CN113253445A - 0 return stroke difference scanning platform control system and method - Google Patents
0 return stroke difference scanning platform control system and method Download PDFInfo
- Publication number
- CN113253445A CN113253445A CN202110593942.5A CN202110593942A CN113253445A CN 113253445 A CN113253445 A CN 113253445A CN 202110593942 A CN202110593942 A CN 202110593942A CN 113253445 A CN113253445 A CN 113253445A
- Authority
- CN
- China
- Prior art keywords
- controller
- ultrasonic motor
- holder
- preset
- control system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000003384 imaging method Methods 0.000 claims abstract description 56
- 238000012937 correction Methods 0.000 claims abstract description 13
- 230000033001 locomotion Effects 0.000 claims abstract description 13
- 230000008859 change Effects 0.000 claims abstract description 6
- 238000012163 sequencing technique Methods 0.000 claims description 15
- 238000003062 neural network model Methods 0.000 claims description 7
- 238000001816 cooling Methods 0.000 description 9
- 230000007246 mechanism Effects 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 230000000694 effects Effects 0.000 description 6
- 238000012423 maintenance Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 230000005587 bubbling Effects 0.000 description 2
- 238000013527 convolutional neural network Methods 0.000 description 2
- 239000000110 cooling liquid Substances 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000012967 direct insertion method Methods 0.000 description 2
- 239000003550 marker Substances 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B21/00—Microscopes
- G02B21/24—Base structure
- G02B21/241—Devices for focusing
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B21/00—Microscopes
- G02B21/0004—Microscopes specially adapted for specific applications
- G02B21/002—Scanning microscopes
- G02B21/0024—Confocal scanning microscopes (CSOMs) or confocal "macroscopes"; Accessories which are not restricted to use with CSOMs, e.g. sample holders
- G02B21/0052—Optical details of the image generation
- G02B21/006—Optical details of the image generation focusing arrangements; selection of the plane to be imaged
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B21/00—Microscopes
- G02B21/36—Microscopes arranged for photographic purposes or projection purposes or digital imaging or video purposes including associated control and data processing arrangements
- G02B21/361—Optical details, e.g. image relay to the camera or image sensor
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
- H02N2/14—Drive circuits; Control arrangements or methods
- H02N2/142—Small signal circuits; Means for controlling position or derived quantities, e.g. speed, torque, starting, stopping, reversing
Abstract
The invention belongs to the technical field of microscope control, and particularly relates to a 0-return-stroke difference scanning platform control system and a method, wherein the system comprises the following components: an image pickup unit; a plurality of ultrasonic motors; the controller is used for controlling the rotation of the ultrasonic motor and generating a three-dimensional coordinate value of a preset point on the holder; the controller is also used for controlling the relative motion of the holder and the lens through the ultrasonic motor according to the prestored coordinate sequence; when the controller controls the ultrasonic motor to change the steering, the current coordinate value is corrected according to a preset correction value, and then the current three-dimensional coordinate value is updated according to the rotation of the ultrasonic motor; the controller is also used for analyzing and comparing the imaging data by using a preset model to obtain the overall optimal imaging data, then taking the corresponding three-dimensional coordinate value as the optimal coordinate point and moving the holder to the optimal coordinate point. By using the technology of the application, the microscope can be quickly and accurately adjusted to the optimal focal length.
Description
Technical Field
The invention belongs to the technical field of microscope control, and particularly relates to a 0-return-stroke difference scanning platform control system and a method.
Background
When a microscope is used for observing a specimen, in order to fully utilize specimen resources, the microscope needs to be adjusted to the optimal focal length before formal observation so as to ensure the imaging quality.
In order to achieve intelligent operation, the mainstream operation is that after the coordinate point is input and adjusted through the controller, the controller controls the holder or the lens to move to the input coordinate point through the ultrasonic motor. However, the specimen on the slide cannot be smeared at the same position every time, and the slide cannot be placed at the same position every time when it is placed on the holder. By adjusting in such a way, even if the relative positions of the holder and the lens are the same every time, the imaging quality of the microscope is different, and the imaging quality is difficult to ensure.
Therefore, in operation using this method, after the pan/tilt head or the lens reaches the input coordinate point, it needs to be adjusted to have the best imaging quality. However, the return error is generated during the back and forth movement of the pan/tilt head or the microscope. The return error is an absolute value of a difference between the measured values and the indication values of the measuring instrument in the stroke direction under the same condition, and is also called a hysteresis error. Taking the motor as an example, the motor itself has no return error, but a transmission mechanism such as a lead screw connected to an output shaft of the motor generates a return error.
When the focal length is adjusted, even if the coordinate value of the optimal focal point is recorded in a mode of comparing the imaging quality, the coordinate value can move back and forth during adjustment, and even if the coordinate value of the input optimal intersection point is moved, the actual imaging quality and the actual imaging quality are still different from the actual imaging quality during recording under the influence of return stroke errors. The prior art is used for adjusting the focal length, so that time and labor are wasted, and the effect is difficult to ensure.
Therefore, there is a need for a microscope adjustment-only system that can quickly and accurately adjust a microscope to an optimal focal length.
Disclosure of Invention
The invention aims to provide a 0-return-stroke difference scanning platform control system and a method, which can quickly and accurately adjust a microscope to the optimal focal length.
The basic scheme provided by the invention is as follows:
a 0-backhaul differential scanning platform control system, comprising:
the camera shooting unit is used for carrying out imaging shooting;
the ultrasonic motors are used for adjusting the relative positions of the holder and the lens;
the controller is used for controlling the camera shooting unit to work, controlling the ultrasonic motor to rotate and generating a three-dimensional coordinate value of a preset point on the holder by taking the preset point on the lens as a coordinate origin according to the relative position of the lens and the holder;
wherein, a shooting coordinate area, a coordinate sequence and a correction value are prestored in the controller; the controller is also used for controlling the relative motion of the holder and the lens through the ultrasonic motor according to the prestored coordinate sequence; when the controller controls the ultrasonic motor to change the steering, the current coordinate value is corrected according to a preset correction value, and then the current three-dimensional coordinate value is updated according to the rotation of the ultrasonic motor;
the controller is also used for controlling the camera unit machine to carry out imaging shooting when the holder is positioned in the shooting coordinate area, and binding the imaging data with the current three-dimensional coordinate value; the controller is also used for analyzing and comparing the imaging data by using a preset model to obtain the overall optimal imaging data, then taking the corresponding three-dimensional coordinate value as the optimal coordinate point and moving the holder to the optimal coordinate point.
Basic scheme theory of operation and beneficial effect:
when the microscope is focused, the controller is started, the controller controls the rotation direction of the ultrasonic motor to enable the holder and the lens to move relatively in three axial directions of a coordinate system, and a three-dimensional coordinate value of a preset point (such as a center point of the upper surface of the holder) on the holder is generated by taking a preset point (such as a center point of the surface of the lens) on the lens as a coordinate origin according to the relative position between the holder and the lens. Through the rotating direction and the rotating angle of each ultrasonic motor in the ultrasonic motor set, the relative displacement between the holder and the lens can be known.
When the controller controls the relative motion of the holder and the lens through the ultrasonic motor set, the controller controls the ultrasonic motor set to rotate according to a preset coordinate sequence (namely the three-dimensional coordinate value sequence of the holder). When the three-dimensional coordinate value of the holder belongs to the shooting coordinate area, the controller controls the shooting unit to carry out imaging shooting, and the imaging data is bound with the three-dimensional coordinate value of the holder during shooting. The specific range of the imaging coordinate zone can be specifically set by those skilled in the art according to the model of the microscope and the slide.
And then, the controller analyzes and compares the received imaging fed back by the shooting unit by using a preset model to obtain the overall optimal imaging, and takes the corresponding three-dimensional coordinate value as the optimal coordinate point. Therefore, when the three-dimensional coordinate value of the tripod head in the shooting coordinate area is analyzed, the obtained integral imaging effect is the best, and the three-dimensional coordinate value can be regarded as the best clear shooting point.
And then, the controller moves the holder to the optimal coordinate point, so that the holder and the lens are just in the optimal relative position of the image quality in the shooting range. Then, formal observation is carried out on the specimen to ensure the imaging quality of formal shooting.
When the controller controls the ultrasonic motor to change the steering, the current coordinate value is corrected according to a preset correction value, and then the current three-dimensional coordinate value is updated according to the rotation of the ultrasonic motor.
When the ultrasonic motor changes the steering, if the three-dimensional coordinate value of the holder is directly recorded, a return error exists, which is determined by the working mechanism of the rotating shaft and the transmission mechanism of the ultrasonic motor. If the three-dimensional coordinate value of the holder is directly recorded and returned, an error exists between the actually returned value and the mark value, so that the best shooting effect cannot be achieved when the mark value is reached.
Therefore, the coordinates are corrected in accordance with a preset correction value every time the steering is performed. Therefore, when the relative positions of the lens and the holder are consistent, the three-dimensional coordinate values of the holder can be kept consistent. Thereby ensuring that the pan/tilt head is exactly at the optimal focal length when it reaches the marker value. The specific values of the correction values can be set by those skilled in the art according to the specific model of the ultrasonic motor and the transmission assembly.
By using the system, the microscope can be quickly and accurately adjusted to the optimal focal length.
Furthermore, each ultrasonic motor has a unique number; the controller is prestored with the updating trigger angle and is also used for counting the accumulated rotating angle of the ultrasonic motors with various numbers, and when the accumulated rotating angle of a certain ultrasonic motor reaches the updating trigger angle, the controller sends an error updating signal which comprises the number of the ultrasonic motor.
And counting the accumulated rotation angle of the ultrasonic motor, which is equivalent to counting the displacement of the holder and the lens in each axial direction. With the increase of the moving distance, each part in the system is worn and depreciated, and further influences the return stroke error, when the moving distance is increased to a certain degree, the difference between the real return stroke error and the preset return stroke error is possibly large, and the return stroke error needs to be reset. Therefore, the controller sends an error updating signal to remind a worker to update the return error. The specific value of the trigger angle is updated, and those skilled in the art can specifically set the trigger angle according to the specific model of the ultrasonic motor and the transmission mechanism.
Further, when the controller sends an error updating signal, the accumulated rotation angle of the ultrasonic motor of which the accumulated rotation angle reaches the updating trigger angle is cleared.
Therefore, when the return error of the numbered ultrasonic motor is updated by a worker, the rotation angle of the numbered ultrasonic motor can be counted again.
Further, the camera lens position is fixed, and a plurality of supersound motors all are used for adjusting the position of cloud platform.
The position of the lens is fixed, compared with the lens moving, the possibility that the lens is damaged in the process of adjusting the focal length is lower, the cost of the lens is very high, and the later maintenance and overhaul cost can be reduced.
Furthermore, the number of the ultrasonic motors is three, and the positions of the holder are adjusted from three axial directions respectively.
The three ultrasonic motors are enough to enable the cradle head to accurately move in a three-dimensional coordinate system by adjusting the position of the cradle head in three axial directions. Cost savings may be achieved compared to four or more ultrasonic motors.
Further, the power-off time of the ultrasonic motor is not more than 5 milliseconds, and the starting time is not more than 8 milliseconds.
Due to the power-off and starting time, the continuity of the adjusting process can be better; meanwhile, the ultrasonic motor has the power-off self-locking characteristic, so that the power-off time is short, the ultrasonic motor can be rapidly powered off when the microscope reaches the optimal focal length, and the accuracy of the optimal focal length position is guaranteed.
Further, a preset model in the controller comprises an analysis part and a sequencing part; the analysis part is used for analyzing the overall definition of the shot image by using a preset intelligent model; the sequencing part is used for sequencing the analysis result of the analysis part by using a preset algorithm.
Through the cooperation of analysis portion and sequencing portion, can carry out analysis and sequencing with the formation of image of shooting unit feedback fast, lock the best shooting formation of image in the very short time, and then lock final coordinate value.
Furthermore, an intelligent model preset in the analysis part is a neural network model.
Compared with other intelligent models, the neural network model has the advantages of good stability and fault tolerance rate, and can continuously self-learn and self-grow after training is finished and the neural network model is put into use.
Further, the algorithm preset in the sorting part is a hill sorting algorithm.
Compared with sorting algorithms such as a bubbling method and a direct insertion method, the Hill sorting algorithm has better operation efficiency, can obtain a final coordinate point more quickly, and further shortens the overall time of focusing of the holder.
The invention provides a second basic scheme: a control method of a 0-return-stroke difference scanning platform uses the control system of the 0-return-stroke difference scanning platform.
Drawings
Fig. 1 is a logic block diagram of a first embodiment of a 0-backhaul differential scanning platform control system according to the present invention.
Detailed Description
The following is further detailed by way of specific embodiments:
example one
As shown in fig. 1, a 0-return-stroke difference scanning platform control system includes a camera unit, a plurality of ultrasonic motors, and a controller.
The camera shooting unit is used for imaging and shooting;
the ultrasonic motors are used for adjusting the relative position between the holder and the lens. In this embodiment, the camera lens rigidity, a plurality of supersound motors all are used for adjusting the position of cloud platform. Specifically, the number of the ultrasonic motors is three, and the positions of the holder are adjusted from three axial directions respectively.
The power-off time of the ultrasonic motor is not more than 5 milliseconds, and the starting time is not more than 8 milliseconds. Due to the power-off and starting time, the continuity of the adjusting process can be better; meanwhile, the ultrasonic motor has the power-off self-locking characteristic, so that the power-off time is short, the ultrasonic motor can be rapidly powered off when the microscope reaches the optimal focal length, and the accuracy of the optimal focal length position is guaranteed.
The controller is used for controlling the camera shooting unit to work, controlling the ultrasonic motor to rotate and generating a three-dimensional coordinate value of a preset point on the holder by taking the preset point on the lens as a coordinate origin according to the relative position of the lens and the holder.
Wherein, a shooting coordinate area, a coordinate sequence and a correction value are prestored in the controller; the controller is also used for controlling the relative motion of the holder and the lens through the ultrasonic motor according to the prestored coordinate sequence; when the controller controls the ultrasonic motor to change the steering, the current coordinate value is corrected according to a preset correction value, and then the current three-dimensional coordinate value is updated according to the rotation of the ultrasonic motor.
The controller is also used for controlling the camera unit machine to carry out imaging shooting when the holder is positioned in the shooting coordinate area, and binding the imaging data with the current three-dimensional coordinate value; the controller is also used for analyzing and comparing the imaging data by using a preset model to obtain the overall optimal imaging data, then taking the corresponding three-dimensional coordinate value as the optimal coordinate point and moving the holder to the optimal coordinate point.
Specifically, a preset model in the controller comprises an analysis part and a sequencing part; the analysis part is used for analyzing the overall definition of the shot image by using a preset intelligent model; the sequencing part is used for sequencing the analysis result of the analysis part by using a preset algorithm. In the embodiment, the preset model is a convolutional neural network model, and compared with other intelligent models, the neural network model has the advantages of good stability and fault tolerance rate, and can continuously self-learn and self-grow after training is finished and put into use; compared with other neural network models such as a BP neural network model and the like, the convolutional neural network model has better capability in the aspect of graphic processing and can better and quickly process shot images. The algorithm preset in the sequencing part is a Hill sequencing algorithm. Compared with sorting algorithms such as a bubbling method and a direct insertion method, the Hill sorting algorithm has better operation efficiency, can obtain a final coordinate point more quickly, and further shortens the overall time of focusing of the holder.
The control unit is internally stored with an initial coordinate value and also comprises an initialization unit which is used for starting the controller to control the holder to return to the initial coordinate value through the ultrasonic motor set, and the initialization unit is integrated on the controller. In this embodiment, the controller is a PC equipped with a corresponding program.
The specific implementation process is as follows:
when the staff observes the specimen, the glass slide with the specimen is put on the holder. And then, the operator can start the controller to adjust the focal length, and specifically, the controller controls the rotation direction of the ultrasonic motor set to enable the holder and the lens to move relatively in three axial directions of the three-dimensional coordinate system. In the embodiment, the position of the lens is fixed, the ultrasonic motor set comprises three ultrasonic motors, and the three ultrasonic motors respectively drive the holder to move along the directions of three axes of the three-dimensional coordinate system.
The controller also generates a three-dimensional coordinate value of a preset point (such as an upper surface central point) on the holder by taking a preset point (such as a lens surface central point) on the lens as a coordinate origin according to the relative position between the holder and the lens. Through the direction of rotation and the turned angle of each supersound motor in the encoder feedback supersound motor group, can know the relative displacement between cloud platform and the camera lens, this belongs to prior art, and no longer repeated here.
The controller is pre-stored with a coordinate sequence and a shooting coordinate area; when the controller controls the relative motion of the holder and the lens through the ultrasonic motor set, the controller controls the ultrasonic motor set to rotate according to a preset coordinate sequence (namely the three-dimensional coordinate value sequence of the holder). Therefore, when the focal length is adjusted, the controller can control the holder and the lens to move according to the preset motion track, so that the consistency of the focal length adjusting process is stronger.
Along with the relative motion of the holder and the lens, when the three-dimensional coordinate value of the holder belongs to the shooting coordinate area, the controller controls the shooting unit to carry out imaging shooting and return, and the controller also binds the received imaging and the three-dimensional coordinate value of the holder during shooting. And then, the controller analyzes and compares the received imaging fed back by the shooting unit by using a preset model to obtain the overall optimal imaging, and matches a three-dimensional coordinate value corresponding to the imaging. The specific range of the imaging coordinate zone can be specifically set by those skilled in the art according to the model of the microscope and the slide.
Therefore, when the three-dimensional coordinate value of the tripod head in the shooting coordinate area is analyzed, the obtained integral imaging effect is the best, and the three-dimensional coordinate value can be regarded as the best clear shooting point. Accordingly, the controller takes the three-dimensional coordinate value as a final coordinate point and moves the pan/tilt head to the final coordinate point. Therefore, the cloud platform and the lens are just in the best relative position of the image quality in the shooting range after the focal length adjustment is finished.
When the controller controls the ultrasonic motor to change the steering, the current coordinate value is corrected according to a preset correction value, and then the current three-dimensional coordinate value is updated according to the rotation of the ultrasonic motor.
When the ultrasonic motor changes the steering, if the three-dimensional coordinate value of the holder is directly recorded, a return error exists, which is determined by the working mechanism of the rotating shaft and the transmission mechanism of the ultrasonic motor. If the three-dimensional coordinate value of the holder is directly recorded and returned, an error exists between the actually returned value and the mark value, so that the best shooting effect cannot be achieved when the mark value is reached.
Therefore, the coordinates are corrected in accordance with a preset correction value every time the steering is performed. Therefore, when the relative positions of the lens and the holder are consistent, the three-dimensional coordinate values of the holder can be kept consistent. Thereby ensuring that the pan/tilt head is exactly at the optimal focal length when it reaches the marker value. The specific values of the correction values can be set by those skilled in the art according to the specific model of the ultrasonic motor and the transmission assembly.
And then, the specimen is formally observed, so that the microscope can be ensured to be positioned at the optimal focal point during the formally observation. Compared with the prior art, the system can accurately find the best definition shooting point when a specimen is researched.
By using the system, the microscope can be quickly and accurately adjusted to the optimal focal length.
Another object of the present invention is to provide a method for controlling a 0-backhaul differential scanning platform, which uses the above-mentioned 0-backhaul differential scanning platform control system.
Example two
Different from the first embodiment, in the present embodiment, each ultrasonic motor has a unique number; the controller is prestored with the updating trigger angle and is also used for counting the accumulated rotating angle of the ultrasonic motors with various numbers, and when the accumulated rotating angle of a certain ultrasonic motor reaches the updating trigger angle, the controller sends an error updating signal which comprises the number of the ultrasonic motor. And when the controller sends an error updating signal, resetting the accumulated rotation angle of the ultrasonic motor of which the accumulated rotation angle reaches the updating trigger angle.
And counting the accumulated rotation angle of the ultrasonic motor, which is equivalent to counting the displacement of the holder and the lens in each axial direction. With the increase of the moving distance, each part in the system is worn and depreciated, and further influences the return stroke error, when the moving distance is increased to a certain degree, the difference between the real return stroke error and the preset return stroke error is possibly large, and the return stroke error needs to be reset. Therefore, the controller sends an error updating signal to remind a worker to update the return error. The specific value of the trigger angle is updated, and those skilled in the art can specifically set the trigger angle according to the specific model of the ultrasonic motor and the transmission mechanism.
When the return error of the numbered ultrasonic motor is updated by the staff, the rotation angle of the numbered ultrasonic motor can be counted again.
EXAMPLE III
Unlike the first embodiment, in the present embodiment, the plurality of ultrasonic motors include an X-axis ultrasonic motor that drives the cloud stage to move along the X-axis, a Y-axis ultrasonic motor that drives the cloud stage to move along the Y-axis, and a Z-axis ultrasonic motor that drives the cloud stage to move along the Z-axis.
In this embodiment, the controller further stores an initial movement distance, the controller controls the Z-axis ultrasonic motor to rotate to move the pan/tilt head along the Z-axis first, and when the Z-axis coordinate of the pan/tilt head belongs to the shooting coordinate region, the controller starts to control the pan/tilt head to move the initial movement distance along the Z-axis each time, and a current image is obtained once each time the pan/tilt head moves;
and if the imaging quality of the current position is lower than that of the previous position, controlling the Z-axis ultrasonic motor to rotate along the reverse direction of the original direction. Every time the obtained imaging quality is reduced, the distance interval of the obtained imaging image becomes one N times of the previous distance interval; when the imaging quality is reduced by M times, the focal distance acquired by the last imaging image is marked as the optimal focal distance, and the focal distance acquired by the last imaging image is returned through the ultrasonic motor control microscope.
Has the advantages that:
the adjustment of the X axis or the Y axis allows the observation target to be located in the central area of the observation screen, but the adjustment of the Z axis determines the definition of the observation target.
When the Z-axis coordinate of the holder belongs to the shooting coordinate area, if the imaging quality of the current position is lower than that of the previous position, the focal length misses the optimal focal length and moves towards the reverse direction, so that the controller controls the Z-axis ultrasonic motor to move along the reverse direction of the original direction, and the focal length is enabled to approach the optimal focal length again.
In addition, when the acquired imaging quality is reduced and the focal length moves along the direction opposite to the previous direction, the distance between the acquired imaging quality and the optimal focal length point is relatively close, so that the distance interval acquired by the imaging image is changed into one N, and the optimal focal length point can be found more finely.
When the imaging quality is reduced by M times, the degree of refinement is already very high, at this time, the quality of the imaging images acquired twice next to each other is reduced again, and if the distance interval for acquiring the imaging images is still reduced as before, on one hand, the load on the controller and the imaging device is very large, and on the other hand, the quality difference of the imaging images acquired at such a distance interval is very small, which results in the situation that the hardware investment is very large but the benefit is very small. Therefore, the focal distance of the last imaging image acquisition is marked as the optimal focal distance, and the focal distance of the last imaging image acquisition is returned through the ultrasonic motor control microscope. And related hardware cost is controlled while the accuracy of the optimal focal distance is ensured.
Example four
Different from the third embodiment, the present embodiment further includes a temperature sensor and a cooling unit; the temperature sensor is used for detecting the temperature of the Z-axis ultrasonic motor and sending the temperature to the controller; the controller is also used for storing the working time of the Z-axis ultrasonic motor; the controller also stores the maximum image precision difference of two adjacent image acquisition positions under each moving distance when the focal length of the Z axis is adjusted;
the controller is also used for analyzing the precision difference of the previous two adjacent images of each moving distance during Z-axis adjustment; if the precision difference is larger than the maximum image precision difference of the current moving distance, the controller analyzes the precision of the current moving distance, and if the current moving distance is not smaller than the first distance, the controller sends a stop signal;
if the current moving distance is smaller than the first distance, the controller analyzes the temperature of the Z-axis ultrasonic motor according to the detection data of the temperature sensor; if the temperature is higher than the preset temperature, the controller stops the Z-axis ultrasonic motor for a first time and sends a cooling signal to the cooling unit, and the cooling unit is used for spraying cooling liquid to the Z-axis ultrasonic motor after receiving the cooling signal;
if the temperature is not higher than the preset temperature, the controller calculates a compensation distance according to the current moving distance, the corresponding maximum image precision difference of the adjacent position and the actual maximum image difference of the adjacent position to obtain an actual moving distance, and replaces the current moving distance with the actual moving distance to control the Z-axis ultrasonic motor to perform focusing adjustment; the controller is also used for judging the working time of the Z-axis ultrasonic motor when the temperature is not higher than the preset temperature, sending a replacement signal if the working time exceeds the replacement time, and sending a maintenance signal if the working time does not exceed the replacement time.
The working process and the beneficial effects are as follows:
in the application, when the focal length of the Z axis is adjusted, the maximum image accuracy of two adjacent image acquisition positions is poor at each moving distance. In addition, the controller also analyzes the precision difference of the previous two adjacent images of each moving distance; and if the precision difference is larger than the maximum image precision difference of the current moving distance, the problem of the actual adjusting position of the Z-axis focal length is solved.
At this time, the controller analyzes the current movement distance, and if the current movement distance is not less than the first distance, the range adjustment value at this time is larger, in other words, the adjustment accuracy at this time is lower. The requirement of poor image precision cannot be met even under the condition of lower adjustment precision, the requirement cannot be met certainly even after the focal length adjustment value is reduced subsequently, and the current hardware is not enough to support the observation requirement. Therefore, the controller sends a stop signal, and the target needs to be observed again after the equipment needs to be replaced or maintained.
If the current moving distance is smaller than the first distance, the range adjustment value at the moment is smaller, and the precision is higher. Although the best result may not be achieved through adaptive adjustment, the observation requirement can be met through measures such as compensation and the like. Therefore, the controller needs to know the cause of the insufficient accuracy and then perform corresponding adjustment.
Firstly, the controller analyzes the temperature of the Z-axis ultrasonic motor according to the detection data of the temperature sensor, and if the temperature is higher than a preset temperature, the accuracy caused by the temperature is abnormal, so that the controller stops the Z-axis ultrasonic motor for a first time and sends a cooling signal to the cooling unit, and the cooling unit is used for spraying cooling liquid to the Z-axis ultrasonic motor after receiving the cooling signal. And after the Z-axis ultrasonic motor is cooled, continuously adjusting the focal length to ensure the subsequent adjustment precision.
If the temperature is not higher than the preset temperature, the problem of the Z-axis focal length adjusting mechanism is solved, therefore, the controller calculates the compensation distance according to the current moving distance, the corresponding maximum image precision difference of the adjacent position and the actual maximum image difference of the adjacent position to obtain the actual moving distance, and the actual moving distance is used for replacing the current moving distance to control the Z-axis ultrasonic motor to carry out focusing adjustment. In this way, the final image is not in the optimal state, but is enough for current observation and use. However, for later observation, the worker still needs to know the situation and perform corresponding maintenance. Therefore, the controller also judges the working time of the Z-axis ultrasonic motor, and if the working time exceeds the replacement time, the service life of the Z-axis ultrasonic motor is short enough to be replaced, so that the controller sends a replacement signal to remind a worker to replace the Z-axis ultrasonic motor; if the current time does not exceed the preset time, a maintenance signal is sent, which indicates that the current time is other unknown reasons and the related equipment for Z-axis focusing needs to be systematically checked, so that the controller sends the maintenance signal to enable the staff to integrally maintain the equipment for Z-axis focusing and find out specific problems.
The foregoing is merely an example of the present invention, and common general knowledge in the field of known specific structures and characteristics is not described herein in any greater extent than that known in the art at the filing date or prior to the priority date of the application, so that those skilled in the art can now appreciate that all of the above-described techniques in this field and have the ability to apply routine experimentation before this date can be combined with one or more of the present teachings to complete and implement the present invention, and that certain typical known structures or known methods do not pose any impediments to the implementation of the present invention by those skilled in the art. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (10)
1. A 0-backhaul differential scanning platform control system, comprising:
the camera shooting unit is used for carrying out imaging shooting;
the ultrasonic motors are used for adjusting the relative positions of the holder and the lens;
the controller is used for controlling the camera shooting unit to work, controlling the ultrasonic motor to rotate and generating a three-dimensional coordinate value of a preset point on the holder by taking the preset point on the lens as a coordinate origin according to the relative position of the lens and the holder;
wherein, a shooting coordinate area, a coordinate sequence and a correction value are prestored in the controller; the controller is also used for controlling the relative motion of the holder and the lens through the ultrasonic motor according to the prestored coordinate sequence; when the controller controls the ultrasonic motor to change the steering, the current coordinate value is corrected according to a preset correction value, and then the current three-dimensional coordinate value is updated according to the rotation of the ultrasonic motor;
the controller is also used for controlling the camera unit machine to carry out imaging shooting when the holder is positioned in the shooting coordinate area, and binding the imaging data with the current three-dimensional coordinate value; the controller is also used for analyzing and comparing the imaging data by using a preset model to obtain the overall optimal imaging data, then taking the corresponding three-dimensional coordinate value as the optimal coordinate point and moving the holder to the optimal coordinate point.
2. The 0-backhaul differential scanning platform control system according to claim 1, wherein: each ultrasonic motor has a unique number; the controller is prestored with the updating trigger angle and is also used for counting the accumulated rotating angle of the ultrasonic motors with various numbers, and when the accumulated rotating angle of a certain ultrasonic motor reaches the updating trigger angle, the controller sends an error updating signal which comprises the number of the ultrasonic motor.
3. The 0-backhaul differential scanning platform control system according to claim 2, wherein: and when the controller sends an error updating signal, resetting the accumulated rotation angle of the ultrasonic motor of which the accumulated rotation angle reaches the updating trigger angle.
4. The 0-backhaul differential scanning platform control system according to claim 1, wherein: the camera lens position is fixed, and a plurality of supersound motors all are used for adjusting the position of cloud platform.
5. The 0-backhaul differential scanning platform control system according to claim 4, wherein: the number of the ultrasonic motors is three, and the positions of the holder are adjusted from three axial directions respectively.
6. The 0-backhaul differential scanning platform control system according to claim 1, wherein: the power-off time of the ultrasonic motor is not more than 5 milliseconds, and the starting time is not more than 8 milliseconds.
7. The 0-backhaul differential scanning platform control system according to claim 1, wherein: the preset model in the controller comprises an analysis part and a sequencing part; the analysis part is used for analyzing the overall definition of the shot image by using a preset intelligent model; the sequencing part is used for sequencing the analysis result of the analysis part by using a preset algorithm.
8. The 0-backhaul differential scanning platform control system according to claim 7, wherein: the intelligent model preset in the analysis part is a neural network model.
9. The 0-backhaul differential scanning platform control system according to claim 7, wherein: the algorithm preset in the sequencing part is a Hill sequencing algorithm.
10. A control method of a 0-return-stroke difference scanning platform is characterized by comprising the following steps: use of a 0-backhaul differential scanning platform control system according to any of the preceding claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110593942.5A CN113253445A (en) | 2021-05-28 | 2021-05-28 | 0 return stroke difference scanning platform control system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110593942.5A CN113253445A (en) | 2021-05-28 | 2021-05-28 | 0 return stroke difference scanning platform control system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113253445A true CN113253445A (en) | 2021-08-13 |
Family
ID=77185240
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110593942.5A Withdrawn CN113253445A (en) | 2021-05-28 | 2021-05-28 | 0 return stroke difference scanning platform control system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113253445A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114061921A (en) * | 2021-12-02 | 2022-02-18 | 重庆紫光华山智安科技有限公司 | Return trip difference detection method and device, monitoring equipment and readable storage medium |
-
2021
- 2021-05-28 CN CN202110593942.5A patent/CN113253445A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114061921A (en) * | 2021-12-02 | 2022-02-18 | 重庆紫光华山智安科技有限公司 | Return trip difference detection method and device, monitoring equipment and readable storage medium |
| CN114061921B (en) * | 2021-12-02 | 2022-10-28 | 重庆紫光华山智安科技有限公司 | Return trip difference detection method and device, monitoring equipment and readable storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6850648B2 (en) | Variable focal length imaging system | |
| KR102280663B1 (en) | Calibration method for robot using vision technology | |
| JP6717692B2 (en) | Adaptive Operating Frequency Adjustment Method of Variable Focal Length Lens in Adjustable Magnification Optical System | |
| US8111938B2 (en) | System and method for fast approximate focus | |
| JP5911934B2 (en) | Contour measurement device and robot system | |
| US11254006B2 (en) | Robot device | |
| DE102017207187A1 (en) | Phase difference calibration in a variable focal length lens system | |
| US20040223053A1 (en) | Machine vision inspection system and method having improved operations for increased precision inspection throughput | |
| US7499584B2 (en) | Smear-limit based system and method for controlling vision systems for consistently accurate and high-speed inspection | |
| US20130120567A1 (en) | System and method utilizing an editing initialization block in a part program editing environment in a machine vision system | |
| US11328409B2 (en) | System and method utilizing multi-point autofocus to align an optical axis of an optical assembly portion to be normal to a workpiece surface | |
| CN104002602A (en) | Laser activation device with machining precision correcting function and laser activation method | |
| KR20210117307A (en) | Industrial robotic device with improved tooling path generation, and method for operating industrial robotic device according to improved tooling path | |
| CN113253445A (en) | 0 return stroke difference scanning platform control system and method | |
| CN115079729A (en) | Motion platform position compensation method and system and electronic equipment | |
| US20190091866A1 (en) | Robot controller for executing calibration, measurement system and calibration method | |
| CN110539309A (en) | Mechanical arm hole-making positioning system and method based on laser alignment and vision measurement | |
| CN117529270A (en) | Optical axis calibration of robotic camera system | |
| JP5162471B2 (en) | Method for controlling axial relative position and / or relative movement and machine tool | |
| CN113333942A (en) | Machining head with laser focus automatic focusing function and machining method thereof | |
| JPH09304703A (en) | Focusing device | |
| JP2021013983A (en) | Apparatus and method for acquiring deviation of moving locus of moving machine | |
| CN112697708A (en) | Cell positioning system based on image recognition | |
| CN117242411A (en) | Determining profile fidelity of a laser cutter | |
| US20220134567A1 (en) | Robot system, robot control device, and robot control program |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20210813 |
|
| WW01 | Invention patent application withdrawn after publication |