Semiconductor packaging control parameter self-adaption method and system based on environment perception

Abstract

The invention provides a semiconductor packaging control parameter self-adaption method and system based on environment perception, and belongs to the technical field of semiconductor packaging, and the method comprises the steps: carrying out the module and region configuration of a semiconductor packaging device, carrying out the perception of a surrounding region, obtaining a control parameter array and a control information adjustment table, obtaining the environment temperature, and then constructing a territory, the method comprises the following steps of: obtaining each group of territorial fields and patrol areas through equal division and division operation, then obtaining sensing data, assigning wolf packs into each group of territorial fields, performing patrol operation on the wolf packs based on the sensing data, triggering mode switching, performing hunting operation according to a switched mode so as to obtain the movement speed of the wolf packs, and finally performing self-adaptive adjustment on a control parameter array. According to the semiconductor packaging control method, the control adjustment array is obtained, the semiconductor packaging device adjusts the control parameters during operation according to the control adjustment array, the semiconductor packaging control method capable of performing preventive self-adaptive regulation and control according to the degree of personnel approaching the semiconductor packaging device is provided, and the safety is improved.

Description

Technical Field

[0001] The present invention belongs to the field of semiconductor packaging technology, and more specifically, relates to a method and system for semiconductor packaging control parameter self-adaptation based on environmental perception. Background Art

[0002] As the cornerstone of modern electronic information technology, the semiconductor industry plays a vital role. Semiconductor packaging is a key link in the semiconductor manufacturing process, and its quality and efficiency directly affect the performance and reliability of semiconductor devices. With the continuous advancement of semiconductor technology, the integration of chips is getting higher and higher, and the requirements for packaging processes are becoming increasingly stringent.

[0003] The control parameters in traditional semiconductor packaging processes are often fixed. However, the actual packaging environment is complex and changeable. Some high-speed components and high-temperature welding areas may cause accidents if operators approach them without knowing it. Existing packaging systems often lack effective perception of human proximity and corresponding preventive adaptive control mechanisms. Summary of the Invention

[0004] In order to solve the above technical problems, the present invention provides a semiconductor packaging control parameter adaptive method and system based on environmental perception to solve the technical problem in the prior art that traditional semiconductor packaging control methods often do not have the ability to perform preventive adaptive regulation based on the degree of proximity of personnel to the semiconductor packaging device.

[0005] The objectives and effects of the semiconductor packaging control parameter adaptation method and system based on environmental perception of the present invention are achieved by the following specific technical means:

[0006] The semiconductor packaging control parameter adaptive method based on environmental perception includes the following steps:

[0007] S101: configuring modules and regions of a semiconductor packaging device, sensing the surrounding area, obtaining a control parameter array and a control information adjustment table for adaptive adjustment during operation of the semiconductor packaging device, and obtaining an ambient temperature;

[0008] S102: Constructing a territory based on the surrounding area, obtaining outer / inner / core territories and patrol areas by dividing and partitioning the territory, generating a territory-area number, and obtaining perception data based on the territory-area number and the environmental perception module;

[0009] S103: Assigning wolf packs to external / internal / core territories. The wolf packs in each territory perform patrol operations within their respective territories based on sensory data.

[0010] S104: Based on the patrol operation triggering the mode switch, each wolf group performs a hunting operation according to the switched mode, and at the same time introduces the ambient temperature as an interference factor into the hunting operation, and obtains the movement speed of the wolf group through the hunting operation;

[0011] S105: Adaptively adjust the control parameter array according to the wolf pack movement speed and the control information adjustment table to obtain a control adjustment array;

[0012] S106: Importing the control adjustment array into the semiconductor packaging device, and the semiconductor packaging device adjusts control parameters during operation according to the control adjustment array.

[0013] As a further solution of the present invention, step S104 specifically includes:

[0014] Each wolf group patrols the patrol area in sequence based on the territory-area number order. The patrol interval of each patrol area is 0.5 seconds. When the perception data shows a significant fluctuation, it is considered as the presence of a target. The perception data is compared with the preset threshold in real time to switch the mode.

[0015] If a target enters the external territory, it switches to low threat mode. The external wolf pack slowly approaches the target based on the gray wolf algorithm. The external wolf pack is slow and monitors the target, obtaining the changing movement speed of the wolf pack in real time.

[0016] If a target enters the internal territory, it switches to medium threat mode, the external wolf pack stops monitoring and enters patrol operation. The internal wolf pack surrounds the target based on the gray wolf algorithm, and the internal wolf pack speed is accelerated based on the speed of the external wolf pack, gradually approaching the target, and the changing wolf pack movement speed is obtained in real time;

[0017] If a target enters the core territory, it switches to high-threat mode, the internal wolf pack stops encircling and enters patrol mode. The core wolf pack performs emergency hunting operations on the target based on the gray wolf algorithm. The speed of the core wolf pack gradually approaches the maximum speed threshold, and the changing movement speed of the wolf pack is obtained in real time.

[0018] If the sensed data does not exceed the preset threshold, no action will be taken.

[0019] As a further aspect of the present invention, the allocation of wolves to external / internal / core territories includes:

[0020] External wolves are assigned to the external territory, and the external wolf pack includes the Alpha wolf;

[0021] The inner wolf pack is assigned to the inner territory, and the inner wolf pack includes the Alpha wolf and the Beta wolf;

[0022] The core wolf pack is assigned to the core territory, and the core wolf pack includes Alpha wolf, Beta wolf and Delta wolf;

[0023] Among them, the Alpha wolf is used to guide the behavior of other wolf pack members, and the Beta wolf and Delta wolf are used to follow the guidance of the Alpha wolf.

[0024] As a further solution of the present invention, acquiring perception data based on the territory-region number and the environment perception module includes:

[0025] S201: Acquire infrared data, ultrasonic data, and image data of each patrol area based on the environmental perception module. The infrared data is represented by infrared radiation intensity, the ultrasonic data is represented by ultrasonic range echo, and the image data is represented by an image of each patrol area. When acquiring the infrared data, ultrasonic data, and image data, each group of data is timestamped.

[0026] S202: Correcting noise in the infrared data, ultrasonic data, and image data based on a Kalman filter algorithm, performing a data fusion operation on the infrared data and the ultrasonic data, aligning timestamps of the infrared data and the ultrasonic data during the data fusion, and generating distance data based on the data fusion operation;

[0027] S203: extracting the human body contour and key points from the image data based on a human body detection algorithm, establishing a triple space coordinate system based on the location information of the territory construction and environment perception modules, and mapping the human body contour and key points to the triple space coordinate system;

[0028] S204: Constructing points within the human body contour based on the spatial positions of the feedback points of the ultrasonic data and the key points of the human body, and connecting them by lines to construct a fuzzy 3D frontal contour. Filling triangles between the fuzzy 3D frontal contour and the point connection line, such that the filled triangles do not exceed the human body contour, thereby obtaining a frontal 3D human portrait. 3D volume data is calculated based on the frontal 3D human portrait and the ultrasonic data.

[0029] S205: Performing normalization and weighted calculation operations based on the stereo volume data and the distance data to obtain perception data, where the perception data is represented as target information of each group of wolves.

[0030] As a further solution of the present invention, when acquiring perception data, the environmental perception module performs clockwise regional perception based on the patrol area, switches to the next patrol area for perception every 0.5 seconds, and matches the perception data with the territory-area number after each perception.

[0031] As a further solution of the present invention, a territory is constructed based on the surrounding area, and the outer / inner / core territories and patrol areas are obtained by dividing and partitioning the territory, including:

[0032] When constructing a territory, the installation location of the environmental perception module is taken as the center of the circle to establish a circular territory. The farthest boundary of the circular territory exceeds the rectangular working isolation area. The length of the connecting line between the right angle point of the rectangular isolation area boundary and the installation location of the environmental perception module is used as the radius. A division operation is performed to establish an internal territory boundary. The area between the internal territory boundary and the farthest boundary of the circular territory is the external territory. The length of the connecting line between the right angle point of the semiconductor packaging device boundary and the installation location of the environmental perception module is used as the radius to establish a core territory boundary. The area contained within the core territory boundary is the core territory, and the area between the core territory boundary and the internal territory boundary is the internal territory.

[0033] The patrol area is obtained by dividing the circular territory into equal parts according to the vertical and horizontal central axes.

[0034] As a further embodiment of the present invention, generating a territory-region number includes:

[0035] Mark the outer / inner / core territories with territory numbers, and the patrol areas with area numbers;

[0036] The outer territory, inner territory, and core territory are marked with "T1," "T2," and "T3" in sequence, while the patrol area is marked with "L1," "L2," "L3," and "L4" in a clockwise direction based on the axis of the 360-degree circular area.

[0037] Data is synthesized based on the territory number mark and the region number mark, and the territory number mark and the region number mark are synthesized into the territory-region number. The territory-region number can be expressed as: [territory number-region number].

[0038] As a further solution of the present invention, step S105 specifically includes:

[0039] Importing a first pointer group into the control parameter array and importing a second pointer group into the control information adjustment table, the first pointer group including a first odd pointer and a first even pointer, the first odd pointer being used to point to data at odd positions in the control parameter array, the first even pointer being used to point to data at even positions in the control parameter array, the second pointer group including a second odd pointer and a second even pointer, the second odd pointer and the second even pointer being used to point to odd positions and even positions in the control information adjustment table, respectively;

[0040] Establishing a connection between the relevant pointers in the first pointer group and the relevant pointers in the second pointer group based on a mapping relationship between the control parameter array and the control information adjustment table;

[0041] The relevant pointers in the second pointer group perform data queries in the control information adjustment table based on the wolf pack speed. When the second odd pointer and the second even pointer match the data in the control information adjustment table based on the wolf pack speed, the pointed relevant data are mapped to the first pointer group, and the relevant data in the control parameter array is replaced based on the first pointer group, thereby generating a control adjustment array in real time.

[0042] As a further embodiment of the present invention, the control information adjustment table includes a wolf pack speed control value, a package time data control value, a package electrical data control value, a package pressure data control value, and a package temperature data control value, wherein the wolf pack speed control value is represented as a column, and the package time data control value, the package electrical data control value, the package pressure data control value, and the package temperature data control value are represented as rows;

[0043] The control parameter array includes packaging time data, packaging electrical data, packaging pressure data, and packaging temperature data.

[0044] The semiconductor packaging control parameter adaptive system based on environmental perception includes:

[0045] An acquisition module, configured to acquire a control parameter array, an ambient temperature, and a control information adjustment table for adaptive adjustment during operation of the semiconductor packaging device;

[0046] An environmental sensing module, configured to sense a 360-degree circular area surrounding the semiconductor packaging device and acquire sensing data, includes four sets of infrared sensors, four sets of ultrasonic sensors, and four sets of image sensors, which are positioned based on territory-area number markers.

[0047] The territory module is used to construct the territory, perform equal division and partition operations, thereby obtaining the outer / inner / core territories and four groups of patrol areas, and generate territory-area numbers;

[0048] Mode switching module, used to switch modes, including low threat mode, medium threat mode and high threat mode;

[0049] The tracking module is used to assign wolves to the territory and perform related hunting operations based on the switching mode and the gray wolf algorithm to obtain the changing movement speed of the wolf pack;

[0050] The pointer module queries the control information adjustment table based on the wolf pack speed and replaces the relevant data in the control parameter array to generate the control adjustment array in real time;

[0051] Reset module, performs reset operation when the target leaves;

[0052] Semiconductor packaging equipment, used for packaging semiconductors;

[0053] The environment sensing module is arranged on the semiconductor packaging device, and the rectangular working isolation area is arranged on the peripheral side of the semiconductor packaging device.

[0054] Compared with the prior art, the present invention has the following beneficial effects:

[0055] First, a semiconductor packaging device is set up, the modules and regions of the semiconductor packaging device are configured, and the surrounding areas are sensed, the control parameter array of the semiconductor packaging device during operation and the control information adjustment table for adaptive adjustment are obtained, and the ambient temperature is obtained. Then, a territory is constructed, and the external / internal / core territories and patrol areas are obtained by dividing and partitioning the territory, generating a territory-region number, and obtaining perception data based on the territory-region number and the environmental perception module. Then, wolves are dispatched to the external / internal / core territories, and the wolves in each group of territories patrol within their respective territories based on the perception data. The patrol operation triggers mode switching, and each group of wolves performs hunting based on the switched mode. Hunting operation is performed to obtain the movement speed of the wolf pack. When performing the hunting operation, the ambient temperature is introduced into the hunting operation as an interference factor to simulate the hunting environment of the wolf pack. The control parameter array is adaptively adjusted according to the movement speed of the wolf pack and the control information adjustment table to obtain the control adjustment array. Finally, the control adjustment array is introduced into the semiconductor packaging device, and the semiconductor packaging device adjusts the control parameters at runtime according to the control adjustment array. This method integrates environmental perception and the gray wolf algorithm to adaptively adjust the control parameters of the semiconductor packaging device, and provides a semiconductor packaging control method that can perform preventive adaptive regulation according to the degree of proximity of personnel to the semiconductor packaging device, thereby improving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 It is a flowchart of the steps of the semiconductor packaging control parameter adaptive method based on environmental perception of the present invention;

[0057] Figure 2 It is a flow chart of the steps of acquiring perception data in the semiconductor packaging control parameter adaptation method based on environment perception of the present invention;

[0058] Figure 3 It is a schematic diagram of territory construction, division operation and equal division operation in the semiconductor packaging control parameter adaptive method based on environment perception of the present invention;

[0059] Figure 4 It is a schematic diagram of territory-region numbering in the semiconductor packaging control parameter adaptation method based on environment perception of the present invention. DETAILED DESCRIPTION

[0060] The following embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples. The following examples are used to illustrate the technical solutions of the present invention, but are not intended to limit the scope of protection of the present invention.

[0061] Example 1:

[0062] As attached Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 As shown:

[0063] The present invention provides a semiconductor packaging control parameter adaptive method based on environmental perception, which is applicable to semiconductor packaging control and includes the following steps:

[0064] S101: configuring modules and regions of a semiconductor packaging device, sensing the surrounding area, obtaining a control parameter array and a control information adjustment table for adaptive adjustment during operation of the semiconductor packaging device, and obtaining an ambient temperature.

[0065] Specifically, when configuring modules and areas of a semiconductor packaging device, a semiconductor packaging device is set up, a rectangular working isolation area is set up around the semiconductor packaging device, and an environmental sensing module is installed on the semiconductor packaging device. The environmental sensing module has a sensing angle of 360 degrees, and the environmental sensing module is used to sense a 360-degree circular area around the semiconductor packaging device.

[0066] like Figure 3 As shown in the figure, reference numeral 11 is a semiconductor packaging device, reference numeral 12 is an environmental sensing module, the rectangular solid line outside the semiconductor packaging device represents a rectangular working isolation area, and three groups of circular dotted lines with different radii represent the internal territory boundary, the farthest boundary and the core territory boundary respectively.

[0067] It can be understood that setting up a rectangular working isolation area on the side of the semiconductor packaging device can effectively prevent personnel from accidentally approaching the core area of ​​the semiconductor packaging device, and also provides a boundary reference for territory construction and division operations. When personnel cross the rectangular working isolation area and enter the core area of ​​the semiconductor packaging device, the control parameters of the semiconductor packaging device can be preventively adaptively adjusted based on this method. For example, the packaging speed, packaging pressure, packaging temperature and other parameters of the semiconductor packaging device can be reduced to prevent personnel and the semiconductor packaging device body from being seriously injured, thereby improving safety.

[0068] Furthermore, when installing the environmental perception module, it can be installed on the top of the middle position of the semiconductor packaging device, so that when the environmental perception module perceives, the perception result will not be affected by certain obstacles, and the perception field of the environmental perception module will be wider.

[0069] Specifically, the control information adjustment table includes wolf pack speed control values, package time data control values, package electrical data control values, package pressure data control values ​​and package temperature data control values. The wolf pack speed control values ​​are represented as columns, and the package time data control values, package electrical data control values, package pressure data control values ​​and package temperature data control values ​​are rows. The control parameter array includes package time data, package electrical data, package pressure data and package temperature data.

[0070] It can be understood that the packaging time data is represented by the time data of each packaging operation, covering the entire process from the beginning to the end of packaging; the packaging temperature data is represented by the thermal temperature data of each packaging operation; the packaging electrical data is represented by the voltage, current, power and other electrical parameters in the semiconductor packaging process; the packaging pressure data is represented by the pressure data of each packaging operation; and as for the ambient temperature, the ambient temperature is used as an external interference factor and is introduced in the subsequent wolf hunting process to simulate the weather conditions in which wolves hunt in nature, as well as the interference of weather conditions on wolf hunting. Correspondingly, in semiconductor packaging control, the ambient temperature is represented by the ambient temperature of the semiconductor packaging device during the packaging operation, and the ambient temperature will interfere with and affect the relevant control parameters for packaging the semiconductor packaging device.

[0071] S102: Construct a territory based on the surrounding area, obtain external / internal / core territories and patrol areas by dividing and splitting the territory, generate a territory-area number, and obtain perception data based on the territory-area number and the environmental perception module.

[0072] Specifically, when constructing a territory, the installation position of the environmental perception module is taken as the center of the circle to establish a circular territory. The farthest boundary of the circular territory exceeds the rectangular working isolation area. The length of the connecting line between the right angle point of the rectangular isolation area boundary and the installation position of the environmental perception module is used as the radius. A division operation is performed to establish an internal territory boundary. The area between the internal territory boundary and the farthest boundary of the circular territory is the external territory. The length of the connecting line between the right angle point of the semiconductor packaging device boundary and the installation position of the environmental perception module is used as the radius to establish a core territory boundary. The area contained in the core territory boundary is the core territory, and the area between the core territory boundary and the internal territory boundary is the internal territory.

[0073] The patrol area is obtained by dividing the circular territory into four groups of patrol areas according to the vertical and horizontal central axes of the circular territory.

[0074] Specifically, generating a territory-region number includes:

[0075] The outer / inner / core territories are marked with territory numbers, and the patrol areas are marked with area numbers.

[0076] The outer territory, inner territory and core territory are marked with "T1", "T2" and "T3" respectively, while the patrol area is marked with "L1", "L2", "L3" and "L4" in the clockwise direction based on the axis of the 360-degree circular area.

[0077] Data is synthesized based on the territory number mark and the region number mark, and the territory number mark and the region number mark are synthesized into the territory-region number. The territory-region number can be expressed as: [territory number-region number].

[0078] For example, Figure 4 As shown in the figure, [T1-L1] represents the L1 patrol area of ​​the external territory, [T1-L2] represents the L2 patrol area of ​​the external territory, [T1-L3] represents the L3 patrol area of ​​the external territory, [T1-L4] represents the L4 patrol area of ​​the external territory, [T2-L1] represents the L1 patrol area of ​​the internal territory, [T2-L2] represents the L2 patrol area of ​​the internal territory, [T2-L3] represents the L3 patrol area of ​​the internal territory, [T2-L4] represents the L4 patrol area of ​​the internal territory, [T3-L1] represents the L1 patrol area of ​​the core territory, [T3-L2] represents the L2 patrol area of ​​the core territory, [T3-L3] represents the L3 patrol area of ​​the core territory, and [T3-L4] represents the L4 patrol area of ​​the core territory.

[0079] Specifically, the perception data is obtained based on the territory-region number and the environmental perception module, including:

[0080] S201: Based on the environmental perception module, infrared data, ultrasonic data and image data of each patrol area are obtained. The infrared data is represented as infrared radiation intensity, the ultrasonic data is represented as ultrasonic distance echo, and the image data is represented as an image of each patrol area. When obtaining the infrared data, ultrasonic data and image data, each group of data is timestamped.

[0081] S202: Correct the noise of the infrared data, ultrasonic data, and image data based on the Kalman filter algorithm, perform data fusion operation based on the infrared data and ultrasonic data, align the timestamps of the infrared data and ultrasonic data during data fusion, and generate distance data based on the data fusion operation.

[0082] S203: Extracting the human body contour and key points in the image data based on the human body detection algorithm, establishing a triple space coordinate system based on the position information of the constructed territory and environment perception module, and mapping the human body contour and key points to the triple space coordinate system.

[0083] Specifically, when extracting key points of the human body, key points of the human body's knees, shoulders, hands, head, feet and waist can be extracted based on relevant algorithms about human posture to further analyze their shapes. When extracting the human body contour, the two-dimensional data in the image sensor needs to be converted into three-dimensional data based on camera calibration technology, and then imported into the triple space coordinate system.

[0084] For example, when a person enters the L3 patrol area represented by [T3-L3] as the core territory, the front body contour of the person entering the area is extracted, and the knees, shoulders, hands, head, feet and waist of the person are extracted.

[0085] S204: Construct points within the human body contour based on the spatial positions of the feedback points of the ultrasonic data and the key points of the human body, and connect them by lines, thereby constructing a fuzzy three-dimensional frontal contour, and fill in triangles between the fuzzy three-dimensional frontal contour and the point connection line, so that the triangle filling does not exceed the human body contour, thereby obtaining a frontal three-dimensional portrait, and obtaining three-dimensional volume data based on the frontal three-dimensional portrait and the ultrasonic data.

[0086] It can be understood that in the process of completing the shape of the front human portrait, geometric interpolation technology is used to construct a complete frontal three-dimensional portrait by interpolating between the connecting lines between known points (knees, shoulders, hands, head, feet and waist) and the feedback points of the ultrasonic data, and triangulation is performed based on triangulated mesh reconstruction technology to fill in the missing part of the front of the human body in space.

[0087] S205: Performing normalization and weighted calculation operations based on the stereo volume data and the distance data to obtain perception data, where the perception data is represented as target information of each group of wolves.

[0088] Furthermore, when acquiring perception data, the environmental perception module performs clockwise regional perception based on the area number mark, and switches to the area marked with the next area number for perception every 0.5 seconds (the same as the patrol interval time of each patrol area). After each perception, the perception data is matched with the territory-area number. When matching, it can be based on the acquired distance data and the territory number, and can also be based on the mapping position in the triple space coordinate system and the area number.

[0089] S103: Assign wolf packs to external / internal / core territories. The wolf packs in each territory perform patrol operations within their respective territories based on the perception data.

[0090] Specifically, the external wolf pack includes Alpha wolves, which corresponds to the low threat mode. In the low threat mode, the target is located in the external territory and is far away from the packaging device, and does not pose a threat to the equipment. Therefore, the external wolf pack only needs to include a single Alpha wolf. The internal wolf pack includes Alpha wolves and Beta wolves. The internal wolf pack corresponds to the medium threat mode. In the medium threat mode, the target has entered the internal territory and is close to the packaging device, and there is a potential risk. Therefore, in addition to the Alpha wolf, the internal wolf pack needs to add Beta wolves to respond. The core wolf pack includes Alpha wolves, Beta wolves and Delta wolves. The core wolf pack corresponds to the high threat mode. In the high threat mode, the target has entered the core territory or is very close to the semiconductor packaging device, and may pose a direct threat to the semiconductor packaging device. The core wolf pack needs to respond quickly, so in addition to Alpha and Beta wolves, Delta wolves are also needed. Among them, Alpha wolf is used to guide the behavior of other wolf pack members in the wolf pack, and Beta wolf and Delta wolf are used to follow the guidance of Alpha wolf.

[0091] S104: Based on the patrol operation triggering mode switching, each group of wolves performs hunting operations according to the switched mode, and at the same time introduces the ambient temperature as an interference factor into the hunting operation, and obtains the movement speed of the wolf group through the hunting operation.

[0092] Specifically, each group of wolves patrols the patrol area in turn based on the order of territory-area numbers. The patrol interval of each patrol area is 0.5 seconds. When the perception data shows obvious fluctuations, it is considered that a target has appeared, and the perception data is compared with the preset threshold in real time. The preset threshold is divided into three levels. The parameters of the specific threshold are affected by the size of the territory. Users can also set it manually. The three thresholds correspond to the high threat mode, medium threat mode and low threat mode of mode switching, thereby performing mode switching.

[0093] When conducting patrol operations, there is a possibility of misjudgment when judging whether there is a target by changes in perception data. By comparing the perception data with the preset threshold, it can be reconfirmed whether there is a target. When understanding the target, the target can be understood as a person who has entered the territory.

[0094] When the perception data matching [T1-L3] changes significantly, it means that someone may have entered the territory. By comparing the perception data with the preset threshold, it can be determined whether there is a person intruding. If the perception data value is too small and does not exceed the lowest threshold of the preset threshold, it means a false positive. If the perception data value exceeds the lowest threshold of the preset threshold, it means that someone has definitely entered.

[0095] It can be understood that mode switching is to judge the threat level of the current semiconductor packaging device through perception data and classify it into different modes. By analyzing the relative positions of the target in different territories, low threat mode, medium threat mode and high threat mode can be identified. Based on these modes, corresponding hunting operations will be taken to obtain the movement speed of the wolf pack.

[0096] Mode switching includes:

[0097] If a target enters the external territory, it switches to low threat mode. The external wolf pack slowly approaches the target based on the gray wolf algorithm. The external wolf pack has a slow speed and monitors the target, obtaining the changing movement speed of the wolf pack in real time.

[0098] In low threat mode, the update formula for the external wolf pack is:

[0099] X w1 (t+1)=η×{X w1 (t)+α·r1[X m -X w1 (t)]};

[0100] Among them, X w1 (t) represents the position of the external wolf pack at the current time t, X w1 (t+1) represents the position of the external wolf pack at the next moment t+1, α represents the moving speed of the wolf pack. In the low threat mode, the wolf pack is slow, so the value of α is generally small, and the value of α will change with the movement of the wolf pack. r1 represents a random number between [0,1]. This random number is used to introduce a certain degree of randomness to enhance the diversity of the wolf pack's search. X m is the position of the target, η is the external interference factor, [X m -X w1 (t)] is the vector direction from the current position of the wolf pack to the target position, indicating that the wolf pack needs to move towards the target position.

[0101] If a target enters the internal territory, it switches to medium threat mode, the external wolf pack stops monitoring and enters patrol operation, the internal wolf pack surrounds the target based on the gray wolf algorithm, and the speed of the internal wolf pack is accelerated based on the speed of the external wolf pack, gradually approaching the target, and obtaining the changing movement speed of the wolf pack in real time.

[0102] In the medium threat mode, the update formula of the internal wolf pack is:

[0103] X w2 (t+1)=η×{X w2 (t)+α·r1[X m -X w1 (t)]+β·r2[X l -X w2 (t)]};

[0104] Among them, X w2 (t) represents the position of the internal wolf pack at the current time t, X w2 (t+1) represents the position of the inner wolf pack at the next moment t+1. In the medium threat mode, the wolf pack is faster, so the value of α is larger than that in the low threat mode, and the value of α will change with the movement of the wolf pack. r1 and r2 are random numbers, both of which are between [0,1] to introduce randomness. β represents the degree of dependence of the Beta wolf in the inner wolf pack on the Alpha wolf. X l It is represented by the position of Alpha wolf, [X l -X w2 (t)]} represents the direction vector between the Alpha wolf and the current Beta wolf position, guiding the Beta wolf to follow the guidance of the Alpha wolf. m -X w2 (t)] is represented as the vector direction from the current position of the wolf pack to the target position.

[0105] If a target enters the core territory, it switches to high-threat mode, the internal wolf pack stops the encirclement and enters patrol operation. The core wolf pack performs emergency hunting operations on the target based on the gray wolf algorithm. The speed of the core wolf pack gradually approaches the maximum speed threshold, and the changing wolf pack movement speed is obtained in real time.

[0106] In high threat mode, the update formula of the internal wolf pack is:

[0107] X w3 (t+1)=η×{X w3 (t)+α·r1[X m -X w3 (t)]+ω·r3[X l -X w3 (t)]+χ·[X m -X w3 (t)]};

[0108] Among them, X w3 (t) represents the position of the core wolf pack at the current time t, X w3(t+1) represents the position of the core wolf pack at the next moment t+1, r3 is a random number between [0,1], and for the value of α, in the high threat mode, the wolf pack's response is very fast, so the value of α gradually approaches the maximum speed, ω represents the degree of dependence of the Beta wolf and Delta wolf on the Alpha wolf in the core wolf pack, χ represents the influence factor, which is used to increase the emergency response degree of the wolf pack to the target, indicating the wolf pack's rapid response in the high threat mode. This influence factor enables the wolf pack to take action more quickly, [X l -X w3 (t)] represents the direction vector of Alpha wolf, current Beta wolf and Delta, [X m -X w3 (t)] is represented as the vector direction from the current position of the wolf pack to the target position.

[0109] If the sensed data does not exceed the preset threshold, no action will be taken.

[0110] It is understandable that the Gray Wolf Algorithm simulates the encirclement strategy of wolves when facing prey. Its core idea is to achieve the best defense effect through group cooperation. In semiconductor packaging devices, the use of the Gray Wolf Algorithm can dynamically adjust the movement speed of the wolf pack based on environmental data and pattern recognition results. By simulating the cooperation between wolves, different defense strategies (pattern recognition switching modes) can be effectively allocated to different areas (such as external territory, internal territory and core territory). In this way, customized defense can be carried out according to the specific conditions of each area (such as different wolf hunting operations in low threat mode, medium threat mode and high threat mode), thereby making preventive adaptive adjustments.

[0111] For example, when someone enters the L3 patrol area of ​​the core territory, the perception data fluctuates significantly, and it is judged that a possible target appears in the L3 patrol area of ​​the core territory. By comparing the perception data with the preset threshold, it is determined that a target appears in the L3 patrol area of ​​the core territory. Based on the comparison of the perception data with the three thresholds within the preset threshold, the mode switch is triggered to switch to the high-threat mode. The core wolf pack performs emergency hunting operations on the target based on the gray wolf algorithm. The speed of the core wolf pack gradually approaches the maximum speed threshold, thereby obtaining a rapidly growing and changing wolf pack movement speed.

[0112] S105: Adaptively adjust the control parameter array according to the wolf pack movement speed and the control information adjustment table to obtain a control adjustment array.

[0113] Further, a first pointer group is imported into the control parameter array, and a second pointer group is imported into the control information adjustment table, wherein the first pointer group includes a first odd pointer and a first even pointer, the first odd pointer is used to point to data at odd positions in the control parameter array, and the first even pointer is used to point to data at even positions in the control parameter array, and the second pointer group includes a second odd pointer and a second even pointer, the second odd pointer and the second even pointer are used to point to odd positions and even positions in the control information adjustment table, respectively;

[0114] Establishing a connection between the relevant pointers in the first pointer group and the relevant pointers in the second pointer group based on a mapping relationship between the control parameter array and the control information adjustment table;

[0115] The relevant pointers in the second pointer group perform data queries in the control information adjustment table based on the wolf pack speed. When the second odd pointer and the second even pointer match the data in the control information adjustment table based on the wolf pack speed, the pointed relevant data are mapped to the first pointer group, and the relevant data in the control parameter array is replaced based on the first pointer group, thereby generating a control adjustment array in real time.

[0116] It can be understood that the control adjustment array is a control parameter array whose data has been adjusted through the first pointer group and the second pointer group based on the Grey Wolf algorithm, and the control parameter array includes "packaging time data, packaging electrical data, packaging pressure data and packaging temperature data". The control parameter array of the adjusted data, that is, the control adjustment array, is re-imported into the semiconductor packaging device to control and adjust the semiconductor packaging device.

[0117] S106: Importing the control adjustment array into the semiconductor packaging device, and the semiconductor packaging device adjusts control parameters during operation according to the control adjustment array.

[0118] For example, if a person approaches a semiconductor packaging device and is too close to the semiconductor packaging device, causing the mode to switch to a high-threat mode, the core wolf pack is triggered to perform an emergency hunting operation. Subsequently, the corresponding data in the control parameter array is adjusted through the first pointer group, the second pointer group, the control information adjustment table and based on the gray wolf algorithm to obtain the control adjustment array, and the relevant data in the control adjustment array is imported into the semiconductor packaging device, thereby controlling and adjusting the semiconductor packaging device, so that the packaging time, packaging pressure and packaging temperature of the semiconductor packaging device are reduced, and the packaging electrical data are also adjusted accordingly.

[0119] The semiconductor packaging control parameter adaptive system based on environmental perception includes:

[0120] An acquisition module, configured to acquire a control parameter array, an ambient temperature, and a control information adjustment table for adaptive adjustment during operation of the semiconductor packaging device;

[0121] An environmental sensing module, configured to sense a 360-degree circular area surrounding the semiconductor packaging device and acquire sensing data, includes four sets of infrared sensors, four sets of ultrasonic sensors, and four sets of image sensors, which are positioned based on territory-area number markers.

[0122] Specifically, four sets of infrared sensors are used to obtain infrared data of each patrol area, four sets of ultrasonic sensors are used to obtain ultrasonic data of each patrol area, and four sets of image sensors are used to obtain images of each patrol area;

[0123] The territory module is used to construct the territory, perform equal division and partition operations, thereby obtaining the outer / inner / core territories and four groups of patrol areas, and generate territory-area numbers;

[0124] Mode switching module, used to switch modes, including low threat mode, medium threat mode and high threat mode;

[0125] The tracking module is used to assign wolves to the territory and perform related hunting operations based on the switching mode and the gray wolf algorithm to obtain the changing movement speed of the wolf pack;

[0126] The pointer module queries the control information adjustment table based on the wolf pack speed and replaces the relevant data in the control parameter array to generate the control adjustment array in real time;

[0127] Reset module, performs reset operation when the target leaves;

[0128] Semiconductor packaging equipment, used for packaging semiconductors;

[0129] The environment sensing module is arranged on the semiconductor packaging device, and the rectangular working isolation area is arranged on the peripheral side of the semiconductor packaging device.

[0130] The specific usage and function of this embodiment 1 are as follows:

[0131] First, a semiconductor packaging device is set up, the modules and regions of the semiconductor packaging device are configured, and the surrounding areas are sensed, the control parameter array of the semiconductor packaging device during operation and the control information adjustment table for adaptive adjustment are obtained, and the ambient temperature is obtained. Then, a territory is constructed, and the external / internal / core territories and patrol areas are obtained by dividing and partitioning the territory, generating a territory-region number, and obtaining perception data based on the territory-region number and the environmental perception module. Then, wolves are dispatched to the external / internal / core territories, and the wolves in each group of territories patrol within their respective territories based on the perception data. The patrol operation triggers mode switching, and each group of wolves performs hunting based on the switched mode. Hunting operation is performed to obtain the movement speed of the wolf pack. When performing the hunting operation, the ambient temperature is introduced into the hunting operation as an interference factor to simulate the hunting environment of the wolf pack. The control parameter array is adaptively adjusted according to the movement speed of the wolf pack and the control information adjustment table to obtain the control adjustment array. Finally, the control adjustment array is introduced into the semiconductor packaging device, and the semiconductor packaging device adjusts the control parameters at runtime according to the control adjustment array. This method integrates environmental perception and the gray wolf algorithm to adaptively adjust the control parameters of the semiconductor packaging device, and provides a semiconductor packaging control method that can perform preventive adaptive regulation according to the degree of proximity of personnel to the semiconductor packaging device, thereby improving safety.

[0132] An electronic device, comprising:

[0133] At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method proposed in the first embodiment of the present invention.

[0134] The following is a detailed introduction to the various components of electronic equipment:

[0135] The processor is the control center of an electronic device and can be a single processor or a collective term for multiple processing elements. For example, the processor can be one or more central processing units (CPUs), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the first embodiment of the present invention, such as one or more digital signal processors (DSPs) or one or more field programmable gate arrays (FPGAs).

[0136] The processor can execute various functions of the electronic device by running or executing software programs stored in the memory and calling data stored in the memory.

[0137] The memory is used to store the software program for executing the solution of the present invention, and the execution is controlled by the processor. The specific implementation method can refer to the above method embodiment and will not be repeated here.

[0138] The memory may be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only (CD-ROM), or other optical disc storage, optical disc storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory may be integrated with the processor or exist independently and be coupled to the processor through an interface circuit of the electronic device, and the embodiments of the present invention do not specifically limit this.

[0139] The above embodiments can be implemented in whole or in part through software, hardware (e.g., circuits), firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer program are loaded or executed on a computer, the processes or functions described in accordance with the embodiments of the present invention are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via a wireless method (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer, or a data storage device such as a server or data center that contains a collection of one or more available media. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state drive.

[0140] It should be understood that the term "and / or" as used herein simply describes an association between related objects, indicating that three possible relationships exist. For example, "A and / or B" can represent the existence of A alone, the existence of both A and B, or the existence of B alone. A and B can be singular or plural. Furthermore, the character " / " as used herein generally indicates an "or" relationship between the related objects, but it may also indicate an "and / or" relationship. For specific understanding, please refer to the context.

[0141] It should be understood that in the embodiments of the present invention, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0142] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included in the scope of protection of the present invention.

Claims

1. A semiconductor packaging control parameter adaptive method based on environmental perception, characterized in that: The following steps are included: S101: configuring modules and regions of a semiconductor packaging device, sensing the surrounding area, obtaining a control parameter array and a control information adjustment table for adaptive adjustment during operation of the semiconductor packaging device, and obtaining an ambient temperature; S102: Constructing a territory based on the surrounding area, obtaining outer / inner / core territories and patrol areas by dividing and partitioning the territory, generating a territory-area number, and obtaining perception data based on the territory-area number and the environmental perception module; S103: Assigning wolf packs to external / internal / core territories. The wolf packs in each territory perform patrol operations within their respective territories based on sensory data. S104: Based on the patrol operation triggering the mode switch, each wolf group performs a hunting operation according to the switched mode, and at the same time introduces the ambient temperature as an interference factor into the hunting operation, and obtains the movement speed of the wolf group through the hunting operation; S105: Adaptively adjust the control parameter array according to the wolf pack movement speed and the control information adjustment table to obtain a control adjustment array; S106: Importing the control adjustment array into the semiconductor packaging device, and the semiconductor packaging device adjusts control parameters during operation according to the control adjustment array.

2. The method for semiconductor packaging control parameter adaptation based on environment perception according to claim 1, characterized in that: Step S104 specifically includes: Each wolf group patrols the patrol area in sequence based on the territory-area number order. The patrol interval of each patrol area is 0.5 seconds. When the perception data shows a significant fluctuation, it is considered as the presence of a target. The perception data is compared with the preset threshold in real time to switch the mode. If a target enters the external territory, it switches to low threat mode. The external wolf pack slowly approaches the target based on the gray wolf algorithm. The external wolf pack is slow and monitors the target, obtaining the changing movement speed of the wolf pack in real time. If a target enters the internal territory, it switches to medium threat mode, the external wolf pack stops monitoring and enters patrol operation. The internal wolf pack surrounds the target based on the gray wolf algorithm, and the internal wolf pack speed is accelerated based on the speed of the external wolf pack, gradually approaching the target, and the changing wolf pack movement speed is obtained in real time; If a target enters the core territory, it switches to high-threat mode, the internal wolf pack stops encircling and enters patrol mode. The core wolf pack performs emergency hunting operations on the target based on the gray wolf algorithm. The speed of the core wolf pack gradually approaches the maximum speed threshold, and the changing movement speed of the wolf pack is obtained in real time. If the sensed data does not exceed the preset threshold, no action will be taken.

3. The method for semiconductor packaging control parameter adaptation based on environment perception according to claim 1, characterized in that: Assigning wolves to outer / inner / core territories, including: External wolves are assigned to the external territory, and the external wolf pack includes the Alpha wolf; The inner wolf pack is assigned to the inner territory, and the inner wolf pack includes the Alpha wolf and the Beta wolf; The core wolf pack is assigned to the core territory, and the core wolf pack includes Alpha wolf, Beta wolf and Delta wolf; Among them, the Alpha wolf is used to guide the behavior of other wolf pack members, and the Beta wolf and Delta wolf are used to follow the guidance of the Alpha wolf.

4. The method for semiconductor packaging control parameter adaptation based on environment perception according to claim 1, characterized in that: Acquires perception data based on the territory-region number and the environmental perception module, including: S201: Acquire infrared data, ultrasonic data, and image data of each patrol area based on the environmental perception module. The infrared data is represented by infrared radiation intensity, the ultrasonic data is represented by ultrasonic range echo, and the image data is represented by an image of each patrol area. When acquiring the infrared data, ultrasonic data, and image data, each group of data is timestamped. S202: Correcting noise in the infrared data, ultrasonic data, and image data based on a Kalman filter algorithm, performing a data fusion operation on the infrared data and the ultrasonic data, aligning timestamps of the infrared data and the ultrasonic data during the data fusion, and generating distance data based on the data fusion operation; S203: extracting the human body contour and key points from the image data based on a human body detection algorithm, establishing a triple space coordinate system based on the location information of the territory construction and environment perception modules, and mapping the human body contour and key points to the triple space coordinate system; S204: Constructing points within the human body contour based on the spatial positions of the feedback points of the ultrasonic data and the key points of the human body, and connecting them by lines to construct a fuzzy 3D frontal contour. Filling triangles between the fuzzy 3D frontal contour and the point connection line, such that the filled triangles do not exceed the human body contour, thereby obtaining a frontal 3D human portrait. 3D volume data is calculated based on the frontal 3D human portrait and the ultrasonic data. S205: Performing normalization and weighted calculation operations based on the stereo volume data and the distance data to obtain perception data, where the perception data is represented as target information of each group of wolves.

5. The method for semiconductor packaging control parameter adaptation based on environment perception according to claim 4, characterized in that: When acquiring perception data, the environmental perception module performs clockwise regional perception based on the patrol area, switching to the next patrol area for perception every 0.5 seconds. After each perception, the perception data is matched with the territory-area number.

6. The method for semiconductor packaging control parameter adaptation based on environment perception according to claim 1, characterized in that: Build a territory based on the surrounding area, and obtain external / internal / core territories and patrol areas by dividing and splitting the territory, including: When constructing a territory, the installation location of the environmental perception module is taken as the center of the circle to establish a circular territory. The farthest boundary of the circular territory exceeds the rectangular working isolation area. The length of the connecting line between the right angle point of the rectangular isolation area boundary and the installation location of the environmental perception module is used as the radius. A division operation is performed to establish an internal territory boundary. The area between the internal territory boundary and the farthest boundary of the circular territory is the external territory. The length of the connecting line between the right angle point of the semiconductor packaging device boundary and the installation location of the environmental perception module is used as the radius to establish a core territory boundary. The area contained within the core territory boundary is the core territory, and the area between the core territory boundary and the internal territory boundary is the internal territory. The patrol area is obtained by dividing the circular territory into equal parts according to the vertical and horizontal central axes.

7. The method for semiconductor packaging control parameter adaptation based on environment perception according to claim 1, characterized in that: Generate territory-region numbers, including: Mark the outer / inner / core territories with territory numbers, and the patrol areas with area numbers; The outer territory, inner territory, and core territory are marked with "T1", "T2", and "T3" in sequence, while the patrol area is marked with "L1", "L2", "L3", and "L4" in a clockwise direction based on the axis of the 360-degree circular area. Data is synthesized based on the territory number mark and the region number mark, and the territory number mark and the region number mark are synthesized into the territory-region number. The territory-region number can be expressed as: [territory number-region number].

8. The method for semiconductor packaging control parameter adaptation based on environment perception according to claim 1, characterized in that: Step S105 specifically includes: Importing a first pointer group into the control parameter array and importing a second pointer group into the control information adjustment table, the first pointer group including a first odd pointer and a first even pointer, the first odd pointer being used to point to data at odd positions in the control parameter array, the first even pointer being used to point to data at even positions in the control parameter array, the second pointer group including a second odd pointer and a second even pointer, the second odd pointer and the second even pointer being used to point to odd positions and even positions in the control information adjustment table, respectively; Establishing a connection between the relevant pointers in the first pointer group and the relevant pointers in the second pointer group based on a mapping relationship between the control parameter array and the control information adjustment table; The relevant pointers in the second pointer group perform data queries in the control information adjustment table based on the wolf pack speed. When the second odd pointer and the second even pointer match the data in the control information adjustment table based on the wolf pack speed, the pointed relevant data are mapped to the first pointer group, and the relevant data in the control parameter array is replaced based on the first pointer group, thereby generating a control adjustment array in real time.

9. The method for semiconductor packaging control parameter adaptation based on environment perception according to claim 1, characterized in that: The control information adjustment table includes a wolf pack speed comparison value, a package time data comparison value, a package electrical data comparison value, a package pressure data comparison value, and a package temperature data comparison value. The wolf pack speed comparison value is represented as a column, and the package time data comparison value, the package electrical data comparison value, the package pressure data comparison value, and the package temperature data comparison value are represented as rows. The control parameter array includes packaging time data, packaging electrical data, packaging pressure data, and packaging temperature data.

10. A semiconductor packaging control parameter adaptive system based on environmental perception, characterized in that: include: An acquisition module, configured to acquire a control parameter array, an ambient temperature, and a control information adjustment table for adaptive adjustment during operation of the semiconductor packaging device; An environmental sensing module, configured to sense a 360-degree circular area surrounding the semiconductor packaging device and acquire sensing data, includes four sets of infrared sensors, four sets of ultrasonic sensors, and four sets of image sensors, which are positioned based on territory-area number markers. The territory module is used to construct the territory, perform equal division and partition operations, thereby obtaining the outer / inner / core territories and four groups of patrol areas, and generate territory-area numbers; Mode switching module, used to switch modes, including low threat mode, medium threat mode and high threat mode; The tracking module is used to assign wolves to the territory and perform related hunting operations based on the switching mode and the gray wolf algorithm to obtain the changing movement speed of the wolf pack; The pointer module queries the control information adjustment table based on the wolf pack speed and replaces the relevant data in the control parameter array to generate the control adjustment array in real time; Reset module, performs reset operation when the target leaves; Semiconductor packaging equipment, used for packaging semiconductors; The environment sensing module is arranged on the semiconductor packaging device, and the rectangular working isolation area is arranged on the peripheral side of the semiconductor packaging device.

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