A docking control method and device for ATE equipment, and ATE test system

Abstract

The present application provides a docking control method and device for ATE equipment, and an ATE test system, the method comprising: obtaining posture information of a test head, position information of a user interface board and / or an external device; after determining that the test head and the user interface board meet a first docking condition based on the posture information of the test head and the position information of the user interface board, controlling a docking motor to perform docking control of the test head and the user interface board according to a docking instruction of the user interface board; and / or, after determining that the test head, the user interface board and the external device meet a second docking condition based on the posture information of the test head, the position information of the user interface board and the external device, controlling a docking motor to perform docking control of the test head and the external device according to a docking instruction of the external device. The present application optimizes the docking process between the test head and the user interface board and the external device in the ATE equipment, thereby ensuring the accuracy and efficiency of the docking and meeting the docking requirements of the ATE equipment in different test scenarios.

Description

Technical Field

[0001] The present application relates to the technical field of integrated circuit testing, and in particular to a docking control method and device for ATE equipment, and an ATE testing system. Background Art

[0002] In the ATE (Automatic Test Equipment) system, the docking of the test head with the external probe station or manipulator is very important. The traditional docking method usually relies on a simple mechanical locking device, which is implemented by a simple switch or mechanical locking device. It has problems such as complex operation and easy damage, and it also lacks intelligence and versatility. It is impossible to effectively monitor the docking status and it is difficult to avoid damage caused by operating errors. In addition, the docking of ATE equipment with external equipment usually relies on manual operation and judgment, and in order to cope with different test environments, the test head needs to be rotated and lifted to different angles and heights. This operation requires the assistance of professionals, is time-consuming, and has certain limitations.

[0003] Therefore, in actual use, an intelligent and reliable solution is needed that can monitor the docking process between the test head and the external device and can automatically complete the process to solve the above problems. Summary of the invention

[0004] In view of this, the present application proposes a docking control method and device for ATE equipment, and an ATE test system, which ensures the accuracy and efficiency of docking by optimizing the docking process between the test head and the user interface board and external devices in the ATE equipment, and meets the docking requirements of the ATE equipment in different test scenarios.

[0005] In a first aspect, the present application provides a docking control method for an ATE device, which is used to implement docking control between a test head and a device to be docked, wherein the docking control includes locking control or unlocking control, and the device to be docked includes a user interface board and / or an external device, and the method includes:

[0006] Acquiring posture information of the test head, position information of the user interface board and / or external device;

[0007] After determining that the test head and the user interface board meet a first docking condition according to the posture information of the test head and the position information of the user interface board, controlling the docking motor to perform docking control of the test head and the user interface board according to the docking instruction of the user interface board; and / or,

[0008] After determining that the test head, the user interface board and the external device meet the second docking condition according to the posture information of the test head, the position information of the user interface board and the external device, the docking motor is controlled according to the external device docking instruction to perform docking control of the test head and the external device.

[0009] From the above, the present application provides a docking control method for ATE equipment, which obtains the posture information of the test head, the position information of the user interface board and the external device to determine whether the test head, the user interface board and the external device meet the docking conditions, and when the docking conditions are met, the docking motor is controlled to perform the docking control of the test head and the user interface board or the docking control of the test head and the external device, thereby realizing the automatic docking between the test head and the user interface board and the external device in the ATE device. The present application optimizes the docking process between the test head and the user interface board and the external device, ensures the accuracy and efficiency of the docking, and meets the docking requirements of the ATE device in different test scenarios.

[0010] Optionally, determining that the test head and the user interface board meet a first docking condition according to the posture information of the test head and the position information of the user interface board includes:

[0011] It is determined that the rotation angle of the test head is within a preset range according to the posture information of the test head, and it is determined that the user interface panel is in a position state according to the position information of the user interface panel.

[0012] From the above, it is determined whether the rotation angle of the test head is within a preset range suitable for docking based on the posture information of the test head. The preset range is usually determined based on the position, shape and physical limitations of the docking interface of the user interface board, ensuring that the test head can dock with the user interface board at the correct angle and posture. At the same time, it is also determined whether the user interface board is in a position state based on the position information of the user interface board. The position state usually means that the user interface board has been correctly installed, fixed, and is in a dockable position, so as to ensure that the user interface board will not fail to dock or be damaged due to improper position during the docking process.

[0013] Optionally, also include:

[0014] When it is determined according to the posture information of the test head that the rotation angle of the test head is not within a preset range, generating an alarm prompt information according to the test head posture error type; and / or,

[0015] When it is determined according to the position information of the user interface panel that the user interface panel is not in the in-position state, an alarm prompt message is generated according to the type of the user interface panel state error.

[0016] From the above, when the system detects that the rotation angle of the test head is not within the preset range, it will generate corresponding alarm prompt information according to the posture error type of the test head (such as angle too large, angle too small, wrong direction, etc.). Similarly, when the system detects that the user interface board is not in place, it will generate corresponding alarm prompt information according to the user interface board status error type (such as not installed, wrong installation position, loose, etc.). By generating alarm prompt information, the error type of the test head or user interface board is intuitively displayed to the user, so as to facilitate corresponding processing, such as controlling the test head to return to the initial position, controlling the test head to reach the target position, or reinstalling the user interface board, adjusting the position of the user interface board, etc.

[0017] Optionally, determining that the test head, the user interface board, and the external device meet a second docking condition according to the posture information of the test head, the position information of the user interface board, and the external device includes:

[0018] Determining that the test head and the user interface board are in a locked state according to the posture information of the test head and the position information of the user interface board;

[0019] According to the posture information of the test head, it is determined that the rotation angle of the test head is within a preset range, according to the posture information of the test head, it is determined that the position of the test head is at a specified docking position, and according to the position information of the external device, it is determined that the external device is in place.

[0020] From the above, since the docking process between the test head and the external device usually involves the rotation of the test head, before executing the docking control between the test head and the external device, it is usually necessary to ensure that the test head and the user interface board are in a locked state to avoid the user interface board falling off and causing damage during the rotation of the test head. After confirming that the test head and the user interface board are in a locked state, the system further determines whether its rotation angle is within a preset range based on the posture information of the test head to ensure that the test head can dock with the external device at the correct angle, and determines whether the position of the test head is in a specified docking position based on the posture information of the test head to ensure that the test head can dock with the external device at the correct docking position. At the same time, the system also determines whether the external device is in place based on its position information to ensure that the external device has been correctly installed, fixed, and in a dockable position.

[0021] Optionally, also include:

[0022] When it is determined according to the posture information of the test head and the position information of the user interface board that the test head and the user interface board are not in a locked state, generating an alarm prompt message; and / or,

[0023] When it is determined according to the posture information of the test head that the rotation angle of the test head is not within a preset range, an alarm prompt message is generated according to the test head posture error type, and the rotation angle of the test head is adjusted to reach the preset range according to the position information of the external device; and / or,

[0024] When it is determined according to the posture information of the test head that the rotation angle of the test head is not at the designated docking position, an alarm prompt message is generated according to the test head posture error type, and the position of the test head is adjusted to the designated docking position according to the position information of the external device; and / or,

[0025] It is determined that the external device is not in the in-position state according to the position information of the external device, an alarm prompt message is generated according to the error type of the external device state, and the test head is controlled to maintain the current posture or return to the initial position.

[0026] From the above, when the system detects that the test head and the user interface board are not in a locked state, an alarm prompt message will be immediately generated to prompt that the test head and the user interface board are not locked. When the system detects that the rotation angle of the test head is not within the preset range, a corresponding alarm prompt message will be generated according to the posture error type of the test head (such as too large angle, too small angle, wrong direction, etc.), so that the system can adjust the rotation angle of the test head according to the position information of the external device until it reaches the preset range. When the system detects that the position of the test head is not in the specified docking position, a corresponding alarm prompt message is also generated, so that the system can adjust the position of the test head according to the position information of the external device until it reaches the specified docking position. Similarly, when the system detects that the external device is not in the in-position state, a corresponding alarm prompt message will be generated according to the external device state error type (such as not installed, wrong installation position, loose, etc.). The system can control the test head to maintain the current posture or return to the initial position according to the external device state error type. By generating alarm prompt messages, it is helpful for the system to timely discover the fault or position problem of the test head or external device, and take corresponding corrective measures to ensure the smooth docking control.

[0027] Optionally, the preset range includes at least one of the following:

[0028] Between the positive and negative thresholds of 0 degree angle, between the positive and negative thresholds of 90 degree angle, and between the positive and negative thresholds of 180 degree angle;

[0029] The 0 degree is the angle when the test head faces upward, and the threshold is the angle deviation value allowed by docking control.

[0030] From the above, the test head can be docked with the user interface board or external device at a certain rotation angle. For example, if the angle of the test head when facing upward is 0 degrees, the test head can be docked with the user interface board or external device at a rotation angle of 0 degrees, 90 degrees or 180 degrees, and a positive or negative threshold value, such as plus or minus 2 degrees, can be set as the angle deviation value allowed for docking control. When the rotation angle of the test head is between the positive and negative threshold values ​​of 0 degrees, 90 degrees or 180 degrees, the docking conditions can be met to achieve docking with the user interface board or external device.

[0031] Optionally, the user interface panel docking instruction includes a user interface panel locking instruction or a user interface panel unlocking instruction;

[0032] The method of controlling the docking motor to perform docking control between the test head and the user interface board according to the docking instruction of the user interface board includes:

[0033] Controlling the docking motor to perform locking control of the test head and the user interface board according to the user interface board locking instruction; or,

[0034] The docking motor is controlled according to the unlocking instruction of the user interface board to execute the unlocking control of the test head and the user interface board.

[0035] From the above, the user interface board docking instruction may include a locking instruction or an unlocking instruction, and the movement of the docking motor is precisely controlled according to the user interface board locking / unlocking instruction to facilitate the execution of the locking / unlocking operation of the test head and the user interface board, thereby ensuring a stable connection and reliable separation between the test head and the user interface board.

[0036] Optionally, the external device docking instruction includes an external device locking instruction or an external device unlocking instruction;

[0037] The step of controlling the docking motor to perform docking control between the test head and the external device according to the docking instruction of the external device includes:

[0038] Controlling the docking motor to move the test head to a locking position according to a locking instruction of the external device, and performing locking control of the test head and the external device; or,

[0039] The docking motor is controlled to move the test head to the unlocking position according to the unlocking instruction of the external device, and the unlocking control of the test head and the external device is executed.

[0040] From the above, the external device docking instruction may include a locking instruction or an unlocking instruction, and the docking motor is precisely controlled to move to the locking / unlocking position according to the external device locking / unlocking instruction, so as to execute the locking / unlocking operation of the test head and the external device, thereby ensuring a stable connection and reliable separation between the test head and the external device.

[0041] Optionally, the acquiring the posture information of the test head, the position information of the user interface board and / or the external device includes:

[0042] Detecting posture information of the test head by an acceleration sensor, the posture information including rotation angle and position information;

[0043] Detecting the position information of the user interface panel by a position sensor; and / or,

[0044] The location information of the external device is detected by a proximity sensor.

[0045] From the above, the present application integrates multiple sensors to achieve accurate detection of the relevant position and posture information of the test head, user interface board and external devices, and uniformly processes and calculates the detected data to obtain the posture information of the test head, the position information of the user interface board and the external devices, so as to facilitate subsequent docking control.

[0046] Optionally, also include:

[0047] The application scenario of the test head, user interface board and / or external device is scanned by a camera sensor, and the spatial relative position of the test head, user interface board and / or external device in the application scenario is determined based on the scanned application scenario, posture information of the test head, and position information of the user interface board and / or external device.

[0048] From the above, the application scenario of the test head, user interface board and / or external device is scanned by the camera sensor, and the spatial relative position of the test head, user interface board and / or external device is determined in combination with other sensor data, so that the system can realize fully automatic docking control between the test head, user interface board and / or external device according to the spatial relative position of the test head, user interface board and / or external device in the application scenario, without manual operation, thus avoiding human errors.

[0049] In a second aspect, the present application provides a docking control device for ATE equipment, which is used to implement docking control between a test head and a device to be docked, wherein the docking control includes locking control or unlocking control, and the device to be docked includes a user interface panel and / or an external device; the docking control device includes a sensor unit, a docking control unit, and a docking motor;

[0050] The sensor unit is used to obtain the posture information of the test head, the position information of the user interface board and / or the external device;

[0051] The docking control unit is used to control the docking motor to perform docking control of the test head and the user interface board according to the user interface board docking instruction after determining that the test head and the user interface board meet the first docking condition according to the posture information of the test head and the position information of the user interface board; and / or,

[0052] The docking control unit is used to control the docking motor to perform docking control between the test head and the external device according to the external device docking instruction after determining that the test head, the user interface board and the external device meet the second docking condition based on the posture information of the test head, the position information of the user interface board and the external device.

[0053] In a third aspect, the present application provides an ATE test system, including a test head, a device to be docked, and the above-mentioned docking control device;

[0054] The docking control device is used to perform docking control between the test head and the device to be docked, and the device to be docked includes a user interface panel and / or an external device.

[0055] In a fourth aspect, the present application provides a computing device, the computing device comprising:

[0056] processor;

[0057] A memory for storing one or more programs;

[0058] When the one or more programs are executed by the processor, the processor implements the above-mentioned docking control method for ATE equipment.

[0059] In a fifth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a computer, implements the above-mentioned docking control method for ATE equipment.

[0060] These and other aspects of the present application will become more apparent from the following description of the embodiment(s). BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 A flowchart of a docking control method for ATE equipment provided in an embodiment of the present application;

[0062] Figure 2 A flowchart of docking between a test head and a user interface board provided in an embodiment of the present application;

[0063] Figure 3 A flowchart of docking between a test head and an external device provided in an embodiment of the present application;

[0064] Figure 4A structural diagram of an ATE test system provided in an embodiment of the present application;

[0065] Figure 5 A structural diagram of a docking control unit provided in an embodiment of the present application;

[0066] Figure 6 A schematic diagram of the docking structure of the first test head and external equipment provided for the implementation of this application;

[0067] Figure 7 A schematic diagram of the docking structure of the second test head and external equipment provided for the implementation of this application;

[0068] Figure 8 A schematic diagram of the docking structure of the third test head and external equipment provided for the implementation of this application;

[0069] Fig. 9 A structural diagram of a computing device provided in an embodiment of the present application.

[0070] It should be understood that the size and shape of each block diagram in the above structural diagram are for reference only and should not constitute an exclusive interpretation of the embodiments of the present application. The relative positions and inclusion relationships between the blocks presented in the structural diagram are only schematic representations of the structural associations between the blocks, and do not limit the physical connection methods of the embodiments of the present application. DETAILED DESCRIPTION

[0071] The technical solution provided by the present application is further described below with reference to the accompanying drawings and examples. It should be understood that the system structure and business scenarios provided in the examples of the present application are mainly to illustrate the possible implementation methods of the technical solution of the present application and should not be interpreted as the only limitation on the technical solution of the present application. It is known to those of ordinary skill in the art that with the evolution of the system structure and the emergence of new business scenarios, the technical solution provided by the present application is also applicable to similar technical problems.

[0072] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present application. In case of any inconsistency, the meaning described in this specification or the meaning derived from the contents recorded in this specification shall prevail. In addition, the terms used herein are only for the purpose of describing the embodiments of the present application and are not intended to limit the present application.

[0073] The embodiment of the present application proposes a docking control method for ATE equipment, which can be widely used in the fields of manufacturing, testing and maintenance of ATE equipment, especially in scenarios requiring high-precision docking control. The embodiment of the present application optimizes the docking process between the test head and the user interface board and external devices in the ATE equipment, dynamically adjusts the docking parameters, and designs a fault warning and recovery mechanism to ensure the accuracy and efficiency of the docking between the test head and the user interface board and external devices in the ATE equipment, thereby meeting the docking requirements of the ATE equipment in different test scenarios.

[0074] Figure 1 The flowchart of a docking control method for ATE equipment provided by an embodiment of the present application is shown. The method can realize docking control between a test head in the ATE equipment and a device to be docked. The docking control includes locking control or unlocking control. The device to be docked includes a user interface board and / or an external device. Figure 1 As shown, the docking control method includes:

[0075] S110: Acquire posture information of the test head, and position information of the user interface board and / or external device.

[0076] In this embodiment, accurate detection of the relevant position and posture information of the test head, user interface board and external devices can be achieved by integrating multiple sensors. For example, the posture information of the test head can be detected by an acceleration sensor, and the posture information includes rotation angle and position information, the position information of the user interface board can be detected by a position sensor, and the position information of the external device can be detected by a proximity sensor.

[0077] In some embodiments, the application scenario of the test head, user interface board and / or external device can also be scanned by a camera sensor, and the spatial relative position of the test head, user interface board and / or external device in the application scenario can be determined based on the scanned application scenario and the posture information of the above-mentioned test head, and the position information of the user interface board and / or external device, so that the system can achieve fully automatic docking control between the test head, user interface board and / or external device according to the spatial relative position.

[0078] S120: after determining that the test head and the user interface board meet a first docking condition according to the posture information of the test head and the position information of the user interface board, control the docking motor to perform docking control of the test head and the user interface board according to the docking instruction of the user interface board.

[0079] In this step, by presetting the first docking condition, before executing the docking control of the test head and the user interface board, first determine whether the preset first docking condition is met according to the posture information of the test head and the position information of the user interface board. For example, it can be determined according to the posture information of the test head whether the rotation angle of the test head is within a preset range suitable for docking. The preset range is usually determined based on the position, shape and physical limitations of the docking interface of the user interface board. Specifically, it can be within the positive and negative thresholds (such as ±2 degrees) of the rotation angle (such as 0 degrees, 90 degrees or 180 degrees), so as to ensure that the test head can dock with the user interface board at the correct angle and posture. At the same time, it can also be determined according to the position information of the user interface board whether the user interface board is in the in-position state. The in-position state usually means that the user interface board has been correctly installed and fixed in the ATE device and is in a dockable position, so as to ensure that the user interface board will not fail to dock or be damaged due to improper position during the docking process. By accurately judging the rotation angle of the test head and the position state of the user interface board, the system can ensure the physical matching between the test head and the user interface board during the docking process, reduce the docking failure caused by angle deviation or improper position, and thus significantly improve the accuracy and reliability of the docking control of the ATE device.

[0080] In some embodiments, when the system detects that the rotation angle of the test head is not within the preset range, a corresponding alarm prompt message will be generated according to the posture error type of the test head (such as angle too large, angle too small, wrong direction, etc.). Similarly, when the system detects that the user interface board is not in place, a corresponding alarm prompt message will be generated according to the state error type of the user interface board (such as not installed, wrong installation position, loose, etc.). By generating the alarm prompt message, the error type of the test head or the user interface board can be intuitively displayed to the user through the host computer or display device, so as to facilitate corresponding processing, such as controlling the test head to return to the initial position, controlling the test head to reach the target position, or reinstalling the user interface board, adjusting the position of the user interface board, etc.

[0081] In this step, the user interface board docking instruction may include a locking instruction or an unlocking instruction. After determining that the test head and the user interface board meet the first docking condition, the movement of the docking motor can be controlled according to the user interface board locking instruction, such as moving in the locking direction or rotating in the locking direction, until the locking control of the test head and the user interface board is completed; or, the movement of the docking motor can be controlled according to the user interface board unlocking instruction, such as moving in the unlocking direction or rotating in the unlocking direction, until the unlocking control of the test head and the user interface board is completed.

[0082] S130: after determining that the test head, the user interface board and the external device meet a second docking condition according to the posture information of the test head, the position information of the user interface board and the external device, control the docking motor to perform docking control of the test head and the external device according to the external device docking instruction.

[0083] In this step, by presetting the second docking condition, before executing the docking control of the test head and the external device, it is first determined that the test head, the user interface board and the external device meet the second docking condition according to the posture information of the test head, the position information of the user interface board and the external device. Since the docking process of the test head and the external device usually involves the rotation of the test head, before executing the docking control of the test head and the external device, it is first determined that the test head and the user interface board are in a locked state according to the posture information of the test head and the position information of the user interface board, so as to avoid the user interface board falling off and causing damage during the rotation of the test head. After confirming that the test head and the user interface board are in a locked state, the system can further determine whether its rotation angle is within a preset range (for example, within ±2 degrees of 0 degrees, 90 degrees or 180 degrees) according to the posture information of the test head, so as to ensure that the test head can dock with the external device at the correct angle, and determine whether the position of the test head is in a specified docking position according to the posture information of the test head, so as to ensure that the test head can dock with the external device at the correct docking position. At the same time, the system also determines whether the external device is in a position according to its position information, so as to ensure that the external device has been correctly installed and fixed and is in a dockable position.

[0084] Similarly, when the system detects that the test head and the user interface board are not in a locked state, an alarm prompt message will be immediately generated to prompt the user that the test head and the user interface board are not locked. When the system detects that the rotation angle of the test head is not within the preset range, a corresponding alarm prompt message will be generated according to the posture error type of the test head (such as too large angle, too small angle, wrong direction, etc.), so that the system can adjust the rotation angle of the test head according to the position information of the external device until it reaches the preset range. When the system detects that the position of the test head is not in the specified docking position, a corresponding alarm prompt message is also generated, so that the system can adjust the position of the test head according to the position information of the external device until it reaches the specified docking position. Similarly, when the system detects that the external device is not in the in-position state, a corresponding alarm prompt message will be generated according to the external device state error type (such as not installed, wrong installation position, loose, etc.). The system can control the test head to maintain the current posture or return to the initial position according to the external device state error type. By generating alarm prompt messages, it is helpful for users to promptly discover faults or position problems of the test head or external device, and take corresponding corrective measures to ensure smooth docking control.

[0085] In this step, the external device docking instruction may include a locking instruction or an unlocking instruction. After determining that the test head, the user interface panel and the external device meet the second docking condition, the docking motor can be controlled to move the test head to the locking position according to the external device locking instruction, and the locking control of the test head and the external device can be executed; or, the docking motor can be controlled to move the test head to the unlocking position according to the external device unlocking instruction, and the unlocking control of the test head and the external device can be executed.

[0086] based on Figure 1 The docking control method shown, Figure 2 FIG. 1 is a flowchart of a docking process between a test head and a user interface board provided in an embodiment of the present application, referring to FIG. Figure 2 The docking process between the test head and the user interface board in this embodiment is described in detail.

[0087] like Figure 2 As shown, the docking process of the test head and the user interface board may specifically include a locking process and an unlocking process, and the specific steps are as follows:

[0088] When the user interface board needs to be locked, the user can press the button to lock the user interface board through the host computer or controller. At this time, the system first detects whether the posture of the test head is correct according to the locking instruction;

[0089] If it is detected that the posture of the test head is incorrect, the docking motor does not move at this time, and the system generates an alarm prompt message to prompt that the posture of the test head is incorrect. According to the alarm prompt message, the user can control the test head to return to the initial position through the hand operator so that the system can re-control the docking motor to move the test head to the specified position and rotate it to the specified angle. Alternatively, the user can also control the test head to move to the specified position and rotate it to the specified angle through the hand operator to ensure that the posture of the test head is in the correct state;

[0090] When the test head is detected to be in the correct posture, the system can further detect whether the user interface board is in place;

[0091] If it is detected that the user interface board is not in place, the docking motor does not move, and the system generates an alarm prompt message to prompt that the user interface board is not in place. The user can check and adjust the position of the user interface board or reinstall the user interface board according to the alarm prompt message to ensure that the user interface board is in place;

[0092] When it is detected that the user interface board is in place, the docking motor can be controlled to move to the locking position according to the user interface board locking instruction, such as moving in the locking direction or rotating in the locking direction, until the locking position is reached, thereby realizing the locking control of the test head and the user interface board, and completing the locking process of the test head and the user interface board through the prompt of the upper computer.

[0093] Similarly, when the user interface board needs to be unlocked, the user presses the unlock user interface board button through the host computer or controller. At this time, the system first detects whether the posture of the test head is correct according to the unlock instruction;

[0094] If the posture of the test head is detected to be incorrect, the docking motor does not move and the system generates an alarm prompt message to indicate that the posture of the test head is incorrect. The user can control the test head to move to a specified position and rotate to a specified angle through the hand operator according to the alarm prompt message to ensure that the posture of the test head is in the correct state;

[0095] When the test head is detected to be in the correct posture, the system can further detect whether the user interface board is in place;

[0096] If it is detected that the user interface board is not in place, the docking motor does not move, and the system generates an alarm prompt message to prompt that the user interface board is not in place. The user can check the position of the user interface board according to the alarm prompt message to ensure that the user interface board is in place;

[0097] When it is detected that the user interface board is in place, the docking motor can be controlled to move to the unlocking position according to the unlocking instruction of the user interface board, such as moving in the unlocking direction or rotating in the unlocking direction, until it reaches the unlocking position, thereby completing the unlocking control of the test head and the user interface board, and completing the unlocking process of the test head and the user interface board through prompts from the upper computer.

[0098] based on Figure 1 The docking control method shown, Figure 3 The figure shows a flow chart of docking between a test head and an external device provided in an embodiment of the present application, referring to Figure 3 The docking process between the test head and the external device in this embodiment is described in detail.

[0099] like Figure 3 As shown, the docking process between the test head and the external device may specifically include a locking process and an unlocking process. The external device may be a probe station or a manipulator. The specific steps are as follows:

[0100] When it is necessary to lock the external device, the user can press the button to lock the external device through the host computer or controller. At this time, the system first detects whether the posture of the test head is correct according to the locking instruction;

[0101] If it is detected that the posture of the test head is incorrect, the docking motor does not move at this time, and the system generates an alarm prompt message to prompt that the posture of the test head is incorrect. According to the alarm prompt message, the user can control the test head to return to the initial position through the hand operator so that the system can re-control the docking motor to move the test head to the specified position and rotate it to the specified angle. Alternatively, the user can also control the test head to move to the specified position and rotate it to the specified angle through the hand operator to ensure that the posture of the test head is in the correct state;

[0102] When the test head is detected to be in the correct posture, the system can further detect whether the external device is in place;

[0103] If it is detected that the external device is not in place, the docking motor does not move and the system generates an alarm prompt message to indicate that the external device is not in place. The user can check and adjust the position of the external device or reinstall the external device according to the alarm prompt message to ensure that the external device is in place.

[0104] When it is detected that the external device is in place, the docking motor can be controlled to move to the locking position according to the locking instruction of the external device. After reaching the locking position, the locking control of the test head and the external device is executed, and the locking process of the test head and the external device is completed through the prompt of the host computer.

[0105] Similarly, when the external device needs to be unlocked, the user presses the unlock external device button through the host computer or controller. At this time, the system first detects whether the posture of the test head is correct according to the unlock instruction;

[0106] If the posture of the test head is detected to be incorrect, the docking motor does not move and the system generates an alarm prompt message to indicate that the posture of the test head is incorrect. The user can control the test head to move to a specified position and rotate to a specified angle through the hand operator according to the alarm prompt message to ensure that the posture of the test head is in the correct state;

[0107] When the test head is detected to be in the correct posture, the system can further detect whether the external device is in place;

[0108] If it is detected that the external device is not in place, the docking motor does not move and the system generates an alarm prompt message to indicate that the external device is not in place. The user can check the position of the external device according to the alarm prompt message to ensure that the external device is in place.

[0109] When it is detected that the external device is in place, the docking motor can be controlled to move to the unlocking position according to the unlocking instruction of the external device. After reaching the unlocking position, the unlocking control of the test head and the external device is executed, and the unlocking process of the test head and the external device is completed through the prompt of the host computer.

[0110] It should be noted that in actual application scenarios, since the docking process between the test head and the external device usually involves the rotation of the test head, before executing the locking or unlocking control of the test head and the external device, it is firstly possible to determine whether the test head and the user interface board are in a locked state based on the posture information of the test head and the position information of the user interface board, so as to avoid the user interface board falling off and causing damage during the rotation of the test head. After confirming that the test head and the user interface board are in a locked state, Figure 3 The flow shown performs locking or unlocking control of the test head and the external device.

[0111] Figure 4 The figure shows a structural diagram of an ATE test system provided in an embodiment of the present application. As a specific application scenario, the ATE test system includes a docking control device 100, a test head 200 and a device to be docked 300. The docking control device 100 includes a docking control unit 101, a sensor unit 102 and a docking motor 103. The device to be docked 300 includes a user interface panel 301 and / or an external device 302.

[0112] Among them, the sensor unit 102 can be used to obtain the posture information of the test head 200, the position information of the user interface board 301 and / or the external device 302, and send the obtained data information to the docking control unit 101 for processing. The docking control unit 101 can determine that the test head 200 and the user interface board 301 meet the first docking condition based on the posture information of the test head 200 and the position information of the user interface board 301, and then control the docking motor 103 to perform the docking control of the test head 200 and the user interface board 301 according to the docking instruction of the user interface board; or, the docking control unit 101 can also determine that the test head 200, the user interface board 301 and the external device 302 meet the second docking condition based on the posture information of the test head 200, the position information of the user interface board 301 and the external device 302, and then control the docking motor 103 to perform the docking control of the test head 200 and the external device 302 according to the docking instruction of the external device.

[0113] In some embodiments, the above-mentioned ATE test system may further include a host computer and an audible and visual alarm device (not shown in the figure), the host computer being respectively connected to the audible and visual alarm device and the above-mentioned docking control device 100, and displaying the docking control process and related data of the above-mentioned docking control device 100, and when an error occurs in the docking control process, the alarm prompt information generated by the docking control device 100 is issued through the audible and visual alarm device for alarm prompting, so that the user can promptly discover the fault or position problem of the test head, user interface board or external device, and take corresponding corrective measures to ensure the smooth progress of the docking control.

[0114] Figure 5The structure diagram of a docking control unit provided by an embodiment of the present application is shown. The docking control unit can be implemented by a microprocessor, an MCU or an FPGA chip, and provides a variety of interfaces according to application requirements. For example, the docking control unit can be connected to an external power supply through a power distribution and monitoring interface, and the external power supply is converted into a working voltage to supply power to other modules in the docking control unit, and the health status of the power supply such as voltage and current can be monitored. The docking control unit can also communicate with a host computer through a communication interface. The host computer can be an operator of an industrial computer type, and the collected data can be displayed and controlled in real time through the industrial computer, or it can be a converter or switch of a board type, which processes the signal and then sends it to the lower level. The docking control unit is also connected to the device bracket through a bracket control interface. The device bracket can be a part of the above-mentioned docking motor. By controlling the device bracket during the docking control process, the rotation and movement of the test head can be controlled by the bracket. The docking control unit can also be connected to a hand operator through an external hand operator interface, so that the user can control the rough docking, locking or unlocking of the test head, the user interface board and the external device through the hand operator. The docking control unit can also connect multiple sensors (the above-mentioned sensor units) through the sensor interface, which may specifically include acceleration sensors, proximity sensors, position sensors, temperature sensors, humidity sensors, cameras, etc., and detect the posture information of the test head through the acceleration sensor, detect the position information of the user interface board through the position sensor, detect the position information of the external device through the proximity sensor, and detect the temperature and humidity of the internal and external environment of the test head through the temperature sensor and the humidity sensor, so as to avoid performance deviation or even failure of each component due to temperature influence, and avoid condensation, etc., and can also scan the application scenario of the test head, user interface board and external device through the camera, and determine the spatial relative position of the test head, user interface board and external device in the application scenario according to the scanned application scenario and the posture information of the test head, the position information of the user interface board and the external device, so as to facilitate the docking control unit to realize fully automatic docking control between the test head, the user interface board and the external device according to the spatial relative position.

[0115] Due to different application scenarios or test environments, the test head needs to rotate at different angles. For example, in a CP test (Chip Probe, wafer test) environment, the test head needs to rotate 180 degrees, while in a FT test (Final Test, finished product test) environment, the test head may choose 0 degrees or 90 degrees. Based on this, the embodiments of the present application are based on Figure 6-Figure 8 As shown, a schematic diagram of the docking structure of the test head and the external device at various rotation angles is provided.

[0116] like Figure 6As shown, the embodiment of the present application is for a CP test environment, and it is necessary to rotate the test head to 180 degrees for docking with an external probe station. At this rotation angle, the rotation of the test head may cause the user interface board to fall off. Therefore, before executing the rotation of the test head, the present embodiment first needs to detect whether the test head and the user interface board are in a locked state. After determining that the test head and the user interface board are in a locked state, the system can control the docking motor to rotate the test head to within a range of 180 degrees (±2 degrees) according to a preset locking mode, and detect the posture information of the test head in real time through an acceleration sensor. After determining that the posture of the test head is correct, it can further detect whether the probe station to be docked is in a position state. After determining that the probe station is in a position state, the docking motor can be controlled to move the test head to a specified locking position to complete the locking of the test head and the probe station, so as to facilitate the subsequent CP test.

[0117] When the test is completed and the test head and the probe station need to be unlocked, the system can detect the posture information of the test head in real time through the acceleration sensor according to the preset unlocking mode. After determining that the posture of the test head is correct, the system can further detect whether the probe station is in place. After determining that the probe station is in place, the docking motor can be controlled to move the test head to the specified unlocking position to complete the unlocking of the test head and the probe station.

[0118] like Figure 7 As shown, in the embodiment of the present application, for the FT test environment, the test head needs to be rotated to 0 degrees to dock with the manipulator of the external sorting machine. At this rotation angle, although the risk of the user interface board falling is small, since the manipulator needs to remove the chip or module from the user interface board during the sorting process, it is also easy to cause the user interface board to fall off the test head. Therefore, in order to ensure the safety of the FT test, the present embodiment can also first detect whether the test head and the user interface board are in a locked state before executing the rotation of the test head. After determining that the test head and the user interface board are in a locked state, the system can control the docking motor to rotate the test head to within 0 degrees (±2 degrees) according to the preset locking mode, and detect the posture information of the test head in real time through the acceleration sensor. After determining that the posture of the test head is correct, it can further detect whether the manipulator to be docked is in the in-position state. After determining that the manipulator is in the in-position state, the docking motor can be controlled to move the test head to the specified locking position to complete the locking of the test head and the manipulator, so as to perform subsequent FT tests.

[0119] When the test is completed and the test head and the manipulator need to be unlocked, the system can detect the posture information of the test head in real time through the acceleration sensor according to the preset unlocking mode. After determining that the posture of the test head is correct, the system can further detect whether the manipulator is in place. After determining that the manipulator is in place, the docking motor can be controlled to move the test head to the specified unlocking position to complete the unlocking of the test head and the manipulator.

[0120] like Figure 8 As shown, the embodiment of the present application is for the FT test environment, and it is necessary to rotate the test head to 90 degrees to dock with the manipulator of the external sorting machine. At this rotation angle, the rotation of the test head may cause the user interface board to fall off. Therefore, before executing the rotation of the test head, the present embodiment first needs to detect whether the test head and the user interface board are in a locked state. After determining that the test head and the user interface board are in a locked state, the system can control the docking motor to rotate the test head to within 90 degrees (±2 degrees) according to the preset locking mode, and detect the posture information of the test head in real time through the acceleration sensor. After determining that the posture of the test head is correct, it can further detect whether the manipulator to be docked is in the in-position state. After determining that the manipulator is in the in-position state, the docking motor can be controlled to move the test head to the specified locking position to complete the locking of the test head and the manipulator, so as to perform subsequent FT tests.

[0121] When the test is completed and the test head and the manipulator need to be unlocked, the system can detect the posture information of the test head in real time through the acceleration sensor according to the preset unlocking mode. After determining that the posture of the test head is correct, the system can further detect whether the manipulator is in place. After determining that the manipulator is in place, the docking motor can be controlled to move the test head to the specified unlocking position to complete the unlocking of the test head and the manipulator.

[0122] In summary, the embodiments of the present application provide a docking control method and device for ATE equipment, and an ATE test system. By optimizing the docking process between the test head and the user interface board and external equipment in the ATE equipment, dynamically adjusting the docking parameters, and designing a fault warning and recovery mechanism, the accuracy and efficiency of the docking between the test head and the user interface board and external equipment are ensured, the docking requirements of the ATE equipment in different test scenarios are met, and the stability and reliability of the test system are enhanced.

[0123] Fig. 9 5 is a structural diagram of a computing device 500 provided in an embodiment of the present application. The computing device 500 includes: a processor 510 , a memory 520 , a communication interface 530 , and a bus 540 .

[0124] It should be understood that Fig. 9 The communication interface 530 in the computing device 500 shown may be used to communicate with other devices.

[0125] The processor 510 may be connected to a memory 520. The memory 520 may be used to store the program code and data. Therefore, the memory 520 may be a storage unit inside the processor 510, or an external storage unit independent of the processor 510, or a component including a storage unit inside the processor 510 and an external storage unit independent of the processor 510.

[0126] Optionally, the computing device 500 may further include a bus 540. The memory 520 and the communication interface 530 may be connected to the processor 510 via the bus 540. The bus 540 may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus 540 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig. 9 The fact that only one line is used in the diagram does not mean that there is only one bus or only one type of bus.

[0127] It should be understood that in the embodiment of the present application, the processor 510 may adopt a central processing unit (CPU). The processor may also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. Alternatively, the processor 510 may adopt one or more integrated circuits to execute relevant programs to implement the technical solutions provided in the embodiment of the present application.

[0128] The memory 520 may include a read-only memory and a random access memory, and provides instructions and data to the processor 510. A portion of the processor 510 may also include a nonvolatile random access memory. For example, the processor 510 may also store information on the device type.

[0129] When the computing device 500 is running, the processor 510 executes the computer-executable instructions in the memory 520 to perform the operating steps of the above method.

[0130] It should be understood that the computing device 500 according to the embodiment of the present application can correspond to the corresponding subjects in the methods according to the embodiments of the present application, and the above-mentioned other operations and / or functions of each module in the computing device 500 are respectively for realizing the corresponding processes of each method of the present embodiment. For the sake of brevity, they will not be repeated here.

[0131] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0132] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0133] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0134] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0135] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0136] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0137] An embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, it is used to execute the above method, which includes at least one of the solutions described in the above embodiments.

[0138] The computer storage medium of the embodiment of the present application can adopt any combination of one or more computer-readable media. Computer-readable media can be computer-readable signal media or computer-readable storage media. Computer-readable storage media can be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination of the above. More specific examples (non-exhaustive lists) of computer-readable storage media include: electrical connections with one or more wires, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this document, computer-readable storage media can be any tangible medium containing or storing programs, which can be used by instruction execution systems, devices or devices or used in combination with them.

[0139] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0140] The program code embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0141] Computer program code for performing the operation of the present application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (e.g., using an Internet service provider to connect through the Internet).

[0142] It should be noted that the embodiments described in the present application are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application usually described and shown in the drawings can be arranged and designed in various different configurations. Therefore, the above detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0143] The words "first, second, third, etc." or module A, module B, module C and other similar terms in the specification and claims are only used to distinguish similar objects and do not represent a specific ordering of the objects. It is understandable that the specific order or sequence can be interchanged where permitted so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0144] In the above description, the numbers representing the steps involved do not necessarily mean that the steps will be executed. Intermediate steps may be included or replaced by other steps. The order of the previous and next steps may be interchanged or executed simultaneously if permitted.

[0145] The term "comprising" as used in the description and claims should not be interpreted as being limited to what is listed thereafter; it does not exclude other elements or steps. Therefore, it should be interpreted as specifying the presence of the features, integers, steps or components mentioned, but does not exclude the presence or addition of one or more other features, integers, steps or components and groups thereof. Therefore, the expression "a device comprising means A and B" should not be limited to a device consisting of components A and B only.

[0146] The "one embodiment" or "embodiment" mentioned in this specification means that the specific features, structures or characteristics described in conjunction with the embodiment are included in at least one embodiment of the present application. Therefore, the terms "in one embodiment" or "in an embodiment" appearing in various places in this specification do not necessarily refer to the same embodiment, but may refer to the same embodiment. In addition, in the various embodiments of the present application, if there is no special explanation and logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced to each other, and the technical features in different embodiments can be combined to form a new embodiment according to their inherent logical relationship.

[0147] Note that the above are only preferred embodiments of the present application and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present application is described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may also include more other equivalent embodiments without departing from the concept of the present invention, all of which belong to the protection scope of the present invention.

Claims

1. A docking control method for ATE equipment, characterized in that: The method is used to realize docking control between the test head and the device to be docked, wherein the docking control includes locking control or unlocking control, and the device to be docked includes a user interface panel and / or an external device, and the method includes: Acquiring posture information of the test head, position information of the user interface board and / or external device; After determining that the test head and the user interface board meet a first docking condition according to the posture information of the test head and the position information of the user interface board, controlling the docking motor to perform docking control of the test head and the user interface board according to the docking instruction of the user interface board; and / or, After determining that the test head, the user interface board and the external device meet the second docking condition according to the posture information of the test head, the position information of the user interface board and the external device, the docking motor is controlled according to the external device docking instruction to perform docking control of the test head and the external device.

2. The method according to claim 1, characterized in that: The step of determining, based on the posture information of the test head and the position information of the user interface board, that the test head and the user interface board meet a first docking condition comprises: It is determined that the rotation angle of the test head is within a preset range according to the posture information of the test head, and it is determined that the user interface panel is in a position state according to the position information of the user interface panel.

3. The method according to claim 2, characterized in that Also includes: When it is determined according to the posture information of the test head that the rotation angle of the test head is not within a preset range, generating an alarm prompt information according to the test head posture error type; and / or, When it is determined according to the position information of the user interface panel that the user interface panel is not in the in-position state, an alarm prompt message is generated according to the type of the user interface panel state error.

4. The method according to claim 1, characterized in that: The step of determining, based on the posture information of the test head, the position information of the user interface board and the external device, that the test head, the user interface board and the external device meet the second docking condition comprises: Determining that the test head and the user interface board are in a locked state according to the posture information of the test head and the position information of the user interface board; According to the posture information of the test head, it is determined that the rotation angle of the test head is within a preset range, according to the posture information of the test head, it is determined that the position of the test head is at a specified docking position, and according to the position information of the external device, it is determined that the external device is in place.

5. The method according to claim 4, characterized in that Also includes: When it is determined according to the posture information of the test head and the position information of the user interface board that the test head and the user interface board are not in a locked state, generating an alarm prompt message; and / or, When it is determined according to the posture information of the test head that the rotation angle of the test head is not within a preset range, an alarm prompt message is generated according to the test head posture error type, and the rotation angle of the test head is adjusted to reach the preset range according to the position information of the external device; and / or, When it is determined according to the posture information of the test head that the rotation angle of the test head is not at the designated docking position, an alarm prompt message is generated according to the test head posture error type, and the position of the test head is adjusted to the designated docking position according to the position information of the external device; and / or, It is determined that the external device is not in the in-position state according to the position information of the external device, an alarm prompt message is generated according to the error type of the external device state, and the test head is controlled to maintain the current posture or return to the initial position.

6. The method according to any one of claims 2 to 5, characterized in that: The preset range includes at least one of the following: Between the positive and negative thresholds of 0 degree angle, between the positive and negative thresholds of 90 degree angle, and between the positive and negative thresholds of 180 degree angle; The 0 degree is the angle when the test head faces upward, and the threshold is the angle deviation value allowed by docking control.

7. The method according to claim 1, characterized in that The user interface panel docking instruction includes a user interface panel locking instruction or a user interface panel unlocking instruction; The method of controlling the docking motor to perform docking control between the test head and the user interface board according to the docking instruction of the user interface board includes: Controlling the docking motor to perform locking control of the test head and the user interface board according to the user interface board locking instruction; or, The docking motor is controlled according to the unlocking instruction of the user interface board to execute the unlocking control of the test head and the user interface board.

8. The method according to claim 1, characterized in that The external device docking instruction includes an external device locking instruction or an external device unlocking instruction; The step of controlling the docking motor to perform docking control between the test head and the external device according to the docking instruction of the external device includes: Controlling the docking motor to move the test head to a locking position according to a locking instruction of the external device, and performing locking control of the test head and the external device; or, The docking motor is controlled to move the test head to the unlocking position according to the unlocking instruction of the external device, and the unlocking control of the test head and the external device is executed.

9. The method according to claim 1, characterized in that: The step of obtaining the posture information of the test head, the position information of the user interface board and / or the external device includes: Detecting posture information of the test head by an acceleration sensor, the posture information including rotation angle and position information; Detecting the position information of the user interface panel by a position sensor; and / or, The location information of the external device is detected by a proximity sensor.

10. The method according to claim 1 or 9, characterized in that: Also includes: The application scenario of the test head, user interface board and / or external device is scanned by a camera sensor, and the spatial relative position of the test head, user interface board and / or external device in the application scenario is determined based on the scanned application scenario, posture information of the test head, and position information of the user interface board and / or external device.

11. A docking control device for ATE equipment, characterized in that: Used to realize docking control between the test head and the device to be docked, the docking control includes locking control or unlocking control, and the device to be docked includes a user interface panel and / or an external device; the docking control device includes a sensor unit, a docking control unit and a docking motor; The sensor unit is used to obtain the posture information of the test head, the position information of the user interface board and / or the external device; The docking control unit is used to control the docking motor to perform docking control of the test head and the user interface board according to the user interface board docking instruction after determining that the test head and the user interface board meet the first docking condition according to the posture information of the test head and the position information of the user interface board; and / or, The docking control unit is used to control the docking motor to perform docking control between the test head and the external device according to the external device docking instruction after determining that the test head, the user interface board and the external device meet the second docking condition based on the posture information of the test head, the position information of the user interface board and the external device.

12. An ATE test system, characterized in that: It comprises a test head, a device to be docked and the docking control device according to claim 11; The docking control device is used to perform docking control between the test head and the device to be docked, and the device to be docked includes a user interface panel and / or an external device.

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