Calibration method and device of lancet device, computer device and readable storage medium

Abstract

The application relates to the technical field of integrated circuits, in particular to a correction method and device of a lancet device, a computer device and a readable storage medium. The correction method of the lancet device comprises the following steps: acquiring a moving range of a first motor, the moving range comprising a first end point and a second end point, the first motor being used for controlling the movement of the lancet in a horizontal direction; controlling 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 the position each time, controlling a second motor to move downward from an initial height to make the lancet contact a substrate, and recording the first feedback position of the first motor and the second feedback position of the second motor each time the lancet contacts the substrate, the second motor being used for controlling the movement of the lancet in a vertical direction; calculating the height difference between the initial height and each second feedback position; determining a target height difference meeting a preset condition from the multiple height differences; and determining the first feedback position corresponding to the target height difference as the 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

[0002] In the needle transfer technology, one of the core technologies is a high-frequency needle device. The high-frequency needle device usually includes two motors, and the needle is connected to the two motors by 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. Under the cooperation of the two motors, the needle can transfer chips.

[0003] When the needle contacts the substrate, the needle and the substrate form a certain angle. If the angle is not perpendicular, the final transfer accuracy will be affected. In related technologies, the angle between the needle and the substrate is usually installed manually. Even if the mechanical design has positioning holes, this method still has human installation errors, positioning hole processing errors, and substrate plane errors, which affect the angle deviation between the needle and the substrate, and this affects the chip transfer accuracy. SUMMARY

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

[0005] To achieve the above purpose, in one aspect, a correction method for a needle device is provided, comprising:

[0006] obtaining a movement range of a first motor, the movement range including a first end point and a second end point, the first motor being used to control the movement of the needle in the horizontal direction;

[0007] controlling 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 the position each time, controlling a second motor to move downward from an 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 being used to control the vertical movement of the needle;

[0008] calculating the height difference between the initial height and each second feedback position;

[0009] determining a target height difference that meets a preset condition from a plurality of height differences;

[0010] determining the first feedback position corresponding to the target height difference as the 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 by a preset step distance, and after the first motor is moved to a position each time, the second motor is controlled to move downward from an initial height to make the lancet 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 lancet contacts the substrate, the second motor being used to control the vertical movement of the lancet, comprising:

[0012] When the first motor does not reach the second end point, the first motor is controlled to move to a position by the preset step distance, and then the second motor is controlled to move downward from the initial height to make the lancet 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 lancet 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 by a preset step distance, and after the first motor is moved to a position each time, the second motor is controlled to move downward from an initial height to make the lancet 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 lancet contacts the substrate, the second motor being used to control the vertical movement of the lancet, comprising:

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

[0016] In one embodiment, when the first motor does not reach the second end point, the first motor is controlled to move to a position by the preset step distance, and then the second motor is controlled to move downward from the initial height to make the lancet 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 lancet contacts the substrate, comprising:

[0017] The height of the second motor and the corresponding current value are obtained;

[0018] In the case where 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, the target height difference that meets a preset condition is determined from a plurality of height differences, comprising:

[0020] The height difference with the smallest value is determined from a plurality of height differences, and the height difference with the smallest value is determined as the target height difference.

[0021] In one of the embodiments, after the first feedback position corresponding to the target height difference is determined as the correction value of the first motor, the method comprises:

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

[0023] In one aspect, a correction device for a lancet device is provided, and the device comprises:

[0024] The acquisition module is configured to acquire a movement range of a first motor, the movement range comprising a first end point and a second end point, the first motor being configured to control movement of a lancet in a horizontal direction.

[0025] The control module is configured to 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 into position each time, control a second motor to move downward from an initial height to make the lancet contact a substrate, and record a first feedback position of the first motor and a second feedback position of the second motor each time the lancet contacts the substrate, the second motor being configured to control movement of the lancet in a vertical direction.

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

[0027] The first determination module is configured to determine a target height difference that meets a preset condition from a plurality of the height differences.

[0028] The second determination module is configured 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, the memory storing a computer program, and the processor implementing the following steps when executing the computer program:

[0030] The acquisition module is configured to acquire a movement range of a first motor, the movement range comprising a first end point and a second end point, the first motor being configured to control movement of a lancet in a horizontal direction.

[0031] The control module is configured to 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 into position each time, control a second motor to move downward from an initial height to make the lancet contact a substrate, and record a first feedback position of the first motor and a second feedback position of the second motor each time the lancet contacts the substrate, the second motor being configured to control movement of the lancet 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 from the plurality of height differences that meets a preset condition;

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

[0035] In one aspect, a computer readable storage medium is provided, which stores a computer program, and the computer program is executed by a processor to implement the following steps:

[0036] obtaining a movement range of a first motor, the movement range comprising a first end point and a second end point, the first motor being configured to control a horizontal movement of a lancet;

[0037] controlling the first motor to move from the first end point to the second end point by a preset step distance, and after each time the first motor is moved to the position, controlling a second motor to move downward from an initial height to make the lancet contact a substrate, and recording a first feedback position of the first motor and a second feedback position of the second motor each time the lancet contacts the substrate, the second motor being configured to control a vertical movement of the lancet;

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

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

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

[0041] In one aspect, a computer program product is provided, which comprises a computer program, and the computer program is executed by a processor to implement the following steps:

[0042] obtaining a movement range of a first motor, the movement range comprising a first end point and a second end point, the first motor being configured to control a horizontal movement of a lancet;

[0043] controlling the first motor to move from the first end point to the second end point by a preset step distance, and after each time the first motor is moved to the position, controlling a second motor to move downward from an initial height to make the lancet contact a substrate, and recording a first feedback position of the first motor and a second feedback position of the second motor each time the lancet contacts the substrate, the second motor being configured to control a vertical movement of the lancet;

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

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

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

[0047] The correction method, device, computer device and readable storage medium of the lancet device 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 lancet to move downward in a tilt-vertical-tilt manner. Then, the distance that the second motor moves downward to make the lancet contact the substrate in each movement of the first motor is obtained by calculating the height difference between the initial height and each second feedback position. It can be understood that the distance that the second motor moves downward when the lancet moves vertically downward is different from the distance that the second motor moves downward when the lancet moves obliquely downward. Further, the distance that the second motor moves downward when the lancet moves vertically downward can be shorter than the distance that the second motor moves downward when the lancet moves obliquely downward. The first feedback position of the first motor corresponding to the target height difference is determined as the correction value of the first motor, so that the first motor can cooperate with the second motor to control the lancet to move vertically downward accurately, and then the chip is accurately transferred. BRIEF DESCRIPTION OF DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description only constitute some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort.

[0049] Figure 1 a flowchart of the correction method of the lancet device provided in an embodiment;

[0050] Figure 2 a schematic diagram of the lancet device provided in an embodiment;

[0051] Figure 3 a schematic diagram of the lancet device provided in another embodiment;

[0052] Figure 4 a schematic diagram of the lancet device provided in another embodiment;

[0053] Figure 5 a flowchart of the correction method of the lancet device provided in another embodiment;

[0054] Figure 6 a schematic diagram of the correction device of the lancet device provided in an embodiment.

[0055] Reference signs: first motor-100; lancet-200; second motor-300; connecting structure-400; base plate-500.

[0056] For a better description and illustration of the embodiments and / or examples of the inventions disclosed herein, reference can be made to one or more accompanying drawings. Additional details or examples used to describe the drawings should not be considered as limiting the scope of any of the disclosed inventions, the presently described embodiments and / or examples, and the best mode presently understood of these inventions. DETAILED DESCRIPTION

[0057] For the purpose of facilitating the understanding of the present application, a more complete description of the present application will be made with reference to the accompanying drawings. The preferred embodiments of the present application are shown in the drawings. However, the present application can be realized in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided for the purpose of making 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 commonly understood by one of ordinary skill in the art to which the present application belongs. The terminology used in the description of the present application herein only for the purpose of describing the specific embodiments, and is not intended to limit the present application.

[0059] In various embodiments, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, can be fixedly connected, or can be detachably connected, or can be integrated; can be mechanically connected, or can be electrically connected; can be directly connected, or can be indirectly connected through an intermediate medium; can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those of ordinary skill in the art, the specific meaning of the above-mentioned terms in various embodiments can be understood according to the specific circumstances.

[0060] It will be understood that when an element or layer is referred to as being "on" or "connected to" another element or layer, it can be directly on or connected to the other element or layer or intervening elements or layers can be present. In contrast, when an element is referred to as being "directly on" or "directly connected to" another element or layer, there are no intervening elements or layers present. It will also be understood that, although the terms first, second, third, etc. can be used herein to describe various elements, components, regions, layers and / or sections, these elements, components, regions, layers and / or sections should not be limited by these terms. These terms are only used to distinguish one element, component, region, layer or section from another element, component, region, layer or section. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the present embodiments.

[0061] Spatially relative terms, such as "beneath", "below", "lower", "under", "above", "upper" and the like, can be used herein for ease of description to describe one element or feature's relationship to another element(s) or feature(s) as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use and / or operation in addition to the orientations depicted in the figures. For example, if a device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" or "over" the other elements or features. Thus, the exemplary term "below" can encompass both an orientation of above and below. The device can also be oriented in the other directions (for example, rotated 90 degrees or at other orientations) and the spatial description terminology used herein is interpreted accordingly.

[0062] As used herein, the singular form "a", "an" and "the" include plural references unless the context clearly dictates otherwise. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0063] Embodiments of the application will be described herein with reference to cross-sectional illustrations that are schematic for purposes of the present description, it being understood that the shapes of the various features of the drawings are exaggerated for clarity and therefore are not drawn to scale. The embodiments of the application described herein are to be considered in a descriptive sense only and not for purposes of limitation. Descriptions of features or aspects within each embodiment should typically be considered as available for combination with features or aspects of the other embodiments. Similarly, it is to be understood that the embodiments of the application are not limited in their application to the details of construction or the arrangement of components set forth in the description or illustrated in the drawings. The embodiments of the application are capable of implementation in any of various configurations.

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

[0065] Step S100: obtaining a moving range of a first motor 100, the moving range comprising a first end point and a second end point, the first motor 100 being configured to control a horizontal movement of the lancet 200.

[0066] Step S200: controlling the first motor 100 to move from the first end point to the second end point with a preset step distance, and after each movement of the first motor 100, controlling a second motor 300 to move downward from an initial height to make the lancet 200 contact a substrate 500, and recording a first feedback position of the first motor 100 and a second feedback position of the second motor 300 when the lancet 200 contacts the substrate 500 each time, the second motor 300 being configured to control a vertical movement of the lancet 200.

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

[0068] Step S400: determining a target height difference meeting a preset condition from the plurality of height differences.

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

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

[0071] The moving range of the first motor 100 can be 1 cm, 0.5 cm, etc. The embodiment is not limited to 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 can be 0 and 1 cm, respectively.

[0072] In step S200, the second motor 300 is used to control the vertical movement of the needle 200. The first motor 100 and the second motor 300 are connected to the needle 200 via a connecting structure 400. For example, during each descent of the second motor 300, the second motor 300 can control the needle 200 to contact the substrate 500. The connecting structure 400 may include an elastic connecting structure. This connecting structure 400 can 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 0.01mm, 0.1mm, 0.5mm, 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, each time by a preset step distance, until it moves to the second end point ( Figure 3 After the first motor 100 moves into position 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 represent 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 can be 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 tilted ( Figure 2 ), then vertically ( Figure 4 ), and finally tilt ( Figure 3 ) mode moves toward 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. This 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 will be understood that this height difference can be used to represent the descending distance of the second motor 300 during 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 a correction value of the first motor 100. It is 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, the first motor 100 is first controlled to move from a first endpoint to a second endpoint, so that the first motor 100 and the second motor 300 can coordinate to control the needle 200 to move downward in a tilt-vertical-tilt manner. Subsequently, this embodiment calculates the height difference between the initial height and each second feedback position to obtain the distance the second motor 300 moves downward to bring the needle 200 into contact with the substrate 500 during each movement of the first motor 100. It will be appreciated 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 tilted downward. Furthermore, 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 tilted downward. In this embodiment, the target height difference can be the minimum height difference among multiple height differences, and the first feedback position of the first motor 100 corresponding to this target height difference can be the forward (or backward) distance the first motor 100 moves when controlling the needle 200 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 does not reach the second end point, after the first motor 100 is controlled to move to the position with the preset step distance, the second motor 300 is controlled to move downward from the initial height to make the lancet 200 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 lancet 200 contacts the substrate 500.

[0082] Step S211: The second motor 300 is controlled to return to the initial height.

[0083] In step S210, it can be judged whether the first motor 100 reaches the second end point before each movement of the first motor 100. In the case where the first motor 100 does not reach the second end point, the first motor 100 can be controlled to move (for example, move right by a preset step distance). After the first motor 100 moves to the position, the second motor 300 can be controlled to move downward from the initial height until the lancet 200 contacts the substrate 500.

[0084] In step S211, after the second motor 300 moves to the lowest point (the lancet 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 judged again whether the first motor 100 reaches the second end point. It can be understood that step S200 further includes:

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

[0087] When the first motor 100 reaches the second end point, it indicates that this test is completed, and the second motor 300 does not need to be controlled to move downward from the initial height. As an example, when the first motor 100 reaches the second end point, a prompt information can be sent to remind that this 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: In the case where 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.

[0091] In step S2100, the height of the second motor 300 and the corresponding current value can be obtained 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, when the second motor 300 is running, the current of the second motor 300 will surge when the second motor 300 is subjected to a certain resistance (i.e., when the lancet 200 contacts the substrate 500). Therefore, when the current value is greater than the preset current value, it can be indicated that the lancet 200 contacts the substrate 500 at this moment, i.e., the second motor 300 moves to the lowest point, at which 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, it can be determined whether the height of the second motor 300 at this moment is the second feedback position by using the change of the current of the second motor 300, and the second feedback position of the second motor 300 can be accurately determined.

[0094] In one embodiment, step S400 comprises:

[0095] Step S410: Among the plurality of height differences, determine the height difference with the smallest value, and determine the height difference with the smallest value as the target height difference.

[0096] As an example, the plurality of height differences can 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 make the lancet 200 move vertically downward.

[0097] In one embodiment, after step S500, comprising:

[0098] Step S600: Based on the correction value of the first motor 100, determine the working parameters of the first motor 100 and the second motor 300, 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 the moving parameters of the first motor 100 and the second motor 300 are set in the setting process, the first motor 100 moves the distance of the correction value, and the second motor 300 moves downward to make the lancet 200 move vertically downward and transfer the chip.

[0100] It should be understood that, although Figure 1 and Figure 5 the steps in the flowcharts are displayed in sequence according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other orders. Moreover, Figure 1 and Figure 5At least one of the steps in the above method can include multiple steps or multiple stages, which are not necessarily performed at the same time, but can be performed at different times, and the order of the steps or stages is not necessarily sequential, but can be performed alternately or alternately with at least one of the other steps or steps in the other steps.

[0101] Based on the same inventive concept, the embodiments of the present application also provide a correction device for the above-mentioned needle 200 device correction method. The problem-solving implementation scheme provided by the device is similar to the implementation scheme described in the above method, so the specific limitations in one or more needle 200 device correction device embodiments provided below can refer to the limitations of the needle 200 device correction method in the above, which will not be repeated here.

[0102] In one embodiment, as shown in Figure 6 A correction device for the 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 configured to acquire a movement range of the first motor 100, the movement range comprising a first end point and a second end point, and the first motor 100 is configured to control the movement of the needle 200 in the horizontal direction.

[0104] The control module is configured 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 the first motor 100 moves into position each time, control the second motor 300 to move downward from an 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, and the second motor 300 is configured to control the movement of the needle 200 in the vertical direction.

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

[0106] The first determination module is configured to determine a target height difference that meets a preset condition from a plurality of height differences.

[0107] The second determination module is configured 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 movement 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 so that the needle 200 contacts 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 operating when the first motor 100 reaches the second endpoint.

[0110] In one embodiment, the control module is further used to obtain the height of the second motor 300 and the corresponding current value; 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.

[0111] In one embodiment, the first determining 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 operating 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 for the needle 200 device may be implemented in whole or in part through software, hardware, or a combination thereof. Each module may be embedded in or independent of a processor in a computer device in the form of hardware, or may be stored in a memory in the 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. The memory stores a computer program, 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 skilled 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. The computer program can be stored in a non-volatile computer readable storage medium, and when executed, can include the processes of the above-mentioned embodiment methods. In the embodiments provided in the present application, any reference to memory, database or other medium can include at least one of non-volatile memory and volatile memory. The non-volatile memory can include read-only memory (Read-Only Memory, ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive random access memory (Resistive Random Access Memory, ReRAM), magnetoresistive random access memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric random access memory (Ferroelectric Random Access Memory, FRAM), phase change memory (Phase Change Memory, PCM), graphene memory, etc. The volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, etc. As an illustration but not limitation, the RAM can be in various forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (Artificial Intelligence, AI) processor, etc., without being limited thereto. In the description of the present application, the description of the terms "some embodiments", "other embodiments", "ideal embodiments", etc. means that the specific features, structures, materials or characteristics described in connection with the embodiments or examples are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms does not necessarily mean the same embodiment or example. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that the "present embodiment" or "one embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiments are included in at least one embodiment of the present application.Therefore, "in one embodiment" or "in an embodiment" appearing in various portions of the specification are not necessarily all referring to the same embodiment.

[0118] Any technical features in the above-described embodiments can be combined in any manner, and for brevity, not all possible combinations are described, but it should be understood that any combination of the technical features is within the scope of the present application.

[0119] The above-described embodiments are merely representative of several embodiments of the present application, and the description is relatively specific and detailed, but should not be construed as limiting the scope of the patent application. It should be noted that for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present application, and these are within the scope of the present application. Therefore, the scope of the patent of the present application should be based on the appended claims. The above-described is only the preferred embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structural transformation made based on the content of the present application specification and drawings, or direct / indirect application in other related technical fields is included in the patent protection scope of the present application.

Claims

1. A method for calibrating a needle device, characterized in that: include: Obtaining a moving range of a first motor, wherein the moving range includes a first endpoint and a second endpoint, and the first motor is used to control the needle to move in a horizontal direction; Controlling the first motor to move from the first end point to the second end point at a preset step distance, and controlling the second motor to move downward from an initial height to allow the needle to contact the substrate after each movement of the first motor, 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, wherein the second motor is used to control the needle to move in a vertical direction, the first motor and the second motor being connected to the needle via a connecting structure, the connecting structure comprising an elastic connecting structure, and the connecting structure being movably connected to both the first motor and the second motor; calculating a height difference between the initial height and each of the second feedback positions; Determining a height difference with the smallest value among the plurality of height differences, and determining the height difference with the smallest value as a target height difference that meets a preset condition; 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 each movement of the first motor into position, the second motor is controlled to move downward from an initial height so that the needle contacts 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, wherein the second motor is used to control the needle to move in the vertical direction, including: When the first motor has not reached the second end point, controlling the first motor to move to a position with the preset step distance, and then controlling the second motor to move downward from the initial height so that the needle contacts 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 controlled to return to the initial height.

3. The calibration method of the 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 each movement of the first motor into position, the second motor is controlled to move downward from an initial height so that the needle contacts 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, wherein the second motor is used to control the needle to move in the 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 has not reached the second endpoint, controlling the first motor to move to a position with the preset step distance, then controlling the second motor to move downward from the initial height so that the needle contacts 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 and corresponding current value of the second motor; 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: After determining the first feedback position corresponding to the target height difference as the correction value of the first motor, the method further includes: 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.

6. A calibration device for a needle device, characterized in that: The device comprises: an acquisition module, configured to acquire a moving range of a first motor, wherein the moving range includes a first end point and a second end point, and wherein the first motor is configured to control the needle to move in a horizontal direction; a control module, configured to control 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 into position, control the second motor to move downward from an initial height so that the needle contacts the substrate, and record a first feedback position of the first motor and a second feedback position of the second motor each time the needle contacts the substrate, wherein the second motor is configured to control the needle to move in a vertical direction, the first motor and the second motor being connected to the needle via a connecting structure, the connecting structure comprising an elastic connecting structure, and the connecting structure being movably connected to both the first motor and the second motor; a calculation module, configured to calculate a height difference between the initial height and each of the second feedback positions; A first determining module is configured to determine a height difference with a minimum value among the plurality of height differences, and determine the height difference with the minimum value as a target height difference meeting a preset condition; The second determining module is configured to determine the first feedback position corresponding to the target height difference as a correction value of the first motor.

7. The device according to claim 6, characterized in that The control module is further configured to, when the first motor has not reached the second endpoint, control the first motor to move to the position with the preset step distance, then control the second motor to move downward from the initial height so that the needle contacts 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; and control the second motor to return to the initial height.

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 5 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 5 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 5 are implemented.

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