CN104635757A - Confocal microscopy pinhole positioning control method - Google Patents
Confocal microscopy pinhole positioning control method Download PDFInfo
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- CN104635757A CN104635757A CN201410746259.0A CN201410746259A CN104635757A CN 104635757 A CN104635757 A CN 104635757A CN 201410746259 A CN201410746259 A CN 201410746259A CN 104635757 A CN104635757 A CN 104635757A
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Abstract
The invention discloses a confocal microscopy pinhole positioning control method. Absolute coordinate values of a current position of a pinhole are set as (Xc, Yc), absolute coordinate values of a target position of the pinhole are set as (Xd, Yd), a transfer function of pinhole coordinate values and a motor step number is set as f, and a step counting origin is taken as reference for the absolute coordinate values. The confocal microscopy pinhole positioning control method includes that 1), an upper computer sends a pinhole target position coordinate command to a stepping motor controller, the controller calculates difference values between target position coordinates and current position coordinates of the pinhole according to formulas of dX=Xd-Xc and dY=Yd-Yc; 2), the controller creates two motor control tasks A and B to respectively process movement of a motor X and a motor Y; 3), the task A and the task B are started and executed at the same time, the task A updates the Xc after the pin hole is in place horizontally to enable the Xc to be equal to the Xd, and the task B updates the Yc after the pinhole is in place vertically to enable the Yc to be equal to the Yd; 4), the controller waits for a next command of the upper computer after finishing processing one command. By the method, the two motors move simultaneously, the pinhole is positioned rapidly, and pinhole positioning efficiency is improved greatly.
Description
Technical field
The present invention relates to a kind of pin hole location method for controlling stepping motor of laser scanning co-focusing microscope, be specifically related to based on pin hole positioning precision and take into account the method for controlling stepping motor of location efficiency.
Background technology
Laser scanning co-focusing microscope (Laser Scanning Confocal Microscopy, LSCM) be the effective technology means studying sub-micron fine structure, it is the large-scale scientific research apparatus of the scientific worker's indispensability being engaged in biomedicine and material science research both at home and abroad.In LSCM, adopt precise pinhole filtering technique, the information be only in focal plane position can be detected, inhibit the parasitic light of non-focusing plane to greatest extent, there is very high imaging resolution and signal to noise ratio (S/N ratio).
In laser scanning co-focusing microscope optical system, owing to there is the optical device of a large amount of needs switching in real time and there is alignment error between optical device, therefore may there is drift in the position of incident laser on pin hole face after different optical device switches, thus need to regulate the position of pin hole on pin hole face in real time, make incident laser hot spot and pin hole inregister.Usual employing two dimensional motor structure carries out two dimension to pin hole and regulates in real time, and the positioning precision of pin hole directly affects imaging resolution and signal to noise ratio (S/N ratio), and therefore in motor drive mechanism, the control accuracy of motor is very important.Be limited to the bulk of confocal scanning head, the scheme adopting larger-size photoelectric encoder and servomotor to realize accurate closed-loop control cannot realize, the less optoelectronic switch of size and stepper motor generally can only be adopted to realize opened loop control, and the precision of opened loop control is determined by the kinematic accuracy of the repetitive positioning accuracy and stepper motor that provide the optoelectronic switch of origin position.
Existing product generally adopts the motion of following manner control step motor, after controllor for step-by-step motor receives the pin hole destination locations coordinate instruction of host computer transmission, relative position coordinates is calculated according to pin hole current position coordinates and destination locations coordinate, relative position coordinates value is converted to the step number of stepper motor motion, i.e. relative step number, then control step motor is from current location direct motion to destination locations, there are two shortcomings in this mode, on the one hand can because the thread pitch of motion causes positioning error bigger than normal in the heterodromous situation of stepper motor, although stepper motor need not reset (resetting once when only needing to power on) on the other hand at every turn, but because the instruction sequences of controllor for step-by-step motor performs feature, moment can only a motor movement, after only having a motor movement to complete like this, another motor could move, cause pin hole locating speed comparatively slow, location efficiency is low.
Existing product pin hole motor movement mode is as follows:
1) host computer sends the instruction of pin hole destination locations coordinate to pin hole controllor for step-by-step motor, controller calculates the difference of pin hole destination locations coordinate and current position coordinates, if destination locations coordinate: (Xd, Yd), current position coordinates: (Xc, Yc), difference coordinate: (dX, dY), relation is as follows: dX=Xd-Xc, dY=Yd-Yc;
2) controller judges dX, and dY is positive and negative, if dX >=0, arrange the motor controlling pin hole horizontal motion and rotate clockwise, the horizontal positive movement of pin hole, otherwise motor rotates counterclockwise, the horizontal counter motion of pin hole; If dY >=0, the motor controlling the motion of pin hole vertical direction is set and rotates clockwise, the vertical positive movement of pin hole, otherwise motor rotates counterclockwise, the vertical counter motion of pin hole;
3) controller arranges the operation step number of horizontal direction motor is f (| dX|), and the operation step number of vertical direction motor is f (| dY|), and function f is the transfer function of pin hole coordinate figure and number of motor steps;
4) controller starts horizontal direction motor movement, by the time horizontal direction motor movement complete after startup vertical direction motor movement, after vertical direction motor movement completes by the time, preserving destination locations coordinate is current position coordinates, and whole control procedure terminates.
Summary of the invention
For overcoming the deficiencies in the prior art, the object of the present invention is to provide a kind of feasible method controlling Laser Scanning Confocal Microscope pin hole location accurately and fast, the positioning error that during purport elimination pin hole counter motion, the thread pitch of motion brings, and it is comparatively slow to solve locating speed in prior art, the problem that location efficiency is low.
For achieving the above object, the present invention is achieved through the following technical solutions:
A kind of Laser Scanning Confocal Microscope pin hole position control method, the motor controlling pin hole tangential movement is set to motor X, is set to optoelectronic switch X for providing the optoelectronic switch of horizontal direction initial point; The motor controlling pin hole vertical motion is set to Y, is set to optoelectronic switch Y for providing the optoelectronic switch of vertical direction initial point; Pin hole current location absolute coordinate is set to (Xc, Yc), and destination locations absolute coordinate is set to (Xd, Yd), the transfer function of pin hole coordinate figure and number of motor steps is set to f, and absolute coordinate is to walk initial point for reference, comprises following control flow:
1) host computer sends the instruction of pin hole destination locations coordinate to controllor for step-by-step motor, and controller calculates the difference of pin hole destination locations coordinate and current position coordinates: dX=Xd-Xc, dY=Yd-Yc;
2) controller creates two Electric Machine Control task A and B, respectively the motion of processing motor X and motor Y, has following four kinds of situations:
A) dX >=0, dY >=0: task A controls motor X and directly rotates clockwise f (dX) step; Task B controls motor Y and directly rotates clockwise f (dY) step;
B) dX >=0, dY < 0: task A controls motor X directly rotates clockwise f (dX) step; Task B controls motor Y and first rotates counterclockwise and be reset to physics initial point, then is clockwise to meter step initial point and starts meter step, from meter step initial point, rotate clockwise f (Yd) step;
C) dX < 0, dY >=0: task A control motor X first rotates counterclockwise and is reset to physics initial point, be clockwise to meter step initial point again and start meter step, from meter step initial point, rotate clockwise f (Xd) step; Task B controls motor Y and directly rotates clockwise f (dY) step;
D) dX < 0, dY < 0: task A control motor X first rotates counterclockwise and is reset to physics initial point, be clockwise to meter step initial point again and start meter step, from meter step initial point, rotate clockwise f (Xd) step; Task B controls motor Y and first rotates counterclockwise to be reset to physics initial point, then is clockwise to meter step initial point and starts meter step, from meter step initial point, rotate clockwise f (Yd) step 5;
3) above-mentioned task A and task B starts execution simultaneously, and task A upgrades Xc after pin hole horizontal direction puts in place, makes Xc=Xd; Task B upgrades Yc after pin hole vertical direction puts in place, makes Yc=Yd;
4) controller instruction process terminates, and waits for next host computer instruction.
Preferably, described Laser Scanning Confocal Microscope pin hole position control method, wherein, described motor physics initial point represents that motor counter motion is reset to position that optoelectronic switch just triggers and reruns S/2 step, and S is number of motor steps corresponding to optoelectronic switch trigger region length.
Preferably, described Laser Scanning Confocal Microscope pin hole position control method, wherein, described motor meter step initial point represents the position that motor does not just trigger from physics origin position positive movement to optoelectronic switch.
Beneficial effect of the present invention: 1) the physics initial point of pin hole motor and meter step initial point separate and coordinate corresponding control strategy, the positioning error that the thread pitch eliminating motion during pin hole counter motion brings by the present invention, improve pin hole positioning precision; 2) in electric machine controller, transplant the real time operating system of simplifying to work to realize many motors simultaneously, creating two can the task of executed in parallel, a task is used for level of control direction motor movement, another task is for controlling vertical direction motor movement, such two motors can move simultaneously, pin hole location fast, substantially increases pin hole location efficiency.
Accompanying drawing explanation
Fig. 1 is the position view of two motors in the Laser Scanning Confocal Microscope pin hole position control method described in one embodiment of the invention;
Fig. 2 is dX >=0 in the Laser Scanning Confocal Microscope pin hole position control method described in one embodiment of the invention, during dY >=0, and the working condition of two motors;
Fig. 3 is dX >=0 in the Laser Scanning Confocal Microscope pin hole position control method described in one embodiment of the invention, during dY < 0, and the working condition of two motors;
Fig. 4 in the Laser Scanning Confocal Microscope pin hole position control method described in one embodiment of the invention during dX < 0, dY >=0, the working condition of two motors;
Fig. 5 in the Laser Scanning Confocal Microscope pin hole position control method described in one embodiment of the invention during dX < 0, dY < 0, the working condition of two motors.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail, can implement according to this with reference to instructions word to make those skilled in the art.
A kind of Laser Scanning Confocal Microscope pin hole position control method, refer to accompanying drawing 1, the motor controlling pin hole tangential movement is set to motor X, is set to optoelectronic switch X for providing the optoelectronic switch of horizontal direction initial point; The motor controlling pin hole vertical motion is set to Y, is set to optoelectronic switch Y for providing the optoelectronic switch of vertical direction initial point; Pin hole current location absolute coordinate is set to (Xc, Yc), and destination locations absolute coordinate is set to (Xd, Yd), the transfer function of pin hole coordinate figure and number of motor steps is set to f, and absolute coordinate is to walk initial point for reference, comprises following control flow:
1) host computer sends the instruction of pin hole destination locations coordinate to controllor for step-by-step motor, and controller calculates the difference of pin hole destination locations coordinate and current position coordinates: dX=Xd-Xc, dY=Yd-Yc;
2) controller creates two Electric Machine Control task A and B, respectively the motion of processing motor X and motor Y, has following four kinds of situations:
A) dX >=0, dY >=0: task A controls motor X and directly rotates clockwise f (dX) step; Task B controls motor Y and directly rotates clockwise f (dY) step, refers to accompanying drawing 2;
B) dX >=0, dY < 0: task A controls motor X directly rotates clockwise f (dX) step; Task B controls motor Y and first rotates counterclockwise and be reset to physics initial point, then is clockwise to meter step initial point and starts meter step, rotates clockwise f (Yd) step, refer to accompanying drawing 3 from meter step initial point;
C) dX < 0, dY >=0: task A control motor X first rotates counterclockwise and is reset to physics initial point, be clockwise to meter step initial point again and start meter step, from meter step initial point, rotate clockwise f (Xd) step; Task B controls motor Y and directly rotates clockwise f (dY) step, refers to accompanying drawing 4;
D) dX < 0, dY < 0: task A control motor X first rotates counterclockwise and is reset to physics initial point, be clockwise to meter step initial point again and start meter step, from meter step initial point, rotate clockwise f (Xd) step; Task B controls motor Y and first rotates counterclockwise to be reset to physics initial point, then is clockwise to meter step initial point and starts meter step, rotates clockwise f (Yd) step, refer to accompanying drawing 5 from meter step initial point;
3) above-mentioned task A and task B starts execution simultaneously, and task A upgrades Xc after pin hole horizontal direction puts in place, makes Xc=Xd; Task B upgrades Yc after pin hole vertical direction puts in place, makes Yc=Yd;
4) controller instruction process terminates, and waits for next host computer instruction.
Further, described motor physics initial point represents that motor counter motion is reset to position that optoelectronic switch just triggers and reruns S/2 step, and S is number of motor steps corresponding to optoelectronic switch trigger region length.
Further, described motor meter step initial point represents the position that motor does not just trigger from physics origin position positive movement to optoelectronic switch.
Although embodiment of the present invention are open as above, but it is not restricted to listed in instructions and embodiment utilization, it can be applied to various applicable the field of the invention completely, for those skilled in the art, can easily realize other amendment, therefore do not deviating under the universal that claim and equivalency range limit, the present invention is not limited to specific details and illustrates here and the legend described.
Claims (3)
1. a Laser Scanning Confocal Microscope pin hole position control method, the motor controlling pin hole tangential movement is set to motor X, is set to optoelectronic switch X for providing the optoelectronic switch of horizontal direction initial point; The motor controlling pin hole vertical motion is set to Y, is set to optoelectronic switch Y for providing the optoelectronic switch of vertical direction initial point; Pin hole current location absolute coordinate is set to (Xc, Yc), and destination locations absolute coordinate is set to (Xd, Yd), and the transfer function of pin hole coordinate figure and number of motor steps is set to f, and absolute coordinate is to walk initial point for reference,
It is characterized in that, comprise following control flow:
1) host computer sends the instruction of pin hole destination locations coordinate to controllor for step-by-step motor, and controller calculates the difference of pin hole destination locations coordinate and current position coordinates: dX=Xd-Xc, dY=Yd-Yc;
2) controller creates two Electric Machine Control task A and B, respectively the motion of processing motor X and motor Y, has following four kinds of situations:
A) dX >=0, dY >=0: task A controls motor X and directly rotates clockwise f (dX) step; Task B controls motor Y and directly rotates clockwise f (dY) step;
B) dX >=0, dY < 0: task A controls motor X directly rotates clockwise f (dX) step; Task B controls motor Y and first rotates counterclockwise and be reset to physics initial point, then is clockwise to meter step initial point and starts meter step, from meter step initial point, rotate clockwise f (Yd) step;
C) dX < 0, dY >=0: task A control motor X first rotates counterclockwise and is reset to physics initial point, be clockwise to meter step initial point again and start meter step, from meter step initial point, rotate clockwise f (Xd) step; Task B controls motor Y and directly rotates clockwise f (dY) step;
D) dX < 0, dY < 0: task A control motor X first rotates counterclockwise and is reset to physics initial point, be clockwise to meter step initial point again and start meter step, from meter step initial point, rotate clockwise f (Xd) step; Task B controls motor Y and first rotates counterclockwise to be reset to physics initial point, then is clockwise to meter step initial point and starts meter step, from meter step initial point, rotate clockwise f (Yd) step;
3) above-mentioned task A and task B starts execution simultaneously, and task A upgrades Xc after pin hole horizontal direction puts in place, makes Xc=Xd; Task B upgrades Yc after pin hole vertical direction puts in place, makes Yc=Yd;
4) controller instruction process terminates, and waits for next host computer instruction.
2. Laser Scanning Confocal Microscope pin hole position control method as claimed in claim 1, it is characterized in that, described motor physics initial point represents that motor counter motion is reset to position that optoelectronic switch just triggers and reruns S/2 step, and S is number of motor steps corresponding to optoelectronic switch trigger region length.
3. Laser Scanning Confocal Microscope pin hole position control method as claimed in claim 2, is characterized in that, described motor meter step initial point represents the position that motor does not just trigger from physics origin position positive movement to optoelectronic switch.
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