Determination of Offset, Determination of Movement Route, and Control Method for Needle to Be Measured

Abstract

The present disclosure provides a method for determining an offset, a method for determining a movement route, a method for controlling a needle to be measured, and a control system. The method for determining the offset includes: determining a first coordinate of the rotation center of a rotation mechanism, a second coordinate of the needle tip when a 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 rotation mechanism; and determining a 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. The technical solution of the present disclosure 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 only based on the first coordinate, the second coordinate, the third coordinate, and the set rotation angle of the rotation mechanism, thereby making the determination process of the superimposed offset 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 movement route, a method for controlling a needle to be measured, and a control system. Background Art

[0002] In the fields of manufacturing and precision machining, various needle-shaped tools are widely used in processes such as dispensing, testing, and spraying, such as dispensing needles, testing needles, and spraying needles. During the implementation of processes such as dispensing, testing, and spraying, a rotating mechanism is usually used to control the direction or posture of the needle-shaped tool to improve the process accuracy and stability. However, for these needle-shaped tools, if the needle tip is deformed due to factors such as material fatigue, temperature change, or long-term use, and thus an initial offset is generated, under the action of the rotating mechanism, this initial offset will be amplified or extended as the rotation progresses, 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 an extremely small offset 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 at the same position, the needle tip of the current dispensing needle will have an initial offset relative to the needle tip of the standard dispensing needle. This initial offset will be further exacerbated 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 of the current dispensing needle not to overlap with the movement trajectory of the needle tip of the standard dispensing needle when the standard dispensing needle moves along the preset movement route, thereby causing the actual dispensing trajectory of the current dispensing needle to deviate from the preset dispensing trajectory planned according to the standard dispensing needle, and further affecting the accuracy and reliability of the dispensing process. Summary of the Invention

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

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

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

[0007] Based on the first coordinate, the second coordinate, the third coordinate, and the set rotation angle, determining a 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.

[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 rotation 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 rotation 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 rotation mechanism rotates.

[0009] Optionally, when the superimposed offset includes the first offset, based on the first coordinate, the second coordinate, the third coordinate, and the set rotation angle, 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 includes:

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

[0011] Based on the first coordinate and the third coordinate, determining a third distance between the needle tip and the rotation center and a fourth distance in the first direction from the rotation center 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, determining a first position of the needle tip of the standard needle relative to the rotation center when the standard needle is located at the target position; when the standard needle and the needle to be measured are located at the set reference position, after the rotation mechanism rotates, the standard needle and the needle to be measured move to the target position;

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

[0014] Based on the first distance, the third distance, the first position, and the second position, determining the first offset.

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

[0016] Based on the first distance, the third distance, the first position, and the second position, determining the third offset.

[0017] Optionally, based on the first distance, the second distance, and the set rotation angle, determining the first position of the needle tip of the standard needle 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 tip of the standard needle 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, determining the first position.

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

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

[0022] Based on the third distance and the second position, determining a sixth distance between the needle tip and the rotation center in the first direction when the needle under test is at the target position;

[0023] Based on the fifth distance and the sixth distance, determining the first offset.

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

[0025] Taking the first distance as the distance between the needle tip and the rotation center when the standard needle is at the target position, and taking the third distance as the distance between the needle tip and the rotation center when the needle under test is at the target position;

[0026] 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 at the target position;

[0027] Based on the third distance and the second position, determining an eighth distance between the needle tip and the rotation center in the third direction when the needle under test is at the target position;

[0028] Based on the seventh distance and the eighth distance, determining the third offset.

[0029] Optionally, the third coordinate is determined based on the second coordinate and the initial offset of the needle tip of the needle under test relative to the needle tip of the standard needle before the rotation 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 under test relative to the needle tip of the standard needle in the first direction before the rotation mechanism rotates; the fifth offset includes the offset of the needle tip of the needle under test relative to the needle tip of the standard needle in the second direction before the rotation mechanism rotates; the sixth offset includes the offset of the needle tip of the needle under test relative to the needle tip of the standard needle in the third direction before the rotation mechanism rotates.

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

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

[0032] Control the needle under test to move in the first direction, and determine the sixth coordinate when the tip of the needle under test passes through the first light beam and the seventh coordinate when it passes through the second light beam;

[0033] Based on the fourth coordinate, the fifth coordinate, the sixth coordinate, and the seventh coordinate, determine the fourth offset.

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

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

[0036] Control the needle under test to move in the second direction, and determine the tenth coordinate when the tip of the needle under test 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, determine the fifth offset.

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

[0039] Control the standard needle to move from the first starting position to the first ending position in the third direction, and determine the twelfth coordinate of the tip of the standard needle when it moves to the first ending position;

[0040] Control the needle under test to move from the first starting position to the first ending position in the third direction, and determine the thirteenth coordinate of the tip of the needle under test when it moves to the first ending position;

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

[0042] Based on the first coordinate difference, determine the sixth offset.

[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 tip of the standard needle enters the first light beam; the fifteenth coordinate includes the coordinate when the 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 determination steps of the fourth coordinate are as follows:

[0045] Determine the first weight preconfigured for the fourteenth coordinate and the second weight preconfigured for the fifteenth coordinate;

[0046] According to the fourteenth coordinate, the fifteenth coordinate, the first weight, and the second weight, determine the fourth coordinate.

[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] Use the fourteenth coordinate or the fifteenth coordinate as the fourth coordinate.

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

[0050] Controlling the needle under test to move in the first direction includes: controlling the needle under test to move from the second starting position to the second ending position in the first direction.

[0051] Optionally, determining the fourth offset of the needle tip of the needle under test 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 the second coordinate difference between the sixth coordinate and the fourth coordinate in the first direction, and determine the 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, determine the fourth offset.

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

[0055] Determine the third weight pre-configured for the second coordinate difference and the fourth weight pre-configured for the third coordinate difference;

[0056] Based on the second coordinate difference, the third coordinate difference, the third weight, and the fourth weight, determine the fourth offset.

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

[0058] Control the standard needle to move in the first direction and determine the sixteenth coordinate when the needle tip of the standard needle passes through the first light beam;

[0059] Control the needle under test to move in the first direction and determine the seventeenth coordinate when the needle tip of the needle under test passes through the first light beam;

[0060] Based on the sixteenth coordinate and the seventeenth coordinate, determine the fourth offset.

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

[0062] Control the standard needle to move in the second direction and determine the eighteenth coordinate when the needle tip of the standard needle passes through the second light beam;

[0063] Control the needle under test to move in the second direction and determine the nineteenth coordinate when the needle tip of the needle under test passes through the second light beam;

[0064] Determine a fifth offset based on the eighteenth coordinate and the nineteenth coordinate.

[0065] Optionally, the first light beam is emitted by the first opposed sensor; the second light beam is emitted by the second opposed sensor.

[0066] An embodiment of 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 by 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, compensate the preset moving route to obtain a compensated moving route, so that the first moving trajectory of the needle tip when the needle to be measured 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.

[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 the 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 the 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 the 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 measured, including:

[0071] Determine the 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] Control the needle to be measured 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 moving route determination module, and a control module;

[0074] The offset determination module is configured to execute the offset determination method provided in the embodiment of the present disclosure to determine the superimposed offset;

[0075] The moving route determination module is configured to execute the moving route determination method provided in the embodiment of the present disclosure to obtain the compensated moving route;

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

[0077] Optionally, the overlay 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 the first direction after the rotation 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 the second direction after the rotation 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 the third direction after the rotation mechanism rotates.

[0078] The above summary is for the purpose of the specification 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 drawings and the following detailed description. Description of the Drawings

[0079] The 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 to the present application. In the drawings:

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

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

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

[0083] Figure 4 A projection diagram of an exemplary position on the XOZ plane consistent with different embodiments of the present disclosure is shown.

[0084] Figure 5A and Figure 5B A schematic diagram of an exemplary needle movement consistent with different embodiments of the present disclosure is shown.

[0085] Figure 6A and Figure 6B A schematic diagram of an exemplary needle movement consistent with different embodiments of the present disclosure is shown.

[0086] Figure 7 A flowchart of a determination method of an exemplary movement route consistent with some embodiments of the present disclosure is shown.

[0087] Figure 8 A flowchart of a control method of an exemplary needle to be measured consistent with some embodiments of the present disclosure is shown.

[0088] Figure 9 The structural schematic diagram of an exemplary control system consistent with some embodiments of the present disclosure is shown.

[0089] Figure 10 The block diagram of an exemplary electronic device consistent with some embodiments of the present disclosure is shown. Detailed implementation manners

[0090] In the following, only some exemplary embodiments are briefly described. As those skilled in the art can recognize, the described embodiments can be modified in various different ways without departing from the spirit or scope of the present disclosure. Therefore, the drawings and the description are considered to be exemplary in nature rather than restrictive.

[0091] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is 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. Therefore, it should not be construed as a limitation to 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 specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more features. In the description of the present disclosure, "a plurality" means two or more unless otherwise specifically defined.

[0092] In the description of the present disclosure, it should be noted that unless otherwise clearly specified and defined, the terms "mounted", "connected", and "coupled" 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 a connection that can communicate with each other; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0093] In this disclosure, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature may include direct contact between the first and second features, or may include the first and second features not being in direct contact but in contact through additional features therebetween. Moreover, the first feature being "above", "over" and "on top of" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly below and obliquely below the second feature, or merely indicating that the horizontal height of the first feature is less than that of the second feature. In the description of this disclosure, "at least one" or "at least one of" among a plurality of objects refers to any one object or any combination of the plurality of objects. For example, "at least one of a1, a2, a3" includes: "a1 alone", "a2 alone", "a3 alone", "a1 and a2", "a1 and a3", "a2 and a3", or "a1, a2 and a3".

[0094] The following disclosure provides many different embodiments or examples for implementing different structures of this disclosure. To simplify the disclosure of this disclosure, components and settings of specific examples are described below. Of course, they are only examples and are not intended to limit this disclosure. In addition, this disclosure may repeat reference numerals and / or reference letters in different examples. This repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, this disclosure provides examples of various specific 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 this 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 this disclosure and are not used to limit this disclosure.

[0096] To facilitate understanding of the technical solutions of the embodiments of this disclosure, the related technologies of the embodiments of this disclosure are described below. The following related technologies can be arbitrarily combined with the technical solutions of the embodiments of this disclosure as optional solutions, and they all fall within the protection scope of the embodiments of this disclosure.

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

[0098] In one example, referring to Figure 1 , Figure 1 shows a schematic diagram of an exemplary dispensing device consistent with some embodiments of the present disclosure. The dispensing device 100 includes a three-axis servo system ( Figure 1 not shown in the figure), a rotating mechanism 110, and two dispensing needles 120. The rotating mechanism 110 is mounted on the three-axis servo system, and the two dispensing needles 120 are respectively mounted on the rotating mechanism 110. Among them, the dispensing needle 120 includes a syringe barrel 121 and a needle tip 122. One end of the syringe barrel 121 is mounted on the rotating mechanism 110, and the needle tip 122 is mounted on the other end of the syringe barrel 121. In this case, by controlling the rotation of the rotating mechanism 110, the attitude, direction, and position of the needle tips 122 of the two dispensing needles 120 can be controlled. By driving the rotating mechanism 110 to move through the three-axis servo system, the movement of the needle tips 122 of the two dispensing needles 120 can be controlled.

[0099] For a needle-like tool including a dispensing needle, if the needle tip is deformed due to factors such as 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 the rotation progresses, thus forming a superimposed offset caused by the deformation of the needle tip and the rotation of the rotating mechanism.

[0100] At the same time, for a needle-like tool, even an extremely small offset 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 at the same position, the needle tip of the current dispensing needle will have an initial 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 of the current dispensing needle not to overlap with the movement trajectory of the needle tip of the standard dispensing needle when the standard dispensing needle moves along the preset movement route when the current dispensing needle moves along the preset movement route, thereby causing the actual dispensing trajectory of the current dispensing needle to deviate from the preset dispensing trajectory planned according to the standard dispensing needle, and further 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 improve the process effect of the corresponding process, the needle-like tool to be used can be used as a test needle before use, and the superimposed offset amount of the needle tip of the test needle relative to the needle tip of the standard needle can be determined, so as to determine whether the test needle is suitable for use according to this superimposed offset amount, or in the case where the superimposed offset amount is not 0, compensate the preset movement route based on this superimposed offset amount, so that the first movement trajectory of the needle tip when the test needle moves along the compensated movement route overlaps with the second movement trajectory of the needle tip when the standard needle moves along the preset movement route.

[0102] An embodiment of the present disclosure provides a method for determining an offset. The method for determining the offset may first determine the first coordinate of the rotation center of the rotation mechanism, the second coordinate of the needle tip when the standard needle is at the set reference position, the third coordinate of the needle tip when the needle to be measured is at the set reference position, and the set rotation angle of the rotation mechanism. Then, based on the first coordinate, the second coordinate, the third coordinate, and the set rotation angle, 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 rotation mechanism rotates.

[0103] The method for determining the offset provided in the embodiment of the present disclosure 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 rotation mechanism, the second coordinate of the needle tip of the standard needle at the set reference position, the third coordinate of the needle tip of the needle to be measured at the set reference position, and the set rotation angle of the rotation mechanism, thereby making the process of determining the superimposed offset relatively simple and efficient.

[0104] The method for determining the offset provided in the embodiment of the present disclosure does not depend on the coordinates of the needle tip when the needle to be measured is at the target position after rotation and the coordinates of the needle tip when the standard needle is at the target position after rotation. Therefore, in the case where it is difficult to determine the coordinates of the needle tip when the needle to be measured is at the target position after rotation due to irregular deformation of the needle tip of the needle to be measured, 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 superimposed offset in the case of irregular deformation of the needle tip of the needle to be measured.

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

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

[0107] In the embodiments of the present disclosure, the respective coordinates of the standard needle and the needle under test may refer to the coordinates of the designated positions of the standard needle and the needle under test in a pre-constructed three-dimensional space coordinate system. The respective positions of the standard needle and the needle under test may be the positions of the designated positions of the standard needle and the needle under test in a pre-constructed three-dimensional space coordinate system. The positions of the standard needle and the needle under test (such as the reference position in the above text, 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, etc.) can be calibrated using the coordinates of the standard needle and the needle under test. For example, the designated positions of the standard needle and the needle under test may be the positions of the needle tips and the needle tails of the standard needle and the needle under test, or the middle positions of the standard needle and the needle under test, or other positions of the standard needle and the needle under test, 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 positions are not specifically limited in the embodiments of the present disclosure.

[0108] In some embodiments of the present disclosure, the set reference positions where the standard needle and the needle under test are located may include the initial positions of the standard needle and the needle under test. The target positions where the standard needle and the needle under test are located 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 a set rotation angle, the target position can be determined by the rotation transformation of the rotation angle relative to the set reference position.

[0109] In the embodiments of the present disclosure, the superimposed offset may include the position difference between the needle tip of the needle under test and the needle tip of the standard needle when the needle under test and the standard needle are rotated from the set reference position to the same position under the drive of the rotation 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 tip of the needle under test relative to the needle tip of the standard needle in the first direction after the rotation mechanism rotates, the second offset includes the offset of the needle tip of the needle under test relative to the needle tip of the standard needle in the second direction after the rotation mechanism rotates, and the third offset includes the offset of the needle tip of the needle under test relative to the needle tip of the standard needle in the third direction after the rotation 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 the convenience 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, referring to Figure 2 , Figure 2 shows a schematic diagram of an exemplary three-dimensional space coordinate system consistent with some embodiments of the present disclosure. Among them, 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 tip of the dispensing needle to be measured relative to the needle tip of the standard dispensing needle after the rotation mechanism rotates. The needle to be measured can be the dispensing needle to be measured, and the standard needle can 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 tip of the test needle to be measured relative to the needle tip of the standard test needle after the rotation mechanism rotates. The needle to be measured can refer to the test needle to be measured, and the standard needle can 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 tip of the spraying needle to be measured relative to the needle tip of the standard spraying needle after the rotation mechanism rotates. The needle to be measured can refer to the spraying needle to be measured, and the standard needle can refer to the standard spraying needle. Among them, the standard needle is not limited to a needle-like tool that can perform dispensing, testing, or spraying functions, and can also be a needle-like tool for other purposes (for example, detection).

[0113] In addition, it should be noted that the execution subject corresponding to the method for determining the offset involved above in the present disclosure, as well as the method for determining the movement route and the control method for the needle to be measured to be involved below, can be an application program, a service, an instance, a functional module in software form, a virtual machine (Virtual Machine, VM), or a cloud server, etc., or a hardware device (such as a server, a terminal device) or a hardware chip with the function of determining the offset, determining the movement route, or controlling the needle to be measured. The hardware chip can be a CPU (Central Processing Unit, central processing unit), a GPU (GraphicsProcessing, graphics processing unit), an FPGA (Field Programmable Gate Array, field programmable logic gate array), an NPU (Neural-network Processing Unit, network processor), an AI (ArtificialIntelligence, artificial intelligence) acceleration card, or a DPU (Data Processing Unit, data processor), etc.

[0114] The following uses embodiments to elaborate in detail on the technical solutions of the present disclosure and how the technical solutions of the present disclosure solve the above technical problems. The following related technologies can be arbitrarily combined with the technical solutions of the embodiments of the present disclosure as alternative solutions, and they all fall within the protection scope of the embodiments of the present disclosure. For the same or similar concepts or processes, they may not be elaborated in some embodiments.

[0115] Figure 3 FIG. 4 shows a flowchart of a method 300 for determining an offset provided in an embodiment of the present disclosure. The method may include steps S302-S304.

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

[0117] In step S304, based on the first coordinate, the second coordinate, the third coordinate, and the set rotation angle, 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 rotation mechanism rotates.

[0118] In the embodiments 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 the set reference position to the same position under the drive of the rotation 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 the embodiments of the present disclosure, the first direction, the second direction, and the third direction may be three mutually perpendicular directions. In the embodiments of the present disclosure, no specific limitation is imposed on the first direction, the second direction, and the third direction. For the convenience 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, as Figure 2 、 Figure 5A 、 Figure 5B 、 Figure 6A and Figure 6B 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 embodiments 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 a first offset, and 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, the first distance between the needle tip and the rotation center and the second distance in the first direction from the rotation center can be determined first based on the first coordinate and the second coordinate when the standard needle is located at the set reference position. 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 can be determined when the needle to be measured is located at the set reference position. Then, based on the first distance, the second distance, and the set rotation angle, the first position of the needle tip of the standard needle relative to the rotation center at the target position can be determined. After that, based on the third distance, the fourth distance, and the set rotation angle, the second position of the needle tip of the needle to be measured relative to the rotation center at the target position can be determined. Finally, based on the first distance, the third distance, the first position, and the second position, the first offset can be determined.

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

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

[0125] In some embodiments of the present disclosure, when the superimposed offset includes a third offset and 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 a 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 can be determined first based on the first coordinate and the second coordinate when the standard needle is located at the set reference position. 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 can be determined when the needle to be measured is located at the set reference position. Then, based on the first distance, the second distance, and the set rotation angle, the first position of the needle tip of the standard needle relative to the rotation center at the target position can be determined. After that, based on the third distance, the fourth distance, and the set rotation angle, the second position of the needle tip of the needle to be measured relative to the rotation center at the target position can be determined. Finally, based on the first distance, the third distance, the first position, and the second position, the third offset can be determined.

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

[0127] In the embodiments 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 superimposed offset only includes 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. After that, the final third offset is determined by weighted summation of the two third offsets.

[0129] In some embodiments of the present disclosure, the superimposed offset only includes the first offset and the third offset. In this case, when determining the first offset 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 only includes the second offset and the third offset. In this case, when determining the second offset 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 embodiments of the present disclosure, the determination methods of the second offset and the third offset may be similar to those of the first offset. The following will mainly describe the determination process of the first offset in detail. For the determination methods of the second offset and the third offset, analogy can be made based on the description of the determination process of the first offset.

[0132] In the embodiments of the present disclosure, the position of the needle relative to the rotation center can be identified by the angle between the line connecting the needle and the rotation center and the third direction on the first plane or the angle between the line connecting the needle and the rotation center and the third direction on the second plane. The first plane is a plane parallel to both the first direction and the third direction, and the second plane is a plane 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 connecting the needle tip and the rotation center when the standard needle is 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 connecting the needle tip and the rotation center when the needle under test is 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 connecting the needle tip and the rotation center when the standard needle is 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 connecting the needle tip and the rotation center when the needle under test is 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 connecting the needle tip and the rotation center when the standard needle is at the set reference position and the third direction on the first plane. The sixth position to be mentioned below can be identified by the angle between the line connecting the needle tip and the rotation center when the needle under test is at the set reference position and the third direction on the first plane.

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

[0136] When determining the second position of the needle tip of the needle under test relative to the rotation center at the target position based on the third distance, the fourth distance, and the set rotation angle, the sixth position of the needle tip of the needle under test relative to the rotation center at the set reference position can be determined first based on the third distance and the fourth distance. Then, based on the sixth position and the set rotation angle, the second position can be determined.

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

[0138] The implementation process of determining the first position based on the third position and the set rotation angle may include subtracting the set rotation angle and the angle between the line connecting the needle tip of the standard needle and the rotation center when the standard needle is at the set reference position and the third direction on the first plane to determine the angle between the line connecting the needle tip of the standard needle and the rotation center when the standard needle is at the target position and the third direction on the first plane.

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

[0140] The implementation process of determining the second position based on the sixth position and the set rotation angle may include subtracting the set rotation angle and the angle between the line connecting the needle tip of the needle to be measured and the rotation center when the needle to be measured is at the set reference position and the third direction on the first plane to determine the angle between the line connecting the needle tip of the needle to be measured and the rotation center when the needle to be measured is 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 connecting the needle tip and the rotation center when the standard needle is at the target position and the third direction on the first plane. The second position can be identified by the angle between the line connecting the needle tip 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 can be identified by the angle between the line connecting the needle tip and the rotation center when the standard needle is 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 connecting the needle tip 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 rotation of the rotating mechanism around the rotation center does not only occur in a plane parallel to the first plane, in the process of determining the first position of the needle tip of the standard needle relative to the rotation center based on the first distance, the second distance, and the set rotation angle, the implementation process of determining the third position of the needle tip of the standard needle relative to the rotation center based on the first distance and the second distance can include first projecting the first distance and the second distance onto a plane parallel to the first plane respectively to obtain the eleventh distance and the twelfth distance. Then, based on the eleventh distance and the twelfth distance, the angle between the line connecting the needle tip of the standard needle at the set reference position and the rotation center and the third direction on the first plane is obtained.

[0142] The implementation process of determining the first position based on the third position and the set rotation angle can include first projecting the set rotation angle onto a plane parallel to the first plane to obtain the first projection angle. Then, the difference between the first projection angle and the angle between the line connecting the needle tip of the standard needle at the set reference position and the rotation center and the third direction on the first plane is calculated to determine the angle between the line connecting the needle tip of the standard needle at the target position and the rotation center and the third direction on the first plane.

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

[0144] The implementation process of determining the second position based on the sixth position and the set rotation angle may include first projecting the set rotation angle onto a plane parallel to the first plane to obtain a first projection angle. Then, find the difference between 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 at the set reference position and the third direction on the first plane, so as to determine the angle between the line connecting the needle tip and the rotation center when the needle to be measured is 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 of the standard needle and the rotation center is the same before and after rotation, the distance between the needle tip of the standard needle and the rotation center when the standard needle is at the target position can be first represented by the first distance. Then, based on the first distance and the first position, determine the fifth distance in the first direction between the needle tip of the standard needle and the rotation center when the standard needle is at the target position. Then, based on the third distance and the second position, determine the sixth distance in the first direction between the needle tip of the needle to be measured and the rotation center when the needle to be measured is at the target position. After that, determine the first offset based on the fifth distance and the sixth distance.

[0146] When the first position is identified by the angle between the line connecting the needle tip of the standard needle and the rotation center and the third direction on the first plane when the standard needle is at the target position, the second position is identified by the angle between the line connecting the needle tip of the needle to be measured 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 connecting the needle tip of the standard needle 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 connecting the needle tip of the needle to be measured and the rotation center and the third direction on the first plane when the needle to be measured is at the set reference position, when the rotation mechanism rotates only around the rotation center on a plane parallel to the first plane, 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 manner of determining the fifth distance in the first direction between the needle tip of the standard needle and the rotation center when the standard needle is at the target position based on the first distance and the first position may include obtaining the fifth distance in the first direction between the needle tip of the standard needle and the rotation center when the standard needle is at the target position based on the first distance and the angle between the line connecting the needle tip of the standard needle and the rotation center and the third direction on the first plane.

[0147] The implementation manner of determining the sixth distance in the first direction between the needle tip of the needle to be measured and the rotation center when the needle to be measured is at the target position based on the third distance and the second position may include obtaining the sixth distance in the first direction between the needle tip of the needle to be measured and the rotation center when the needle to be measured is at the target position based on the third distance and the angle between the line connecting the needle tip of the needle to be measured and the rotation center and the third direction on the first plane.

[0148] The implementation manner of determining the first offset based on the fifth distance and the sixth distance 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, the first position is identified by the angle between the line connecting the needle tip 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 connecting the needle tip and the rotation center when the needle under test is at the target position and the third direction on the first plane, the third position is identified by the angle between the line connecting the needle tip 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 connecting the needle tip and the rotation center when the needle under test is at the set reference position and the third direction on the first plane. When the rotating mechanism rotates around the rotation center not only parallel to the first plane, 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 manner of determining the fifth distance between the needle tip 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 the eleventh distance. Then, based on the eleventh distance and the angle between the line connecting the needle tip and the rotation center when the standard needle is at the target position and the third direction on the first plane, 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] The implementation manner of determining the sixth distance between the needle tip and the rotation center in the first direction when the needle under test is at the target position based on the third distance and the second 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 connecting the needle tip and the rotation center when the needle under test is at the target position and the third direction on the first plane, the sixth distance between the needle tip and the rotation center in the first direction when the needle under test is at the target position is obtained.

[0151] The implementation manner of determining the first offset based on the fifth distance and the sixth distance 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 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 under test is 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 of the standard needle in the third direction when the standard needle is 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 of the needle under test in the third direction when the needle under test is at the target position is determined. After that, based on the seventh distance and the eighth distance, the third offset is determined.

[0153] The first position is identified by the angle between the line connecting the needle tip and the rotation center of the standard needle at the target position and the third direction on the first plane, the second position is identified by the angle between the line connecting the needle tip and the rotation center of the needle under test at the target position and the third direction on the first plane, the third position is identified by the angle between the line connecting the needle tip and the rotation center of the standard needle 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 connecting the needle tip and the rotation center of the needle under test 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, 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 manner of determining the seventh distance between the needle tip and the rotation center of the standard needle 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 tip and the rotation center of the standard needle in the third direction based on the first distance and the angle between the line connecting the needle tip and the rotation center of the standard needle at the target position and the third direction on the first plane.

[0154] The implementation manner of determining the eighth distance between the needle tip and the rotation center of the needle under test in the third direction when the needle under test is at the target position based on the third distance and the second position can include obtaining the eighth distance between the needle tip and the rotation center of the needle under test in the third direction based on the third distance and the angle between the line connecting the needle tip and the rotation center of the needle under test at the target position and the third direction on the first plane.

[0155] The implementation manner of determining the third offset based on the seventh distance and the eighth distance can 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, when the standard needle is at the first position and at the target position, the included angle between the line connecting the needle tip and the rotation center in the first plane and the third direction is used for identification. When the needle to be measured is at the second position and at the target position, the included angle between the line connecting the needle tip and the rotation center in the first plane and the third direction is used for identification. When the standard needle is at the third position and at the set reference position, the included angle between the line connecting the needle tip and the rotation center in the first plane and the third direction is used for identification. When the needle to be measured is at the sixth position and at the set reference position, the included angle between the line connecting the needle tip and the rotation center in the first plane and the third direction is used for identification. If the rotation mechanism rotates not only around the rotation center in a plane 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 tip of the standard needle at the target position and the rotation center in the third direction 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 the eleventh distance. Then, based on the eleventh distance and the included angle between the line connecting the needle tip of the standard needle at the target position and the rotation center in the first plane and the third direction, the seventh distance between the needle tip of the standard needle at the target position and the rotation center in the third direction is obtained.

[0157] The implementation method of determining the eighth distance between the needle tip of the needle to be measured at the target position and the rotation center in the third direction based on the third distance and the second 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 included angle between the line connecting the needle tip of the needle to be measured at the target position and the rotation center in the first plane and the third direction, the eighth distance between the needle tip of the needle to be measured at the target position and the rotation center in the third direction is obtained.

[0158] The implementation method of determining the third offset based on the seventh distance and the eighth distance 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 rotation mechanism around the rotation center does not only occur in a plane parallel to the first plane, when determining the first offset and / or the third offset, the positions of the rotation center, the needle tip of the standard needle at the set reference position, the needle tip of the needle to be measured at the set reference position, the needle tip of the standard needle at the target position, the needle tip of the needle to be measured at the target position, and the set rotation angle may be vertically projected onto the first plane to obtain the corresponding first projected position, second projected position, third projected position, fourth projected position, fifth projected position, and first projected angle. Based on the first coordinate, the second coordinate, and the third coordinate, the first projected coordinate corresponding to the first projected position, the second projected coordinate corresponding to the second projected position, and the third projected coordinate corresponding to the third projected position are determined.

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

[0161] Use the angle between the line connecting the first projection position and the second projection position and the third direction to identify the angle between the line connecting the needle tip and the rotation center when the standard needle is at the set reference position and the third direction on the first plane. Use the angle between the line connecting the first projection position and the third projection position and the third direction to identify the angle between the line connecting the needle tip and the rotation center when the needle under test is at the set reference position and the third direction on the first plane. Use the angle between the line connecting the first projection position and the fourth projection position and the third direction to identify the angle between the line connecting the needle tip and the rotation center when the standard needle is at the target position and the third direction on the first plane. Use the angle between the line connecting the first projection position and the fifth projection position and the third direction to identify the angle between the line connecting the needle tip and the rotation center when the needle under test is at the target position and the third direction on the first plane.

[0162] Next, implement "Based on the first coordinate and the second coordinate, determine the first distance and the second distance" and "Project the first distance and the second distance onto a plane parallel to the first plane respectively to obtain the eleventh distance and the twelfth distance" as: Use the first projection coordinate and the second projection coordinate to 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. Implement "Based on the first coordinate and the third coordinate, determine the third distance and the fourth distance" and "Project the third distance and the fourth distance onto a plane parallel to the first plane respectively to obtain the thirteenth distance and the fourteenth distance" as: Use the first projection coordinate and the third projection coordinate to 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] After that, the step of "obtaining the angle between the connection line between the needle tip and the rotation center in the first plane and the third direction when the standard needle is at the set reference position based on the eleventh distance and the twelfth distance" can be implemented as: obtaining the angle between the connection line between the first projection position and the second projection position and the third direction based on the distance between the first projection position and the second projection position in the first plane and the distance between the first projection position and the second projection position in the first direction.

[0164] The step of "subtracting the first projection angle from the angle between the connection line between the needle tip and the rotation center in the first plane and the third direction when the standard needle is at the set reference position to determine the angle between the connection line between the needle tip and the rotation center in the first plane and the third direction when the standard needle is at the target position" can be implemented as: subtracting the first projection angle from the angle between the connection line between the first projection position and the second projection position and the third direction to determine the angle between the connection line between the first projection position and the fourth projection position and the third direction.

[0165] The step of "obtaining the angle between the connection line between the needle tip and the rotation center in the first plane and the third direction when the needle under test is at the set reference position based on the thirteenth distance and the fourteenth distance" can be implemented as: obtaining the angle between the connection line between the first projection position and the third projection position and the third direction based on the distance between the first projection position and the third projection position in the first plane and the distance between the first projection position and the third projection position in the first direction.

[0166] The step of "subtracting the first projection angle from the angle between the connection line between the needle tip and the rotation center in the first plane and the third direction when the needle under test is at the set reference position to determine the angle between the connection line between the needle tip and the rotation center in the first plane and the third direction when the needle under test is at the target position" can be implemented as: subtracting the first projection angle from the angle between the connection line between the first projection position and the third projection position and the third direction to determine the angle between the connection line between the first projection position and the fifth projection position and the third direction.

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

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

[0169] "Take the difference between the fifth distance and the sixth distance to obtain the first offset" is implemented as: Take the difference between 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 connecting the needle tip and the rotation center when the standard needle is at the target position and the third direction in the first plane, obtain 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 implemented as: Based on the distance between the first projection position and the second projection position in the first plane and the angle between the line connecting the first projection position and the fourth projection position and the third direction, obtain the distance between the first projection position and the fourth projection position in the third direction.

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

[0172] "Take the difference between the seventh distance and the eighth distance to obtain the third offset" is implemented as: Take the difference between 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 the third offset.

[0173] First, project the position of the rotation center, the position of the needle tip when the standard needle is at the set reference position, the position of the needle tip when the needle under test is at the set reference position, the position of the needle tip when the standard needle is at the target position, the position of the needle tip when the needle under test is at the target position, and the set rotation angle vertically 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. Then, use the relevant data after projection 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 will describe in conjunction with Figure 4 the determination process of the simplified first offset and third offset. Figure 4 Fig. shows a projected view on the XOZ plane of exemplary positions consistent with different embodiments of the present disclosure.

[0175] Vertically project the position of the rotation center onto the first plane to obtain the corresponding first projection position A; vertically project the position of the needle tip when the standard needle is at the set reference position onto the first plane to obtain the corresponding second projection position B; vertically project the position of the needle tip when the needle under test is at the set reference position onto the first plane to obtain the corresponding third projection position C; vertically project the position of the needle tip when the standard needle is at the target position onto the first plane to obtain the corresponding fourth projection position D; vertically project the position of the needle tip when the needle under test is at the target position onto the first plane to obtain the corresponding fifth projection E; vertically project the set rotation angle onto the first plane to obtain the first projection angle. . Among them, the first plane can be Figure 4 the XOZ plane in Figure 4 . Based on the first coordinate, second coordinate, and third coordinate, determine 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. Figure 4 In = the included 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 included 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, use coordinate a and coordinate b to respectively 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 coordinate a and coordinate b to respectively 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] After that, based on the distance and the distance , the included angle between the connection line between position A and the second projection position B and the X-axis direction is obtained . Figure 4 In Figure 4 , the straight line AP is a straight line parallel to the XOZ plane in the third direction. The distance = the distance from position B to the straight line AP, and the included angle = the included angle formed by the straight line AP and the connection line AB between position A and position B

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

[0179] .

[0180] After obtaining the included angle , the difference can be taken for the angle and the included angle to determine the included angle between the connection line between position A and the fourth projection position D and the third direction (Z-axis direction). Figure 4 In Figure 4 , the included angle = the included angle formed by the straight line AP and the connection line AD between position A and position D

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

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

[0183] .

[0184] After obtaining the included angle , the difference can be taken for the angle and the included angle to determine the included angle between the connection line between position A and position E and the Z-axis direction Figure 4 In Figure 4 , the included angle = the included angle formed by the straight line AP and the connection line AE between position A and position E

[0185] Finally, first based on the distance and the included angle , the distance between position A and position D in the X-axis direction is obtained . Then, based on the distance and the included angle , the distance between position A and position E in the X-axis direction is obtained . Next, the difference between the distance and the distance is calculated to obtain the first offset. Figure 4 Among them, the distance = the distance from position D to the straight line AP, = the distance from position E to the straight line AP.

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

[0187] .

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

[0189] .

[0190] Similarly, first based on the distance and the included angle , the distance between position A and position D in the Z-axis direction is obtained . Then, based on the distance and the included angle , the distance between position A and position E in the Z-axis direction is obtained . Next, the difference between the distance and the distance is calculated to obtain the third offset. Figure 4 Among them, the distance = the distance from position A to the straight line DQ, = the distance from position A to the straight line EM. Among them, the straight line DQ is a straight line parallel to the X-axis direction and passing through position D. Point Q is the intersection point of the straight line DQ and the straight line AP. The straight line EM is a straight line parallel to the X-axis direction and passing through position E, and point M is the intersection point of the straight line EM and the straight line AP. Among them, the distance can be determined by the following formula:

[0191] .

[0192] The distance 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 shows a schematic diagram of an exemplary needle movement consistent with different embodiments of the present disclosure. 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 connecting point A and point B is parallel to the first direction, and the line connecting point A and point B passes through the first light beam g1 and the second light beam g2. In this case, the movement of the standard needle along the first direction can be achieved by controlling the standard needle to move from point A to point B along the first direction, and the movement of the needle under test along the first direction can be achieved by controlling the needle under test to move from point A to point B along the first direction. The positions of the first light beam g1 and the second light beam g2 are such that during the process of controlling the standard needle and the needle under test to move from point A to point B along the first direction, the tips of both the standard needle and the needle under test can pass through the first light beam g1 and the second light beam g2.

[0204] In some embodiments, referring to 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 connecting point C and point D is parallel to the second direction, and the line connecting point C and point D passes through the first light beam g1 and the second light beam g2. The movement of the standard needle along the second direction can be achieved by controlling the standard needle to move from point C to point D along the second direction, and the movement of the needle under test along the second direction can be achieved by controlling the needle under test to move from point C to point D along the second direction. The positions of the first light beam g1 and the second light beam g2 are such that during the process of controlling the standard needle and the needle under test to move from point C to point D along the second direction, the tips of both the standard needle and the needle under test 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. Wherein, 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 the set width, the fourth coordinate can 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 can be determined based on only the fourteenth coordinate or the fifteenth coordinate.

[0206] In some embodiments, the fourth coordinate can be determined based on the coordinates of the intersection point 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 light with a narrow width. When the standard needle is moving along the first direction, the standard needle blocks the optical path of the first light beam, without distinguishing between the fourteenth coordinate and the fifteenth coordinate. The fourth coordinate is determined based on the coordinate of the position where the standard needle blocks the first light beam.

[0207] When the beam widths of the first beam and the second beam reach the set width, the fourth coordinate can be determined based on the fourteenth coordinate and the fifteenth coordinate simultaneously, which is beneficial to improving the accuracy of the fourth coordinate. When the beam widths of the first beam and the second beam are less than the set width, the difference between the fourteenth coordinate and the fifteenth coordinate is small, or they cannot be distinguished, and the fourteenth coordinate or the fifteenth coordinate 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 in the same or similar manner.

[0208] In some embodiments, the first beam g1 and the second beam g2 are formed by an opposed sensor. When the standard needle or the needle to be measured passes through the first beam g1 and the second beam g2, the needle tip blocks the first beam g1 and the second beam g2, and the opposed sensor records the moments when the first beam g1 and the second beam g2 are blocked. Combining with the speed of controlling the movement of the standard needle or the needle to be measured, the coordinates of the needle tip of the standard needle or the needle to be measured passing through the first beam g1 and the second beam g2 can be determined. In some embodiments, the coordinates when the needle tip of the standard needle or the needle to be measured enters the first beam g1 can be determined based on the falling edge of the output signal of the opposed sensor, and the coordinates when the needle tip of the standard needle or the needle to be measured leaves the first beam g1 can be determined based on the rising edge of the output signal of the opposed sensor. This is beneficial to improving the accuracy of the determined coordinate values and facilitating better consistency in multiple tests.

[0209] In some embodiments, as Figure 5A 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 connecting point A and point B is parallel to the first direction. The beam widths of the first beam g1 and the second beam g2 are less than the set width. During 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 beam g1 and the second 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 beam g1 and the coordinate F when the needle tip of the standard needle blocks the second beam g2 can be determined. Among them, the fourth coordinate can be coordinate E, and the fifth coordinate can be coordinate F.

[0210] In this embodiment, control the needle to be measured to move along the first direction, and determine the sixth coordinate when the needle tip of the needle to be measured passes through the first beam g1 and the seventh coordinate when it passes through the second beam g2. It can be determined based on the coordinate I where the needle tip of the needle to be measured blocks the first beam g1 ( Figure 5A (not shown in the figure), and the coordinate J where the needle tip of the needle to be measured blocks the second beam g2 ( Figure 5A (not shown in the figure).

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

[0212] During the process of controlling the needle under test to move from point C to point D in the second direction, the tip of the needle under test will sequentially pass through the first light beam g1 and the second light beam g2. Based on the data collected by the photoelectric sensor, the coordinate K of the tip of the needle under test when passing through the first light beam g1 ( Figure 5A not shown in the figure) and the coordinate L of the tip of the needle under test when passing through the second light beam g2 ( Figure 5A not shown in the figure) can be determined.

[0213] In a possible implementation, the fourth coordinate is determined based on the fourteenth coordinate and the fifteenth coordinate. First, the first weight pre-configured for the fourteenth coordinate and the second weight pre-configured for the fifteenth coordinate can be determined. Then, according to the fourteenth coordinate, the fifteenth coordinate, the first weight, and the second weight, the fourth coordinate is determined.

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

[0215] In an example, as Figure 5B 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 connecting point A and point B is parallel to the first direction. The beam widths of both the first light beam g1 and the second light beam g2 are greater than the set width. In this case, during the process of controlling the standard needle to move from point A to point B in the first direction, the 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, the fourteenth coordinate of the tip of the standard needle when entering the first light beam g1 is the coordinate E', the fifteenth coordinate of the tip of the standard needle when leaving the first light beam g1 is the coordinate E'', the coordinate of the tip of the standard needle when entering the second light beam g2 is the coordinate F', and the coordinate of the tip of the standard needle when leaving the second light beam g2 is the coordinate F''.

[0216] During the process of controlling the needle under test to move from point A to point B in the first direction, the tip of the needle under test 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 when the tip of the needle under test enters the first light beam g1 is coordinate I' ( Figure 5B not shown in Figure 5B ), the coordinate when the tip of the needle under test leaves the first light beam g1 is coordinate I'' ( Figure 5B not shown in Figure 5B ), the coordinate when the tip of the needle under test enters the second light beam g2 is coordinate J' (

[0217] not shown in Figure 5B ), and the coordinate when the tip of the needle under test leaves the second light beam g2 is coordinate J'' ( Figure 5B not shown in Figure 5B ). Figure 5B In the case of determining coordinate E', coordinate E'', coordinate F', and coordinate F'', the fourth coordinate can be determined as coordinate E (

[0218] not shown in

[0219] by taking the average of coordinate E' and coordinate E''. For example, coordinate E = (coordinate E' + coordinate E'') / 2. Similarly, the fifth coordinate can be determined as coordinate F (

[0219] not shown in Figure 5B by taking the average of coordinate F' and coordinate F''. For example, coordinate F = (coordinate F' + coordinate F'') / 2. In the case of determining coordinate I', coordinate I'', coordinate J', and coordinate J'', the sixth coordinate can be determined as coordinate I ( Figure 5B not shown in Figure 5B by taking the average of coordinate I' and coordinate I''. For example, coordinate I = (coordinate I' + coordinate I'') / 2. Similarly, the seventh coordinate can be determined as coordinate J ( Figure 5B not shown in

[0218] by taking the average of coordinate J' and coordinate J''. For example, coordinate J = (coordinate J' + coordinate J'') / 2.

[0218] In some embodiments, during the process of controlling the standard needle to move from point C to point D in the second direction, the 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 when the tip of the standard needle enters the first light beam g1 is coordinate G', the coordinate when the tip of the standard needle leaves the first light beam g1 is coordinate G'', the coordinate when the tip of the standard needle enters the second light beam g2 is coordinate H', and the coordinate when the tip of the standard needle leaves the second light beam g2 is 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 pre-configured for the second coordinate difference and the fourth weight pre-configured for the third coordinate difference can be determined first. Then, based on the second coordinate difference, the third coordinate difference, the third weight, and the fourth weight, the fourth offset is determined. In some embodiments, both the third weight and the fourth weight can be configured as 0.5, and the fourth offset is determined by averaging the second coordinate difference and the third coordinate difference. In addition, the third weight can be configured as 0.4 and the fourth weight can be configured as 0.6, etc.

[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 can be determined first. Then, based on the fourth coordinate difference, the fifth coordinate difference, the fifth weight, and the sixth weight, the fifth offset is determined. In some embodiments, both the fifth weight and the sixth weight can be configured as 0.5, and the fifth offset is determined by averaging the fourth coordinate difference and the fifth coordinate difference. In addition, the fifth weight can be configured as 0.4 and the sixth weight can be configured as 0.6, etc.

[0225] In an 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 both the third weight and the fourth weight are 0.5, then 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 both the fifth weight and the sixth weight are 0.5, then 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 coordinates between the fourth coordinate and the fifth coordinate, and the midpoint coordinates 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, 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, 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, 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, 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, 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'', the coordinate value of coordinate F' in the first direction is x3, and the coordinate value of coordinate F'' in the first direction is x4. The coordinate value of the midpoint coordinate 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 = (x1 + x2 + x3 + x4) / 4 - (x5 + x6 + x7 + x8) / 4. When determining the fifth offset Δy, the same or similar calculation process can be adopted.

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

[0235] To facilitate the operation and improve the consistency between the fourth offset and the fifth offset, a strategy similar to the method for determining the fourth offset is usually adopted to determine the fifth offset. In the case of using the above method to determine the fourth offset, when determining the fifth offset, the standard needle can be first controlled to move along the second direction, and the eighteenth coordinate when the needle tip of the standard needle passes through the second light beam can be determined. Then, the test needle can be controlled to move along the second direction, and the nineteenth coordinate when the needle tip of the test needle passes through the second light beam can be determined. After that, based on the eighteenth coordinate and the nineteenth coordinate, the fifth offset can be determined.

[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, as Figure 6A and Figure 6B shown, Figure 6A and Figure 6B illustrate schematic diagrams of exemplary needle movements consistent with different embodiments of the present disclosure. 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 connecting point A and point B is parallel to the first direction, and the line connecting point A and point B passes through the first light beam and the second light beam. In this case, the movement of the standard needle along the first direction can be controlled by controlling the standard needle to move from point A to point B along the first direction, and the movement of the needle under test along the first direction can be controlled by controlling the needle under test to move from point A to point B along the first direction. The position of the first light beam enables the needles of the standard needle and the needle under test to pass through the first light beam during the process of controlling the standard needle and the needle under test to move from point A to point B along the first direction.

[0242] In some embodiments, referring to Figure 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 connecting point C and point D is parallel to the second direction, and the line connecting point C and point D passes through the second light beam. In this case, the movement of the standard needle along the second direction can be controlled by controlling the standard needle to move from point C to point D along the second direction, and the movement of the needle under test along the second direction can be controlled by controlling the needle under test to move from point C to point D along the second direction. The position of the second light beam enables the needles of the standard needle and the needle under test to pass through the second light beam during the process of controlling the standard needle and the needle under test to move from point C to point D along the second direction.

[0243] In one possible implementation, the sixteenth coordinate is determined based on at least one of the twentieth coordinate and the twenty-first coordinate. Wherein, the twentieth coordinate may include the coordinate when the needle tip of the standard needle enters the first light beam, and the twenty-first coordinate may include the coordinate when the needle 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 the set width, the sixteenth coordinate can 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 can be determined based on only 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 point 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 narrow collimated lights. When the standard needle moves along the first direction, the standard needle blocks the optical path of the first light beam without distinguishing between the twentieth coordinate and the twenty-first coordinate. 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 beam and the second beam reach the set width, the sixteenth coordinate can be determined based on the twentieth coordinate and the twenty-first coordinate simultaneously, which is beneficial to improving the accuracy of the sixteenth coordinate. When the beam widths of the first beam and the second beam are less than the set width, the difference between the twentieth coordinate and the twenty-first coordinate is small or cannot be distinguished, and the twentieth coordinate or the twenty-first coordinate can be directly used as the sixteenth coordinate. The fifth coordinate when the tip of the standard needle passes through the second beam can be determined in the same or similar manner.

[0246] In some embodiments, as Figure 6A 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 connecting point A and point B is parallel to the first direction. The beam widths of the first beam and the second beam are less than the set width. During the process of controlling the standard needle to move from point A to point B along the first direction, the tip of the standard needle will pass through the first beam. Based on the data collected by the photoelectric sensor, the coordinate E when the tip of the standard needle blocks the first beam can be determined. Among them, the sixteenth coordinate can be the coordinate E.

[0247] In this embodiment, controlling the needle under test to move along the first direction and determining the seventeenth coordinate when the tip of the needle under test passes through the first beam can be determined based on the coordinate I where the tip of the needle under test blocks the first beam ( Figure 6A not shown in the figure).

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

[0249] During the process of controlling the needle under test to move from point C to point D along the second direction, the tip of the needle under test will pass through the second beam. Based on the data collected by the photoelectric sensor, the coordinate L when the tip of the needle under test passes through the second beam can be determined ( Figure 6A not shown in the figure).

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

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

[0252] In one example, as Figure 6B 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 connecting point A and point B is parallel to the first direction. The beam widths of both the first light beam and the second light beam are greater than the set width. In this case, during the process of controlling the standard needle to move from point A to point B along the first direction, the tip of the standard needle will successively enter and leave the first light beam. Based on the data collected by the photoelectric sensor, it can be determined that the twentieth coordinate when the tip of the standard needle enters the first light beam is coordinate E', and the twenty-first coordinate when the tip of the standard needle leaves the first light beam is coordinate E''.

[0253] During the process of controlling the needle under test to move from point A to point B along the first direction, the tip of the needle under test will successively enter and leave the first light beam. Based on the data collected by the photoelectric sensor, it can be determined that the coordinate when the tip of the needle under test enters the first light beam is coordinate I' ( Figure 6B not shown in Figure 6B ), and the coordinate when the tip of the needle under test leaves the first light beam is coordinate I'' (

[0254] not shown in Figure 6B ). Figure 6B In the case of determining coordinate E' and coordinate E'', the sixteenth coordinate can be determined as coordinate E (

[0255] not shown in

[0256] by taking the average of coordinate E' and coordinate E''. For example, coordinate E = (coordinate E' + coordinate E'') / 2. In the case of determining coordinate I' and coordinate I'', the seventeenth coordinate can be determined as coordinate I (

[0256] not shown in

[0256] by taking the average of coordinate I' and coordinate I''. For example, coordinate I = (coordinate I' + coordinate I'') / 2.

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

[0256] During the process of controlling the needle under test to move from point C to point D in the second direction, the tip of the needle under test will enter and then leave the second light beam in sequence. Based on the data collected by the photoelectric sensor, the coordinates when the tip of the needle under test enters the second light beam can be determined as coordinate L' ( Figure 6B not shown in Figure 6B ), and the coordinates when the tip of the needle under test leaves the second light beam can be determined as coordinate L'' (

[0257] not shown in Figure 6B ). When the coordinates H' and H'' are determined, the eighteenth coordinate can be determined as coordinate H ( Figure 6B not shown in

[0258] ) by taking the average of coordinate H' and coordinate H'', for example, coordinate H = (coordinate H' + coordinate H'') / 2. When the coordinates L' and L'' are determined, the nineteenth coordinate can be determined as coordinate L ( Figure 6B not shown in

[0258] ) by taking the average of coordinate L' and coordinate L'', for example, coordinate L = (coordinate L' + coordinate L'') / 2.

[0259] 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 can be determined first. Then, the sixth coordinate difference is used as the fourth offset.

[0260] 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 can be determined first. Then, the seventh coordinate difference is determined as the fifth offset.

[0261] In an 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.

[0262] It should be noted that the determination of the fourth offset is achieved through the coordinate changes of the standard needle and the needle under test when passing through the first light beam, while the fifth offset is determined through the coordinate changes of the standard needle and the needle under test when passing through the second light beam. Therefore, improving the accuracy of the monitored coordinate changes is beneficial to enhancing 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 under test 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 under test 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.

[0264] In a possible implementation manner, when determining the sixth offset, the needle under test may also be first 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 under test 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 may be directly determined from the data collected by the tool setting sensor, which is beneficial to improving the sensitivity and accuracy. In addition, the twelfth coordinate and the thirteenth coordinate may also be determined by other auxiliary methods (such as reference point detection, vision detection equipment or optical measurement) in combination with the data collected by the sensor. The twelfth coordinate and the thirteenth coordinate may also be further determined by algorithm processing (such as interpolation calculation, error compensation algorithm) or by referring to preset calibration data to improve the overall detection accuracy and robustness.

[0266] In the method for determining the offset provided in the embodiments of the present disclosure, only based on the first coordinate of the rotation center of the rotation mechanism, the second coordinate of the needle tip of the standard needle at the set reference position, the third coordinate of the needle tip of the needle under test at the set reference position, and the set rotation angle of the rotation mechanism, the superimposed offset of the needle tip of the needle under test relative to the needle tip of the standard needle after rotation can be determined, so that the process of determining the superimposed offset is relatively simple and efficient.

[0267] In the traditional method for determining the superimposed offset, it is often necessary to first obtain the coordinates of the needle tip of the needle to be measured at the target position after rotation and the coordinates of the needle tip of the standard needle at the target position through the first coordinate, the second coordinate, and the rotation angle. Then, based on the coordinates of the needle tip of the needle to be measured at the target position after rotation and the coordinates of the needle tip of the standard needle at the target position, the superimposed offset is obtained. In this way, when it is difficult to obtain the coordinates of the needle tip of the needle to be measured at the target position after rotation due to irregular deformation of the needle tip of the needle to be measured, the traditional method for determining the superimposed offset often cannot accurately determine the superimposed offset. In the embodiment provided in the present disclosure, since the method for determining the offset does not depend on the coordinates of the needle tip of the needle to be measured at the target position after rotation and the coordinates of the needle tip of the standard needle at the target position, the superimposed offset can also be accurately determined when it is difficult to obtain the coordinates of the needle tip of the needle to be measured at the target position after rotation due to irregular deformation of the needle tip of the needle to be measured. 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 superimposed offset when the needle tip of the needle to be measured undergoes irregular deformation.

[0268] Corresponding to the method for determining the offset provided in the embodiment of the present disclosure, the embodiment of the present disclosure also provides a method for determining a movement route. As Figure 7 shown, Figure 7 FIG. 7 shows a flowchart of a method 700 for determining a movement route provided in the embodiment of the present disclosure, and the method may include steps S702-S704.

[0269] In step S702, 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 rotation mechanism rotates by a set rotation angle; the superimposed offset is determined by executing the method for determining the offset provided in the foregoing embodiment.

[0270] In step S704, based on the superimposed offset, compensate the preset movement route to obtain a compensated movement route, so that the first movement trajectory of the needle tip when the needle to be measured moves along the compensated movement route overlaps with the second movement trajectory of the needle tip when the standard needle moves along the preset movement 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. Among them, 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 the first direction after the rotation 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 the second direction after the rotation 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 the third direction after the rotation mechanism rotates. In this embodiment, the offsets in different directions can be obtained in real time. 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 an embodiment of the present disclosure, based on the superimposed offset, the preset movement route is compensated to obtain the compensated movement route, which may be to compensate the superimposed offset into the preset movement route by means of correction or adjustment to obtain the compensated movement route.

[0273] In an embodiment of the present disclosure, the preset movement route can be planned according to the preset movement trajectory of the needle tip of the standard needle. Among them, the standard needle is controlled to move according to the preset movement route, and the second movement trajectory of the needle tip when the standard needle moves according to the preset movement route is the preset movement trajectory. If there is an offset between the needle tip of the needle to be measured and the needle tip of the standard needle, then, if the needle to be measured is still controlled to move according to the preset movement route, the actual movement trajectory of the needle tip when the needle to be measured moves according to the preset movement route will deviate from the preset movement trajectory. In this case, the needle to be measured cannot complete the corresponding tasks or operations according to the preset movement trajectory, thus affecting the corresponding process effect.

[0274] In the method for determining the movement route involved in an embodiment of the present disclosure, after determining the superimposed offset, the preset movement route can be compensated based on the superimposed offset so that the first movement trajectory of the needle tip when the needle to be measured moves according to the compensated movement route overlaps with the second movement trajectory of the needle tip when the standard needle moves according to the preset movement route. When there is an offset between the needle tip of the needle to be measured and the needle tip of the standard needle, by compensating the movement route, the first movement trajectory of the needle tip of the needle to be measured can overlap with the second movement trajectory of the needle tip when the standard needle moves according to the preset movement route (for example, the preset movement trajectory), so that when there is an offset between the needle tip of the needle to be measured and the needle tip of the standard needle, the corresponding operations or tasks can also be completed, improving the corresponding process effect.

[0275] Embodiments of the present disclosure relate to a method for determining a moving route, which can be used to improve the overlapping degree between the actual dispensing trajectory of a dispensing needle to be measured and a preset dispensing trajectory planned according to a standard dispensing needle. For example, when compensating the preset moving route based on the offset so that the first moving trajectory of the needle tip when the dispensing needle to be measured moves along the compensated moving route overlaps with the second moving trajectory of the needle tip when the standard dispensing needle moves along the preset moving route, the actual dispensing trajectory of the dispensing needle to be measured can be made to approach or overlap with the preset dispensing trajectory planned according to the standard dispensing needle. At this time, the needle to be measured can be the dispensing needle to be measured, and the standard needle can be the standard dispensing needle.

[0276] Embodiments of the present disclosure also relate to a method for determining a moving route, which can be used to improve the overlapping degree between the actual testing trajectory of a testing needle to be measured and a preset testing trajectory planned according to a standard testing needle. For example, when compensating the preset moving route based on the offset so that the first moving trajectory of the needle tip when the testing needle to be measured moves along the compensated moving route overlaps with the second moving trajectory of the needle tip when the standard testing needle moves along the preset moving route, the actual testing trajectory of the testing needle to be measured can be made to approach or overlap with the preset testing trajectory planned according to the standard testing needle. At this time, the needle to be measured can be the testing needle to be measured, and the standard needle can be the standard testing needle.

[0277] Embodiments of the present disclosure further relate to a method for determining a moving route, which can be used to improve the overlapping degree between the actual spraying trajectory of a spraying needle to be measured and a preset spraying trajectory planned according to a standard spraying needle. For example, when compensating the preset moving route based on the offset so that the first moving trajectory of the needle tip when the spraying needle to be measured moves along the compensated moving route overlaps with the second moving trajectory of the needle tip when the standard spraying needle moves along the preset moving route, the actual spraying trajectory of the spraying needle to be measured can be made to approach or overlap with the preset spraying trajectory planned according to the standard spraying needle. At this time, the needle to be measured can be the spraying needle to be measured, and the standard needle can be the standard spraying 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 moving 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 moving 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 embodiments of the present disclosure and the method for determining the moving route provided in the embodiments of the present disclosure, a method for controlling a needle to be measured is also provided in the embodiments of the present disclosure. As Figure 8 shown, Figure 8 FIG. shows a flowchart of a method 800 for controlling a needle to be measured provided in the embodiments of the present disclosure, and the method may include steps S802-S804.

[0280] In step S802, determine the compensated movement route; the compensated movement route is determined by executing the method for determining the movement route provided in the embodiments of the present disclosure.

[0281] In step S804, control the needle under test to move along the compensated movement route.

[0282] In the embodiments of the present disclosure, 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 tip of the needle under test relative to the needle tip of the standard needle in the first direction after the rotation mechanism rotates. The second offset includes the offset of the needle tip of the needle under test relative to the needle tip of the standard needle in the second direction after the rotation mechanism rotates. The third offset includes the offset of the needle tip of the needle under test relative to the needle tip of the standard needle in the third direction after the rotation mechanism rotates.

[0283] In the embodiments of the present disclosure, the compensated movement route is determined by executing the method for determining the movement route involved in the present disclosure.

[0284] In the control method of the needle under test provided by the embodiments of the present disclosure, by controlling the needle under test to move along the compensated movement route, the first movement trajectory of the needle tip when the needle under test moves along the compensated movement route can overlap with the second movement trajectory of the needle tip when the standard needle moves along the preset movement route. When there is an offset between the needle tip of the needle under test and the needle tip of the standard needle, the corresponding operations or tasks can also be completed according to the second movement trajectory, which is beneficial to improving the corresponding process effect.

[0285] Corresponding to the method for determining the offset provided in the embodiments of the present disclosure, the method for determining the movement route provided in the embodiments of the present disclosure, and the control method of the needle under test provided in the embodiments of the present disclosure, a control system is further provided in the embodiments of the present disclosure. As Figure 9 shown, Figure 9 FIG. shows a schematic structural diagram of a control system 900 provided in the embodiments of the present disclosure. 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 may determine the offset of the needle tip of the needle under test relative to the needle tip of the standard needle. The offset may include a first offset of the needle tip of the needle under test relative to the needle tip of the standard needle in the first direction. The first offset can be determined by executing the method for determining the offset provided in the foregoing embodiments.

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

[0288] In some embodiments, the control module 906 may 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 along the compensated movement route.

[0289] In the embodiments of the present disclosure, the superimposed 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 embodiments of the present disclosure.

[0290] The control system provided in the embodiments of the present disclosure can make the first movement trajectory of the needle tip when the needle to be measured moves along the compensated movement route overlap with the second movement trajectory of the needle tip when the standard needle moves along the preset movement route by controlling the needle to be measured to move along the compensated movement route. Furthermore, when the needle tip of the needle to be measured is offset relative to the needle tip of the standard needle, the corresponding operation or task can also be completed according to the second movement trajectory, thereby improving the corresponding process effect.

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

[0292] The electronic device further includes:

[0293] A communication interface 1006 for communicating with external devices and performing data interaction and 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 may be connected to each other through a bus and communicate with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For the sake of simplicity of representation, Figure 10 only a thick line is used to represent it in the figure, but it does not mean that there is only one bus or one type of bus.

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

[0296] Embodiments of the present disclosure also provide a chip, which includes a processor configured to call and run instructions stored in a memory, such that a communication device installed with the chip executes the method provided in the embodiments of the present disclosure.

[0297] Embodiments of the present disclosure also provide a chip, including: an input interface, an output interface, a processor, and a memory. The input interface, the output interface, the processor, and the memory are connected through an internal connection path. The processor is configured to execute code in the memory, and when the code is executed, the processor is configured to execute the method provided in the embodiments of the present disclosure.

[0298] It should be understood that the above-mentioned processor may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The 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 reduced instruction set machines (ARM) architecture.

[0299] Further, optionally, the above-mentioned memory may include a read-only memory and a random access memory, and may further 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), synchlink dynamic random access memory (SLDRAM), and direct rambus 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 processes or functions according to the present disclosure are generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may 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 descriptions with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection 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 a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

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

[0303] Any process or method description represented in a flowchart or described in other ways herein may be understood to represent a module, segment, or portion of code including one or more executable instructions for implementing a specific logical function or process. And the scope of the preferred embodiments of the present disclosure includes additional implementations, where the functions may be executed in a substantially simultaneous manner or in a reverse order according to the involved functions, rather than in the order shown or discussed.

[0304] The logic and / or steps represented in a flowchart or described in other ways herein, for example, may be considered as a sequenced list of executable instructions for implementing a logical function, and may be specifically implemented 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 systems that can fetch instructions from the instruction execution system, apparatus, or device and execute the instructions), or in connection with these instruction execution systems, apparatus, or devices.

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

[0306] In addition, each functional unit in various embodiments of the present disclosure may be integrated into one processing module, or each unit may exist physically alone, 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. When 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 magnetic disk, an optical disc, or the like.

[0307] The above are only specific embodiments of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present disclosure can easily think of various changes or substitutions, and these should all be covered by the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the protection scope of the claims.

Claims

1. A method for determining an offset, comprising: 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; 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 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 the set reference position to the same position under the drive of the rotating mechanism; Wherein the third coordinate is determined based on the second coordinate and the initial offset of the needle head of the needle to be measured relative to the needle head of the standard needle before the rotating mechanism rotates; the initial offset includes a fourth offset, a fifth offset and a sixth offset; 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; The fourth offset and / or the fifth offset is determined by using the light beam detection technology and utilizing 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.

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: Determining the first offset based on the first distance, the third 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 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.

9. The method according to claim 1, 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.

10. The method according to claim 1, 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.

11. The method according to claim 8, 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.

12. The method according to claim 11, 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.

13. The method according to claim 11, 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.

14. The method according to claim 8, 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.

15. The method according to claim 8, wherein: The determining the fourth offset based on the fourth coordinate, the fifth coordinate, the sixth coordinate, and the seventh coordinate comprises: 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.

16. The method according to claim 15, 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.

17. The method according to claim 1, 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.

18. The method according to claim 1, 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.

19. The method according to claim 8, 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.

20. 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 19; 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.

21. The method according to claim 20, 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.

22. 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 20-21; The needle to be measured is controlled to move along the compensated moving route.

23. 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 19 to determine the stacking offset; The moving route determination module is used to execute the method according to any one of claims 20-21 to obtain the compensated moving route; The control module is used to execute the method as claimed in claim 22, controlling the needle to be measured to move according to the compensated movement route.

24. According to the system described in claim 23, 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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