Method and device for correcting pricking needle equipment, computer equipment and readable storage medium

Abstract

The invention relates to the technical field of integrated circuits, in particular to a pricking pin equipment correction method and device, computer equipment and a readable storage medium. The pricking needle equipment correction method comprises the steps that the moving range of a first motor is obtained, the moving range comprises a first end point and a second end point, and the first motor is used for controlling a pricking needle to move in the horizontal direction; controlling the first motor to move from the first end point to the second end point at a preset step pitch, controlling the second motor to move downwards from the initial height after the first motor moves in place each time so as to enable the pricking needle to contact with the substrate, and recording a first feedback position of the first motor and a second feedback position of the second motor when the pricking needle contacts with the substrate each time, the second motor is used for controlling the pricking needle to move in the vertical direction; calculating a height difference between the initial height and each second feedback position; determining a target height difference meeting a preset condition in the plurality of height differences; and determining a first feedback position corresponding to the target height difference as a correction value of the first motor.

Description

Technical Field

[0001] The present application relates to the technical field of integrated circuits, and in particular to a correction method and device for a needle device, a computer device and a readable storage medium. Background Art

[0002] One of the core technologies of needle transfer technology is the high-frequency acupuncture device. Usually, the high-frequency acupuncture device contains two motors, and the needle is connected to the two motors with a flexible hinge structure. One motor controls the vertical movement of the needle, and the other motor controls the horizontal (left and right) movement of the needle. With the cooperation of the two motors, the needle can transfer the chip.

[0003] When the needle contacts the substrate, there is a certain angle between the needle and the substrate. If the angle is not vertical enough, it will affect the final transfer accuracy. In related technologies, the angle between the needle and the substrate is often installed manually. Even if the machine has a positioning hole, this method still has factors such as human installation error, positioning hole processing error, and substrate plane error, which makes the angle between the needle and the substrate deviate greatly, which will affect the chip transfer accuracy. Summary of the invention

[0004] Based on this, it is necessary to provide a correction method, device, computer device and readable storage medium for a needle device to address the problem of large angle deviation between the needle and the substrate in the prior art.

[0005] In order to achieve the above object, on the one hand, a calibration method of a needle device is provided, comprising:

[0006] Acquire a moving range of a first motor, wherein the moving range includes a first end point and a second end point, and the first motor is used to control the needle to move in a horizontal direction;

[0007] Control the first motor to move from the first end point to the second end point at a preset step distance, and after the first motor moves to a position each time, control the second motor to move downward from an initial height to make the needle contact the substrate, and record the first feedback position of the first motor and the second feedback position of the second motor each time the needle contacts the substrate, the second motor is used to control the needle to move in a vertical direction;

[0008] calculating a height difference between the initial height and each of the second feedback positions;

[0009] Determining a target height difference that meets a preset condition among the plurality of height differences;

[0010] The first feedback position corresponding to the target height difference is determined as a correction value of the first motor.

[0011] In one embodiment, the first motor is controlled to move from the first end point to the second end point at a preset step distance, and after the first motor moves to a position each time, the second motor is controlled to move downward from an initial height to make the needle contact the substrate, and the first feedback position of the first motor and the second feedback position of the second motor are recorded each time the needle contacts the substrate, and the second motor is used to control the needle to move in a vertical direction, including:

[0012] When the first motor has not reached the second end point, after controlling the first motor to move to the position with the preset step length, controlling the second motor to move downward from the initial height to make the needle contact the substrate, and recording the first feedback position of the first motor and the second feedback position of the second motor each time the needle contacts the substrate;

[0013] The second motor is controlled to return to the initial height.

[0014] In one embodiment, the first motor is controlled to move from the first end point to the second end point at a preset step distance, and after the first motor moves to a position each time, the second motor is controlled to move downward from an initial height to make the needle contact the substrate, and the first feedback position of the first motor and the second feedback position of the second motor are recorded each time the needle contacts the substrate, and the second motor is used to control the needle to move in a vertical direction, including:

[0015] When the first motor reaches the second end point, it stops working.

[0016] In one embodiment, when the first motor does not reach the second end point, after controlling the first motor to move to the position with the preset step length, controlling the second motor to move downward from the initial height to make the needle contact the substrate, and recording the first feedback position of the first motor and the second feedback position of the second motor each time the needle contacts the substrate, comprises:

[0017] Obtaining the height of the second motor and the corresponding current value;

[0018] When the current value is greater than a preset current value, the height of the second motor corresponding to the current value is determined as the second feedback position.

[0019] In one embodiment, determining a target height difference that meets a preset condition among the plurality of height differences comprises:

[0020] A height difference with the smallest value is determined among the plurality of height differences, and the height difference with the smallest value is determined as the target height difference.

[0021] In one embodiment, after determining the first feedback position corresponding to the target height difference as the correction value of the first motor, the method includes:

[0022] Based on the correction value of the first motor, operating parameters of the first motor and the second motor are determined so that when the second motor is at a second feedback position corresponding to the target height difference, the first motor is at the position of the correction value.

[0023] In one aspect, a calibration device for a needle device is provided, the device comprising:

[0024] An acquisition module, used for acquiring a moving range of a first motor, wherein the moving range includes a first end point and a second end point, and the first motor is used for controlling the needle to move in a horizontal direction;

[0025] A control module, used for controlling the first motor to move from the first end point to the second end point at a preset step distance, and after each movement of the first motor to a position, controlling the second motor to move downward from an initial height to make the needle contact the substrate, and recording a first feedback position of the first motor and a second feedback position of the second motor each time the needle contacts the substrate, the second motor is used for controlling the needle to move in a vertical direction, and the second motor is used for controlling the needle to move in a vertical direction;

[0026] a calculation module, configured to calculate a height difference between the initial height and each of the second feedback positions;

[0027] A first determining module, used to determine a target height difference that meets a preset condition among the plurality of height differences;

[0028] The second determination module is used to determine the first feedback position corresponding to the target height difference as a correction value of the first motor.

[0029] In one aspect, a computer device is provided, comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0030] Acquire a moving range of a first motor, wherein the moving range includes a first end point and a second end point, and the first motor is used to control the needle to move in a horizontal direction;

[0031] Control the first motor to move from the first end point to the second end point at a preset step distance, and after the first motor moves to a position each time, control the second motor to move downward from an initial height to make the needle contact the substrate, and record the first feedback position of the first motor and the second feedback position of the second motor each time the needle contacts the substrate, the second motor is used to control the needle to move in a vertical direction;

[0032] calculating a height difference between the initial height and each of the second feedback positions;

[0033] Determining a target height difference that meets a preset condition among the plurality of height differences;

[0034] The first feedback position corresponding to the target height difference is determined as a correction value of the first motor.

[0035] In one aspect, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0036] Acquire a moving range of a first motor, wherein the moving range includes a first end point and a second end point, and the first motor is used to control the needle to move in a horizontal direction;

[0037] Control the first motor to move from the first end point to the second end point at a preset step distance, and after the first motor moves to a position each time, control the second motor to move downward from an initial height to make the needle contact the substrate, and record the first feedback position of the first motor and the second feedback position of the second motor each time the needle contacts the substrate, the second motor is used to control the needle to move in a vertical direction;

[0038] calculating a height difference between the initial height and each of the second feedback positions;

[0039] Determining a target height difference that meets a preset condition among the plurality of height differences;

[0040] The first feedback position corresponding to the target height difference is determined as a correction value of the first motor.

[0041] In one aspect, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0042] Acquire a moving range of a first motor, wherein the moving range includes a first end point and a second end point, and the first motor is used to control the needle to move in a horizontal direction;

[0043] Control the first motor to move from the first end point to the second end point at a preset step distance, and after the first motor moves to a position each time, control the second motor to move downward from an initial height to make the needle contact the substrate, and record the first feedback position of the first motor and the second feedback position of the second motor each time the needle contacts the substrate, the second motor is used to control the needle to move in a vertical direction;

[0044] calculating a height difference between the initial height and each of the second feedback positions;

[0045] Determining a target height difference that meets a preset condition among the plurality of height differences;

[0046] The first feedback position corresponding to the target height difference is determined as a correction value of the first motor.

[0047] The correction method, device, computer device and readable storage medium of the needle device of the present application have the following beneficial effects: First, the first motor is controlled to move from the first end point to the second end point, so that the first motor can cooperate with the second motor to control the needle to move downward in an inclined-vertical-inclined manner. Afterwards, by calculating the height difference between the initial height and each second feedback position, the distance that the second motor moves downward so that the needle contacts the substrate in each movement of the first motor is obtained. It can be understood that the distance that the second motor moves downward when the needle moves vertically downward is different from the distance that the second motor moves downward when the needle moves obliquely downward. Further, the distance that the second motor moves downward when the needle moves vertically downward can be shorter than the distance that the second motor moves downward when the needle moves obliquely downward. The present application determines the first feedback position of the first motor corresponding to the target height difference as the correction value of the first motor, so that the first motor can be accurately controlled to cooperate with the second motor to control the needle to move vertically downward, thereby accurately transferring the chip. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the conventional technology, the drawings required for use in the embodiments or the conventional technology descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0049] Figure 1 is a flow chart of a calibration method for a needle device provided in one embodiment;

[0050] Figure 2 is a schematic diagram of a puncture needle device provided in one embodiment;

[0051] Figure 3 A schematic diagram of a puncture needle device provided in another embodiment;

[0052] Figure 4 is a schematic diagram of a puncture device provided in yet another embodiment;

[0053] Figure 5 A flowchart of a calibration method for a needle device provided in another embodiment;

[0054] Figure 6 Schematic diagram of a correction device for a needle device provided in one embodiment.

[0055] Description of reference numerals: first motor 100; needle 200; second motor 300; connecting structure 400; substrate 500.

[0056] In order to better describe and illustrate the embodiments and / or examples of the inventions disclosed herein, reference may be made to one or more drawings. The additional details or examples used to describe the drawings should not be considered as limiting the scope of any of the disclosed inventions, the embodiments and / or examples currently described, and the best modes of these inventions currently understood. DETAILED DESCRIPTION

[0057] In order to facilitate understanding of the present application, the present application will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present application are given in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0058] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0059] In each embodiment, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in each embodiment can be understood according to the specific situation.

[0060] It should be understood that when an element or layer is referred to as being "on, adjacent to, or connected to other elements or layers, it may be directly on, adjacent to, or connected to other elements or layers, or there may be intervening elements or layers. In contrast, when an element is referred to as being "directly on, directly adjacent to, or directly connected to other elements or layers, there may be no intervening elements or layers. It should be understood that, although the terms first, second, third, etc. may be used to describe various elements, components, regions, layers, and / or parts, these elements, components, regions, layers, and / or parts should not be limited by these terms. These terms are merely used to distinguish one element, component, region, layer, doping type, or part from another element, component, region, layer, or part. Therefore, without departing from the teachings of the present embodiment, the first element, component, region, layer, or part discussed below may be represented as a second element, component, region, layer, or part.

[0061] Spatially relative terms such as "under," "beneath," "below," "under," "above," "above," and the like may be used herein to describe the relationship of an element or feature shown in the figures to other elements or features. It should be understood that, in addition to the orientations shown in the figures, spatially relative terms also include different orientations of the device in use and operation. For example, if the device in the accompanying drawings is flipped, an element or feature described as "under other elements" or "under it" or "under it" will be oriented as being "above" the other elements or features. Thus, the exemplary terms "under" and "under" may include both upper and lower orientations. In addition, the device may also include additional orientations (e.g., rotated 90 degrees or other orientations), and the spatial descriptors used herein are interpreted accordingly.

[0062] When used herein, the singular forms "a", "an", and "said / the" may also include plural forms, unless the context clearly indicates otherwise. It should also be understood that when the terms "consisting of" and / or "comprising" are used in this specification, the presence of the features, integers, steps, operations, elements and / or parts can be determined, but the presence or addition of one or more other features, integers, steps, operations, elements, parts and / or groups is not excluded. At the same time, when used herein, the term "and / or" includes any and all combinations of the relevant listed items.

[0063] Embodiments of the present application are described herein with reference to cross-sectional views that are schematic diagrams of ideal embodiments (and intermediate structures) of the present application, so that variations in the shapes shown due to, for example, manufacturing techniques and / or tolerances can be expected. Therefore, embodiments of the present application should not be limited to the specific shapes of the regions shown herein, but include shape deviations due to, for example, manufacturing techniques. The regions shown in the figures are schematic in nature, and their shapes do not represent the actual shapes of the regions of the device, and do not limit the scope of the embodiments of the present application.

[0064] In one embodiment, see Figure 1 , a calibration method for a needle 200 device is provided. Figure 2 , Figure 3 and Figure 4 2 are different schematic diagrams of the needle 200 device. The calibration method of the needle 200 device comprises the following steps:

[0065] Step S100: obtaining a moving range of the first motor 100, wherein the moving range includes a first end point and a second end point, and the first motor 100 is used to control the needle 200 to move in a horizontal direction.

[0066] Step S200: Control the first motor 100 to move from the first end point to the second end point at a preset step distance, and after each movement of the first motor 100 to the position, control the second motor 300 to move downward from the initial height to make the needle 200 contact the substrate 500, and record the first feedback position of the first motor 100 and the second feedback position of the second motor 300 each time the needle 200 contacts the substrate 500. The second motor 300 is used to control the needle 200 to move in the vertical direction.

[0067] Step S300: Calculate the height difference between the initial height and each second feedback position.

[0068] Step S400: determining a target height difference that meets a preset condition among a plurality of height differences.

[0069] Step S500 : determining a first feedback position of the first motor 100 corresponding to the target height difference as a correction value of the first motor 100 .

[0070] In step S100, the first motor 100 is used to control the needle 200 to move in the horizontal direction. As an example, the first motor 100 can control the needle 200 to move in the positive direction and the negative direction of the horizontal direction.

[0071] The moving range of the first motor 100 may be 1 cm, 0.5 cm, etc. This embodiment does not limit the moving range of the first motor 100. As an example, when the moving range of the first motor 100 is 1 cm, the first end point and the second end point of the moving range may be 0 and 1 cm, respectively.

[0072] In step S200, the second motor 300 is used to control the needle 200 to move in the vertical direction. The first motor 100 and the second motor 300 are connected to the needle 200 through the connection structure 400. As an example, in each descent of the second motor 300, the second motor 300 can control the needle 200 to contact the substrate 500. The connection structure 400 may include an elastic connection structure. The connection structure 400 may be movably connected to both the first motor 100 and the second motor 300.

[0073] The preset step distance of the first motor 100 can be 0.01 mm, 0.1 mm, 0.5 mm, etc. This embodiment does not limit the specific value of the preset step distance. Figure 2 and Figure 5 , the first motor 100 can be controlled to be located at the first end point (the leftmost side), and the second motor can be controlled to move to the initial height. After that, the first motor 100 can be controlled to control the needle 200 to move from the first end point to the preset step distance each time until it moves to the second end point ( Figure 3 After the first motor 100 moves to the right side each time, the second motor 300 moves downward from the initial height, and makes the needle 200 contact the substrate 500 (at this time, it can be considered that the second motor 300 has dropped to the lowest point), and then returns to the initial height.

[0074] The first feedback position can be used to indicate the moving distance of the first motor 100. As an example, the number of movements of the first motor 100 during this movement can be determined, and the first feedback position of the first motor 100 is determined based on the number of movements and the preset step size. As an example, when the number of movements is 4 times and the preset step size is 0.1 mm, the first feedback position can be 4*0.1 mm=0.4 mm. The height of the second motor 300 when it is at the lowest point (when the needle 200 contacts the substrate 500) can be the second feedback position. As an example, the encoder data of the first motor 100 and the second motor 300 can be set to be automatically saved to record the first feedback position and the second feedback position respectively.

[0075] In the process of controlling the first motor 100 to move from the first end point to the second end point, the needle is first tilted ( Figure 2 ), and then vertically ( Figure 4 ), and finally tilt ( Figure 3 ) mode moves toward the substrate 500. In this process, it can be ensured that the needle moves downward in a vertical manner at least once.

[0076] In step S300, the initial height may be a fixed value. The present embodiment does not limit the specific value of the initial height. The height difference between the initial height and each second feedback position may be calculated as the absolute value of the difference between the initial height and each second feedback position. It is understood that the height difference may be used to represent the descending distance of the second motor 300 at each movement of the first motor 100.

[0077] In step S400, a target height difference that meets a preset condition may be determined from among the multiple height differences. As an example, a height difference with a minimum value may be determined from among the multiple height differences, and the height difference with the minimum value may be determined as the target height difference. Alternatively, a height difference less than a threshold value may be determined from among the multiple height differences, and the height difference less than the threshold value may be determined as the target height difference.

[0078] In step S500, the first feedback position of the first motor 100 corresponding to the target height difference can be used as the correction value of the first motor 100. It can be understood that when the first motor 100 moves the length of the first feedback position, the second motor 300 can cooperate with the first motor 100 to make the needle vertically downward.

[0079] In this embodiment, first, the first motor 100 is controlled to move from the first end point to the second end point, so that the first motor 100 can cooperate with the second motor 300 to control the needle 200 to move downward in an inclined-vertical-inclined manner. After that, in each movement of the first motor 100, the second motor 300 moves downward so that the needle 200 contacts the substrate 500 by calculating the height difference between the initial height and each second feedback position. It can be understood that the distance the second motor 300 moves downward when the needle 200 moves vertically downward is different from the distance the second motor 300 moves downward when the needle 200 moves obliquely downward. Further, the distance the second motor 300 moves downward when the needle 200 moves vertically downward can be shorter than the distance the second motor 300 moves downward when the needle 200 moves obliquely downward. In this embodiment, the target height difference can be the height difference of the minimum value among multiple height differences, and the first feedback position of the first motor 100 corresponding to the target height difference can be the forward distance (or backward distance) of the first motor 100 when the needle 200 is controlled to move vertically downward. Finally, this embodiment determines the first feedback position of the first motor 100 corresponding to the target height difference as the correction value of the first motor 100, so that the first motor 100 can be accurately controlled to cooperate with the second motor 300 to control the needle 200 to move vertically downward, thereby accurately transferring the chip.

[0080] In one embodiment, step S200 includes:

[0081] Step S210: When the first motor 100 has not reached the second endpoint, the first motor 100 is controlled to move to a preset step distance, and then the second motor 300 is controlled to move downward from an initial height to allow the needle 200 to contact the substrate 500, and the first feedback position of the first motor 100 and the second feedback position of the second motor 300 are recorded each time the needle 200 contacts the substrate 500.

[0082] Step S211: controlling the second motor 300 to return to the initial height.

[0083] In step S210, before each movement of the first motor 100, it can be determined whether the first motor 100 has reached the second end point. When the first motor 100 has not reached the second end point, the first motor 100 can be controlled to move at a preset step distance (for example, move rightward by a preset step distance). After the first motor 100 moves into position, the second motor 300 can be controlled to move downward from the initial height until the needle 200 contacts the substrate 500.

[0084] In step S211, after the second motor 300 moves to the lowest point (the needle 200 contacts the substrate 500), the second motor 300 is controlled to return to the initial height.

[0085] Steps S210 to S211 can be repeated. That is, after the second motor 300 returns to the initial height, it can be determined again whether the first motor 100 has reached the second endpoint. It can be understood that step S200 also includes:

[0086] Step S20: When the first motor 100 reaches the second end point, it stops working.

[0087] When the first motor 100 reaches the second end point, it indicates that the test is completed, and there is no need to control the second motor 300 to move downward from the initial height. As an example, when the first motor 100 reaches the second end point, a prompt message can be issued to remind that the test is completed.

[0088] In one embodiment, step S210 includes:

[0089] Step S2100: Obtain the height of the second motor 300 and the corresponding current value.

[0090] Step S2101: when the current value is greater than the preset current value, the height of the second motor 300 corresponding to the current value is determined as the second feedback position.

[0091] In step S2100 , the height of the second motor 300 and the corresponding current value can be acquired in real time. As an example, the height of the second motor 300 and the corresponding current value can be read from the control system of the second motor 300 .

[0092] In step S2101, during the operation of the second motor 300, when the second motor 300 encounters a certain resistance (i.e., when the needle 200 contacts the substrate 500), the current of the second motor 300 will surge. Therefore, when the current value is greater than the preset current value, it can be indicated that the needle 200 contacts the substrate 500 at this moment, i.e., the second motor 300 moves to the lowest point, and at this time, the height of the second motor 300 is the second feedback position.

[0093] In this embodiment, by acquiring the height of the second motor 300 and the corresponding current value in real time, the change in the current of the second motor 300 can be used to determine whether the height of the second motor 300 at this moment is the second feedback position, and thus the second feedback position of the second motor 300 can be accurately determined.

[0094] In one embodiment, step S400 includes:

[0095] Step S410: determining a height difference with the smallest value among multiple height differences, and determining the height difference with the smallest value as a target height difference.

[0096] As an example, a plurality of height differences may be arranged in order from small to large, and the height difference with the smallest value is determined as the target height difference. In the target height difference, the first motor 100 cooperates with the second motor 300 to move the needle 200 vertically downward.

[0097] In one embodiment, after step S500, the following steps are included:

[0098] Step S600: Based on the correction value of the first motor 100, the operating parameters of the first motor 100 and the second motor 300 are determined so that when the second motor 300 is at the second feedback position corresponding to the target height difference, the first motor 100 is at the position of the correction value.

[0099] As an example, when setting the movement parameters of the first motor 100 and the second motor 300 during the crystal pricking process, when setting the distance of the first motor 100 moving the correction value, the second motor 300 moves downward so that the needle 200 moves vertically downward to transfer the chip.

[0100] It should be understood that although Figure 1 and Figure 5 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 1 and Figure 5At least part of the steps may include multiple steps or multiple stages. These steps or stages are not necessarily performed at the same time, but can be performed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed in turn or alternately with other steps or at least part of the steps or stages in other steps.

[0101] Based on the same inventive concept, the embodiment of the present application also provides a correction device for a needle 200 device for implementing the correction method for the needle 200 device involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific definition of the correction device embodiment of one or more needle 200 devices provided below can refer to the definition of the correction method for the needle 200 device above, and will not be repeated here.

[0102] In one embodiment, Figure 6 As shown, a calibration device for a needle 200 device is provided, comprising: an acquisition module, a control module, a calculation module, a first determination module and a second determination module, wherein:

[0103] The acquisition module is used to acquire the moving range of the first motor 100 , where the moving range includes a first end point and a second end point. The first motor 100 is used to control the needle 200 to move in a horizontal direction.

[0104] The control module is used to control the first motor 100 to move from the first end point to the second end point at a preset step distance, and after each movement of the first motor 100 to the position, control the second motor 300 to move downward from the initial height to make the needle 200 contact the substrate 500, and record the first feedback position of the first motor 100 and the second feedback position of the second motor 300 each time the needle 200 contacts the substrate 500. The second motor 300 is used to control the needle 200 to move in the vertical direction.

[0105] The calculation module is used to calculate the height difference between the initial height and each second feedback position.

[0106] The first determining module is used to determine a target height difference that meets a preset condition among a plurality of height differences.

[0107] The second determination module is used to determine the first feedback position of the first motor 100 corresponding to the target height difference as the correction value of the first motor 100, and the moving distance is determined based on the number of movements of the first motor 100 corresponding to the target height difference and the preset step distance.

[0108] In one embodiment, the control module is also used to control the first motor 100 to move to a preset step distance to reach the second endpoint when the first motor 100 has not reached the second endpoint, and then control the second motor 300 to move downward from the initial height to allow the needle 200 to contact the substrate 500, and record the first feedback position of the first motor 100 and the second feedback position of the second motor 300 each time the needle 200 contacts the substrate 500; and control the second motor 300 to return to the initial height.

[0109] In one embodiment, the control module is further configured to stop the first motor 100 from working when the first motor 100 reaches the second endpoint.

[0110] In one embodiment, the control module is also used to obtain the height of the second motor 300 and the corresponding current value; when the current value is greater than a preset current value, the height of the second motor 300 corresponding to the current value is determined as the second feedback position.

[0111] In one embodiment, the first determination module is further configured to determine a height difference with the smallest value among the multiple height differences, and determine the height difference with the smallest value as the target height difference.

[0112] In one embodiment, the correction device of the needle 200 device also includes a third determination module, which is used to determine the working parameters of the first motor 100 and the second motor 300 based on the correction value of the first motor 100, so that when the second motor 300 is in the second feedback position corresponding to the target height difference, the first motor 100 is in the position of the correction value.

[0113] Each module in the calibration device of the needle 200 device can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the corresponding operations of each module.

[0114] In one embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when executing the computer program.

[0115] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0116] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0117] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., without limitation thereto. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., without limitation thereto. In the description of this application, the description of reference terms such as "some embodiments", "other embodiments", "ideal embodiments" means that the specific features, structures, materials or features described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this application, the schematic description of the above terms does not necessarily refer to the same embodiment or example. In addition, these specific features, structures or characteristics may be combined in one or more embodiments in any suitable manner. It should be understood that reference to “this embodiment” or “one embodiment” throughout the specification means that a particular feature, structure or characteristic related to the embodiment is included in at least one embodiment of the present application.Thus, the appearances of "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily referring to the same embodiment.

[0118] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features of the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of the present application.

[0119] The embodiments described above only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all fall within the scope of protection of the present application. Therefore, the scope of protection of the patent of the present application shall be subject to the attached claims. The above description is only a preferred implementation method of the present application, and does not limit the scope of the patent of the present application. All equivalent structural transformations made by using the contents of the specification and drawings of the present application under the inventive concept of the present application, or direct / indirect application in other related technical fields are included in the scope of protection of the patent of the present application.

Claims

1. A method for calibrating a needle device, characterized in that: include: Acquire a moving range of a first motor, wherein the moving range includes a first end point and a second end point, and the first motor is used to control the needle to move in a horizontal direction; Control the first motor to move from the first end point to the second end point at a preset step distance, and after the first motor moves to a position each time, control the second motor to move downward from an initial height to make the needle contact the substrate, and record the first feedback position of the first motor and the second feedback position of the second motor each time the needle contacts the substrate, the second motor is used to control the needle to move in a vertical direction; calculating a height difference between the initial height and each of the second feedback positions; Determining a target height difference that meets a preset condition among the plurality of height differences; The first feedback position corresponding to the target height difference is determined as a correction value of the first motor.

2. The method for calibrating a needle device according to claim 1, characterized in that: The first motor is controlled to move from the first end point to the second end point at a preset step distance, and after the first motor moves to a position each time, the second motor is controlled to move downward from an initial height to make the needle contact the substrate, and the first feedback position of the first motor and the second feedback position of the second motor are recorded each time the needle contacts the substrate, and the second motor is used to control the needle to move in a vertical direction, including: When the first motor has not reached the second end point, after controlling the first motor to move to the position with the preset step length, controlling the second motor to move downward from the initial height to make the needle contact the substrate, and recording the first feedback position of the first motor and the second feedback position of the second motor each time the needle contacts the substrate; The second motor is controlled to return to the initial height.

3. The method for calibrating a needle device according to claim 2, characterized in that: The first motor is controlled to move from the first end point to the second end point at a preset step distance, and after the first motor moves to a position each time, the second motor is controlled to move downward from an initial height to make the needle contact the substrate, and the first feedback position of the first motor and the second feedback position of the second motor are recorded each time the needle contacts the substrate, and the second motor is used to control the needle to move in a vertical direction, including: When the first motor reaches the second end point, it stops working.

4. The method for calibrating a needle device according to claim 2, characterized in that: When the first motor does not reach the second end point, after controlling the first motor to move to the position with the preset step length, controlling the second motor to move downward from the initial height to make the needle contact the substrate, and recording the first feedback position of the first motor and the second feedback position of the second motor each time the needle contacts the substrate, including: Obtaining the height of the second motor and the corresponding current value; When the current value is greater than a preset current value, the height of the second motor corresponding to the current value is determined as the second feedback position.

5. The method for calibrating a needle device according to claim 1, characterized in that: Determining a target height difference that meets a preset condition among the plurality of height differences comprises: A height difference with the smallest value is determined among the plurality of height differences, and the height difference with the smallest value is determined as the target height difference.

6. The calibration method of a needle device according to claim 1, characterized in that: After determining the first feedback position corresponding to the target height difference as the correction value of the first motor, the method further comprises: Based on the correction value of the first motor, operating parameters of the first motor and the second motor are determined so that when the second motor is at a second feedback position corresponding to the target height difference, the first motor is at the position of the correction value.

7. A calibration device for a needle device, characterized in that: The device comprises: An acquisition module, used for acquiring a moving range of a first motor, wherein the moving range includes a first end point and a second end point, and the first motor is used for controlling the needle to move in a horizontal direction; A control module, used for controlling the first motor to move from the first end point to the second end point at a preset step distance, and after each movement of the first motor to a position, controlling the second motor to move downward from an initial height to make the needle contact the substrate, and recording a first feedback position of the first motor and a second feedback position of the second motor each time the needle contacts the substrate, the second motor is used for controlling the needle to move in a vertical direction, and the second motor is used for controlling the needle to move in a vertical direction; a calculation module, configured to calculate a height difference between the initial height and each of the second feedback positions; A first determining module, used to determine a target height difference that meets a preset condition among the plurality of height differences; The second determination module is used to determine the first feedback position corresponding to the target height difference as a correction value of the first motor.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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