CN115420195A - Motion precision compensation method, device, equipment and storage medium - Google Patents

Motion precision compensation method, device, equipment and storage medium Download PDF

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Publication number
CN115420195A
CN115420195A CN202211039920.5A CN202211039920A CN115420195A CN 115420195 A CN115420195 A CN 115420195A CN 202211039920 A CN202211039920 A CN 202211039920A CN 115420195 A CN115420195 A CN 115420195A
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optical
optical point
compensation
actual
theoretical
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黄韬
申璐迪
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Polar Light Technology Co ltd
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Polar Light Technology Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R35/00—Testing or calibrating of apparatus covered by the other groups of this subclass
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R35/00—Testing or calibrating of apparatus covered by the other groups of this subclass
    • G01R35/005—Calibrating; Standards or reference devices, e.g. voltage or resistance standards, "golden" references

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Abstract

The invention discloses a motion precision compensation method, a motion precision compensation device, motion precision compensation equipment and a storage medium. The method comprises the following steps: the method comprises the steps that a theoretical position of an optical point in a standard plate is taken as a target, a moving part is controlled to move, the position of a motor where the moving part reaches and the optical position of the optical point collected by a vision positioning sensor at the position of the motor are obtained; the standard plate comprises a plurality of optical points arranged at set intervals; determining the actual position of the optical point based on the theoretical position of the optical point, the optical position and the motor position; and responding to a control command for a moving part, and performing precision compensation on the expected position in the control command according to the theoretical position and the actual position of the optical point in the standard plate to obtain a compensated position. According to the technical scheme of the embodiment of the invention, the movement precision of the moving part can be improved on the premise of controlling the cost.

Description

Motion precision compensation method, device, equipment and storage medium
Technical Field
The invention relates to the technical field of a thread needle testing machine, in particular to a motion precision compensation method, a motion precision compensation device, motion precision compensation equipment and a storage medium.
Background
When the automatic thread needle testing machine tests the circuit board, the bearing jig testing head needs to move through the moving guide rail, and the pressing test is carried out when the bearing jig testing head moves to a position to be tested. Since the precision of the test part is often high, this requires a higher precision of the motion guide compared to the test part.
In the prior art, the accuracy of the motion of a test head is often ensured by improving the machining accuracy of a mechanical assembly in an automatic wire needle test machine. Meanwhile, a grating ruler displacement sensor is additionally arranged for displacement calibration, and the movement precision is further improved. However, the price of the grating ruler is high, and the accuracy that can be achieved by the grating ruler far exceeds the accuracy required by the automatic wire-needle testing machine, which causes the increase of the testing cost and the waste of resources.
Disclosure of Invention
The invention provides a motion precision compensation method, a motion precision compensation device, motion precision compensation equipment and a storage medium, and aims to solve the problem of high precision compensation cost caused by the adoption of a grating ruler.
According to an aspect of the present invention, there is provided a motion precision compensation method, including:
the method comprises the steps that a theoretical position of an optical point in a standard plate is taken as a target, a moving part is controlled to move, the position of a motor where the moving part reaches and the optical position of the optical point collected by a vision positioning sensor at the position of the motor are obtained; the standard plate comprises a plurality of optical points arranged at set intervals;
determining the actual position of the optical point based on the theoretical position, the optical position and the motor position of the optical point;
and responding to a control command for a moving part, and performing precision compensation on a desired position in the control command according to the theoretical position and the actual position of the optical point in the standard plate to obtain a compensated position.
According to another aspect of the present invention, there is provided a motion precision compensation apparatus, comprising:
the moving part control module is used for controlling the moving part to move by taking the theoretical position of an optical point in the standard plate as a target, acquiring the position of a motor where the moving part arrives and acquiring the optical position of the optical point collected by the visual positioning sensor at the position of the motor; the standard plate comprises a plurality of optical points arranged at set intervals;
the actual position determining module is used for determining the actual position of the optical point based on the theoretical position, the optical position and the motor position of the optical point;
and the compensation position determining module is used for responding to a control command for the moving part, and performing precision compensation on the expected position in the control command according to the theoretical position and the actual position of the optical point in the standard plate to obtain a compensation position.
According to another aspect of the present invention, there is provided an electronic apparatus including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein, the first and the second end of the pipe are connected with each other,
the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform the motion precision compensation method according to any of the embodiments of the present invention.
According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to implement a motion precision compensation method according to any one of the embodiments of the present invention when the computer instructions are executed.
According to the technical scheme of the embodiment of the invention, the theoretical position of the optical point in the standard plate is taken as a target, the moving part is controlled to move, the motor position reached by the moving part and the optical position of the optical point collected by the visual positioning sensor at the motor position are further obtained, the actual position of the optical point is determined based on the theoretical position, the optical position and the motor position of the optical point, the control instruction for the moving part is finally responded, the expected position in the control instruction is subjected to precision compensation according to the theoretical position and the actual position of the optical point in the standard plate, the compensation position is obtained, and the movement precision can be improved on the premise of controlling the cost.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1a is a flowchart of a motion precision compensation method according to an embodiment of the present invention;
fig. 1b is a schematic diagram of motion precision compensation provided according to an embodiment of the present invention;
fig. 2 is a flowchart of a motion precision compensation method according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a motion precision compensation apparatus according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device implementing the motion precision compensation method according to the embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in other sequences than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example one
Fig. 1a is a flowchart of a motion precision compensation method according to an embodiment of the present invention, which is applicable to the case of performing motion precision compensation through a standard board and a visual positioning sensor, and the method can be performed by a motion precision compensation device, which can be implemented in hardware and/or software, and can be configured in various general-purpose computing devices. As shown in fig. 1a, the method comprises:
s110, controlling a moving part to move by taking the theoretical position of an optical point in a standard plate as a target, and acquiring the position of a motor where the moving part arrives and the optical position of the optical point collected by a vision positioning sensor at the position of the motor; the standard plate comprises a plurality of optical points arranged at set intervals.
The standard plate is a glass plate printed with a plurality of optical dots, and the optical dots in the standard plate are arranged according to the matrix rule. The standard plate can be installed in the motion range of the moving part for motion precision compensation. Illustratively, the standard plate takes the upper left corner as a starting point, and optical points are respectively generated at set intervals in the horizontal and vertical directions to form a complete standard plate.
And establishing a theoretical coordinate system by taking the optical point at the central position of the standard plate as an origin, taking the row of the optical point at the central position as an X axis, and taking the column of the optical point at the central position as a Y axis, wherein the coordinate of the optical point in the theoretical coordinate system is the theoretical position of the optical point. Illustratively, in the theoretical coordinate system, the theoretical position of the optical point at the lower left corner is (-W/2, -H/2), the theoretical position at the upper right corner is (W/2,H/2), and the theoretical positions of the other optical points to be calculated can be determined according to the coordinates of the optical points at the lower left corner, the intervals between the adjacent optical points, and the arrangement positions of the optical points to be calculated.
In the embodiment of the invention, the theoretical positions of the optical points in the standard plate are respectively taken as targets to control the moving part to move. When the moving part stops moving, the motor position sent by the motor positioning sensor associated with the moving part, namely the actual position reached by the current moving part, is obtained, and the motor position is often inconsistent with the target due to limited precision of the mechanical guide rail and the motor. Meanwhile, in order to perform motion calibration on the moving part, the optical position of the optical point acquired by the visual positioning sensor at the motor position can be acquired, and the optical position is the position of the circle center of the optical point in the visual field range of the visual positioning sensor. In an ideal state, the theoretical position of the optical point, the motor position and the center of the visual field of the visual positioning sensor should coincide, but the theoretical position, the motor position and the optical position of the optical point on the visual positioning sensor are different due to the motion error of the moving part and the positioning error of the visual positioning sensor.
The visual positioning sensor may be a camera, such as a Charge Coupled Device (CCD) camera, mounted on a drive shaft of the moving part, and the optical position acquired by the camera is used for precision compensation of the moving part.
And S120, determining the actual position of the optical point based on the theoretical position, the optical position and the motor position of the optical point.
In the embodiment of the invention, after the optical position and the motor position of the optical point are obtained, the actual position of the optical point is calculated based on the theoretical position, the optical position and the current motor position of the optical point, so that the precision compensation is performed on the moving part according to the theoretical position and the actual position of the optical point. Specifically, the optical position in units of pixels is converted into units of millimeters, the deviation between the theoretical position and the optical position of the optical point is calculated, and the motor position of the current moving part is compensated according to the deviation to obtain the actual position of the optical point.
It should be noted that, in the present embodiment, the above operation is performed for each optical point in the standard plate, so as to obtain the actual position of each optical point. And finally, the theoretical positions and the actual positions of all optical points in the standard plate can be correspondingly stored to obtain a calibration file, and the calibration file can be applied to subsequent motion control of the motion part, so that the motion precision is improved through precision compensation.
And S130, responding to the control command for the moving part, and performing precision compensation on the expected position in the control command according to the theoretical position and the actual position of the optical point in the standard plate to obtain a compensation position.
In the embodiment of the invention, after the theoretical position and the actual position of each optical point in the standard plate are obtained through calculation, the expected position in the control command is subjected to precision compensation according to the theoretical position and the actual position of the optical point in the standard plate to obtain the compensation position. Specifically, after receiving the control command of the moving part, the desired position in the control command is read, and then the optical point adjacent to the desired position is determined as the compensation optical point among the optical points of the standard plate, as shown in fig. 1b, that is, 4 optical points in total surrounding the desired position optical points A, B, C and D are taken as the compensation optical points. Furthermore, according to the theoretical position and the actual position of the compensation optical point, the expected position is subjected to precision compensation to obtain a compensation position, and the compensation position is used for controlling the moving part.
In a specific example, as shown in fig. 1b, a theoretical coordinate system is established with the optical point at the center position of the reticle as the origin, the row of the optical point at the center position as the X-axis, and the column of the optical point at the center position as the Y-axis, and the interval between adjacent optical points is INR in the theoretical coordinate system. The desired position is point Q and the 4 compensating optical points determined to be adjacent to the desired position are A, B, C and D. The compensating optical point D closest to the point Q is first set as the target optical point. The distance X in the X-axis direction between the point Q and the target optical point D is calculated based on the distance Y in the Y-axis direction.
Further, a first ratio of the distance x to the theoretical distance of the CD and a second ratio of the distance y to the theoretical distance of the BD are calculated, respectively. And finally, multiplying the actual distance of the CD by the first ratio to obtain the distance between the point Q and the target optical point D in the X-axis direction in the actual optical point coordinate, and similarly multiplying the actual distance of the BD by the second ratio to obtain the distance between the point Q and the target optical point D in the Y-axis direction in the actual optical point coordinate. And finally, obtaining the compensation position aiming at the point Q according to the distance between the point Q and the target optical point D in the actual coordinates of the optical points. Wherein the theoretical distance is a distance between two points calculated from the theoretical position, and the actual distance is a distance between two points calculated from the actual position.
According to the technical scheme of the embodiment of the invention, the theoretical position of the optical point in the standard plate is taken as a target, the moving part is controlled to move, the motor position reached by the moving part and the optical position of the optical point acquired by the vision positioning sensor at the motor position are further obtained, the actual position of the optical point is determined based on the theoretical position, the optical position and the motor position of the optical point, the control instruction for the moving part is finally responded, the precision compensation is carried out on the expected position in the control instruction according to the theoretical position and the actual position of the optical point in the standard plate, and the compensation position is obtained.
Example two
Fig. 2 is a flowchart of a motion accuracy compensation method according to a second embodiment of the present invention, which is further detailed based on the above embodiments, and this embodiment provides a specific step of determining an actual position of an optical point based on a theoretical position, an optical position, and a motor position of the optical point, and performs accuracy compensation on a desired position in a control command according to the theoretical position and the actual position of the optical point in a standard board to obtain a specific fixed position of a compensation position. As shown in fig. 2, the method includes:
s210, controlling a moving part to move by taking the theoretical position of an optical point in the standard plate as a target, and acquiring the position of a motor where the moving part arrives and the optical position of the optical point collected by a vision positioning sensor at the position of the motor; the standard plate comprises a plurality of optical points arranged at set intervals.
And S220, determining distance deviation between the optical position and the theoretical position of the optical point according to the theoretical position and the optical position of the optical point.
And S230, determining the actual position of the optical point based on the distance deviation and the motor position.
In the embodiment of the invention, after the theoretical position, the actual position and the current motor position of the optical point are obtained, the distance deviation between the theoretical position and the actual position of the optical point is calculated firstly. Further, the motor position is compensated according to the distance deviation to obtain the actual position of the optical point, and the specific calculation formula is as follows:
x practice of ＝x Electric power +(x 1 *3.815-x 2 )
Wherein x is Practice of Is the actual position of the optical spot, x Electric power Is the motor position, x 1 Is the optical position of the optical spot (in pixels), 3.815 is the conversion factor for pixel to millimeter, x 2 Is the theoretical position of the optical spot.
The actual position of the optical point is calculated by calculating the actual position of the optical point based on the visual positioning sensor, and the movement precision is improved on the premise of controllable cost.
And S240, in response to the control command for the moving part, determining an optical point adjacent to the expected position in the control command as a compensation optical point in the optical points of the standard plate.
In the embodiment of the invention, after the control instruction for the moving part is received, the optical point adjacent to the expected position in the control instruction is determined as the compensation optical point in the optical points of the standard plate. Specifically, in the theoretical coordinate system, the distance between adjacent optical points is a fixed value, and therefore, a plurality of minimum squares with fixed side lengths can be formed by the optical points. After acquiring the desired position in the control command, it is first determined which smallest square the desired position is located inside, and the 4 optical points constituting the smallest square are taken as compensation optical points.
And S250, performing precision compensation on the expected position based on the theoretical position and the actual position of the compensation optical point to obtain a compensation position.
In the embodiment of the invention, the expected position is subjected to precision compensation by compensating the theoretical position and the actual position of the optical point to obtain the compensation position. Specifically, based on the theoretical position and the expected position of the compensation optical point, the horizontal-vertical ratio of the expected position in the square where the compensation optical point is located is calculated. And finally, calculating a compensation position corresponding to the expected position according to the actual position of the compensation optical point and the horizontal-vertical ratio.
Optionally, based on the theoretical position and the actual position of the compensation optical point, performing precision compensation on the expected position to obtain a compensation position, including:
determining a target optical point among the compensated optical points based on the desired position and the theoretical position of the compensated optical point;
determining a first distance between the expected position and the target optical point in the direction of a transverse axis and a second distance between the expected position and the target optical point in the direction of a longitudinal axis in the theoretical coordinate system based on the expected position and the theoretical position of the target optical point; the theoretical coordinate system is established by taking the center of the standard plate as an origin and respectively taking the rows and columns of the optical points as a horizontal axis and a vertical axis;
calculating a distance ratio of a horizontal axis and a distance ratio of a vertical axis of the desired position according to the first distance, the second distance and the designated interval of the optical points in the standard plate;
and performing precision compensation on the expected position based on the distance ratio of the horizontal axis, the distance ratio of the vertical axis and the actual position of the compensation optical point to obtain a compensation position.
In this optional embodiment, a specific way is provided for performing precision compensation on the expected position based on the theoretical position and the actual position of the compensation optical point to obtain a compensation position: first, based on the desired position and the theoretical positions of the compensating optical points, the distances of the desired position from the respective compensating optical points are calculated, and the target optical point among the compensating optical points is determined depending on the distances. And further determining a first distance between the expected position and the target optical point in the direction of the horizontal axis and a second distance between the expected position and the target optical point in the direction of the vertical axis in the theoretical coordinate system based on the expected position and the theoretical position of the target optical point. Further, a distance ratio of a horizontal axis and a distance ratio of a vertical axis of the desired position are calculated based on the first distance, the second distance, and the specified interval of the optical points in the standard plate. Finally, based on the actual position of the compensation optical point, the distance in the direction of the horizontal axis and the distance in the direction of the vertical axis of the target optical point in the actual coordinate system from the expected position are determined through the distance ratio of the horizontal axis and the distance ratio of the vertical axis, and the compensation position corresponding to the expected position is determined according to the distance and the actual position of the target optical point.
Optionally, performing precision compensation on the expected position based on the distance ratio of the horizontal axis, the distance ratio of the vertical axis and the actual position of the compensation optical point to obtain a compensation position, including:
determining a compensation optical point having the same abscissa as the target optical point among the compensation optical points as a longitudinal optical point, and determining a compensation optical point having the same ordinate as the target optical point as a transverse optical point;
calculating the actual abscissa of the optical point according to the actual positions of the target optical point and the longitudinal optical point and the ratio of the distances of the abscissa;
and calculating the actual ordinate of the optical point according to the actual positions of the target optical point and the transverse optical point and the ratio of the distance of the ordinate, and forming a compensation position corresponding to the expected position by using the actual abscissa and the actual overall coordinate.
In this optional embodiment, a specific way is provided for performing precision compensation on the desired position based on the distance ratio of the horizontal axis, the distance ratio of the vertical axis, and the actual position of the compensation optical point to obtain a compensation position: first, based on the theoretical coordinate system, a compensating optical point that is the same as the abscissa of the target optical point is determined as a longitudinal optical point among the compensating optical points, while a compensating optical point that is the same as the ordinate of the target optical point is determined as a transverse optical point. And calculating the actual distance between the target optical point and the longitudinal optical point according to the actual positions of the target optical point and the longitudinal optical point, and multiplying the actual distance by the ratio of the distance of the transverse axis to obtain the distance of the longitudinal axis between the expected optical point and the actual position of the target optical point, thereby obtaining the actual transverse coordinate of the expected optical point. Similarly, the actual distance between the target optical point and the transverse optical point is calculated according to the actual positions of the target optical point and the transverse optical point, and the transverse axis distance between the expected optical point and the actual position of the target optical point is obtained by multiplying the actual distance by the longitudinal axis distance, so that the actual longitudinal coordinate of the expected optical point is obtained. And finally, the actual abscissa and the actual ordinate of the expected optical point form a compensation position corresponding to the expected position.
Optionally, after determining the actual position of the optical point, the method further includes:
and generating and storing a calibration file based on the theoretical position and the actual position of the optical point.
The calibration file is used for performing precision compensation on the moving part, and the calibration file comprises theoretical positions and actual positions of all optical points in the standard plate. Illustratively, in the calibration file, the identification, theoretical position and actual position of each optical point are stored correspondingly.
In this optional embodiment, after the actual position of the optical point is obtained through calculation, a calibration file is generated and stored based on the theoretical position and the actual position of the optical point, and the calibration file is used for directly reading the theoretical position and the actual position of the required optical point from the calibration file during subsequent motion accuracy compensation.
Optionally, the technical solution of this embodiment further includes:
responding to a control instruction aiming at a test head in the flying probe testing machine, and performing precision compensation on an expected position in the control instruction according to the calibration file to obtain a compensation position;
and the compensation position is adopted to replace the expected position to carry out motion control on the test head.
In this optional embodiment, after receiving a control instruction for a test head in the flying probe testing machine, an expected position included in the control instruction is read, and then, according to the calibration file, precision compensation is performed on the expected position in the control instruction to obtain a compensation position. Finally, the test head is directly controlled by the compensation position.
According to the technical scheme of the embodiment of the invention, the theoretical position of an optical point in a standard plate is taken as a target, a moving part is controlled to move, the motor position reached by the moving part and the optical position of the optical point collected by a vision positioning sensor at the motor position are further obtained, the distance deviation between the optical position of the optical point and the theoretical position is determined according to the theoretical position and the optical position of the optical point, the actual position of the optical point is further determined based on the distance deviation and the motor position, the optical point adjacent to the expected position in a control instruction is finally determined as a compensation optical point in the optical point of the standard plate in response to a control instruction aiming at the moving part, the expected position is compensated accurately based on the theoretical position and the actual position of the compensation optical point to obtain a compensation position, and the compensation position is calculated by vision positioning and the standard plate, so that compared with a mode of improving the movement accuracy by adopting a grating ruler, the cost is greatly reduced.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a motion precision compensation apparatus according to a third embodiment of the present invention. As shown in fig. 3, the apparatus includes:
the moving part control module 310 is configured to control a moving part to move by taking a theoretical position of an optical point in a standard board as a target, and acquire a motor position where the moving part arrives and an optical position of the optical point collected by a visual positioning sensor at the motor position; the standard plate comprises a plurality of optical points arranged at set intervals;
an actual position determining module 320 for determining an actual position of the optical point based on the theoretical position of the optical point, the optical position, and the motor position;
and the compensation position determining module 330 is configured to perform precision compensation on the expected position in the control command according to the theoretical position and the actual position of the optical point in the standard plate in response to the control command for the moving component to obtain a compensation position.
According to the technical scheme of the embodiment of the invention, the theoretical position of the optical point in the standard plate is taken as a target, the moving part is controlled to move, the motor position reached by the moving part and the optical position of the optical point collected by the visual positioning sensor at the motor position are further obtained, the actual position of the optical point is determined based on the theoretical position, the optical position and the motor position of the optical point, the control instruction for the moving part is finally responded, the expected position in the control instruction is subjected to precision compensation according to the theoretical position and the actual position of the optical point in the standard plate, and the compensation position is obtained.
Optionally, the actual position determining module 320 is specifically applied to:
determining the distance deviation between the optical position and the theoretical position of the optical point according to the theoretical position and the optical position of the optical point;
determining an actual position of the optical point based on the distance deviation and the motor position.
Optionally, the compensated position determining module 330 includes:
a compensation optical point determining unit for determining an optical point adjacent to a desired position in the control instruction as a compensation optical point among the optical points of the standard board;
and the compensation position determining unit is used for performing precision compensation on the expected position based on the theoretical position and the actual position of the compensation optical point to obtain a compensation position.
Optionally, the compensated position determination unit includes:
a target optical point determining subunit for determining a target optical point among the compensated optical points based on the desired position and a theoretical position of the compensated optical point;
the distance calculation subunit is used for determining a first distance between the expected position and the target optical point in the direction of the horizontal axis and a second distance between the expected position and the target optical point in the direction of the vertical axis in a theoretical coordinate system based on the expected position and the theoretical position of the target optical point; the theoretical coordinate system is established by taking the center of the standard plate as an origin and respectively taking the rows and columns of the optical points as a horizontal axis and a vertical axis;
a distance ratio calculation subunit for calculating a distance ratio of a horizontal axis and a distance ratio of a vertical axis of the desired position based on the first distance, the second distance, and the specified interval of the optical points in the standard board;
and the compensation position determining subunit is used for performing precision compensation on the expected position based on the transverse axis distance ratio, the longitudinal axis distance ratio and the actual position of the compensation optical point to obtain a compensation position.
Optionally, the compensation position determining subunit is specifically configured to:
determining a compensating optical point having the same abscissa as the target optical point among the compensating optical points as a longitudinal optical point, and determining a compensating optical point having the same ordinate as the target optical point as a transverse optical point;
calculating the actual abscissa of the optical point according to the actual positions of the target optical point and the longitudinal optical point and the ratio of the distances of the transverse axes;
and calculating the actual ordinate of the optical point according to the actual positions of the target optical point and the transverse optical point and the ratio of the distance of the ordinate, and forming a compensation position corresponding to the expected position by the actual abscissa and the actual total coordinate.
Optionally, the motion precision compensation apparatus further includes:
and the calibration file generation module is used for generating and storing a calibration file based on the theoretical position and the actual position of the optical point after the actual position of the optical point is determined.
Optionally, the motion precision compensation apparatus further includes:
the control instruction response module is used for responding to a control instruction for a test head in the flying probe testing machine, and performing precision compensation on an expected position in the control instruction according to the calibration file to obtain a compensation position;
and the motion control module is used for replacing the expected position with the compensation position to carry out motion control on the test head.
The motion precision compensation device provided by the embodiment of the invention can execute the motion precision compensation method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Example four
FIG. 4 shows a schematic block diagram of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 4, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 11 can perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from a storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data necessary for the operation of the electronic apparatus 10 may also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
A number of components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, or the like; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, or the like. The processor 11 performs the various methods and processes described above, such as the motion precision compensation method.
In some embodiments, the motion precision compensation method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the motion precision compensation method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the motion precision compensation method by any other suitable means (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the Internet.
The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired result of the technical solution of the present invention can be achieved.
The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A motion accuracy compensation method, comprising:
the method comprises the steps that a theoretical position of an optical point in a standard plate is taken as a target, a moving part is controlled to move, the position of a motor where the moving part reaches and the optical position of the optical point collected by a vision positioning sensor at the position of the motor are obtained; the standard plate comprises a plurality of optical points arranged at set intervals;
determining the actual position of the optical point based on the theoretical position of the optical point, the optical position and the motor position;
and responding to a control command for a moving part, and performing precision compensation on the expected position in the control command according to the theoretical position and the actual position of the optical point in the standard plate to obtain a compensated position.
2. The method of claim 1, wherein determining the actual position of the optical spot based on the theoretical position of the optical spot, the optical position, and the motor position comprises:
determining the distance deviation between the optical position and the theoretical position of the optical point according to the theoretical position and the optical position of the optical point;
determining an actual position of the optical point based on the distance deviation and the motor position.
3. The method of claim 1, wherein accurately compensating the desired position in the control command based on the theoretical position and the actual position of the optical spot in the reticle to obtain a compensated position comprises:
determining optical points adjacent to the expected position in the control command as compensation optical points in the optical points of the standard plate;
and performing precision compensation on the expected position based on the theoretical position and the actual position of the compensation optical point to obtain a compensation position.
4. The method of claim 3, wherein the compensating the desired position with accuracy based on the theoretical position and the actual position of the compensating optical point to obtain a compensated position comprises:
determining a target optical point among the compensated optical points based on the desired position and a theoretical position of the compensated optical point;
determining a first distance between the expected position and the target optical point in the direction of a transverse axis and a second distance between the expected position and the target optical point in the direction of a longitudinal axis in a theoretical coordinate system based on the expected position and the theoretical position of the target optical point; the theoretical coordinate system is established by taking the center of the standard plate as an origin and respectively taking the rows and columns of the optical points as a horizontal axis and a vertical axis;
calculating a distance ratio of a horizontal axis and a distance ratio of a vertical axis of the expected position according to the first distance, the second distance and the designated interval of the optical points in the standard plate;
and performing precision compensation on the expected position based on the transverse axis distance ratio, the longitudinal axis distance ratio and the actual position of the compensation optical point to obtain a compensation position.
5. The method of claim 4, wherein accurately compensating the desired position based on the cross-axis distance fraction, the longitudinal-axis distance fraction, and the actual position of the compensating optical point to obtain a compensated position comprises:
determining a compensating optical point having the same abscissa as the target optical point among the compensating optical points as a longitudinal optical point, and determining a compensating optical point having the same ordinate as the target optical point as a transverse optical point;
calculating the actual abscissa of the optical point according to the actual positions of the target optical point and the longitudinal optical point and the ratio of the distances of the transverse axes;
and calculating the actual ordinate of the optical point according to the actual positions of the target optical point and the transverse optical point and the distance ratio of the ordinate, and forming a compensation position corresponding to the expected position by the actual abscissa and the actual total coordinate.
6. The method of claim 1, after determining the actual position of the optical spot, further comprising:
and generating and storing a calibration file based on the theoretical position and the actual position of the optical point.
7. The method of claim 6, further comprising:
responding to a control instruction aiming at a test head in a flying probe testing machine, and performing precision compensation on an expected position in the control instruction according to the calibration file to obtain a compensation position;
and replacing the expected position with the compensation position to perform motion control on the test head.
8. A motion accuracy compensation apparatus, comprising:
the moving part control module is used for controlling the moving part to move by taking the theoretical position of an optical point in the standard plate as a target, acquiring the position of a motor where the moving part arrives and acquiring the optical position of the optical point collected by the visual positioning sensor at the position of the motor; the standard plate comprises a plurality of optical points arranged at set intervals;
the actual position determining module is used for determining the actual position of the optical point based on the theoretical position, the optical position and the motor position of the optical point;
and the compensation position determining module is used for responding to a control command for the moving part, and performing precision compensation on the expected position in the control command according to the theoretical position and the actual position of the optical point in the standard plate to obtain a compensation position.
9. An electronic device, characterized in that the electronic device comprises:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the motion precision compensation method of any one of claims 1-7.
10. A computer-readable storage medium having stored thereon computer instructions for causing a processor to execute the method for motion precision compensation according to any one of claims 1-7.
CN202211039920.5A 2022-08-29 2022-08-29 Motion precision compensation method, device, equipment and storage medium Pending CN115420195A (en)

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Application Number Priority Date Filing Date Title
CN202211039920.5A CN115420195A (en) 2022-08-29 2022-08-29 Motion precision compensation method, device, equipment and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211039920.5A CN115420195A (en) 2022-08-29 2022-08-29 Motion precision compensation method, device, equipment and storage medium

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Publication Number Publication Date
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