CN115752194A - Anti-interference accurate positioning method, device and equipment for electronic ruler and storage medium - Google Patents
Anti-interference accurate positioning method, device and equipment for electronic ruler and storage medium Download PDFInfo
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Abstract
The invention relates to an anti-interference accurate positioning method, device, equipment and storage medium of an electronic ruler, wherein the method comprises the steps of firstly obtaining standard running time and standard analog quantity under the condition of no interference, then setting an analog quantity reading time interval according to actual process parameters, and reading in the analog quantity reading time interval in the actual production process, namely obtaining a positioning result according to the inclusion relation between the actual running time and the analog quantity reading time interval and based on the standard analog quantity and the actual analog quantity. Compared with the prior art, the method and the device have the advantages that the movement condition of the moving part is measured by using the dimension of time, wherein the analog quantity reading time interval can reflect the time required by the moving part to move to the target position, and a certain margin is provided, so that the error of the reading in the analog quantity reading time interval can be allowed even if the reading is a numerical value in a drift state, and the problem of inaccurate reading caused by the drift of the electronic ruler is solved.
Description
Technical Field
The invention relates to the technical field of process measurement, in particular to an anti-interference accurate positioning method for an electronic ruler.
Background
At present, in an industrial product automatic production environment, an electronic ruler is widely used for a positioning function in a production process flow, and the electronic ruler generally refers to a potentiometer, and has the function of converting a mechanical displacement into an electrical signal, and the signal can be in direct proportion to a mechanical movement.
Because the actual production environment is more complicated, the electronic ruler is disturbed in the use process, the analog quantity of the electronic ruler jumps, the reading position is inaccurate, the drift phenomenon occurs, and the normal use of the equipment is influenced.
Therefore, an anti-interference and precise positioning method for an electronic ruler capable of precise positioning is needed to eliminate adverse effects caused by drift.
Disclosure of Invention
In view of this, it is necessary to provide an anti-interference precise positioning method, apparatus, device and storage medium for an electronic ruler, so as to solve the problem that the position reading accuracy is affected by the drift phenomenon of the electronic ruler in the prior art.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
in a first aspect, the present invention provides an anti-interference precise positioning method for an electronic ruler, which is applied to a moving part connected with the electronic ruler, and includes:
acquiring standard running time and standard analog quantity, wherein the standard running time is the time required by the moving component to run to a target position under the condition of no interference, and the standard analog quantity is the analog quantity of the electronic ruler when the moving component is positioned at the target position under the condition of no interference;
acquiring actual process parameters, and acquiring an analog quantity reading time interval according to the actual process parameters and the standard operation time;
acquiring actual running time and actual analog quantity of a moving part;
and reading the inclusion relation of the time interval according to the actual running time and the analog quantity, and obtaining a positioning result based on the standard analog quantity and the actual analog quantity.
Further, the obtaining a positioning result according to the inclusion relationship between the actual running time and the analog quantity reading time interval and based on the standard analog quantity and the actual analog quantity includes:
judging whether the actual running time is within the analog quantity reading time interval or not;
if so, obtaining the positioning result according to the actual analog quantity and the standard analog quantity, and if not, obtaining the positioning result according to the numerical comparison relationship between the actual running time and the upper limit value of the analog quantity reading time interval.
Further, the obtaining the positioning result according to the actual analog quantity and the standard analog quantity includes:
judging whether the actual analog quantity is consistent with the standard analog quantity value;
and if the actual running time and the actual analog quantity of the moving part are not obtained, driving the moving part to continue to run, and obtaining the actual running time and the actual analog quantity of the moving part again.
Further, the obtaining the positioning result according to the numerical comparison relationship between the actual running time and the upper limit value of the analog reading time interval includes:
judging whether the value of the actual running time is larger than the upper limit value of the analog quantity reading time interval or not;
and if the actual running time and the actual analog quantity of the moving part are not obtained, driving the moving part to continue to run, and obtaining the actual running time and the actual analog quantity of the moving part again.
Further, the obtaining of the actual process parameter and the analog reading time interval according to the actual process parameter and the standard operation time includes:
acquiring actual process parameters, wherein the actual process parameters comprise positioning allowable errors;
and obtaining the analog quantity reading time interval according to the positioning allowable error and the standard operation time.
Further, the obtaining the analog reading time interval according to the positioning tolerance and the standard operation time includes:
obtaining offset time according to the positioning allowable error;
and obtaining the analog quantity reading time interval according to the offset time and the standard running time.
Further, the actual process parameters further include a timer accuracy and a moving component traveling speed, and obtaining an offset time according to the positioning tolerance error includes:
obtaining an offset coefficient according to the precision of the timer, the advancing speed of the component and the positioning allowable error;
and obtaining an offset time according to the offset coefficient, the timer precision and the positioning allowable error, wherein the product of the offset time and the traveling speed of the moving part is smaller than the positioning allowable error.
In a second aspect, the present invention further provides an anti-interference precise positioning device for an electronic ruler, including:
the standard quantity acquisition module is used for acquiring standard running time and standard analog quantity, the standard running time is the time required by the moving component to run to the target position under the condition of no interference, and the standard analog quantity is the analog quantity of the electronic ruler when the moving component is positioned at the target position under the condition of no interference;
the interval calculation module is used for acquiring actual process parameters and obtaining an analog reading time interval according to the actual process parameters and the standard operation time;
the actual quantity acquisition module is used for acquiring the actual running time and the actual analog quantity of the moving part;
and the positioning judgment module is used for reading the inclusion relation of the time interval according to the actual running time and the analog quantity and obtaining a positioning result based on the standard analog quantity and the actual analog quantity.
In a third aspect, the present invention also provides an electronic device comprising a memory and a processor, wherein,
the memory is used for storing programs;
the processor is coupled with the memory and is configured to execute the program stored in the memory, so as to implement the steps in any of the foregoing anti-interference precise positioning methods for the electronic ruler.
In a fourth aspect, the present invention further provides a computer-readable storage medium, configured to store a computer-readable program or instruction, where the program or instruction, when executed by a processor, can implement the steps in the foregoing anti-interference precise positioning method for an electronic ruler.
The invention provides an anti-interference accurate positioning method, device, equipment and storage medium for an electronic ruler, wherein the method comprises the steps of firstly obtaining standard running time and standard analog quantity under the condition of no interference, then setting an analog quantity reading time interval according to actual process parameters, and reading in the analog quantity reading time interval in the actual production process, namely obtaining a positioning result according to the inclusion relation of the actual running time and the analog quantity reading time interval and based on the standard analog quantity and the actual analog quantity. Compared with the prior art, the method and the device have the advantages that the movement condition of the moving part is measured by using the dimension of time, wherein the analog quantity reading time interval can reflect the time required by the moving part to move to the target position, and a certain margin is provided, so that the error of the reading in the analog quantity reading time interval can be allowed even if the reading is a numerical value in a drift state, the adverse effect of the electronic ruler caused by interference is eliminated, and the problem of inaccurate reading caused by drift is solved.
Drawings
Fig. 1 is a flowchart of an anti-interference precise positioning method for an electronic ruler according to an embodiment of the present invention;
FIG. 2 is a flowchart of a method of step S104 in FIG. 1;
fig. 3 is a schematic structural diagram of an embodiment of an anti-interference precise positioning device for an electronic ruler according to the present invention;
fig. 4 is a schematic structural diagram of an embodiment of an electronic device provided in the present invention.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the invention. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
The invention measures the motion condition of the motion part in a time dimension, and sets the analog quantity reading interval according to the actual condition so as to eliminate the error generated by the drift of the electronic ruler and ensure that the reading is more accurate.
The invention provides an anti-interference accurate positioning method, an anti-interference accurate positioning device, anti-interference accurate positioning equipment and an anti-interference accurate positioning storage medium, which are respectively explained below.
Referring to fig. 1, an embodiment of the present invention discloses an anti-interference precise positioning method for an electronic ruler, which is applied to a moving part connected to the electronic ruler, and includes:
s101, acquiring standard running time and standard analog quantity, wherein the standard running time is the time required by the moving component to run to a target position under the condition of no interference, and the standard analog quantity is the analog quantity of the electronic ruler when the moving component is positioned at the target position under the condition of no interference;
s102, acquiring actual process parameters, and acquiring an analog quantity reading time interval according to the actual process parameters and the standard operation time;
s103, acquiring the actual running time and the actual analog quantity of the moving part;
and S104, reading the inclusion relation of the time interval according to the actual running time and the analog quantity, and obtaining a positioning result based on the standard analog quantity and the actual analog quantity.
The invention provides an anti-interference accurate positioning method, device, equipment and storage medium for an electronic ruler, wherein the method comprises the steps of firstly obtaining standard running time and standard analog quantity under the condition of no interference, then setting an analog quantity reading time interval according to actual process parameters, and reading in the analog quantity reading time interval in the actual production process, namely obtaining a positioning result according to the inclusion relation of the actual running time and the analog quantity reading time interval and based on the standard analog quantity and the actual analog quantity. Compared with the prior art, the method and the device have the advantages that the movement condition of the moving part is measured by using the dimension of time, wherein the analog quantity reading time interval can reflect the time required by the moving part to move to the target position, and a certain margin is provided, so that the error of the reading in the analog quantity reading time interval can be allowed even if the reading is a numerical value in a drift state, the adverse effect of the electronic ruler caused by interference is eliminated, and the problem of inaccurate reading caused by drift is solved.
As a preferred embodiment, the step S101 in this embodiment of obtaining the standard running time and the standard analog quantity specifically includes:
a timer is arranged on the moving component, the precision of the timer can be selected according to the actual positioning precision, such as 100ms,10ms and the like, and then the positioning offset of the electronic ruler is set (analog value corresponding to the conversion process).
In a non-production mode, the electronic ruler is adjusted to the original position, the moving part is also adjusted to the initial position, then the moving part and the electronic ruler are operated, the timer is started, the electronic ruler reaches the offset of the moving part under the target position, and the timing value of the timer at the moment is recorded. The analog quantity of the electronic ruler is the standard analog quantity, and the time of the timer is the standard running time.
Then, an analog reading time interval may be set, that is, step S102 is executed, as a preferred embodiment, step S102 in this embodiment obtains an actual process parameter, and obtains the analog reading time interval according to the actual process parameter and the standard operation time, and specifically includes:
acquiring actual process parameters, wherein the actual process parameters comprise positioning allowable errors;
and obtaining the analog quantity reading time interval according to the positioning allowable error and the standard operation time.
Specifically, in a preferred embodiment, the obtaining the analog reading time interval according to the positioning tolerance and the standard operation time in the above steps specifically includes:
obtaining offset time according to the positioning allowable error;
and obtaining the analog quantity reading time interval according to the offset time and the standard running time.
Further, in a preferred embodiment, the actual process parameters in the above steps further include a timer precision and a moving speed of the moving part, and the step of obtaining the offset time according to the positioning tolerance specifically includes:
obtaining an offset coefficient according to the precision of the timer, the advancing speed of the component and the positioning allowable error;
and obtaining an offset time according to the offset coefficient, the timer precision and the positioning allowable error, wherein the product of the offset time and the traveling speed of the moving part is smaller than the positioning allowable error.
A more detailed embodiment is described below to illustrate the step S102:
first, the actual process parameters are obtained, the allowable error of the moving component in this embodiment is 1cm (i.e. the allowable positioning error), the resolution of the timer is selected to be 0.1 second (the reading accuracy of the timer T02 in S7200), of course, in practice, the moving speed of the moving component in this embodiment may be adjusted to be 0.01 second, etc. as needed, and the moving speed of the moving component in this embodiment is 2mm/S.
In this embodiment, the offset coefficient is set to 10 (which can be flexibly processed according to specific requirements), and the offset time is 10 × 0.1, i.e. 1 second. The offset time may be a time for allowing the deviation to occur, and assuming that the standard operation time for the moving part to move to the target position is 10 seconds, the standard operation time is adjusted according to the offset time, so that the analog reading time interval is 10 ± 1 seconds, that is, 9 to 11 seconds.
According to the product of the traveling speed and the offset time of the moving part, under the condition that the moving part normally moves, the deviation generated by the displacement in the analog quantity reading time interval is only +/-2 mm at most and is smaller than the positioning allowable error by 1cm. The electronic ruler is read in the analog quantity reading time interval, and the moving part can be considered to reach the target position only if the actual analog quantity of the electronic ruler is equal to the standard analog quantity, because even if the electronic ruler drifts, the error between the actual position and the target position of the moving part is only not more than 2mm and is far less than 1cm, and the deviation is acceptable.
Further, as a preferred embodiment, the actual running time and the actual analog quantity in step S103 in this embodiment are the actual display time of the timer and the actual analog quantity reading of the electronic ruler in the actual production state (where the electronic ruler has interference).
With reference to fig. 2, as a preferred embodiment, step S104 in this embodiment obtains a positioning result according to an inclusion relationship between the actual running time and the analog quantity reading time interval, and based on the standard analog quantity and the actual analog quantity, and specifically includes:
judging whether the actual running time is within the analog quantity reading time interval or not;
if so, obtaining the positioning result according to the actual analog quantity and the standard analog quantity, and if not, obtaining the positioning result according to the numerical comparison relationship between the actual running time and the upper limit value of the analog quantity reading time interval.
Specifically, as a preferred embodiment, the obtaining the positioning result according to the actual analog quantity and the standard analog quantity includes:
judging whether the actual analog quantity is consistent with the standard analog quantity value or not;
and if the target position of the moving part is not the target position, driving the moving part to continue to move, and re-acquiring the actual running time and the actual analog quantity of the moving part.
In the process, the actual operation time is located in the analog quantity reading time interval, if a position where the actual analog quantity is consistent with the standard analog quantity value can be found in the analog quantity reading time interval, the moving part can be considered to reach the target position at the moment, even if the electronic ruler has a drift phenomenon, the positioning error caused by the drift phenomenon is also within an acceptable range, and if the position error does not exist, the moving part is continuously driven to move and is repeatedly executed. The above process may be repeatedly performed as the moving part moves in the actual production process, i.e., steps S103 and S104 are repeatedly performed in a loop until it is determined that the moving part has reached the target position.
Specifically, as a preferred embodiment, the obtaining the positioning result according to a numerical comparison relationship between the actual running time and an upper limit value of the analog quantity reading time interval specifically includes:
judging whether the value of the actual running time is larger than the upper limit value of the analog quantity reading time interval or not;
and if the actual running time and the actual analog quantity of the moving part are not obtained, driving the moving part to continue to run, and obtaining the actual running time and the actual analog quantity of the moving part again.
In the above process, the actual operation time is outside the analog reading time interval, and at this time, if the actual operation time is smaller than the analog reading time interval, it may be considered that the moving component has not been operated near the target position, and at this time, the moving component may be continuously operated, and steps S103 and S104 are repeatedly performed in the subsequent process. If the actual running time exceeds the analog quantity reading time interval (namely the actual running time exceeds the upper limit of the analog quantity reading time interval), the situation that the position where the actual analog quantity is consistent with the standard analog quantity in the whole analog quantity reading time interval cannot be found is shown, the influence of the drift of the electronic ruler on the reading is large, and the analog quantity cannot reflect the actual situation. At this time, the position of the moving part is measured by taking time as a reference, and the fact that the actual running time exceeds the upper limit of the analog quantity reading time interval indicates that the moving part has reached the vicinity of the target position and the error thereof is within an acceptable range.
In order to better implement the anti-interference precise positioning method for the electronic ruler in the embodiment of the present invention, on the basis of the anti-interference precise positioning method for the electronic ruler, please refer to fig. 3, where fig. 3 is a schematic structural diagram of an embodiment of the anti-interference precise positioning device for the electronic ruler provided in the present invention, and an anti-interference precise positioning device 300 for the electronic ruler provided in the embodiment of the present invention includes:
a standard quantity obtaining module 310, configured to obtain a standard running time and a standard analog quantity, where the standard running time is a time required for the moving component to run to the target position without interference, and the standard analog quantity is an analog quantity of the electronic ruler when the moving component is located at the target position without interference;
the interval calculation module 320 is used for acquiring actual process parameters and obtaining an analog quantity reading time interval according to the actual process parameters and the standard operation time;
an actual quantity acquisition module 330 for acquiring an actual running time and an actual analog quantity of the moving part;
and a positioning determining module 340, configured to obtain a positioning result according to an inclusion relationship between the actual running time and the analog reading time interval, and based on the standard analog and the actual analog.
Here, it should be noted that: the anti-interference precise positioning apparatus 300 of the electronic ruler provided in the foregoing embodiments may implement the technical solutions described in the foregoing method embodiments, and the specific implementation principles of the modules or units may refer to the corresponding contents in the foregoing method embodiments, which are not described herein again.
Referring to fig. 4, fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the invention. Based on the above anti-interference accurate positioning method for the electronic ruler, the invention also correspondingly provides an anti-interference accurate positioning device 400 for the electronic ruler, namely the electronic device, wherein the anti-interference accurate positioning device 400 for the electronic ruler can be a mobile terminal, a desktop computer, a notebook, a palm computer, a server and other computing devices. The anti-jamming precision positioning apparatus 400 of the electronic ruler comprises a processor 410, a memory 420 and a display 430. Fig. 4 shows only some of the components of the electronic ruler tamper resistant precision positioning apparatus, but it will be understood that not all of the shown components are required and that more or fewer components may be implemented instead.
The memory 420 may be an internal storage unit of the electronic ruler tamper resistant precision positioning apparatus 400 in some embodiments, such as a hard disk or a memory of the electronic ruler tamper resistant precision positioning apparatus 400. The memory 420 may also be an external storage device of the anti-tamper precise positioning apparatus 400 in other embodiments, for example, a plug-in hard disk provided on the anti-tamper precise positioning apparatus 400, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. Further, the memory 420 may also include both an internal storage unit and an external storage device of the electronic ruler tamper resistant precision positioning apparatus 400. The memory 420 is used for storing application software installed in the anti-interference electronic scale precision positioning apparatus 400 and various data, such as program codes for installing the anti-interference electronic scale precision positioning apparatus 400. The memory 420 may also be used to temporarily store data that has been output or is to be output. In an embodiment, the memory 420 stores an anti-interference precise positioning program 440 of the electronic ruler, and the anti-interference precise positioning program 440 of the electronic ruler can be executed by the processor 410, so as to implement the anti-interference precise positioning method of the electronic ruler in the embodiments of the present application.
The processor 410 may be a Central Processing Unit (CPU), microprocessor or other data Processing chip in some embodiments, and is used for executing program codes stored in the memory 420 or Processing data, such as executing anti-jamming precise positioning method for electronic ruler, etc.
The display 430 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch panel, or the like in some embodiments. Display 430 is used to display information on electronic ruler tamper resistant precision positioning apparatus 400 and to display a visual user interface. The components 410-430 of the electronic ruler tamper resistant precision positioning apparatus 400 communicate with each other via a system bus.
In an embodiment, the steps in the above anti-tamper electronic ruler precision positioning method are implemented when the processor 410 executes the anti-tamper electronic ruler precision positioning program 440 in the memory 420.
The present embodiment further provides a computer-readable storage medium, on which an anti-interference precise positioning program for an electronic ruler is stored, where the anti-interference precise positioning program for an electronic ruler, when executed by a processor, can implement the steps in the foregoing embodiments.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (10)
1. An anti-interference accurate positioning method for an electronic ruler is applied to a moving part connected with the electronic ruler, and is characterized by comprising the following steps:
acquiring standard running time and standard analog quantity, wherein the standard running time is the time required by the moving component to run to a target position under the condition of no interference, and the standard analog quantity is the analog quantity of the electronic ruler when the moving component is positioned at the target position under the condition of no interference;
acquiring actual process parameters, and acquiring an analog quantity reading time interval according to the actual process parameters and the standard operation time;
acquiring the actual running time and the actual analog quantity of the moving part;
and reading the inclusion relation of the time interval according to the actual running time and the analog quantity, and obtaining a positioning result based on the standard analog quantity and the actual analog quantity.
2. The anti-interference precise positioning method for the electronic ruler according to claim 1, wherein the reading of the inclusion relationship of the time interval according to the actual running time and the analog quantity and the obtaining of the positioning result based on the standard analog quantity and the actual analog quantity comprise:
judging whether the actual running time is within the analog quantity reading time interval or not;
if so, obtaining the positioning result according to the actual analog quantity and the standard analog quantity, and if not, obtaining the positioning result according to the numerical comparison relationship between the actual running time and the upper limit value of the analog quantity reading time interval.
3. The anti-interference precise positioning method for the electronic ruler according to claim 2, wherein the obtaining the positioning result according to the actual analog quantity and the standard analog quantity comprises:
judging whether the actual analog quantity is consistent with the standard analog quantity value or not;
and if the actual running time and the actual analog quantity of the moving part are not obtained, driving the moving part to continue to run, and obtaining the actual running time and the actual analog quantity of the moving part again.
4. The anti-interference precise positioning method for the electronic ruler according to claim 2, wherein the obtaining of the positioning result according to the numerical comparison relationship between the actual running time and the upper limit value of the analog reading time interval comprises:
judging whether the value of the actual running time is larger than the upper limit value of the analog quantity reading time interval or not;
and if the actual running time and the actual analog quantity of the moving part are not obtained, driving the moving part to continue to run, and obtaining the actual running time and the actual analog quantity of the moving part again.
5. The anti-interference accurate positioning method for the electronic ruler according to claim 1, wherein the obtaining of the actual process parameters and the obtaining of the analog reading time interval according to the actual process parameters and the standard operation time comprise:
acquiring actual process parameters, wherein the actual process parameters comprise positioning allowable errors;
and obtaining the analog quantity reading time interval according to the positioning allowable error and the standard running time.
6. The method according to claim 5, wherein the obtaining the analog reading time interval according to the positioning tolerance and the standard operation time comprises:
obtaining offset time according to the positioning allowable error;
and obtaining the analog quantity reading time interval according to the offset time and the standard running time.
7. The method according to claim 6, wherein the actual process parameters further include timer accuracy and moving speed of a moving part, and the obtaining of the offset time according to the positioning tolerance error includes:
obtaining an offset coefficient according to the precision of the timer, the advancing speed of the component and the positioning allowable error;
and obtaining an offset time according to the offset coefficient, the timer precision and the positioning allowable error, wherein the product of the offset time and the traveling speed of the moving part is smaller than the positioning allowable error.
8. The utility model provides an anti-interference accurate positioner of electronic ruler which characterized in that includes:
the standard quantity acquisition module is used for acquiring standard running time and standard analog quantity, the standard running time is the time required by the moving part to run to the target position under the condition of no interference, and the standard analog quantity is the analog quantity of the electronic ruler when the moving part is positioned at the target position under the condition of no interference;
the interval calculation module is used for acquiring actual process parameters and obtaining an analog quantity reading time interval according to the actual process parameters and the standard operation time;
the actual quantity acquisition module is used for acquiring the actual running time and the actual analog quantity of the moving part;
and the positioning judgment module is used for reading the inclusion relation of the time interval according to the actual running time and the analog quantity and obtaining a positioning result based on the standard analog quantity and the actual analog quantity.
9. An electronic device comprising a memory and a processor, wherein,
the memory is used for storing programs;
the processor, coupled to the memory, is configured to execute the program stored in the memory to implement the steps in the anti-interference precise positioning method for the electronic ruler according to any one of the above claims 1 to 7.
10. A computer-readable storage medium for storing a computer-readable program or instructions, which when executed by a processor, implement the steps of the method for accurately positioning an electronic ruler against interference according to any one of claims 1 to 7.
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| CN202211370985.8A CN115752194A (en) | 2022-11-03 | 2022-11-03 | Anti-interference accurate positioning method, device and equipment for electronic ruler and storage medium |
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| CN202211370985.8A CN115752194A (en) | 2022-11-03 | 2022-11-03 | Anti-interference accurate positioning method, device and equipment for electronic ruler and storage medium |
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