7, etc.

[0215] In one example, if Figure 5B As shown, the first direction is the X-axis direction, the second direction is the Y-axis direction, the selected second starting position is point A, the selected second ending position is point B, and the line between point A and point B is parallel to the first direction. The beam widths of the first light beam g1 and the second light beam g2 are both greater than the set width. In this case, in the process of controlling the standard needle to move from point A to point B along the first direction, the needle tip of the standard needle will successively enter the first light beam g1, leave the first light beam g1, enter the second light beam g2, and leave the second light beam g2. Based on the data collected by the photoelectric sensor, it can be determined that the fourteenth coordinate of the needle tip of the standard needle when entering the first light beam g1 is coordinate E', the fifteenth coordinate of the needle tip of the standard needle when leaving the first light beam g1 is coordinate E'', the coordinate of the needle tip of the standard needle when entering the second light beam g2 is coordinate F', and the coordinate of the needle tip of the standard needle when leaving the second light beam g2 is coordinate F''.

[0216] In the process of controlling the needle to be tested to move from point A to point B along the first direction, the tip of the needle to be tested will enter the first beam g1, leave the first beam g1, enter the second beam g2, and leave the second beam g2 in sequence. Based on the data collected by the photoelectric sensor, the coordinate of the tip of the needle to be tested when entering the first beam g1 can be determined as coordinate I' ( Figure 5B The coordinates of the tip of the probe to be measured when it leaves the first light beam g1 are coordinates I'' ( Figure 5B The coordinate of the tip of the probe to be measured when it enters the second beam g2 is the coordinate J' ( Figure 5B The coordinates of the tip of the probe to be measured when it leaves the second beam g2 are J'' ( Figure 5B not shown).

[0217] When the coordinates E', E'', F' and F'' are determined, the fourth coordinate can be determined as the coordinate E ( Figure 5B (not shown). For example, coordinate E=(coordinate E'+coordinate E'') / 2. Similarly, the fifth coordinate can be determined as coordinate F ( Figure 5B For example, coordinate F=(coordinate F'+coordinate F'') / 2. When coordinates I', I'', J' and J'' are determined, the sixth coordinate can be determined as coordinate I ( Figure 5B (not shown). For example, coordinate I=(coordinate I'+coordinate I'') / 2. Similarly, the seventh coordinate can be determined as coordinate J ( Figure 5B (not shown). For example, coordinate J=(coordinate J'+coordinate J'') / 2.

[0218] In some embodiments, in the process of controlling the standard needle to move from point C to point D along the second direction, the needle tip of the standard needle will sequentially enter the first light beam g1, leave the first light beam g1, enter the second light beam g2, and leave the second light beam g2. Based on the data collected by the photoelectric sensor, it can be determined that the coordinate of the needle tip of the standard needle when entering the first light beam g1 is the coordinate G', the coordinate of the needle tip of the standard needle when leaving the first light beam g1 is the coordinate G'', the coordinate of the needle tip of the standard needle when entering the second light beam g2 is the coordinate H', and the coordinate of the needle tip of the standard needle when leaving the second light beam g2 is the coordinate H''.

[0219] In the process of controlling the needle to be tested to move from point C to point D along the second direction, the tip of the needle to be tested will enter the first beam g1, leave the first beam g1, enter the second beam g2, and leave the second beam g2 in sequence. Based on the data collected by the photoelectric sensor, the coordinate of the tip of the needle to be tested when entering the first beam g1 can be determined as coordinate K' ( Figure 5B The coordinates of the tip of the probe to be measured when it leaves the first light beam g1 are coordinates K'' ( Figure 5B The coordinate of the tip of the probe to be measured when it enters the second light beam g2 is the coordinate L' ( Figure 5B The coordinates of the tip of the probe to be measured when it leaves the second light beam g2 are L'' ( Figure 5B not shown).

[0220] When the coordinates G', G'', H' and H'' are determined, the eighth coordinate can be determined as the coordinate G ( Figure 5B (not shown), for example, coordinate G = (coordinate G' + coordinate G'') / 2. Similarly, the ninth coordinate can be determined as coordinate H ( Figure 5B (not shown), for example, coordinate H = (coordinate H' + coordinate H'') / 2. When coordinates K', K'', L' and L'' are determined, the tenth coordinate can be determined as coordinate K ( Figure 5B (not shown), for example, coordinate K = (coordinate K' + coordinate K'') / 2. Similarly, the eleventh coordinate can be determined as coordinate L ( Figure 5B (not shown), for example, coordinate L=(coordinate L'+coordinate L'') / 2.

[0221] In a possible implementation, when determining the fourth offset based on the fourth coordinate, the fifth coordinate, the sixth coordinate, and the seventh coordinate, the second coordinate difference between the sixth coordinate and the fourth coordinate in the first direction may be determined first, and the third coordinate difference between the seventh coordinate and the fifth coordinate in the first direction may be determined. Then, the fourth offset may be determined based on the second coordinate difference and the third coordinate difference.

[0222] When determining the fifth offset based on the eighth coordinate, the ninth coordinate, the tenth coordinate, and the eleventh coordinate, the fourth coordinate difference between the tenth coordinate and the eighth coordinate in the second direction and the fifth coordinate difference between the eleventh coordinate and the ninth coordinate in the second direction may be determined first. Then, the fifth offset may be determined based on the fourth coordinate difference and the fifth coordinate difference.

[0223] In a possible implementation, when determining the fourth offset based on the second coordinate difference and the third coordinate difference, the third weight preconfigured for the second coordinate difference and the fourth weight preconfigured for the third coordinate difference may be determined first. Then, the fourth offset is determined based on the second coordinate difference, the third coordinate difference, the third weight, and the fourth weight. In some embodiments, the third weight and the fourth weight may both be configured to be 0.5, and the fourth offset may be determined by averaging the second coordinate difference and the third coordinate difference. In addition, the third weight may be configured to be 0.4, the fourth weight may be configured to be 0.6, and the like.

[0224] When determining the fifth offset based on the fourth coordinate difference and the fifth coordinate difference, the fifth weight pre-configured for the fourth coordinate difference and the sixth weight pre-configured for the fifth coordinate difference may be determined first. Then, the fifth offset is determined based on the fourth coordinate difference, the fifth coordinate difference, the fifth weight, and the sixth weight. In some embodiments, the fifth weight and the sixth weight may be configured to be 0.5, and the fifth offset may be determined by averaging the fourth coordinate difference and the fifth coordinate difference. In addition, the fifth weight may be configured to be 0.4, the sixth weight may be configured to be 0.6, and the like.

[0225] In one example, the fourth coordinate is coordinate E, where the coordinate value of coordinate E in the first direction is x1. The fifth coordinate is coordinate F, where the coordinate value of coordinate F in the first direction is x2. The sixth coordinate is coordinate I, where the coordinate value of coordinate I in the first direction is x3. The seventh coordinate is coordinate J, where the coordinate value of coordinate J in the first direction is x4. In this case, the second coordinate difference is x3-x1, and the third coordinate difference is x4-x2. If the third weight and the fourth weight are both 0.5, the fourth offset Δx= .

[0226] The eighth coordinate is coordinate G, where the coordinate value of coordinate G in the second direction is y1. The ninth coordinate is coordinate H, where the coordinate value of coordinate H in the second direction is y2. The tenth coordinate is coordinate K, where the coordinate value of coordinate K in the second direction is y3. The eleventh coordinate is coordinate L, where the coordinate value of coordinate L in the second direction is y4. In this case, the fourth coordinate difference is y3-y1, and the fifth coordinate difference is y4-y2. At this time, if the fifth weight and the sixth weight are both 0.5, the fifth offset Δy= .

[0227] In some embodiments, when determining the fourth offset of the needle tip of the needle to be measured relative to the needle tip of the standard needle in the first direction based on the fourth coordinate, the fifth coordinate, the sixth coordinate and the seventh coordinate, the midpoint coordinate between the fourth coordinate and the fifth coordinate, and the midpoint coordinate between the sixth coordinate and the seventh coordinate can be determined, and the fourth offset can be determined based on the two midpoint coordinates.

[0228] For example, the fourth coordinate is coordinate E, where the coordinate value of coordinate E in the first direction is x1. The fifth coordinate is coordinate F, where the coordinate value of coordinate F in the first direction is x2, and the coordinate value of the midpoint coordinate between the fourth coordinate and the fifth coordinate in the first direction is (x1+x2) / 2. The sixth coordinate is coordinate I, where the coordinate value of coordinate I in the first direction is x3. The seventh coordinate is coordinate J, where the coordinate value of coordinate J in the first direction is x4, and the coordinate value of the midpoint coordinate between the sixth coordinate and the seventh coordinate in the first direction is (x3+x4) / 2. The fourth offset Δx=(x1+x2) / 2-(x3+x4) / 2 is determined based on the two midpoint coordinates.

[0229] When determining the fifth offset of the needle tip of the needle to be measured relative to the needle tip of the standard needle in the second direction based on the eighth coordinate, the ninth coordinate, the tenth coordinate and the eleventh coordinate, the midpoint coordinate between the eighth coordinate and the ninth coordinate and the midpoint coordinate between the tenth coordinate and the eleventh coordinate can be determined, and the fifth offset can be determined based on the two midpoint coordinates.

[0230] For example, the eighth coordinate is coordinate G, wherein the coordinate value of coordinate G in the second direction is y1. The ninth coordinate is coordinate H, wherein the coordinate value of coordinate H in the second direction is y2, and the coordinate value of the midpoint coordinate between the eighth coordinate and the ninth coordinate in the second direction is (y1+y2) / 2. The tenth coordinate is coordinate K, wherein the coordinate value of coordinate K in the second direction is y3. The eleventh coordinate is coordinate L, wherein the coordinate value of coordinate L in the second direction is y4, and the coordinate value of the midpoint coordinate between the tenth coordinate and the eleventh coordinate in the second direction is (y3+y4) / 2. The fifth offset Δy=(y1+y2) / 2-(y3+y4) / 2 is determined based on the two midpoint coordinates.

[0231] In some embodiments, the first coordinate is determined based on the eleventh coordinate and the twelfth coordinate, and the second coordinate is determined based on the thirteenth coordinate and the fourteenth coordinate. The third coordinate is determined based on the fifteenth coordinate and the sixteenth coordinate, and the fourth coordinate is determined based on the seventeenth coordinate and the eighteenth coordinate. When determining the fourth offset of the needle tip of the needle to be measured relative to the needle tip of the standard needle in the first direction based on the first coordinate, the second coordinate, the third coordinate and the fourth coordinate, the midpoint coordinate between the first coordinate and the second coordinate, and the midpoint coordinate between the third coordinate and the fourth coordinate can be determined, and the fourth offset can be determined based on the two midpoint coordinates.

[0232] For example, the eleventh coordinate is coordinate E', the twelfth coordinate is coordinate E'', the coordinate value of coordinate E' in the first direction is x1, and the coordinate value of coordinate E'' in the first direction is x2. The thirteenth coordinate is coordinate F', the fourteenth coordinate is coordinate F'', and the coordinate value of coordinate F' in the first direction is x3. The coordinate value of coordinate F'' in the first direction is x4. The coordinate value of the midpoint between the first coordinate and the second coordinate in the first direction is (x1+x2+x3+x4) / 4.

[0233] The fifteenth coordinate is coordinate I', the sixteenth coordinate is coordinate I'', the coordinate value of coordinate I' in the first direction is x5, and the coordinate value of coordinate I'' in the first direction is x6. The seventeenth coordinate is coordinate J', the eighteenth coordinate is coordinate J'', the coordinate value of coordinate J' in the first direction is x7, and the coordinate value of coordinate J'' in the first direction is x8. The coordinate value of the midpoint coordinate between the third coordinate and the fourth coordinate in the first direction is (x5+x6+x7+x8) / 4. Based on the two midpoint coordinates, the fourth offset Δx is determined to be (x1+x2+x3+x4) / 4-(x++x6+x7+x8) / 4. The same or similar calculation process can be used to determine the fifth offset Δy.

[0234] In some embodiments of the present disclosure, when determining the fourth offset, the standard needle may be first controlled to move along the first direction to determine the sixteenth coordinate when the needle tip of the standard needle passes through the first light beam. Then, the needle to be measured is controlled to move along the first direction to determine the seventeenth coordinate when the needle tip of the needle to be measured passes through the first light beam. Afterwards, the fourth offset is determined based on the sixteenth coordinate and the seventeenth coordinate.

[0235] In order to facilitate operation and improve the consistency between the fourth offset and the fifth offset, a strategy similar to the fourth offset determination method is usually used to determine the fifth offset. When the fourth offset is determined by the above method, when determining the fifth offset, the standard needle can be controlled to move along the second direction to determine the eighteenth coordinate when the needle tip of the standard needle passes through the second light beam. Then, the needle to be measured is controlled to move along the second direction to determine the nineteenth coordinate when the needle tip of the needle to be measured passes through the second light beam. After that, the fifth offset is determined based on the eighteenth coordinate and the nineteenth coordinate.

[0236] In the disclosed embodiment, the fourth offset is determined by using the coordinate changes of the standard needle and the needle to be measured when they pass through the first light beam, and the fifth offset is determined by using the coordinate changes of the standard needle and the needle to be measured when they pass through the second light beam. The light beam detection technology has the characteristics of non-contact, high sensitivity and high resolution, and can accurately capture the slight offset between the needle tip of the standard needle and the needle tip of the needle to be measured caused by the deformation of the needle tip. Based on the light beam detection technology, the offset is determined by recording the coordinate changes of the standard needle and the needle to be measured when they pass through the first light beam and the second light beam, which can improve the accuracy of the fourth offset and the fifth offset determined.

[0237] In addition, the fourth offset and the fifth offset are determined by controlling the movement of the standard needle and the needle to be measured respectively and combining the light beam detection technology. This makes the determination process of the fourth offset and / or the fifth offset fast and convenient, thereby improving the determination efficiency of the fourth offset and the fifth offset.

[0238] In addition, the above-mentioned method for determining the fourth offset and / or the fifth offset only needs to use the coordinate changes of the standard needle and the needle to be measured when they pass through the first light beam to determine the fourth offset. Similarly, only the coordinate changes of the standard needle and the needle to be measured when they pass through the second light beam can be used to determine the fifth offset. In this way, fewer coordinate changes need to be monitored, and the determination process of the fourth offset and the fifth offset is simpler, thereby making the determination efficiency of the fourth offset and the fifth offset more efficient.

[0239] In the embodiment of the present disclosure, since the method for determining the fifth offset is similar to the method for determining the fourth offset in principle, the following will focus on describing in detail the process for determining the fourth offset. The method for determining the fifth offset can be inferred based on the description of the process for determining the fourth offset.

[0240] In a possible implementation, in the process of controlling the standard needle to move along the first direction, and in the process of controlling the needle tips of the standard needle and the needle to be measured to pass through the first light beam, the fourth starting position and the fourth ending position can be pre-selected, and the line between the fourth starting position and the fourth ending position is parallel to the first direction, and the line between the fourth starting position and the fourth ending position can pass through the first light beam. In this case, the standard needle can be controlled to move along the first direction from the fourth starting position to the fourth ending position, so that the standard needle is controlled to move along the first direction, and the needle tip of the standard needle passes through the first light beam during the process of controlling the standard needle to move along the first direction. The needle to be measured can be controlled to move along the first direction from the fourth starting position to the fourth ending position, and the needle tip of the needle to be measured can pass through the first light beam during the process of controlling the needle to be measured to move along the first direction.

[0241] In one example, if Fig. 6A and Figure 6B As shown, Fig. 6A and Figure 6B A schematic diagram of exemplary needle movement consistent with different embodiments of the present disclosure is shown. The first direction is the X-axis direction, the second direction is the Y-axis direction, the selected fourth starting position is point A, and the selected fourth ending position is point B. The line between point A and point B is parallel to the first direction, and the line between point A and point B passes through the first light beam and the second light beam. In this case, the standard needle can be controlled to move along the first direction from point A to point B to achieve control of the standard needle to move along the first direction, and the needle to be measured can be controlled to move along the first direction from point A to point B to achieve control of the needle to be measured to move along the first direction. The position of the first light beam allows the needle tips of the standard needle and the needle to be measured to pass through the first light beam during the process of controlling the standard needle and the needle to be measured to move from point A to point B along the first direction.

[0242] In some embodiments, reference Fig. 6A and Figure 6B , the fifth starting position can be selected as point C, the fifth ending position can be selected as point D, and the line between point C and point D is parallel to the second direction, and the line between point C and point D passes through the second light beam. In this case, the standard needle can be controlled to move along the second direction from point C to point D, thereby controlling the standard needle to move along the second direction, and the needle to be measured can be controlled to move along the second direction from point C to point D. The position of the second light beam allows the tips of the standard needle and the needle to be measured to pass through the second light beam during the process of controlling the standard needle and the needle to be measured to move from point C to point D along the second direction.

[0243] In a possible implementation, the sixteenth coordinate is determined based on at least one of the twentieth coordinate and the twenty-first coordinate. The twentieth coordinate may include the coordinate when the tip of the standard needle enters the first light beam, and the twenty-first coordinate may include the coordinate when the tip of the standard needle leaves the first light beam. For example, when the beam widths of the first light beam and the second light beam reach a set width, the sixteenth coordinate may be determined based on both the twentieth coordinate and the twenty-first coordinate, and when the beam widths of the first light beam and the second light beam are less than the set width, the sixteenth coordinate may be determined based only on the twentieth coordinate or the twenty-first coordinate.

[0244] In some embodiments, the sixteenth coordinate can be determined based on the coordinates of the intersection of the standard needle and the first light beam during the movement of the standard needle along the first direction. For example, in some embodiments, the first light beam and the second light beam are collimated lights with narrow widths. When the standard needle moves along the first direction, the standard needle blocks the light path of the first light beam, and the twentieth coordinate or the twenty-first coordinate is not distinguished. The sixteenth coordinate is determined based on the coordinates of the position where the standard needle blocks the first light beam.

[0245] When the beam widths of the first and second beams reach the set widths, the sixteenth coordinate can be determined based on the twentieth and twenty-first coordinates at the same time, which is conducive to improving the accuracy of the sixteenth coordinate. When the beam widths of the first and second beams are less than the set widths, the difference between the twentieth and twenty-first coordinates is small, or cannot be distinguished, and the twentieth or twenty-first coordinates can be directly used as the sixteenth coordinate. The fifth coordinate when the needle tip of the standard needle passes through the second beam can be determined based on the same or similar method.

[0246] In some embodiments, Fig. 6A As shown, the first direction is the X-axis direction, the second direction is the Y-axis direction, the selected fourth starting position is point A, the selected fourth ending position is point B, and the line between point A and point B is parallel to the first direction. The beam widths of the first light beam and the second light beam are less than the set width. In the process of controlling the standard needle to move from point A to point B along the first direction, the needle tip of the standard needle will pass through the first light beam. Based on the data collected by the photoelectric sensor, the coordinate E when the needle tip of the standard needle blocks the first light beam can be determined. Among them, the sixteenth coordinate can be the coordinate E.

[0247] In this embodiment, the needle to be measured is controlled to move along the first direction, and the seventeenth coordinate when the needle tip of the needle to be measured passes through the first light beam is determined. The coordinate I ( Fig. 6A not shown) to determine.

[0248] In some embodiments, when controlling the standard needle to move from point C to point D along the second direction, the tip of the standard needle passes through the second light beam. Based on the data collected by the photoelectric sensor, the coordinate H of the tip of the standard needle when passing through the second light beam can be determined.

[0249] In the process of controlling the needle to be measured to move from point C to point D along the second direction, the tip of the needle to be measured will pass through the second light beam. Based on the data collected by the photoelectric sensor, the coordinate L ( Fig. 6A not shown).

[0250] In a possible implementation, the sixteenth coordinate is determined based on the twentieth coordinate and the twenty-first coordinate, and the seventh weight preconfigured for the twentieth coordinate and the eighth weight preconfigured for the twenty-first coordinate can be determined first. Then, the sixteenth coordinate is determined based on the twentieth coordinate, the twenty-first coordinate, the seventh weight, and the eighth weight.

[0251] For example, the seventh weight and the eighth weight are both 0.5. When determining the sixteenth coordinate based on the twentieth coordinate and the twenty-first coordinate, the sixteenth coordinate can be determined by averaging the twentieth coordinate and the twenty-first coordinate. In addition, the seventh weight can be configured as 0.3, the eighth weight as 0.7, and so on.

[0252] In one example, if Figure 6B As shown, the first direction is the X-axis direction, the second direction is the Y-axis direction, the selected fourth starting position is point A, the selected fourth ending position is point B, and the line between point A and point B is parallel to the first direction. The beam widths of the first light beam and the second light beam are both greater than the set width. In this case, in the process of controlling the standard needle to move from point A to point B along the first direction, the needle tip of the standard needle will enter the first light beam and leave the first light beam in turn. Based on the data collected by the photoelectric sensor, it can be determined that the twentieth coordinate of the needle tip of the standard needle when it enters the first light beam is coordinate E', and the twenty-first coordinate of the needle tip of the standard needle when it leaves the first light beam is coordinate E''.

[0253] In the process of controlling the needle to be tested to move from point A to point B along the first direction, the tip of the needle to be tested will enter the first light beam and leave the first light beam in sequence. Based on the data collected by the photoelectric sensor, the coordinate of the tip of the needle to be tested when entering the first light beam can be determined as coordinate I' ( Figure 6B The coordinates of the tip of the probe to be measured when it leaves the first light beam are coordinates I'' ( Figure 6B not shown).

[0254] When the coordinates E' and E'' are determined, the sixteenth coordinate can be determined as the coordinate E by averaging the coordinates E' and E''. Figure 6B For example, coordinate E = (coordinate E' + coordinate E'') / 2. When coordinates I' and I'' are determined, the seventeenth coordinate can be determined as coordinate I by averaging coordinates I' and I''. Figure 6B (not shown). For example, coordinate I=(coordinate I'+coordinate I'') / 2.

[0255] In some embodiments, when controlling the standard needle to move from point C to point D along the second direction, the needle tip of the standard needle will enter and leave the second light beam in sequence. Based on the data collected by the photoelectric sensor, it can be determined that the coordinate of the needle tip of the standard needle when entering the second light beam is the coordinate H', and the coordinate of the needle tip of the standard needle when leaving the second light beam is the coordinate H''.

[0256] In the process of controlling the needle to be tested to move from point C to point D along the second direction, the tip of the needle to be tested will enter and leave the second light beam in turn. Based on the data collected by the photoelectric sensor, the coordinate of the tip of the needle to be tested when entering the second light beam can be determined as coordinate L' ( Figure 6B The coordinates of the tip of the probe to be measured when it leaves the second light beam are L'' ( Figure 6B not shown).

[0257] When the coordinates H' and H'' are determined, the eighteenth coordinate can be determined as the coordinate H by averaging the coordinates H' and H''. Figure 6B (not shown), for example, coordinate H = (coordinate H' + coordinate H'') / 2. When coordinates L' and L'' are determined, the nineteenth coordinate can be determined as coordinate L ( Figure 6B (not shown), for example, coordinate L=(coordinate L'+coordinate L'') / 2.

[0258] In a possible implementation, when determining the fourth offset based on the sixteenth coordinate and the seventeenth coordinate, the sixth coordinate difference between the seventeenth coordinate and the sixteenth coordinate in the first direction may be determined first, and then the sixth coordinate difference may be used as the fourth offset.

[0259] When determining the fifth offset based on the eighteenth coordinate and the nineteenth coordinate, the seventh coordinate difference between the nineteenth coordinate and the eighteenth coordinate in the second direction may be determined first, and then the seventh coordinate difference may be determined as the fifth offset.

[0260] In one example, the sixteenth coordinate is coordinate E, where the coordinate value of coordinate E in the first direction is x1. The seventeenth coordinate is coordinate I, where the coordinate value of coordinate I in the first direction is x2. In this case, the sixth coordinate difference is Δx=x2-x1. When the sixth coordinate difference is used as the fourth offset, the fourth offset=Δx=x2-x1.

[0261] The eighteenth coordinate is coordinate H, where the coordinate value of coordinate H in the second direction is y1. The nineteenth coordinate is coordinate L, where the coordinate value of coordinate L in the second direction is y2. In this case, the seventh coordinate difference is Δy=y2-y1. When the seventh coordinate difference is used as the fifth offset, the fifth offset=Δy=y2-y1.

[0262] It should be noted that the fourth offset is determined by the coordinate change of the standard needle and the needle to be measured when they pass through the first light beam, while the fifth offset is determined by the coordinate change of the standard needle and the needle to be measured when they pass through the second light beam. Therefore, improving the accuracy of the monitored coordinate change is conducive to improving the accuracy of the offset.

[0263] In some embodiments of the present disclosure, when determining the sixth offset, the standard needle may be first controlled to move from the first starting position to the first ending position along the third direction, and the twelfth coordinate of the needle tip when the standard needle moves to the first ending position may be determined. Then, the needle to be measured may be controlled to move from the first starting position to the first ending position along the third direction, and the thirteenth coordinate of the needle tip when the needle to be measured moves to the first ending position may be determined. After that, the first coordinate difference between the thirteenth coordinate and the twelfth coordinate in the third direction may be determined. Finally, based on the first coordinate difference, the sixth offset may be determined.

[0264] In a possible implementation, when determining the sixth offset, the needle to be measured may be controlled to move from the first starting position to the first ending position along the third direction, and the thirteenth coordinate of the needle tip when the needle to be measured moves to the first ending position may be determined. Then, the standard needle may be controlled to move from the first starting position to the first ending position along the third direction, and the twelfth coordinate of the needle tip when the standard needle moves to the first ending position may be determined. After that, the first coordinate difference between the thirteenth coordinate and the twelfth coordinate in the third direction may be determined. Finally, the sixth offset may be determined based on the first coordinate difference.

[0265] In some embodiments, the twelfth coordinate and the thirteenth coordinate can be directly determined by the data collected by the tool setting sensor, which is conducive to improving sensitivity and accuracy. In addition, the twelfth coordinate and the thirteenth coordinate can also be determined by other auxiliary methods (such as reference point detection, visual inspection equipment or optical measurement) combined with the data collected by the sensor. The twelfth coordinate and the thirteenth coordinate can also be further determined by algorithm processing (such as interpolation calculation, error compensation algorithm) or reference to preset calibration data to improve the accuracy and robustness of the overall detection.

[0266] The method for determining the offset provided in the embodiments of the present invention can determine the superimposed offset of the needle tip of the needle to be measured relative to the needle tip of the standard needle after rotation based only on the first coordinate of the rotation center of the rotating mechanism, the second coordinate of the needle tip of the standard needle when it is in the set reference position, the third coordinate of the needle tip of the needle to be measured when it is in the set reference position, and the set rotation angle of the rotating mechanism, thereby making the process of determining the superimposed offset relatively simple and efficient.

[0267] The traditional method of determining the superimposed offset often requires first obtaining the coordinates of the needle tip of the needle to be measured when it is at the target position after rotation and the coordinates of the needle tip of the standard needle when it is at the target position through the second coordinate, the second coordinate and the rotation angle. Then, the superimposed offset is obtained based on the coordinates of the needle tip of the needle to be measured when it is at the target position after rotation and the coordinates of the needle tip of the standard needle when it is at the target position. In this way, when the coordinates of the needle tip of the needle to be measured when it is at the target position after rotation are difficult to obtain due to irregular deformation, the traditional method of determining the superimposed offset often finds it difficult to accurately determine the superimposed offset. However, the method for determining the offset provided in the embodiments of the present disclosure does not rely on the coordinates of the needle tip of the needle to be measured when it is at the target position after rotation and the coordinates of the needle tip of the standard needle when it is at the target position. Therefore, when the coordinates of the needle tip of the needle to be measured when it is at the target position after rotation are difficult to obtain due to irregular deformation, the superimposed offset can also be accurately determined. That is to say, the method for determining the offset provided in the embodiment of the present disclosure can still efficiently and accurately complete the determination of the superposition offset when the needle tip of the needle to be measured is irregularly deformed.

[0268] Corresponding to the method for determining the offset provided in the embodiment of the present disclosure, a method for determining a moving route is also provided in the embodiment of the present disclosure. Figure 7 As shown, Figure 7 A flow chart of a method 700 for determining a moving route provided in an embodiment of the present disclosure is shown. The method may include steps S702-S704.

[0269] In step S702, the superimposed offset of the needle tip of the needle to be measured relative to the needle tip of the standard needle after the rotating mechanism rotates by a set rotation angle is determined; the superimposed offset is determined by executing the offset determination method provided in the above embodiment.

[0270] In step S704, the preset moving route is compensated based on the superimposed offset to obtain a compensated moving route, so that the first moving trajectory of the needle when the needle to be measured moves according to the compensated moving route overlaps with the second moving trajectory of the needle when the standard needle moves according to the preset moving route.

[0271] In an embodiment of the present disclosure, the superimposed offset includes at least one of a first offset, a second offset, and a third offset. The first offset includes the offset of the needle head of the needle to be measured relative to the needle head of the standard needle in a first direction after the rotation of the rotating mechanism. The second offset includes the offset of the needle head of the needle to be measured relative to the needle head of the standard needle in a second direction after the rotation of the rotating mechanism. The third offset includes the offset of the needle head of the needle to be measured relative to the needle head of the standard needle in a third direction after the rotation of the rotating mechanism. This embodiment can obtain the offsets in different directions in real time, and in a multi-axis rotation control system, the movement route can be compensated quickly and accurately in different directions based on the offsets.

[0272] In the embodiments of the present disclosure, the preset moving route is compensated based on the superimposed offset, and the compensated moving route can be obtained by compensating the superimposed offset to the preset moving route by correction or adjustment.

[0273] In the embodiments of the present disclosure, the preset moving route can be planned based on the preset moving trajectory of the needle head of the standard needle. The standard needle is controlled to move according to the preset moving route, and the second moving trajectory of the needle head when the standard needle moves according to the preset moving route is the preset moving trajectory. If the needle head of the needle to be measured is offset relative to the needle head of the standard needle, then if the needle to be measured is still controlled to move according to the preset moving route, the actual moving trajectory of the needle head when the needle to be measured moves according to the preset moving route will deviate from the preset moving trajectory. In this case, the needle to be measured cannot complete the corresponding task or operation according to the preset moving trajectory, thereby affecting the corresponding process effect.

[0274] In the method for determining the moving route involved in the embodiments of the present disclosure, after determining the superimposed offset, the preset moving route can be compensated based on the superimposed offset, so that the first moving trajectory of the needle head when the needle to be measured moves according to the compensated moving route overlaps with the second moving trajectory of the needle head when the standard needle moves according to the preset moving route. In the case where the needle head of the needle to be measured is offset relative to the needle head of the standard needle, the first moving trajectory of the needle head of the needle to be measured can be overlapped with the second moving trajectory (for example, the preset moving trajectory) of the needle head when the standard needle moves according to the preset moving route by compensating the moving route, thereby enabling the corresponding operation or task to be completed and the corresponding process effect to be improved when the needle head of the needle to be measured is offset relative to the needle head of the standard needle.

[0275] The method for determining the moving route involved in the embodiments of the present disclosure can be used to increase the degree of overlap between the actual dispensing trajectory of the dispensing needle to be tested and the preset dispensing trajectory planned according to the standard dispensing needle. For example, when the preset moving route is compensated based on the offset so that the first moving trajectory of the needle head when the dispensing needle to be tested moves according to the compensated moving route overlaps with the second moving trajectory of the needle head when the standard dispensing needle moves according to the preset moving route, the actual dispensing trajectory of the dispensing needle to be tested can be close to or overlap with the preset dispensing trajectory planned according to the standard dispensing needle. At this time, the dispensing needle to be tested can be the dispensing needle to be tested, and the standard needle can be the standard dispensing needle.

[0276] The method for determining the moving route involved in the embodiment of the present disclosure can also be used to increase the degree of overlap between the actual test trajectory of the test needle to be tested and the preset test trajectory planned according to the standard test needle. For example, when the preset moving route is compensated based on the offset so that the first moving trajectory of the needle head when the test needle to be tested moves according to the compensated moving route overlaps with the second moving trajectory of the needle head when the standard test needle moves according to the preset moving route, the actual test trajectory of the test needle to be tested can be close to or overlap with the preset test trajectory planned according to the standard test needle. At this time, the needle to be tested can be the test needle to be tested, and the standard needle can be the standard test needle.

[0277] The method for determining the moving route involved in the embodiment of the present disclosure can also be used to increase the degree of overlap between the actual spraying trajectory of the spray needle to be tested and the preset spraying trajectory planned according to the standard spray needle. For example, when the preset moving route is compensated based on the offset so that the first moving trajectory of the needle head when the spray needle to be tested moves according to the compensated moving route overlaps with the second moving trajectory of the needle head when the standard spray needle moves according to the preset moving route, the actual spraying trajectory of the spray needle to be tested can be close to or overlap with the preset spraying trajectory planned according to the standard spray needle. At this time, the needle to be tested can be the spray needle to be tested, and the standard needle can be the standard spray needle.

[0278] In addition, it should be noted that in the embodiments of the present disclosure, the application scenarios of the method for determining the mobile route involved in the embodiments of the present disclosure are not specifically limited. In addition to the above application scenarios, the method for determining the mobile route involved in the embodiments of the present disclosure can also be applied to other scenarios.

[0279] Corresponding to the method for determining the offset provided in the embodiment of the present disclosure and the method for determining the moving route provided in the embodiment of the present disclosure, a method for controlling the needle to be measured is also provided in the embodiment of the present disclosure. Figure 8 As shown, Figure 8 A flow chart of a control method 800 of a needle to be tested provided in an embodiment of the present disclosure is shown. The method may include steps S802-S804.

[0280] In step S802, the compensated moving route is determined; the compensated moving route is determined by executing the moving route determination method provided in the embodiment of the present disclosure.

[0281] In step S804, the probe to be measured is controlled to move along the compensated moving route.

[0282] In an embodiment of the present disclosure, the superimposed offset includes at least one of a first offset, a second offset, and a third offset. The first offset includes the offset of the needle tip of the needle to be measured relative to the needle tip of the standard needle in a first direction after the rotating mechanism rotates. The second offset includes the offset of the needle tip of the needle to be measured relative to the needle tip of the standard needle in a second direction after the rotating mechanism rotates. The third offset includes the offset of the needle tip of the needle to be measured relative to the needle tip of the standard needle in a third direction after the rotating mechanism rotates.

[0283] In the embodiment of the present disclosure, the compensated moving route is determined by executing the moving route determination method involved in the present disclosure.

[0284] The control method of the needle to be tested provided in the embodiment of the present disclosure can make the first moving track of the needle head of the needle to be tested when it moves according to the compensated moving route overlap with the second moving track of the needle head of the standard needle when it moves according to the preset moving route by controlling the needle to be tested to move according to the compensated moving route. When the needle head of the needle to be tested is offset relative to the needle head of the standard needle, the corresponding operation or task can also be completed according to the second moving track, which is conducive to improving the corresponding process effect.

[0285] Corresponding to the method for determining the offset provided in the embodiment of the present disclosure, the method for determining the moving route provided in the embodiment of the present disclosure, and the method for controlling the needle to be measured provided in the embodiment of the present disclosure, a control system is also provided in the embodiment of the present disclosure. Fig. 9 As shown, Fig. 9 A schematic structural diagram of a control system 900 provided in an embodiment of the present disclosure is shown. The control system 900 may include: an offset determination module 902 , a movement route determination module 904 and a control module 906 .

[0286] In some embodiments, the offset determination module 902 can determine the offset of the needle tip of the needle to be measured relative to the needle tip of the standard needle. The offset can include a first offset of the needle tip of the needle to be measured relative to the needle tip of the standard needle in a first direction. The first offset can be determined by executing the offset determination method provided in the above embodiments.

[0287] In some embodiments, the moving route determination module 904 may be used to execute the moving route determination method provided in the embodiments of the present disclosure to obtain a compensated moving route.

[0288] In some embodiments, the control module 906 can be used to execute the control method of the needle to be measured provided in the embodiments of the present disclosure, and control the needle to be measured to move according to the compensated movement route.

[0289] In the embodiment of the present disclosure, the superposition offset includes at least one of a first offset, a second offset and a third offset. The offset is determined by executing the offset determination method involved in the embodiment of the present disclosure.

[0290] The control system provided by the embodiment of the present disclosure can make the first moving track of the needle of the needle to be tested when it moves according to the compensated moving route overlap with the second moving track of the needle of the standard needle when it moves according to the preset moving route by controlling the needle to be tested to move according to the compensated moving route. Therefore, when the needle of the needle to be tested is offset relative to the needle of the standard needle, the corresponding operation or task can be completed according to the second moving track, thereby improving the corresponding process effect.

[0291] Fig.10 FIG. 1 is a block diagram of an electronic device for implementing an embodiment of the present disclosure. Fig.10 As shown, the electronic device includes a memory 1002 and a processor 1004. The memory 1002 may store a computer program that can be run on the processor 1004. The processor 1004 may implement the method in the above embodiment when executing the computer program. The number of the memory 1002 and the processor 1004 may be one or more.

[0292] The electronic device also includes:

[0293] The communication interface 1006 is used to communicate with external devices and perform data exchange transmission.

[0294] If the memory 1002, the processor 1004 and the communication interface 1006 are implemented independently, the memory 1002, the processor 1004 and the communication interface 1006 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig.10 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0295] Optionally, if the memory 1002, the processor 1004 and the communication interface 1006 are integrated on a chip, the memory 1002, the processor 1004 and the communication interface 1006 can communicate with each other through an internal interface. An embodiment of the present disclosure provides a computer-readable storage medium storing a computer program, which implements the method provided in the embodiment of the present disclosure when executed by the processor.

[0296] An embodiment of the present disclosure further provides a chip, which includes a processor for calling and executing instructions stored in a memory from the memory, so that a communication device equipped with the chip executes the method provided by the embodiment of the present disclosure.

[0297] An embodiment of the present disclosure also provides a chip, including: an input interface, an output interface, a processor and a memory, wherein the input interface, the output interface, the processor and the memory are connected via an internal connection path, and the processor is used to execute the code in the memory. When the code is executed, the processor is used to execute the method provided by the embodiment of the present disclosure.

[0298] It should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. It is worth noting that the processor may be a processor supporting the Advanced RISC Machines (ARM) architecture.

[0299] Further, optionally, the above-mentioned memory may include a read-only memory and a random access memory, and may also include a non-volatile random access memory. The memory may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may include a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may include a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available. For example, static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM) and direct memory bus random access memory (DR RAM).

[0300] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function according to the present disclosure is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium.

[0301] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0302] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present disclosure, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0303] Any process or method description described in the flowchart or otherwise herein can be understood to represent a module, segment or portion of code including one or more executable instructions for implementing the steps of a specific logical function or process. And the scope of the preferred embodiments of the present disclosure includes other implementations, in which the functions may not be performed in the order shown or discussed, including in a substantially simultaneous manner or in a reverse order according to the functions involved.

[0304] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, which can be embodied in any computer-readable medium for use by an instruction execution system, apparatus or device (such as a computer-based system, a system including a processor or other system that can fetch instructions from an instruction execution system, apparatus or device and execute instructions), or used in combination with these instruction execution systems, apparatuses or devices.

[0305] It should be understood that the various parts of the present disclosure may be implemented with hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods may be implemented with software or firmware stored in a memory and executed by a suitable instruction execution system. All or part of the steps of the above embodiment method may be completed by instructing the relevant hardware through a program, which may be stored in a computer-readable storage medium, and when the program is executed, includes one or a combination of the steps of the method embodiment.

[0306] In addition, each functional unit in each embodiment of the present disclosure may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the above-mentioned integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium. The storage medium may be a read-only memory, a disk or an optical disk, etc.

[0307] The above are only specific embodiments of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any technician familiar with the technical field can easily think of various changes or substitutions within the technical scope disclosed in the present disclosure, which should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

Claims

1. A method for determining an offset, comprising: Determine a first coordinate of a rotation center of the rotating mechanism, a second coordinate of a needle head when the standard needle is located at a set reference position, a third coordinate of a needle head when the needle to be measured is located at the set reference position, and a set rotation angle of the rotating mechanism; Based on the first coordinate, the second coordinate, the third coordinate and the set rotation angle, determining the superimposed offset of the needle head of the needle to be measured relative to the needle head of the standard needle after the rotation of the rotating mechanism; The superposition offset includes a position difference between the needle tip of the needle to be measured and the needle tip of the standard needle when the needle to be measured and the standard needle are rotated from the set reference position to the same position under the drive of the rotating mechanism.

2. The method according to claim 1, wherein: The superimposed offset includes at least one of a first offset, a second offset and a third offset; the first offset includes the offset of the needle head of the needle to be measured relative to the needle head of the standard needle in a first direction after the rotating mechanism rotates; the second offset includes the offset of the needle head of the needle to be measured relative to the needle head of the standard needle in a second direction after the rotating mechanism rotates; the third offset includes the offset of the needle head of the needle to be measured relative to the needle head of the standard needle in a third direction after the rotating mechanism rotates.

3. The method according to claim 2, wherein: When the superimposed offset includes the first offset, determining the superimposed offset of the needle tip of the needle to be measured relative to the needle tip of the standard needle after the rotation of the rotating mechanism based on the first coordinate, the second coordinate, the third coordinate and the set rotation angle includes: Based on the first coordinate and the second coordinate, determining a first distance between the needle head and the rotation center and a second distance between the needle head and the rotation center in the first direction when the standard needle is located at the set reference position; Based on the first coordinate and the third coordinate, determining a third distance between the needle head and the rotation center and a fourth distance between the needle head and the rotation center in the first direction when the needle head is located at the set reference position; Based on the first distance, the second distance and the set rotation angle, a first position of the needle head relative to the rotation center when the standard needle is located at the target position is determined; when the standard needle and the needle to be measured are located at the set reference position, the standard needle and the needle to be measured move to the target position after the rotation mechanism rotates; Based on the third distance, the fourth distance and the set rotation angle, determining a second position of the needle head relative to the rotation center when the needle to be measured is located at the target position; The first offset is determined based on the first distance, the third distance, the first position, and the second position.

4. The method according to claim 3, wherein: When the superposition offset further includes the third offset, the method further includes: The third offset is determined based on the first distance, the third distance, the first position, and the second position.

5. The method according to claim 3, wherein: The determining, based on the first distance, the second distance and the set rotation angle, of a first position of the needle head relative to the rotation center when the standard needle is located at the target position comprises: Based on the first distance and the second distance, determining a third position of the needle head relative to the rotation center when the standard needle is located at the set reference position; The first position is determined based on the third position and the set rotation angle.

6. The method according to claim 3, wherein: The determining the first offset based on the first distance, the second distance, the first position, and the second position includes: Based on the first distance and the first position, determining a fifth distance between the needle head and the rotation center in the first direction when the standard needle is located at the target position; Based on the third distance and the second position, determining a sixth distance between the needle head and the rotation center in the first direction when the needle to be measured is located at the target position; The first offset is determined based on the fifth distance and the sixth distance.

7. The method according to claim 4, wherein: The determining the third offset based on the first distance, the third distance, the first position, and the second position comprises: The first distance is used as the distance between the needle tip and the rotation center when the standard needle is located at the target position, and the third distance is used as the distance between the needle tip and the rotation center when the needle to be measured is located at the target position; Based on the first distance and the first position, determining a seventh distance between the needle tip and the rotation center in the third direction when the standard needle is located at the target position; Based on the third distance and the second position, determining an eighth distance between the needle head and the rotation center in the third direction when the needle to be measured is located at the target position; The third offset is determined based on the seventh distance and the eighth distance.

8. The method according to claim 1, wherein: The third coordinate is determined based on the second coordinate and the initial offset of the needle tip of the needle to be measured relative to the needle tip of the standard needle before the rotating mechanism rotates; the initial offset includes at least one of a fourth offset, a fifth offset and a sixth offset; the fourth offset includes the offset of the needle tip of the needle to be measured relative to the needle tip of the standard needle in a first direction before the rotating mechanism rotates; the fifth offset includes the offset of the needle tip of the needle to be measured relative to the needle tip of the standard needle in a second direction before the rotating mechanism rotates; the sixth offset includes the offset of the needle tip of the needle to be measured relative to the needle tip of the standard needle in a third direction before the rotating mechanism rotates.

9. The method according to claim 8, wherein: The fourth offset is determined by the following steps: Controlling the standard needle to move along the first direction, determining a fourth coordinate of the needle tip of the standard needle when it passes through the first light beam and a fifth coordinate when it passes through the second light beam; Controlling the needle to be measured to move along the first direction, and determining a sixth coordinate of the needle tip of the needle to be measured when it passes through the first light beam and a seventh coordinate when it passes through the second light beam; The fourth offset is determined based on the fourth coordinate, the fifth coordinate, the sixth coordinate, and the seventh coordinate.

10. The method according to claim 8, wherein: The fifth offset is determined by the following steps: Controlling the standard needle to move along the second direction, and determining the eighth coordinate of the needle tip of the standard needle when it passes through the first light beam and the ninth coordinate when it passes through the second light beam; Controlling the needle to be measured to move along the second direction, and determining the tenth coordinate of the needle tip of the needle to be measured when it passes through the first light beam and the eleventh coordinate when it passes through the second light beam; The fifth offset is determined based on the eighth coordinate, the ninth coordinate, the tenth coordinate, and the eleventh coordinate.

11. The method according to claim 8, wherein: The sixth offset is determined by the following steps: Controlling the standard needle to move from a first starting position to a first ending position along a third direction, and determining a twelfth coordinate of the needle head when the standard needle moves to the first ending position; Controlling the needle to be measured to move from the first starting position to the first ending position along the third direction, and determining the thirteenth coordinate of the needle head when the needle to be measured moves to the first ending position; determining a first coordinate difference between the thirteenth coordinate and the twelfth coordinate in the third direction; The sixth offset is determined based on the first coordinate difference.

12. The method according to claim 9, wherein: The fourth coordinate is determined based on at least one of the fourteenth coordinate and the fifteenth coordinate; the fourteenth coordinate includes the coordinate when the needle tip of the standard needle enters the first light beam; the fifteenth coordinate includes the coordinate when the needle tip of the standard needle leaves the first light beam.

13. The method according to claim 12, wherein: When the fourth coordinate is determined based on the fourteenth coordinate and the fifteenth coordinate, the steps of determining the fourth coordinate are as follows: determining a first weight preconfigured for the fourteenth coordinate and a second weight preconfigured for the fifteenth coordinate; The fourth coordinate is determined according to the fourteenth coordinate, the fifteenth coordinate, the first weight, and the second weight.

14. The method according to claim 12, wherein: When the fourth coordinate is determined based on the fourteenth coordinate or the fifteenth coordinate, the steps of determining the fourth coordinate are as follows: The fourteenth coordinate or the fifteenth coordinate is used as the fourth coordinate.

15. The method according to claim 9, wherein: Controlling the standard needle to move along the first direction includes: controlling the standard needle to move along the first direction from a second starting position to a second ending position; The controlling the needle to be measured to move along the first direction includes: controlling the needle to be measured to move along the first direction from the second starting position to the second ending position.

16. The method according to claim 9, wherein: Determining the fourth offset of the needle tip of the needle to be measured relative to the needle tip of the standard needle in the first direction according to the fourth coordinate, the fifth coordinate, the sixth coordinate, and the seventh coordinate includes: Determine a second coordinate difference between the sixth coordinate and the fourth coordinate in the first direction, and determine a third coordinate difference between the seventh coordinate and the fifth coordinate in the first direction; The fourth offset is determined based on the second coordinate difference and the third coordinate difference.

17. The method according to claim 16, wherein: The determining the fourth offset based on the second coordinate difference and the third coordinate difference comprises: determining a third weight preconfigured for the second coordinate difference and a fourth weight preconfigured for the third coordinate difference; The fourth offset is determined based on the second coordinate difference, the third coordinate difference, the third weight, and the fourth weight.

18. The method according to claim 8, wherein: The fourth offset is determined by the following steps: Controlling the standard needle to move along the first direction, and determining the sixteenth coordinate of the needle tip of the standard needle when it passes through the first light beam; Controlling the needle to be measured to move along the first direction, and determining the seventeenth coordinate of the needle tip of the needle to be measured when it passes through the first light beam; The fourth offset is determined based on the sixteenth coordinate and the seventeenth coordinate.

19. The method according to claim 8, wherein: The fifth offset is determined by the following steps: Controlling the standard needle to move along the second direction, and determining the eighteenth coordinate of the needle tip of the standard needle when it passes through the second light beam; Controlling the needle to be measured to move along the second direction, and determining the nineteenth coordinate of the needle tip of the needle to be measured when it passes through the second light beam; The fifth offset is determined based on the eighteenth coordinate and the nineteenth coordinate.

20. The method according to claim 9, wherein: The first light beam is emitted by a first through-beam sensor; the second light beam is emitted by a second through-beam sensor.

21. A method for determining a moving route, comprising: Determine the superimposed offset of the needle tip of the needle to be measured relative to the needle tip of the standard needle after the rotating mechanism rotates to a set rotation angle; the superimposed offset is determined by executing the method described in any one of claims 1 to 20; Based on the superimposed offset, the preset moving route is compensated to obtain a compensated moving route, so that the first moving trajectory of the needle when the needle to be measured moves according to the compensated moving route overlaps with the second moving trajectory of the needle when the standard needle moves according to the preset moving route.

22. The method according to claim 21, wherein: The superimposed offset includes at least one of a first offset, a second offset and a third offset; the first offset includes the offset of the needle head of the needle to be measured relative to the needle head of the standard needle in a first direction after the rotating mechanism rotates; the second offset includes the offset of the needle head of the needle to be measured relative to the needle head of the standard needle in a second direction after the rotating mechanism rotates; the third offset includes the offset of the needle head of the needle to be measured relative to the needle head of the standard needle in a third direction after the rotating mechanism rotates.

23. A method for controlling a needle to be tested, comprising: Determine the movement route after compensation; The compensated movement route is determined by executing the method as described in any one of claims 21-22; The needle to be measured is controlled to move along the compensated moving route.

24. A control system comprising: An offset determination module, a moving route determination module and a control module; The offset determination module is used to execute the method according to any one of claims 1 to 20 to determine the stacking offset; The moving route determination module is used to execute the method according to any one of claims 21-22 to obtain a compensated moving route; The control module is used to execute the method as claimed in claim 23, controlling the probe to be tested to move according to the compensated movement route.

25. According to the system described in claim 24, the superimposed offset includes at least one of a first offset, a second offset and a third offset; the first offset includes the offset of the needle tip of the needle to be measured relative to the needle tip of the standard needle in a first direction after the rotation of the rotating mechanism; the second offset includes the offset of the needle tip of the needle to be measured relative to the needle tip of the standard needle in a second direction after the rotation of the rotating mechanism; the third offset includes the offset of the needle tip of the needle to be measured relative to the needle tip of the standard needle in a third direction after the rotation of the rotating mechanism.

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