A High-Precision LED Chip and Placement Method and System Based on Collaborative Control

Abstract

This invention relates to the field of LED pick-and-place machine technology, and discloses a high-precision LED pick-and-place machine method and system based on collaborative control. The method includes: setting a standard timing point set in the displacement path of the placement head; dividing the displacement path of the placement head into backward and forward displacement segments; determining whether the current timing point is located within the displacement path of the placement head; if so, performing collaborative control of the placement head's displacement and placement based on the standard displacement speed and the displacement path of the placement head; if not, determining the maximum turning intersection point on the displacement path of the placement head based on the current timing point and the maximum turning angle; if the maximum turning intersection point is located in the forward displacement segment, determining the tangential intersection arc; if the maximum turning intersection point is located in the backward displacement segment, selecting the target turning intersection point; and performing collaborative control of the placement head's displacement and placement based on the standard displacement speed and the tangential intersection arc. This invention can improve the smoothness of the correction trajectory of the LED pick-and-place machine's placement head.

Description

Technical Field

[0001] This invention relates to the field of LED chip mounter technology, and in particular to a high-precision LED chip mounter method and system based on collaborative control. Background Technology

[0002] With the rapid development of electronic manufacturing technology, LED pick-and-place machines, as core equipment in surface mount technology (SMT), have a decisive impact on the quality of electronic products due to their placement accuracy and efficiency. This is especially true in the miniaturization and high-density packaging fields such as Mini LED and Micro LED, where placement accuracy requirements are even higher. However, traditional pick-and-place machines are susceptible to mechanical vibration and environmental interference during high-speed operation, leading to placement position deviations and affecting product yield.

[0003] During the high-speed operation of an LED pick-and-place machine, correcting the placement head as quickly as possible when it deviates from the preset trajectory is an effective way to ensure placement accuracy. However, excessively large trajectory correction angles may cause mechanical impact or trigger an emergency stop. Therefore, current trajectory correction methods for LED pick-and-place machines suffer from low smoothness. Summary of the Invention

[0004] This invention provides a high-precision LED pick-and-place method and system based on collaborative control, the main purpose of which is to improve the smoothness of the correction trajectory of the LED pick-and-place machine head.

[0005] To achieve the above objectives, the present invention provides a high-precision LED placement method based on collaborative control, comprising:

[0006] Obtain the placement head displacement path of the LED pick and place machine, and extract the placement head displacement segments sequentially from the placement head displacement path;

[0007] In the displacement section of the mounting head, a standard time sequence point set is set, the current time sequence point is obtained, and the standard associated time sequence point of the current time sequence point is identified in the standard time sequence point set;

[0008] The displacement segment of the mounting head is divided according to the standard associated time sequence point to obtain the backward displacement segment and the forward displacement segment. The backward displacement segment refers to the segment of the mounting head displacement segment that contains the standard associated time sequence point and is located behind the displacement of the standard associated time sequence point. The forward displacement segment refers to the segment of the mounting head displacement segment that does not contain the standard associated time sequence point and is located in front of the displacement of the standard associated time sequence point.

[0009] Determine whether the current timing position is located in the mounting head displacement section;

[0010] If the current time sequence point is located in the mounting head displacement segment, the standard displacement speed of the mounting head displacement segment is obtained, and the pre-constructed mounting head is subjected to displacement and mounting collaborative control based on the standard displacement speed and the mounting head displacement segment.

[0011] If the current time sequence point is not located on the mounting head displacement segment, the maximum turning intersection point is determined on the mounting head displacement segment based on the current time sequence point and the preset maximum turning angle. The maximum turning intersection point refers to the intersection of the straight line passing through the current displacement monitoring point and the mounting head displacement segment with the positive angle of the maximum turning angle with the mounting head displacement segment.

[0012] If the maximum turning intersection point is located on the forward displacement segment, then the tangential intersection arc between the current time sequence point and the maximum turning intersection point is determined based on the forward displacement segment;

[0013] If the maximum turning intersection point is located in the backward displacement road segment, then the target turning intersection point is selected in the forward displacement road segment;

[0014] Determine the tangential intersection arc between the current temporal location and the target turning point based on the forward displacement segment;

[0015] The placement head is controlled by displacement and placement coordination based on standard displacement speed and tangential intersection arc.

[0016] Optionally, setting a standard time sequence point set in the displacement segment of the mounting head includes:

[0017] Identify the displacement distance of the mounting head displacement segment, and calculate the segment interval monitoring distance based on the preset number of displacement segment monitoring points and the displacement segment distance, wherein the segment interval monitoring distance is equal to the ratio of the displacement segment distance to the number of displacement segment monitoring points;

[0018] Based on the road segment interval monitoring distance, a standard displacement monitoring point sequence is set at equal intervals in the road segment where the mounting head is displaced;

[0019] Standard displacement monitoring sites are extracted sequentially from the standard displacement monitoring site sequence;

[0020] Identify the displacement point distance of the standard displacement monitoring point, wherein the displacement point distance refers to the distance between the standard displacement monitoring point and the first standard displacement monitoring point in the standard displacement monitoring point sequence;

[0021] The standard displacement monitoring time of the standard displacement monitoring point is calculated based on the displacement point distance and the standard displacement velocity, wherein the standard displacement monitoring time is equal to the ratio of the displacement point distance to the standard displacement velocity;

[0022] Standard time series sites are determined based on the standard displacement monitoring sites and standard displacement monitoring durations to obtain a standard time series site set, wherein the standard time series sites refer to an array composed of standard displacement monitoring durations and standard displacement monitoring sites.

[0023] Optionally, obtaining the current time series position includes:

[0024] Obtain the standard displacement monitoring duration corresponding to each standard time sequence point in the standard time sequence point set to obtain the standard displacement monitoring duration sequence;

[0025] Identify the starting point of the displacement segment of the mounting head, move the mounting head according to the starting point of the segment, the standard displacement speed and the displacement segment of the mounting head, and perform real-time position monitoring on the mounting head in sequence according to the standard displacement monitoring time in the standard displacement monitoring time sequence to obtain the current displacement monitoring position;

[0026] Identify the current standard monitoring duration corresponding to the current displacement monitoring point;

[0027] The current time sequence location is determined based on the current displacement monitoring location and the current standard monitoring duration.

[0028] Optionally, identifying the standard associated time series sites of the current time series site in the standard time series site set includes:

[0029] Based on the current standard monitoring duration, the corresponding standard associated time series sites are identified in the standard time series site set, wherein the standard associated time series sites refer to standard time series sites whose standard displacement monitoring duration is equal to the current standard monitoring duration.

[0030] Optionally, the step of performing displacement and placement coordination control on the pre-constructed placement head based on the standard displacement speed and the placement head displacement segment includes:

[0031] Obtain the current displacement speed of the mounting head and determine whether the current displacement monitoring point is located in the forward displacement section;

[0032] If the current displacement monitoring point is located in the forward displacement section, then determine whether the current displacement speed is greater than the standard displacement speed;

[0033] If the current displacement velocity is greater than the standard displacement velocity, then the current forward nearest neighbor monitoring site of the current displacement monitoring site is identified in the standard displacement monitoring site sequence, wherein the current forward nearest neighbor monitoring site refers to the standard displacement monitoring site in the standard displacement monitoring site sequence that is located in front of the current displacement monitoring site and is the nearest neighbor.

[0034] Identify the standard associated monitoring sites in the standard associated time series sites, wherein the standard associated time series sites include: standard associated monitoring duration and standard associated monitoring sites;

[0035] The standard site distance is calculated based on the current forward nearest neighbor monitoring site and the standard associated monitoring site, wherein the standard site distance refers to the distance between the current forward nearest neighbor monitoring site and the standard associated monitoring site;

[0036] The distance to the current forward position is calculated based on the current forward nearest neighbor monitoring position and the current displacement monitoring position, wherein the distance to the current forward position refers to the distance between the current forward nearest neighbor monitoring position and the current displacement monitoring position;

[0037] The forward convergence time is calculated based on the standard point distance and the standard displacement velocity, wherein the forward convergence time is equal to the ratio of the standard point distance to the standard displacement velocity.

[0038] The current forward first displacement time is calculated based on the current displacement velocity and the current forward position distance, wherein the current forward first displacement time is equal to the ratio of the current forward position distance to the current displacement velocity;

[0039] The control and stopping time of the nearest neighbor point is calculated based on the forward convergence time and the current forward first displacement time, wherein the control and stopping time of the nearest neighbor point is equal to the difference between the forward convergence time and the current forward first displacement time.

[0040] Based on the current displacement speed and the displacement segment of the mounting head, the mounting head is moved to the current forward nearest neighbor monitoring point, and the mounting head is controlled to stop at the current forward nearest neighbor monitoring point to obtain the controlled-stop mounting head;

[0041] Obtain the real-time control stop time of the control stop mounting head, and determine whether the real-time control stop time is equal to the control stop time of the nearest neighbor site;

[0042] If the real-time control stop time is not equal to the control stop time of the nearest neighbor site, then return to the above steps of obtaining the real-time control stop time of the control stop mounting head;

[0043] If the real-time control stop time is equal to the control stop time of the nearest neighboring site, then the control stop of the mounting head is started according to the standard displacement speed and the displacement section of the mounting head, so as to complete the coordinated control of the displacement and mounting of the mounting head.

[0044] If the current displacement velocity is not greater than the standard displacement velocity, then the current forward second displacement time is calculated based on the standard displacement velocity and the current forward position distance, wherein the current forward second displacement time is equal to the ratio of the current forward position distance to the standard displacement velocity;

[0045] The control and stopping time of the nearest neighbor point is calculated based on the forward convergence time and the current forward second displacement time, wherein the control and stopping time of the nearest neighbor point is equal to the difference between the forward convergence time and the current forward second displacement time;

[0046] Based on the standard displacement speed and the displacement segment of the mounting head, the mounting head is moved to the current forward nearest neighbor monitoring point, and the mounting head is controlled to stop at the current forward nearest neighbor monitoring point to obtain the controlled-stop mounting head;

[0047] Obtain the real-time control stop time of the control stop mounting head, and determine whether the real-time control stop time is equal to the control stop time of the nearest neighbor site;

[0048] If the real-time control stop time is not equal to the control stop time of the nearest neighbor site, then return to the above steps of obtaining the real-time control stop time of the control stop mounting head;

[0049] If the real-time control stop time is equal to the control stop time of the nearest neighboring site, then the control stop of the mounting head is started according to the standard displacement speed and the displacement section of the mounting head, so as to complete the coordinated control of the displacement and mounting of the mounting head.

[0050] If the current displacement monitoring point is located in the backward displacement segment, then the standard forward nearest neighbor monitoring point of the standard associated monitoring point is identified in the standard displacement monitoring point sequence, wherein the standard forward nearest neighbor monitoring point refers to the standard displacement monitoring point in the standard displacement monitoring point sequence that is located in front of and closest to the displacement of the standard associated monitoring point.

[0051] The backward convergence time is calculated based on the road segment interval monitoring distance and the standard displacement speed, wherein the backward convergence time is equal to the ratio of the road segment interval monitoring distance to the standard displacement speed;

[0052] The distance to the current backward position is calculated based on the current displacement monitoring position and the standard forward nearest neighbor monitoring position, wherein the current backward position distance refers to the distance between the current displacement monitoring position and the standard forward nearest neighbor monitoring position;

[0053] The backward displacement velocity is calculated based on the current backward position distance and the backward co-current intersection time, wherein the backward displacement velocity is equal to the ratio of the current backward position distance to the backward co-current intersection time;

[0054] The mounting head is moved according to the backward displacement speed and the mounting head displacement segment. When the mounting head moves to the standard forward nearest neighbor monitoring point, the displacement speed of the mounting head is adjusted according to the standard displacement speed to complete the coordinated control of the mounting head displacement and mounting.

[0055] Optionally, determining the tangential intersection arc between the current temporal location and the maximum turning intersection point based on the forward displacement segment includes:

[0056] Draw a tangent trajectory circle for the forward displacement segment through the maximum turning intersection point and the current displacement monitoring point, wherein the tangent trajectory circle refers to the trajectory circle that passes through the current displacement monitoring point and is tangent to the displacement segment of the mounting head at the maximum turning intersection point;

[0057] Based on the current displacement monitoring point and the maximum turning intersection point, a tangential intersection arc is intercepted in the tangential trajectory circle, wherein the tangential intersection arc refers to the arc in the tangential trajectory circle located between the current displacement monitoring point and the maximum turning intersection point.

[0058] Optionally, selecting the target turning intersection point in the forward displacement segment includes:

[0059] The dynamic turning intersection point is selected by sliding within the forward displacement segment;

[0060] The dynamic displacement distance is calculated based on the standard associated monitoring point and the dynamic turning intersection point, wherein the dynamic displacement distance refers to the distance between the standard associated monitoring point and the dynamic turning intersection point;

[0061] Calculate the dynamic displacement duration based on the dynamic displacement distance and standard displacement velocity;

[0062] Draw a tangent dynamic circle for the forward displacement segment through the dynamic turning intersection point and the current displacement monitoring point, wherein the tangent dynamic circle refers to the trajectory circle that passes through the current displacement monitoring point and is tangent to the displacement segment of the mounting head at the dynamic turning intersection point;

[0063] Based on the current displacement monitoring point and the dynamic turning intersection point, a dynamic intersection arc is extracted in the tangent dynamic circle, wherein the dynamic intersection arc refers to the arc in the tangent dynamic circle located between the current displacement monitoring point and the dynamic turning intersection point;

[0064] Identify the dynamic intersection arc length of the dynamic intersection arc, and calculate the dynamic intersection speed based on the dynamic intersection arc length and the dynamic displacement duration, wherein the dynamic intersection speed is equal to the ratio of the dynamic intersection arc length to the dynamic displacement duration;

[0065] Calculate the optimal intersection difference between the dynamic intersection velocity and the standard displacement velocity;

[0066] Determine whether the optimal intersection difference value is less than a preset intersection difference threshold;

[0067] If the optimal intersection difference value is not less than the intersection difference threshold, then return to the above steps of sliding to select the dynamic turning intersection point in the forward displacement segment;

[0068] If the optimal intersection difference is less than the intersection difference threshold, then the dynamic turning intersection point is taken as the target turning intersection point.

[0069] Optionally, the step of performing displacement and placement coordination control of the placement head based on the standard displacement velocity and the tangential intersection arc includes:

[0070] When the maximum turning intersection point is located on the forward displacement road segment, calculate the maximum intersection speed of the mounting head;

[0071] The maximum intersection speed is taken as the target intersection speed;

[0072] When the maximum turning intersection point is located on the backward road segment of the displacement, the target intersection speed corresponding to the target turning intersection point is identified;

[0073] The displacement speed of the mounting head is adjusted according to the target intersection speed and tangential intersection arc until the mounting head reaches the maximum turning intersection point, thus obtaining the intersection mounting head;

[0074] The displacement speed of the intersecting mounting head is adjusted according to the standard displacement speed to complete the coordinated control of the mounting head's displacement and mounting.

[0075] Optionally, calculating the maximum convergence speed of the mounting head includes:

[0076] Identify the maximum displacement distance between the maximum turning intersection point and the standard associated monitoring point;

[0077] The maximum displacement duration is calculated based on the maximum displacement distance and the standard displacement velocity, wherein the maximum displacement duration is equal to the ratio of the maximum displacement distance to the standard displacement velocity;

[0078] Identify the tangential intersection arc length of the tangential intersection arc, and calculate the maximum intersection speed based on the tangential intersection arc length and the maximum displacement duration.

[0079] To achieve the above objectives, the present invention also provides a high-precision LED placement system based on collaborative control, comprising:

[0080] The placement head displacement segment segmentation module is used to acquire the placement head displacement route of the LED chip mounter, extract placement head displacement segments sequentially from the placement head displacement route, set a standard time sequence point set in the placement head displacement segment, acquire the current time sequence point, identify the standard associated time sequence point of the current time sequence point in the standard time sequence point set, and segment the placement head displacement segment according to the standard associated time sequence point to obtain the backward displacement segment and the forward displacement segment. The backward displacement segment refers to the segment of the placement head displacement segment that contains the standard associated time sequence point and is located behind the standard associated time sequence point displacement, and the forward displacement segment refers to the segment of the placement head displacement segment that does not contain the standard associated time sequence point and is located in front of the standard associated time sequence point displacement.

[0081] The current timing position determination module is used to determine whether the current timing position is located in the mounting head displacement section;

[0082] The mounting head displacement segment collaborative control module is used to obtain the standard displacement speed of the mounting head displacement segment if the current time sequence point is located in the mounting head displacement segment, and to perform displacement mounting collaborative control on the pre-constructed mounting head according to the standard displacement speed and the mounting head displacement segment;

[0083] The tangential intersection arc collaborative control module is used to determine the maximum turning intersection point on the mounting head displacement segment based on the current timing point and the preset maximum turning angle if the current timing point is not located on the mounting head displacement segment. The maximum turning intersection point refers to the intersection of the straight line passing through the current displacement monitoring point and forming a positive angle with the mounting head displacement segment equal to the maximum turning angle with the mounting head displacement segment. If the maximum turning intersection point is located on the forward displacement segment, the tangential intersection arc between the current timing point and the maximum turning intersection point is determined based on the forward displacement segment. If the maximum turning intersection point is located on the backward displacement segment, a target turning intersection point is selected in the forward displacement segment. The tangential intersection arc between the current timing point and the target turning intersection point is determined based on the forward displacement segment. The mounting head is then subjected to collaborative displacement and mounting control based on the standard displacement speed and the tangential intersection arc.

[0084] To address the above problems, the present invention also provides an electronic device, the electronic device comprising:

[0085] A memory that stores at least one instruction; and a processor that executes the instructions stored in the memory to implement the high-precision LED placement method based on collaborative control described above.

[0086] To address the aforementioned problems, the present invention also provides a computer-readable storage medium storing at least one instruction, which is executed by a processor in an electronic device to implement the aforementioned high-precision LED chip mounter method based on cooperative control.

[0087] To address the problems described in the background art, this invention proposes a new method for implementing different displacement-based collaborative control schemes for different current timing positions. First, the placement head displacement path is segmented. During this segmentation, the placement head displacement route of the LED pick-and-place machine is acquired. Since the movement direction of the same placement head displacement segment is fixed, the placement head displacement segments need to be extracted sequentially from the displacement route. To facilitate monitoring of the placement head, a standard timing position set can be set within the placement head displacement segment. At this point, the current timing position can be acquired, and then the marker of the current timing position is identified within the standard timing position set. The quasi-associated time sequence point, where the standard associated time sequence point should be the same as the current time sequence point, allows for the segmentation of the mounting head displacement segment based on the standard associated time sequence point, resulting in backward displacement segments and forward displacement segments. The backward displacement segment refers to a segment within the mounting head displacement segment that contains the standard associated time sequence point and is located behind it. The forward displacement segment refers to a segment within the mounting head displacement segment that does not contain the standard associated time sequence point and is located ahead of it. The offset of the mounting head is divided into two types: one where the actual displacement point in the current time sequence point is located at the position of the mounting head. On the mounting head displacement segment, one scenario is that the actual displacement point in the current time sequence is not located on the mounting head displacement segment. In this case, the standard displacement speed of the mounting head displacement segment can be directly obtained, and the pre-constructed mounting head can be coordinated for displacement and mounting based on the standard displacement speed and the mounting head displacement segment. However, in the second scenario, if the rotation angle of the mounting head is too large, the coordination control of the mounting head becomes more difficult and less accurate. Therefore, it is necessary to determine the maximum turning intersection point on the mounting head displacement segment based on the current time sequence point and the preset maximum turning angle. The maximum turning intersection point... The intersection point is defined by a straight line passing through the current displacement monitoring point and forming a positive angle with the placement head displacement segment at the maximum turning angle. If the maximum turning intersection point is located in the forward displacement segment, the tangential intersection arc between the current timing point and the maximum turning intersection point is determined based on the forward displacement segment. If the maximum turning intersection point is located in the backward displacement segment, a target turning intersection point is selected in the forward displacement segment, and the tangential intersection arc between the current timing point and the target turning intersection point is determined based on the forward displacement segment. Finally, the placement head is subjected to coordinated displacement and placement control based on the standard displacement speed and the tangential intersection arc. Therefore, this invention can improve the smoothness of the correction trajectory of the LED pick-and-place machine placement head. Attached Figure Description

[0088] Figure 1 This is a flowchart illustrating a high-precision LED chip mounter method based on collaborative control, according to an embodiment of the present invention.

[0089] Figure 2This is a schematic diagram of the tangential intersection arc between the current time sequence location and the maximum turning intersection point provided in an embodiment of the present invention;

[0090] Figure 3 This is a schematic diagram of the tangential intersection arc between the current time sequence location and the target turning intersection point provided in an embodiment of the present invention;

[0091] Figure 4 This is a functional block diagram of a high-precision LED chip mounter system based on collaborative control, provided in an embodiment of the present invention.

[0092] Figure 5 This is a schematic diagram of the structure of an electronic device that implements the high-precision LED placement method based on collaborative control, according to an embodiment of the present invention.

[0093] Explanation of reference numerals in the attached figures:

[0094] 10. Electronic device; 11. Processor; 12. Memory; 13. Bus.

[0095] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0096] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0097] This application provides a high-precision LED placement method based on collaborative control. The executing entity of this method includes, but is not limited to, at least one of the following electronic devices that can be configured to execute the method provided in this application: a server, a terminal, etc. In other words, the high-precision LED placement method based on collaborative control can be executed by software or hardware installed on a terminal device or a server device, and the software can be a blockchain platform. The server includes, but is not limited to, a single server, a server cluster, a cloud server, or a cloud server cluster.

[0098] Reference Figure 1 The diagram shown is a flowchart illustrating a high-precision LED pick-and-place method based on collaborative control according to an embodiment of the present invention. In this embodiment, the high-precision LED pick-and-place method based on collaborative control includes:

[0099] S1. Obtain the placement head displacement path of the LED chip mounter, and extract the placement head displacement segments sequentially from the placement head displacement path.

[0100] Understandably, the placement head displacement path refers to the movement path of the placement head of the LED pick-and-place machine during the placement of surface mount components. The placement head displacement segment refers to a single segment within the movement path. For example, the placement head displacement segment during surface mount component placement can be divided into: the placement head displacement segment where the placement head moves from the end position of the previous placement cycle to the feeder; the placement head displacement segment where the placement head picks up components from the feeder; the placement head movement segment where, after picking up components, the placement head moves to the first placement position of the next pick-up cycle; and the placement head movement segment where the placement head moves between different placement positions.

[0101] S2. Set a standard time sequence location set in the displacement section of the mounting head, obtain the current time sequence location, and identify the standard associated time sequence location of the current time sequence location in the standard time sequence location set.

[0102] Furthermore, the standard time-series location set refers to a standardized set of spatiotemporal locations of the mounting head within the mounting head displacement segment, representing the correspondence between the mounting head displacement duration and displacement distance. For example, when the standard displacement velocity corresponding to the mounting head displacement segment is 10 cm / s, the standard time-series location set can be [0s, (0cm, 0cm)], [1s, (0cm, 10cm)], [2s, (0cm, 20cm)], [3s, (0cm, 30cm)], etc. The current time-series location refers to the spatiotemporal location of the mounting head at the current moment within the mounting head displacement segment, representing the displacement duration and actual displacement location. The standard associated time-series location refers to a standard time-series location in the standard time-series location set whose current standard monitoring duration is consistent with that of the current time-series location. The current standard monitoring duration refers to the duration for which the location of the mounting head in the mounting head displacement segment is monitored. For example, when the standard time-series location set is [0s, (0cm, 0cm)], [1s, (0cm, 10cm)], [2s, (0cm, 20cm)], [3s, (0cm, 30cm)], and the current standard monitoring duration of the current time-series location is 2s, the standard associated time-series location is [2s, (0cm, 20cm)]. The displacement location can be determined in a coordinate system with the mounting head displacement segment as the y-axis and the direction perpendicular to the mounting head displacement segment as the x-axis.

[0103] In this embodiment of the invention, setting a standard time sequence point set in the displacement segment of the mounting head includes:

[0104] Identify the displacement distance of the mounting head displacement segment, and calculate the segment interval monitoring distance based on the preset number of displacement segment monitoring points and the displacement segment distance, wherein the segment interval monitoring distance is equal to the ratio of the displacement segment distance to the number of displacement segment monitoring points;

[0105] Based on the road segment interval monitoring distance, a standard displacement monitoring point sequence is set at equal intervals in the road segment where the mounting head is displaced;

[0106] Standard displacement monitoring sites are extracted sequentially from the standard displacement monitoring site sequence;

[0107] Identify the displacement point distance of the standard displacement monitoring point, wherein the displacement point distance refers to the distance between the standard displacement monitoring point and the first standard displacement monitoring point in the standard displacement monitoring point sequence;

[0108] The standard displacement monitoring time of the standard displacement monitoring point is calculated based on the displacement point distance and the standard displacement velocity, wherein the standard displacement monitoring time is equal to the ratio of the displacement point distance to the standard displacement velocity;

[0109] Standard time series sites are determined based on the standard displacement monitoring sites and standard displacement monitoring durations to obtain a standard time series site set, wherein the standard time series sites refer to an array composed of standard displacement monitoring durations and standard displacement monitoring sites.

[0110] Understandably, the displacement segment distance refers to the distance between the displacement segments of the mounting head. The number of monitoring points for the displacement segment refers to the number of monitoring points set on the displacement segment of the mounting head. The segment interval monitoring distance refers to the distance between two adjacent monitoring points on the displacement segment of the mounting head. The standard displacement monitoring site sequence refers to the standard monitoring site sequence corresponding to the monitoring time for real-time movement monitoring of the mounting head on the displacement segment of the mounting head, set according to the segment interval monitoring distance. For example, when the standard time sequence site set is [0s, (0cm, 0cm)], [1s, (0cm, 10cm)], [2s, (0cm, 20cm)], [3s, (0cm, 30cm)], the standard displacement monitoring site sequence can be (0cm, 0cm), (0cm, 10cm), (0cm, 20cm), (0cm, 30cm). The standard displacement monitoring duration refers to the displacement duration corresponding to the standard displacement monitoring site with the starting displacement time of the mounting head displacement segment as the starting time.

[0111] In this embodiment of the invention, obtaining the current time-series location includes:

[0112] Obtain the standard displacement monitoring duration corresponding to each standard time sequence point in the standard time sequence point set to obtain the standard displacement monitoring duration sequence;

[0113] Identify the starting point of the displacement segment of the mounting head, move the mounting head according to the starting point of the segment, the standard displacement speed and the displacement segment of the mounting head, and perform real-time position monitoring on the mounting head in sequence according to the standard displacement monitoring time in the standard displacement monitoring time sequence to obtain the current displacement monitoring position;

[0114] Identify the current standard monitoring duration corresponding to the current displacement monitoring point;

[0115] The current time sequence location is determined based on the current displacement monitoring location and the current standard monitoring duration.

[0116] Furthermore, the current displacement monitoring point refers to the actual displacement point of the mounting head under the current standard displacement monitoring duration. The current standard monitoring duration refers to the standard displacement monitoring duration corresponding to the current displacement monitoring point. The current time sequence point can be [5s, (0.3cm, 50cm)], which means that the current displacement monitoring point has shifted by 0.3cm in the positive x-axis direction.

[0117] In this embodiment of the invention, identifying the standard associated time series sites of the current time series site in the standard time series site set includes:

[0118] Based on the current standard monitoring duration, the corresponding standard associated time series sites are identified in the standard time series site set, wherein the standard associated time series sites refer to standard time series sites whose standard displacement monitoring duration is equal to the current standard monitoring duration.

[0119] S3. The displacement segment of the mounting head is divided according to the standard associated time sequence position to obtain the backward displacement segment and the forward displacement segment.

[0120] Specifically, the backward displacement segment refers to a segment in the mounting head displacement segment that includes a standard associated time sequence point and is located behind the standard associated time sequence point displacement, while the forward displacement segment refers to a segment in the mounting head displacement segment that does not include a standard associated time sequence point and is located in front of the standard associated time sequence point displacement.

[0121] For example, when the displacement segment of the mounting head is from (0cm, 0cm) to (0cm, 60cm) in the coordinate system, the standard associated timing point is [5s, (0cm, 50cm)], the segment coordinates of the backward displacement segment on the y-axis are [0cm, 50cm], and the segment coordinates of the forward displacement segment on the y-axis are (50cm, 60cm).

[0122] S4. Determine whether the current timing position is located in the mounting head displacement section.

[0123] Understandably, when the mounting head experiences a positional shift, the actual displacement position in the current time sequence position will not be located in the mounting head displacement segment, that is, the current time sequence position is not located in the mounting head displacement segment.

[0124] If the current time sequence point is located in the mounting head displacement segment, then execute S5 to obtain the standard displacement speed of the mounting head displacement segment, and perform displacement mounting collaborative control on the pre-constructed mounting head based on the standard displacement speed and the mounting head displacement segment.

[0125] In this embodiment of the invention, the step of performing displacement and placement coordinated control of the pre-constructed placement head based on the standard displacement velocity and the placement head displacement segment includes:

[0126] Obtain the current displacement speed of the mounting head and determine whether the current displacement monitoring point is located in the forward displacement section;

[0127] If the current displacement monitoring point is located in the forward displacement section, then determine whether the current displacement speed is greater than the standard displacement speed;

[0128] If the current displacement velocity is greater than the standard displacement velocity, then the current forward nearest neighbor monitoring site of the current displacement monitoring site is identified in the standard displacement monitoring site sequence, wherein the current forward nearest neighbor monitoring site refers to the standard displacement monitoring site in the standard displacement monitoring site sequence that is located in front of the current displacement monitoring site and is the nearest neighbor.

[0129] Identify the standard associated monitoring sites in the standard associated time series sites, wherein the standard associated time series sites include: standard associated monitoring duration and standard associated monitoring sites;

[0130] The standard site distance is calculated based on the current forward nearest neighbor monitoring site and the standard associated monitoring site, wherein the standard site distance refers to the distance between the current forward nearest neighbor monitoring site and the standard associated monitoring site;

[0131] The distance to the current forward position is calculated based on the current forward nearest neighbor monitoring position and the current displacement monitoring position, wherein the distance to the current forward position refers to the distance between the current forward nearest neighbor monitoring position and the current displacement monitoring position;

[0132] The forward convergence time is calculated based on the standard point distance and the standard displacement velocity, wherein the forward convergence time is equal to the ratio of the standard point distance to the standard displacement velocity.

[0133] The current forward first displacement time is calculated based on the current displacement velocity and the current forward position distance, wherein the current forward first displacement time is equal to the ratio of the current forward position distance to the current displacement velocity;

[0134] The control and stopping time of the nearest neighbor point is calculated based on the forward convergence time and the current forward first displacement time, wherein the control and stopping time of the nearest neighbor point is equal to the difference between the forward convergence time and the current forward first displacement time.

[0135] Based on the current displacement speed and the displacement segment of the mounting head, the mounting head is moved to the current forward nearest neighbor monitoring point, and the mounting head is controlled to stop at the current forward nearest neighbor monitoring point to obtain the controlled-stop mounting head;

[0136] Obtain the real-time control stop time of the control stop mounting head, and determine whether the real-time control stop time is equal to the control stop time of the nearest neighbor site;

[0137] If the real-time control stop time is not equal to the control stop time of the nearest neighbor site, then return to the above steps of obtaining the real-time control stop time of the control stop mounting head;

[0138] If the real-time control stop time is equal to the control stop time of the nearest neighboring site, then the control stop of the mounting head is started according to the standard displacement speed and the displacement section of the mounting head, so as to complete the coordinated control of the displacement and mounting of the mounting head.

[0139] If the current displacement velocity is not greater than the standard displacement velocity, then the current forward second displacement time is calculated based on the standard displacement velocity and the current forward position distance, wherein the current forward second displacement time is equal to the ratio of the current forward position distance to the standard displacement velocity;

[0140] The control and stopping time of the nearest neighbor point is calculated based on the forward convergence time and the current forward second displacement time, wherein the control and stopping time of the nearest neighbor point is equal to the difference between the forward convergence time and the current forward second displacement time;

[0141] Based on the standard displacement speed and the displacement segment of the mounting head, the mounting head is moved to the current forward nearest neighbor monitoring point, and the mounting head is controlled to stop at the current forward nearest neighbor monitoring point to obtain the controlled-stop mounting head;

[0142] Obtain the real-time control stop time of the control stop mounting head, and determine whether the real-time control stop time is equal to the control stop time of the nearest neighbor site;

[0143] If the real-time control stop time is not equal to the control stop time of the nearest neighbor site, then return to the above steps of obtaining the real-time control stop time of the control stop mounting head;

[0144] If the real-time control stop time is equal to the control stop time of the nearest neighboring site, then the control stop of the mounting head is started according to the standard displacement speed and the displacement section of the mounting head, so as to complete the coordinated control of the displacement and mounting of the mounting head.

[0145] If the current displacement monitoring point is located in the backward displacement segment, then the standard forward nearest neighbor monitoring point of the standard associated monitoring point is identified in the standard displacement monitoring point sequence, wherein the standard forward nearest neighbor monitoring point refers to the standard displacement monitoring point in the standard displacement monitoring point sequence that is located in front of and closest to the displacement of the standard associated monitoring point.

[0146] The backward convergence time is calculated based on the road segment interval monitoring distance and the standard displacement speed, wherein the backward convergence time is equal to the ratio of the road segment interval monitoring distance to the standard displacement speed;

[0147] The distance to the current backward position is calculated based on the current displacement monitoring position and the standard forward nearest neighbor monitoring position, wherein the current backward position distance refers to the distance between the current displacement monitoring position and the standard forward nearest neighbor monitoring position;

[0148] The backward displacement velocity is calculated based on the current backward position distance and the backward co-current intersection time, wherein the backward displacement velocity is equal to the ratio of the current backward position distance to the backward co-current intersection time;

[0149] The mounting head is moved according to the backward displacement speed and the mounting head displacement segment. When the mounting head moves to the standard forward nearest neighbor monitoring point, the displacement speed of the mounting head is adjusted according to the standard displacement speed to complete the coordinated control of the mounting head displacement and mounting.

[0150] Understandably, the current displacement speed refers to the current moving speed of the mounting head. When the current displacement monitoring point is (0cm, 26cm) and the road segment interval monitoring distance is 10cm, the current forward nearest neighbor monitoring point is (0cm, 30cm). The standard associated monitoring duration refers to the standard displacement monitoring duration in the standard associated time sequence points, and the standard associated monitoring point refers to the standard displacement monitoring point in the standard associated time sequence points. The standard point distance is the road segment interval monitoring distance. The forward convergence time refers to the convergence time of the mounting head at the current forward nearest neighbor monitoring point when the current displacement monitoring point is located in the forward displacement road segment, starting from the current time, without any point deviation. The current forward first displacement time refers to the displacement time when the mounting head moves from the current displacement monitoring point to the current forward nearest neighbor monitoring point at the current displacement speed, provided that the current displacement speed is greater than the standard displacement speed. The nearest neighbor point control stop time refers to the total time for controlling the mounting head to stop moving when the mounting head moves to the current forward nearest neighbor monitoring point. The real-time control stop time refers to the real-time duration for controlling the mounting head to stop moving at the current forward nearest monitoring point.

[0151] Furthermore, the current forward second displacement time refers to the displacement time when the mounting head moves from the current displacement monitoring point to the current forward nearest neighbor monitoring point at the current displacement speed, provided that the current displacement speed is less than the standard displacement speed.

[0152] For example, when the standard associated monitoring point is (0cm, 10cm) and the road segment interval monitoring distance is 10cm, the standard forward nearest neighbor monitoring point is (0cm, 20cm). The backward convergence time refers to the convergence time between the current displacement monitoring point and the current forward nearest neighbor monitoring point, assuming the current displacement monitoring point is located in the backward displacement road segment, starting from the current time and without any positional deviation of the mounting head. The backward displacement speed refers to the speed at which the mounting head is moved to the standard forward nearest neighbor monitoring point when the current displacement monitoring point is located in the backward displacement road segment.

[0153] If the current timing position is not located in the mounting head displacement section, then execute S6 to determine the maximum turning intersection point on the mounting head displacement section based on the current timing position and the preset maximum turning angle.

[0154] Specifically, the maximum turning intersection point refers to the intersection of the straight line passing through the current displacement monitoring point and forming a positive angle with the displacement segment of the mounting head that is the maximum turning angle, with the displacement segment of the mounting head. See also... Figure 2 As shown, point b is the maximum turning intersection point, the maximum turning angle is θ, the current displacement monitoring point is point M, the displacement segment of the mounting head is segment aA, the standard displacement monitoring point is point m, and the positive angle refers to the angle between the linear displacement direction of point M and the displacement direction (a→A) of the mounting head displacement segment.

[0155] Explained, the maximum steering angle refers to the maximum displacement direction change angle that coordinates the mounting head from the current timing position to the mounting head displacement segment.

[0156] If the maximum turning intersection point is located on the forward displacement segment, then execute S7 to determine the tangential intersection arc between the current time sequence point and the maximum turning intersection point based on the forward displacement segment.

[0157] Understandably, the tangential intersection arc refers to the displacement arc trajectory of the mounting head determined based on the intersection point of the current timing position and the maximum turning point, for coordinated displacement and mounting control. (See also...) Figure 2 Mid-arc line Mb.

[0158] In this embodiment of the invention, determining the tangential intersection arc between the current temporal location and the maximum turning intersection point based on the forward displacement segment includes:

[0159] Draw a tangent trajectory circle for the forward displacement segment through the maximum turning intersection point and the current displacement monitoring point, wherein the tangent trajectory circle refers to the trajectory circle that passes through the current displacement monitoring point and is tangent to the displacement segment of the mounting head at the maximum turning intersection point;

[0160] Based on the current displacement monitoring point and the maximum turning intersection point, a tangential intersection arc is intercepted in the tangential trajectory circle, wherein the tangential intersection arc refers to the arc in the tangential trajectory circle located between the current displacement monitoring point and the maximum turning intersection point.

[0161] Understandably, the tangent trajectory circle can be referred to Figure 2 The dashed circle in the diagram is shown.

[0162] If the maximum turning intersection point is located in the backward displacement road segment, then execute S8 to select the target turning intersection point in the forward displacement road segment.

[0163] Understandably, the target turning junction point refers to the turning junction point selected within the forward displacement segment when the maximum turning junction point is located on the backward displacement segment. See also... Figure 5 As shown, the maximum turning intersection point is point b, the target turning intersection point is point c, and the standard associated monitoring point is point m.

[0164] In this embodiment of the invention, selecting the target turning intersection point in the forward displacement segment includes:

[0165] The dynamic turning intersection point is selected by sliding within the forward displacement segment;

[0166] The dynamic displacement distance is calculated based on the standard associated monitoring point and the dynamic turning intersection point, wherein the dynamic displacement distance refers to the distance between the standard associated monitoring point and the dynamic turning intersection point;

[0167] Calculate the dynamic displacement duration based on the dynamic displacement distance and standard displacement velocity;

[0168] Draw a tangent dynamic circle for the forward displacement segment through the dynamic turning intersection point and the current displacement monitoring point, wherein the tangent dynamic circle refers to the trajectory circle that passes through the current displacement monitoring point and is tangent to the displacement segment of the mounting head at the dynamic turning intersection point;

[0169] Based on the current displacement monitoring point and the dynamic turning intersection point, a dynamic intersection arc is extracted in the tangent dynamic circle, wherein the dynamic intersection arc refers to the arc in the tangent dynamic circle located between the current displacement monitoring point and the dynamic turning intersection point;

[0170] Identify the dynamic intersection arc length of the dynamic intersection arc, and calculate the dynamic intersection speed based on the dynamic intersection arc length and the dynamic displacement duration, wherein the dynamic intersection speed is equal to the ratio of the dynamic intersection arc length to the dynamic displacement duration;

[0171] Calculate the optimal intersection difference between the dynamic intersection velocity and the standard displacement velocity;

[0172] Determine whether the optimal intersection difference value is less than a preset intersection difference threshold;

[0173] If the optimal intersection difference value is not less than the intersection difference threshold, then return to the above steps of sliding to select the dynamic turning intersection point in the forward displacement segment;

[0174] If the optimal intersection difference is less than the intersection difference threshold, then the dynamic turning intersection point is taken as the target turning intersection point.

[0175] Explained, the dynamic turning junction point refers to a candidate junction point selected by sliding within the forward displacement segment, used as the target turning junction point. The dynamic displacement duration refers to the time required for the mounting head to move from the standard associated monitoring point to the dynamic turning junction point according to the standard displacement speed. The tangent dynamic circle can be found in [reference needed]. Figure 3 The dashed circle in the diagram is shown. The dynamic intersecting arcs can be found in [reference needed]. Figure 3 The curve Mc is shown in the figure. The dynamic intersection arc length refers to the length of the dynamic intersection arc. The dynamic intersection speed refers to the speed at which the mounting head is moved from the current displacement monitoring point to the dynamic turning intersection point. The optimal intersection difference refers to the speed difference between the dynamic intersection speed and the standard displacement speed. The intersection difference threshold refers to a preset speed difference value that measures the suitability of the optimal intersection difference value; for example, the optimal intersection difference value can be 1 cm / s.

[0176] S9. Determine the tangential intersection arc between the current time sequence location and the target turning intersection point based on the forward displacement segment.

[0177] Understandable, see reference Figure 3 As shown, when the target turning intersection point is point c, the tangential intersection arc is arc Mc.

[0178] S10. Perform displacement and placement coordination control of the placement head based on the standard displacement speed and tangential intersection arc.

[0179] In this embodiment of the invention, the step of performing coordinated displacement and placement control of the placement head based on the standard displacement velocity and the tangential intersection arc includes:

[0180] When the maximum turning intersection point is located on the forward displacement road segment, calculate the maximum intersection speed of the mounting head;

[0181] The maximum intersection speed is taken as the target intersection speed;

[0182] When the maximum turning intersection point is located on the backward road segment of the displacement, the target intersection speed corresponding to the target turning intersection point is identified;

[0183] The displacement speed of the mounting head is adjusted according to the target intersection speed and tangential intersection arc until the mounting head reaches the maximum turning intersection point, thus obtaining the intersection mounting head;

[0184] The displacement speed of the intersecting mounting head is adjusted according to the standard displacement speed to complete the coordinated control of the mounting head's displacement and mounting.

[0185] Understandably, the maximum convergence speed refers to the speed at which the mounting head is moved to the maximum turning convergence point within the maximum movement time. The maximum movement time refers to the time required to move the mounting head from the standard associated monitoring point to the maximum turning convergence point according to the standard displacement speed. The target convergence speed refers to the dynamic convergence speed corresponding to the target turning convergence point. When the mounting head reaches the maximum turning convergence point, it needs to be controlled to move along the mounting head displacement segment according to the standard displacement speed.

[0186] In this embodiment of the invention, calculating the maximum convergence speed of the mounting head includes:

[0187] Identify the maximum displacement distance between the maximum turning intersection point and the standard associated monitoring point;

[0188] The maximum displacement duration is calculated based on the maximum displacement distance and the standard displacement velocity, wherein the maximum displacement duration is equal to the ratio of the maximum displacement distance to the standard displacement velocity;

[0189] Identify the tangential intersection arc length of the tangential intersection arc, and calculate the maximum intersection speed based on the tangential intersection arc length and the maximum displacement duration.

[0190] Explained, the maximum displacement distance refers to the distance between the maximum turning intersection point and the standard associated monitoring point. The maximum displacement duration refers to the time required to move the mounting head from the standard associated monitoring point to the maximum turning intersection point at the standard displacement speed. The tangential intersection arc length refers to the length of the tangential intersection arc.

[0191] To address the problems described in the background art, this invention proposes a new method for implementing different displacement-based collaborative control schemes for different current timing positions. First, the placement head displacement path is segmented. During this segmentation, the placement head displacement route of the LED pick-and-place machine is acquired. Since the movement direction of the same placement head displacement segment is fixed, the placement head displacement segments need to be extracted sequentially from the displacement route. To facilitate monitoring of the placement head, a standard timing position set can be set within the placement head displacement segment. At this point, the current timing position can be acquired, and then the marker of the current timing position is identified within the standard timing position set. The quasi-associated time sequence point, where the standard associated time sequence point should be the same as the current time sequence point, allows for the segmentation of the mounting head displacement segment based on the standard associated time sequence point, resulting in backward displacement segments and forward displacement segments. The backward displacement segment refers to a segment within the mounting head displacement segment that contains the standard associated time sequence point and is located behind it. The forward displacement segment refers to a segment within the mounting head displacement segment that does not contain the standard associated time sequence point and is located ahead of it. The offset of the mounting head is divided into two types: one where the actual displacement point in the current time sequence point is located at the position of the mounting head. On the mounting head displacement segment, one scenario is that the actual displacement point in the current time sequence is not located on the mounting head displacement segment. In this case, the standard displacement speed of the mounting head displacement segment can be directly obtained, and the pre-constructed mounting head can be coordinated for displacement and mounting based on the standard displacement speed and the mounting head displacement segment. However, in the second scenario, if the rotation angle of the mounting head is too large, the coordination control of the mounting head becomes more difficult and less accurate. Therefore, it is necessary to determine the maximum turning intersection point on the mounting head displacement segment based on the current time sequence point and the preset maximum turning angle. The maximum turning intersection point... The intersection point is defined by a straight line passing through the current displacement monitoring point and forming a positive angle with the placement head displacement segment at the maximum turning angle. If the maximum turning intersection point is located in the forward displacement segment, the tangential intersection arc between the current timing point and the maximum turning intersection point is determined based on the forward displacement segment. If the maximum turning intersection point is located in the backward displacement segment, a target turning intersection point is selected in the forward displacement segment, and the tangential intersection arc between the current timing point and the target turning intersection point is determined based on the forward displacement segment. Finally, the placement head is subjected to coordinated displacement and placement control based on the standard displacement speed and the tangential intersection arc. Therefore, this invention can improve the smoothness of the correction trajectory of the LED pick-and-place machine placement head.

[0192] like Figure 4 The diagram shown is a functional block diagram of a high-precision LED chip mounter system based on collaborative control, provided in an embodiment of the present invention.

[0193] The high-precision LED pick-and-place system 100 based on collaborative control described in this invention can be installed in electronic devices. Depending on the functions implemented, the high-precision LED pick-and-place system 100 may include a placement head displacement segment segmentation module 101, a current timing position determination module 102, a placement head displacement segment collaborative control module 103, and a tangential intersection arc collaborative control module 104. The module described in this invention can also be called a unit, referring to a series of computer program segments that can be executed by the processor of an electronic device and perform a fixed function, stored in the memory of the electronic device.

[0194] The mounting head displacement segment segmentation module 101 is used to acquire the mounting head displacement route of the LED chip mounter, extract the mounting head displacement segments sequentially from the mounting head displacement route, set a standard time sequence point set in the mounting head displacement segments, acquire the current time sequence point, identify the standard associated time sequence point of the current time sequence point in the standard time sequence point set, and segment the mounting head displacement segments according to the standard associated time sequence points to obtain backward displacement segments and forward displacement segments. The backward displacement segment refers to the segment of the mounting head displacement segment that contains the standard associated time sequence point and is located behind the displacement of the standard associated time sequence point, and the forward displacement segment refers to the segment of the mounting head displacement segment that does not contain the standard associated time sequence point and is located in front of the displacement of the standard associated time sequence point.

[0195] The current time sequence location determination module 102 is used to determine whether the current time sequence location is located in the mounting head displacement section;

[0196] The mounting head displacement segment collaborative control module 103 is used to obtain the standard displacement speed of the mounting head displacement segment if the current time sequence point is located in the mounting head displacement segment, and to perform displacement mounting collaborative control on the pre-constructed mounting head according to the standard displacement speed and the mounting head displacement segment.

[0197] The tangential intersection arc collaborative control module 104 is used to determine the maximum turning intersection point on the mounting head displacement segment based on the current timing point and the preset maximum turning angle if the current timing point is not located on the mounting head displacement segment. The maximum turning intersection point refers to the intersection of the straight line passing through the current displacement monitoring point and forming a positive angle with the mounting head displacement segment equal to the maximum turning angle with the mounting head displacement segment. If the maximum turning intersection point is located on the forward displacement segment, the tangential intersection arc between the current timing point and the maximum turning intersection point is determined based on the forward displacement segment. If the maximum turning intersection point is located on the backward displacement segment, a target turning intersection point is selected in the forward displacement segment. The tangential intersection arc between the current timing point and the target turning intersection point is determined based on the forward displacement segment. The mounting head is then subjected to displacement and mounting collaborative control based on the standard displacement speed and the tangential intersection arc.

[0198] In detail, the modules in the high-precision LED chip mounter system 100 based on collaborative control described in this embodiment of the invention employ the same methods as described above during use. Figure 1 The method used is the same as the high-precision LED chip mounter method based on collaborative control described in the article, and can produce the same technical effect, so it will not be repeated here.

[0199] like Figure 5 The diagram shown is a structural schematic of an electronic device that implements a high-precision LED chip mounter method based on collaborative control, according to an embodiment of the present invention.

[0200] The electronic device 1 may include a processor 10, a memory 11 and a bus 12, and may also include a computer program stored in the memory 11 and executable on the processor 10, such as a high-precision LED placement method program based on collaborative control.

[0201] The memory 11 includes at least one type of readable storage medium, such as flash memory, portable hard drive, multimedia card, card-type memory (e.g., SD or DX memory), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, the memory 11 can be an internal storage unit of the electronic device 1, such as a portable hard drive. In other embodiments, the memory 11 can be an external storage device of the electronic device 1, such as a plug-in portable hard drive, smart media card (SMC), secure digital card (SD), flash card, etc., equipped on the electronic device 1. Furthermore, the memory 11 includes both internal storage units and external storage devices of the electronic device 1. The memory 11 can be used not only to store application software and various types of data installed on the electronic device 1, such as the code of a high-precision LED placement method program based on collaborative control, but also to temporarily store data that has been output or will be output.

[0202] In some embodiments, the processor 10 may be composed of integrated circuits, such as a single packaged integrated circuit or multiple integrated circuits with the same or different functions, including combinations of one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and various control chips. The processor 10 is the control unit of the electronic device, connecting various components of the entire electronic device through various interfaces and lines. It executes programs or modules stored in the memory 11 (e.g., a high-precision LED chip mounter method program based on collaborative control) and calls data stored in the memory 11 to perform various functions of the electronic device 1 and process data.

[0203] The bus 12 can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus 12 can be divided into an address bus, a data bus, a control bus, etc. The bus 12 is configured to realize the connection and communication between the memory 11 and at least one processor 10, etc.

[0204] Figure 5 Only electronic devices with components are shown; those skilled in the art will understand that... Figure 5 The structure shown does not constitute a limitation on the electronic device 1, and may include fewer or more components than shown, or combine certain components, or have different component arrangements.

[0205] For example, although not shown, the electronic device 1 may also include a power supply (such as a battery) to power various components. Preferably, the power supply can be logically connected to the at least one processor 10 through a power management device, thereby enabling functions such as charging management, discharging management, and power consumption management. The power supply may also include one or more DC or AC power supplies, recharging devices, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components. The electronic device 1 may also include various sensors, Bluetooth modules, Wi-Fi modules, etc., which will not be described in detail here.

[0206] Furthermore, the electronic device 1 may also include a network interface. Optionally, the network interface may include a wired interface and / or a wireless interface (such as a Wi-Fi interface, a Bluetooth interface, etc.), which is typically used to establish communication connections between the electronic device 1 and other electronic devices.

[0207] Optionally, the electronic device 1 may further include a user interface, which may be a display, an input unit (such as a keyboard), or a standard wired or wireless interface. Optionally, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen. The display may also be appropriately referred to as a screen or display unit, used to display information processed in the electronic device 1 and to display a visual user interface.

[0208] The high-precision LED chip mounter program based on collaborative control, stored in the memory 11 of the electronic device 1, is a combination of multiple instructions. When run in the processor 10, it can achieve the following:

[0209] Obtain the placement head displacement path of the LED pick and place machine, and extract the placement head displacement segments sequentially from the placement head displacement path;

[0210] In the displacement section of the mounting head, a standard time sequence point set is set, the current time sequence point is obtained, and the standard associated time sequence point of the current time sequence point is identified in the standard time sequence point set;

[0211] The displacement segment of the mounting head is divided according to the standard associated time sequence point to obtain the backward displacement segment and the forward displacement segment. The backward displacement segment refers to the segment of the mounting head displacement segment that contains the standard associated time sequence point and is located behind the displacement of the standard associated time sequence point. The forward displacement segment refers to the segment of the mounting head displacement segment that does not contain the standard associated time sequence point and is located in front of the displacement of the standard associated time sequence point.

[0212] Determine whether the current timing position is located in the mounting head displacement section;

[0213] If the current time sequence point is located in the mounting head displacement segment, the standard displacement speed of the mounting head displacement segment is obtained, and the pre-constructed mounting head is subjected to displacement and mounting collaborative control based on the standard displacement speed and the mounting head displacement segment.

[0214] If the current time sequence point is not located on the mounting head displacement segment, the maximum turning intersection point is determined on the mounting head displacement segment based on the current time sequence point and the preset maximum turning angle. The maximum turning intersection point refers to the intersection of the straight line passing through the current displacement monitoring point and the mounting head displacement segment with the positive angle of the maximum turning angle with the mounting head displacement segment.

[0215] If the maximum turning intersection point is located on the forward displacement segment, then the tangential intersection arc between the current time sequence point and the maximum turning intersection point is determined based on the forward displacement segment;

[0216] If the maximum turning intersection point is located in the backward displacement road segment, then the target turning intersection point is selected in the forward displacement road segment;

[0217] Determine the tangential intersection arc between the current temporal location and the target turning point based on the forward displacement segment;

[0218] The placement head is controlled by displacement and placement coordination based on standard displacement speed and tangential intersection arc.

[0219] Specifically, the processor 10's implementation method for the above instructions can be found in [reference needed]. Figures 1 to 5 The descriptions of the relevant steps in the corresponding embodiments are not repeated here.

[0220] Furthermore, if the modules / units integrated in the electronic device 1 are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. The computer-readable storage medium can be volatile or non-volatile. For example, the computer-readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, or a read-only memory (ROM).

[0221] The present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor of an electronic device, can perform the following:

[0222] Obtain the placement head displacement path of the LED pick and place machine, and extract the placement head displacement segments sequentially from the placement head displacement path;

[0223] In the displacement section of the mounting head, a standard time sequence point set is set, the current time sequence point is obtained, and the standard associated time sequence point of the current time sequence point is identified in the standard time sequence point set;

[0224] The displacement segment of the mounting head is divided according to the standard associated time sequence point to obtain the backward displacement segment and the forward displacement segment. The backward displacement segment refers to the segment of the mounting head displacement segment that contains the standard associated time sequence point and is located behind the displacement of the standard associated time sequence point. The forward displacement segment refers to the segment of the mounting head displacement segment that does not contain the standard associated time sequence point and is located in front of the displacement of the standard associated time sequence point.

[0225] Determine whether the current timing position is located in the mounting head displacement section;

[0226] If the current time sequence point is located in the mounting head displacement segment, the standard displacement speed of the mounting head displacement segment is obtained, and the pre-constructed mounting head is subjected to displacement and mounting collaborative control based on the standard displacement speed and the mounting head displacement segment.

[0227] If the current time sequence point is not located on the mounting head displacement segment, the maximum turning intersection point is determined on the mounting head displacement segment based on the current time sequence point and the preset maximum turning angle. The maximum turning intersection point refers to the intersection of the straight line passing through the current displacement monitoring point and the mounting head displacement segment with the positive angle of the maximum turning angle with the mounting head displacement segment.

[0228] If the maximum turning intersection point is located on the forward displacement segment, then the tangential intersection arc between the current time sequence point and the maximum turning intersection point is determined based on the forward displacement segment;

[0229] If the maximum turning intersection point is located in the backward displacement road segment, then the target turning intersection point is selected in the forward displacement road segment;

[0230] Determine the tangential intersection arc between the current temporal location and the target turning point based on the forward displacement segment;

[0231] The placement head is controlled by displacement and placement coordination based on standard displacement speed and tangential intersection arc.

[0232] In the embodiments provided by this invention, it should be understood that the disclosed devices, systems, and methods can be implemented in other ways. For example, the system embodiments described above are merely illustrative, and actual implementations may have other classification methods.

[0233] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0234] Furthermore, the functional modules in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in the form of hardware plus software functional modules.

[0235] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0236] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A high-precision LED chip mounter method based on collaborative control, characterized in that, The method includes: Obtain the placement head displacement path of the LED pick and place machine, and extract the placement head displacement segments sequentially from the placement head displacement path; In the displacement section of the mounting head, a standard time sequence point set is set, the current time sequence point is obtained, and the standard associated time sequence point of the current time sequence point is identified in the standard time sequence point set; The displacement segment of the mounting head is divided according to the standard associated time sequence point to obtain the backward displacement segment and the forward displacement segment. The backward displacement segment refers to the segment of the mounting head displacement segment that contains the standard associated time sequence point and is located behind the displacement of the standard associated time sequence point. The forward displacement segment refers to the segment of the mounting head displacement segment that does not contain the standard associated time sequence point and is located in front of the displacement of the standard associated time sequence point. Determine whether the current timing position is located in the mounting head displacement section; If the current time sequence point is located in the mounting head displacement segment, the standard displacement speed of the mounting head displacement segment is obtained, and the pre-constructed mounting head is subjected to displacement and mounting collaborative control based on the standard displacement speed and the mounting head displacement segment. If the current time sequence point is not located on the mounting head displacement segment, the maximum turning intersection point is determined on the mounting head displacement segment based on the current time sequence point and the preset maximum turning angle. The maximum turning intersection point refers to the intersection of the straight line passing through the current displacement monitoring point and the mounting head displacement segment with the positive angle of the maximum turning angle with the mounting head displacement segment. If the maximum turning intersection point is located on the forward displacement segment, then the tangential intersection arc between the current time sequence point and the maximum turning intersection point is determined based on the forward displacement segment; If the maximum turning intersection point is located in the backward displacement road segment, then the target turning intersection point is selected in the forward displacement road segment; Determine the tangential intersection arc between the current temporal location and the target turning point based on the forward displacement segment; The placement head is controlled by displacement and placement coordination based on standard displacement speed and tangential intersection arc.

2. The high-precision LED chip mounter method based on collaborative control as described in claim 1, characterized in that, The setting of a standard time sequence point set in the displacement section of the mounting head includes: Identify the displacement distance of the mounting head displacement segment, and calculate the segment interval monitoring distance based on the preset number of displacement segment monitoring points and the displacement segment distance, wherein the segment interval monitoring distance is equal to the ratio of the displacement segment distance to the number of displacement segment monitoring points; Based on the road segment interval monitoring distance, a standard displacement monitoring point sequence is set at equal intervals in the road segment where the mounting head is displaced; Standard displacement monitoring sites are extracted sequentially from the standard displacement monitoring site sequence; Identify the displacement point distance of the standard displacement monitoring point, wherein the displacement point distance refers to the distance between the standard displacement monitoring point and the first standard displacement monitoring point in the standard displacement monitoring point sequence; The standard displacement monitoring time of the standard displacement monitoring point is calculated based on the displacement point distance and the standard displacement velocity, wherein the standard displacement monitoring time is equal to the ratio of the displacement point distance to the standard displacement velocity; Standard time series sites are determined based on the standard displacement monitoring sites and standard displacement monitoring durations to obtain a standard time series site set, wherein the standard time series sites refer to an array composed of standard displacement monitoring durations and standard displacement monitoring sites.

3. The high-precision LED chip mounter method based on collaborative control as described in claim 2, characterized in that, The step of obtaining the current time series position includes: Obtain the standard displacement monitoring duration corresponding to each standard time sequence point in the standard time sequence point set to obtain the standard displacement monitoring duration sequence; Identify the starting point of the displacement segment of the mounting head, move the mounting head according to the starting point of the segment, the standard displacement speed and the displacement segment of the mounting head, and perform real-time position monitoring on the mounting head in sequence according to the standard displacement monitoring time in the standard displacement monitoring time sequence to obtain the current displacement monitoring position; Identify the current standard monitoring duration corresponding to the current displacement monitoring point; The current time sequence location is determined based on the current displacement monitoring location and the current standard monitoring duration.

4. The high-precision LED chip mounter method based on collaborative control as described in claim 3, characterized in that, The step of identifying the standard associated time series sites of the current time series site in the standard time series site set includes: Based on the current standard monitoring duration, the corresponding standard associated time series sites are identified in the standard time series site set, wherein the standard associated time series sites refer to standard time series sites whose standard displacement monitoring duration is equal to the current standard monitoring duration.

5. The high-precision LED chip mounter method based on collaborative control as described in claim 4, characterized in that, The method of performing displacement and placement coordination control on the pre-constructed placement head based on the standard displacement speed and the placement head displacement segment includes: Obtain the current displacement speed of the mounting head and determine whether the current displacement monitoring point is located in the forward displacement section; If the current displacement monitoring point is located in the forward displacement section, then determine whether the current displacement speed is greater than the standard displacement speed; If the current displacement velocity is greater than the standard displacement velocity, then the current forward nearest neighbor monitoring site of the current displacement monitoring site is identified in the standard displacement monitoring site sequence, wherein the current forward nearest neighbor monitoring site refers to the standard displacement monitoring site in the standard displacement monitoring site sequence that is located in front of the current displacement monitoring site and is the nearest neighbor. Identify the standard associated monitoring sites in the standard associated time series sites, wherein the standard associated time series sites include: standard associated monitoring duration and standard associated monitoring sites; The standard site distance is calculated based on the current forward nearest neighbor monitoring site and the standard associated monitoring site, wherein the standard site distance refers to the distance between the current forward nearest neighbor monitoring site and the standard associated monitoring site; The distance to the current forward position is calculated based on the current forward nearest neighbor monitoring position and the current displacement monitoring position, wherein the distance to the current forward position refers to the distance between the current forward nearest neighbor monitoring position and the current displacement monitoring position; The forward convergence time is calculated based on the standard point distance and the standard displacement velocity, wherein the forward convergence time is equal to the ratio of the standard point distance to the standard displacement velocity. The current forward first displacement time is calculated based on the current displacement velocity and the current forward position distance, wherein the current forward first displacement time is equal to the ratio of the current forward position distance to the current displacement velocity; The control and stopping time of the nearest neighbor point is calculated based on the forward convergence time and the current forward first displacement time, wherein the control and stopping time of the nearest neighbor point is equal to the difference between the forward convergence time and the current forward first displacement time. Based on the current displacement speed and the displacement segment of the mounting head, the mounting head is moved to the current forward nearest neighbor monitoring point, and the mounting head is controlled to stop at the current forward nearest neighbor monitoring point to obtain the controlled-stop mounting head; Obtain the real-time control stop time of the control stop mounting head, and determine whether the real-time control stop time is equal to the control stop time of the nearest neighbor site; If the real-time control stop time is not equal to the control stop time of the nearest neighbor site, then return to the above steps of obtaining the real-time control stop time of the control stop mounting head; If the real-time control stop time is equal to the control stop time of the nearest neighboring site, then the control stop of the mounting head is started according to the standard displacement speed and the displacement section of the mounting head, so as to complete the coordinated control of the displacement and mounting of the mounting head. If the current displacement velocity is not greater than the standard displacement velocity, then the current forward second displacement time is calculated based on the standard displacement velocity and the current forward position distance, wherein the current forward second displacement time is equal to the ratio of the current forward position distance to the standard displacement velocity; The control and stopping time of the nearest neighbor point is calculated based on the forward convergence time and the current forward second displacement time, wherein the control and stopping time of the nearest neighbor point is equal to the difference between the forward convergence time and the current forward second displacement time; Based on the standard displacement speed and the displacement segment of the mounting head, the mounting head is moved to the current forward nearest neighbor monitoring point, and the mounting head is controlled to stop at the current forward nearest neighbor monitoring point to obtain the controlled-stop mounting head; Obtain the real-time control stop time of the control stop mounting head, and determine whether the real-time control stop time is equal to the control stop time of the nearest neighbor site; If the real-time control stop time is not equal to the control stop time of the nearest neighbor site, then return to the above steps of obtaining the real-time control stop time of the control stop mounting head; If the real-time control stop time is equal to the control stop time of the nearest neighboring site, then the control stop of the mounting head is started according to the standard displacement speed and the displacement section of the mounting head, so as to complete the coordinated control of the displacement and mounting of the mounting head. If the current displacement monitoring point is located in the backward displacement segment, then the standard forward nearest neighbor monitoring point of the standard associated monitoring point is identified in the standard displacement monitoring point sequence, wherein the standard forward nearest neighbor monitoring point refers to the standard displacement monitoring point in the standard displacement monitoring point sequence that is located in front of and closest to the displacement of the standard associated monitoring point. The backward convergence time is calculated based on the road segment interval monitoring distance and the standard displacement speed, wherein the backward convergence time is equal to the ratio of the road segment interval monitoring distance to the standard displacement speed; The distance to the current backward position is calculated based on the current displacement monitoring position and the standard forward nearest neighbor monitoring position, wherein the current backward position distance refers to the distance between the current displacement monitoring position and the standard forward nearest neighbor monitoring position; The backward displacement velocity is calculated based on the current backward position distance and the backward co-current intersection time, wherein the backward displacement velocity is equal to the ratio of the current backward position distance to the backward co-current intersection time; The mounting head is moved according to the backward displacement speed and the mounting head displacement segment. When the mounting head moves to the standard forward nearest neighbor monitoring point, the displacement speed of the mounting head is adjusted according to the standard displacement speed to complete the coordinated control of the mounting head displacement and mounting.

6. The high-precision LED chip mounter method based on collaborative control as described in claim 5, characterized in that, The step of determining the tangential intersection arc between the current temporal location and the maximum turning intersection point based on the forward displacement segment includes: Draw a tangent trajectory circle for the forward displacement segment through the maximum turning intersection point and the current displacement monitoring point, wherein the tangent trajectory circle refers to the trajectory circle that passes through the current displacement monitoring point and is tangent to the displacement segment of the mounting head at the maximum turning intersection point; Based on the current displacement monitoring point and the maximum turning intersection point, a tangential intersection arc is intercepted in the tangential trajectory circle, wherein the tangential intersection arc refers to the arc in the tangential trajectory circle located between the current displacement monitoring point and the maximum turning intersection point.

7. The high-precision LED chip mounter method based on collaborative control as described in claim 6, characterized in that, The selection of the target turning intersection point in the forward displacement segment includes: The dynamic turning intersection point is selected by sliding within the forward displacement segment; The dynamic displacement distance is calculated based on the standard associated monitoring point and the dynamic turning intersection point, wherein the dynamic displacement distance refers to the distance between the standard associated monitoring point and the dynamic turning intersection point; Calculate the dynamic displacement duration based on the dynamic displacement distance and standard displacement velocity; Draw a tangent dynamic circle for the forward displacement segment through the dynamic turning intersection point and the current displacement monitoring point, wherein the tangent dynamic circle refers to the trajectory circle that passes through the current displacement monitoring point and is tangent to the displacement segment of the mounting head at the dynamic turning intersection point; Based on the current displacement monitoring point and the dynamic turning intersection point, a dynamic intersection arc is extracted in the tangent dynamic circle, wherein the dynamic intersection arc refers to the arc in the tangent dynamic circle located between the current displacement monitoring point and the dynamic turning intersection point; Identify the dynamic intersection arc length of the dynamic intersection arc, and calculate the dynamic intersection speed based on the dynamic intersection arc length and the dynamic displacement duration, wherein the dynamic intersection speed is equal to the ratio of the dynamic intersection arc length to the dynamic displacement duration; Calculate the optimal intersection difference between the dynamic intersection velocity and the standard displacement velocity; Determine whether the optimal intersection difference value is less than a preset intersection difference threshold; If the optimal intersection difference value is not less than the intersection difference threshold, then return to the above steps of sliding to select the dynamic turning intersection point in the forward displacement segment; If the optimal intersection difference is less than the intersection difference threshold, then the dynamic turning intersection point is taken as the target turning intersection point.

8. The high-precision LED chip mounter method based on collaborative control as described in claim 7, characterized in that, The method of coordinating displacement and placement control of the placement head based on standard displacement velocity and tangential intersection arc includes: When the maximum turning intersection point is located on the forward displacement road segment, calculate the maximum intersection speed of the mounting head; The maximum intersection speed is taken as the target intersection speed; When the maximum turning intersection point is located on the backward road segment of the displacement, the target intersection speed corresponding to the target turning intersection point is identified; The displacement speed of the mounting head is adjusted according to the target intersection speed and tangential intersection arc until the mounting head reaches the maximum turning intersection point, thus obtaining the intersection mounting head; The displacement speed of the intersecting mounting head is adjusted according to the standard displacement speed to complete the coordinated control of the mounting head's displacement and mounting.

9. The high-precision LED chip mounter method based on collaborative control as described in claim 8, characterized in that, The calculation of the maximum convergence speed of the mounting head includes: Identify the maximum displacement distance between the maximum turning intersection point and the standard associated monitoring point; The maximum displacement duration is calculated based on the maximum displacement distance and the standard displacement velocity, wherein the maximum displacement duration is equal to the ratio of the maximum displacement distance to the standard displacement velocity; Identify the tangential intersection arc length of the tangential intersection arc, and calculate the maximum intersection speed based on the tangential intersection arc length and the maximum displacement duration.

10. A high-precision LED placement system based on collaborative control, characterized in that, The system includes: The placement head displacement segment segmentation module is used to acquire the placement head displacement route of the LED chip mounter, extract placement head displacement segments sequentially from the placement head displacement route, set a standard time sequence point set in the placement head displacement segment, acquire the current time sequence point, identify the standard associated time sequence point of the current time sequence point in the standard time sequence point set, and segment the placement head displacement segment according to the standard associated time sequence point to obtain the backward displacement segment and the forward displacement segment. The backward displacement segment refers to the segment of the placement head displacement segment that contains the standard associated time sequence point and is located behind the standard associated time sequence point displacement, and the forward displacement segment refers to the segment of the placement head displacement segment that does not contain the standard associated time sequence point and is located in front of the standard associated time sequence point displacement. The current timing position determination module is used to determine whether the current timing position is located in the mounting head displacement section; The mounting head displacement segment collaborative control module is used to obtain the standard displacement speed of the mounting head displacement segment if the current time sequence point is located in the mounting head displacement segment, and to perform displacement mounting collaborative control on the pre-constructed mounting head according to the standard displacement speed and the mounting head displacement segment; The tangential intersection arc collaborative control module is used to determine the maximum turning intersection point on the mounting head displacement segment based on the current timing point and the preset maximum turning angle if the current timing point is not located on the mounting head displacement segment. The maximum turning intersection point refers to the intersection of the straight line passing through the current displacement monitoring point and forming a positive angle with the mounting head displacement segment equal to the maximum turning angle with the mounting head displacement segment. If the maximum turning intersection point is located on the forward displacement segment, the tangential intersection arc between the current timing point and the maximum turning intersection point is determined based on the forward displacement segment. If the maximum turning intersection point is located on the backward displacement segment, a target turning intersection point is selected in the forward displacement segment. The tangential intersection arc between the current timing point and the target turning intersection point is determined based on the forward displacement segment. The mounting head is then subjected to collaborative displacement and mounting control based on the standard displacement speed and the tangential intersection arc.

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