阅读说明：本技术 一种开环控制的显微自动聚焦装置及方法 (Open-loop control microscopic automatic focusing device and method ) 是由 孙召敏 吕琦 胡海星 于 2021-06-30 设计创作，主要内容包括：本发明涉及显微自动聚焦技术领域,公开了一种开环控制的显微自动聚焦方法,执行显微自动聚焦方法的显微自动聚焦装置包括载玻台、摄像头、用于摄像头聚焦的Z轴驱动机构和控制模块,该方法包括如下步骤：控制摄像头在聚焦范围内朝向一个方向移动,同时记录每一帧图像对应的系统时间以及大小和焦距值Z；根据记录的数据计算生成时间与图片大小的曲线图、与焦距值Z的直线图；找到关键节点；控制摄像头反向移动至关键节点后,再做一次线性补偿。本发明通过对聚焦的一次性补偿后,在确保高聚焦度的情况下,有效缩短聚焦时间,提高聚焦效率,有效解决摄像头时戳和控制系统时戳无法精确同步的问题。(The invention relates to the technical field of microscopic automatic focusing, and discloses an open-loop controlled microscopic automatic focusing method.A microscopic automatic focusing device for executing the microscopic automatic focusing method comprises a glass carrying table, a camera, a Z-axis driving mechanism for focusing the camera and a control module, and the method comprises the following steps: controlling the camera to move towards one direction in a focusing range, and simultaneously recording the system time, the size and the focal length value Z corresponding to each frame of image; calculating and generating a curve graph of time and picture size and a line graph of a focal length value Z according to the recorded data; finding a key node; and after the camera is controlled to move reversely to the key node, linear compensation is performed again. According to the invention, after one-time compensation of focusing is carried out, under the condition of ensuring high focusing degree, the focusing time is effectively shortened, the focusing efficiency is improved, and the problem that the camera timestamp and the control system timestamp cannot be accurately synchronized is effectively solved.)

1. The open-loop control microscopic automatic focusing method is characterized in that a microscopic automatic focusing device for executing the microscopic automatic focusing method comprises a glass carrying table (2), a camera (1), a Z-axis driving mechanism (3) for focusing the camera (1) and a control module;

the method comprises the following steps:

s1, controlling the camera (1) to move towards one direction in a focusing range, and simultaneously recording the system time, the size and the focal length value Z corresponding to each frame of image;

s2, calculating and generating a graph of time and picture size and a line graph of a focal length value Z according to the data recorded in the S1;

s3, finding the peak point (t2, z2) of the graph and the intersection points (t1, z1) and (t3, z3) of the curves on the two sides of the peak point and the straight line as key nodes;

s4, according to the found Z position, the camera (1) is controlled to move reversely to Z2, and then linear compensation with the value of | Z1-Z3| is performed for the first time.

2. An open-loop controlled microscopic auto-focusing method according to claim 1, characterized in that in S2, the system time and picture size graph forms an inverted double-peak curve during the moving of the camera (1), two valleys of the double-peak curve are the maximum focusing distance of the camera (1), and one peak in the middle of the two valleys is the focusing point.

3. An open-loop controlled microscopic automatic focusing device, which adopts the open-loop controlled microscopic automatic focusing method of claim 1, characterized in that the glass carrying platform (2), the camera (1), the Z-axis driving mechanism (3) for focusing the camera (1) and the control module;

the glass carrying table (2) is provided with a glass carrying sheet for detection and an end point for focusing;

the camera (1) is used for collecting continuous images along the moving direction when moving;

the Z-axis driving mechanism (3) is at least internally provided with a stepping motor for driving the camera (1) to ascend and descend, a linear guide rail capable of reciprocating and a screw rod matched with the linear guide rail, the camera (1) is arranged on the linear guide rail, and the screw rod is fixedly arranged on an output shaft of the stepping motor through a coupler;

the control module comprises a processor for calculating the image size and force and a memory for storing and controlling the program of the Z-axis driving mechanism (3), and the program can control the Z-axis driving mechanism (3) to drive the camera (1) to reciprocate.

4. An open-loop controlled microscopic auto-focusing device according to claim 2, characterized in that the camera (1) is arranged below the glass stage (2).

5. An open-loop controlled microscopic auto-focusing device according to claim 2 or 3, characterized by further comprising a light source (4) for illumination, wherein the light source (4) is arranged above the glass stage (2), and the light source (4) is arranged coaxially with the camera (1).

Technical Field

The invention belongs to the technical field of microscopic automatic focusing, and particularly relates to a microscopic automatic focusing device and a microscopic automatic focusing method controlled by an open loop.

Background

A fully automatic microscope scanning system is a high-precision scanning instrument that has appeared in recent years, and is widely used in the fields of medical research, clinical application, biological research, industrial application, and the like.

The core of the full-automatic microscope scanning system is automatic focusing, the existing automatic focusing generally adopts a closed-loop control system mode to complete the automatic focusing of a microscope, a motion device such as a stepping motor and the like is utilized to control a focusing position, the image acquired by a camera image sensor is subjected to definition calculation, the moving direction and the step length of the motion device are fed back and controlled by the image definition until the position with the maximum definition is found to be the position with accurate focusing, and finally the focusing is completed The interference of pseudo focal peaks is eliminated to a certain extent, the problem of complex and time-consuming caused by trapping of local peak values in the focusing search process is avoided, but the method still cannot escape the complexity and instability of the closed-loop control system, because the automatic focusing of the full-automatic microscope scanning system generally adopts a transmission mode of a screw rod and a linear guide rail to drive the objective table to move for focusing, because certain errors exist in machining and assembling, in the process of automatically focusing and searching a focus point, when a screw rod and a linear guide rail reciprocate, the problem that the time stamp of a camera and the time stamp of a control system cannot be accurately synchronized exists, so that a focus point calculated by the system has a certain deviation with an actual group focus, the more times of reciprocating and searching the focus point are, the larger the error is, and therefore, an open-loop control microscopic automatic focusing device and method are provided.

Disclosure of Invention

The invention aims to solve the defect that the camera time stamp and the control system time stamp cannot be accurately synchronized in the prior art, and provides an open-loop control microscopic automatic focusing device and method.

In order to achieve the purpose, the invention adopts the following technical scheme:

designing an open-loop control microscopic automatic focusing method, wherein a microscopic automatic focusing device for executing the microscopic automatic focusing method comprises a glass carrying table, a camera, a Z-axis driving mechanism for focusing the camera and a control module;

the method comprises the following steps:

s1, controlling the camera to move towards one direction in a focusing range, and simultaneously recording the system time, the size and the focal length value Z corresponding to each frame of image;

s2, calculating and generating a graph of time and picture size and a line graph of a focal length value Z according to the data recorded in the S1;

s3, finding the peak point (t2, z2) of the graph and the intersection points (t1, z1) and (t3, z3) of the curves on the two sides of the peak point and the straight line as key nodes;

and S4, controlling the camera to reversely move to Z2 according to the found Z position, and then performing linear compensation with the value of | Z1-Z3| for the first time.

Further, in S2, the graph of the system time and the picture size forms an inverted double-peak curve in the moving process of the camera, two wave troughs of the double-peak curve are the maximum focusing distance of the camera, and one wave peak in the middle of the two wave troughs is the focusing point.

The invention also provides an open-loop controlled microscopic automatic focusing device, which adopts an open-loop controlled microscopic automatic focusing method and comprises the glass carrying table, the camera, a Z-axis driving mechanism for focusing the camera and a control module;

the glass carrying table is provided with a glass slide for detection and an end point for focusing;

the camera is used for collecting continuous images along the moving direction when moving;

the Z-axis driving mechanism is at least internally provided with a stepping motor for driving the camera to lift, a linear guide rail capable of reciprocating and a screw rod matched with the linear guide rail, the camera is arranged on the linear guide rail, and the screw rod is fixedly arranged on an output shaft of the stepping motor through a coupler;

the control module comprises a processor for calculating the image size and calculation force and a memory for storing and controlling the Z-axis driving mechanism program, and the program can control the Z-axis driving mechanism to drive the camera to reciprocate.

Further, the camera is arranged below the glass carrying table.

Further, the device also comprises a light source for illumination, wherein the light source is arranged above the glass carrying table and is coaxially arranged with the camera.

The invention provides an open-loop control microscopic automatic focusing device and a method, which have the beneficial effects that: the invention adopts the open-loop control mode to realize the microscopic automatic focusing, has simple structure, low cost and economy compared with the prior closed-loop control, can effectively shorten the focusing time and improve the focusing efficiency by once compensating the focusing under the condition of ensuring high focusing degree, effectively solves the problem that the camera time stamp and the control system time stamp can not be accurately synchronized, and effectively improves the quality of focusing imaging.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

FIG. 1 is a block flow diagram of a method of open loop controlled microscopic auto-focusing of the present invention;

FIG. 2 is a schematic diagram of the structure of the open-loop controlled micro-automatic focusing device of the present invention;

FIG. 3 is a schematic diagram of a curve and a focal length Z according to an embodiment of the present invention;

labeled as: 1. a camera; 2. a glass loading table; 3. a Z-axis drive mechanism; 4. a light source.

Detailed Description

The invention will be further illustrated with reference to the following specific examples. These examples are intended to illustrate the invention and are not intended to limit the scope of the invention. In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "provided," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The structural features of the present invention will now be described in detail with reference to the drawings (see fig. 1-3) of the specification.

The utility model provides a microscopic automatic focusing device of open loop control, glass carrying platform 2, camera 1, be used for Z axle actuating mechanism 3 and the control module of camera 1 focus, still include the light source 4 that the illumination was used, light source 4 sets up in the top of glass carrying platform 2, glass carrying platform 2 is equipped with the slide glass that is used for detecting, the slide glass is the focal plane of camera 1, light source 4 and camera 1 coaxial setting, camera 1 sets up in the below of glass carrying platform 2, when using, camera 1 passes through the illumination of light source 4, the image of the slide glass object is gathered to accessible glass carrying platform 2 middle part through-hole position.

When the camera 1 moves along the XY axes, continuous images of the object on the glass stage 2 are collected along the moving direction.

The Z-axis driving mechanism 3 is at least internally provided with a stepping motor for driving the camera 1 to ascend and descend, a linear guide rail capable of reciprocating and a screw rod matched with the linear guide rail, the camera 1 is arranged on the linear guide rail, and the screw rod is fixedly arranged on an output shaft of the stepping motor through a coupler. The control module comprises a processor for calculating the image size and force and a memory for storing a program for controlling the Z-axis driving mechanism 3, wherein the program can control the Z-axis driving mechanism 3 to drive the camera 1 to reciprocate along the Z-axis direction.

The invention also provides an open-loop control microscopic automatic focusing method, which comprises the following steps:

step 1, controlling the camera 1 to move from top to bottom along a Z axis in a focusing range, and simultaneously recording the system time, the size and the focal length value Z corresponding to each frame of image.

And 2, calculating and generating a system time and picture size curve graph and a focal length value Z straight line graph according to the recorded data, wherein the system time and picture size curve graph forms an inverted double-peak curve in the moving process of the camera 1, two wave valley values of the double-peak curve are the maximum values of the focusing distance of the camera 1, and one wave peak value in the middle of the two wave valleys is the focusing value.

And 3, finding out the peak point (t2, z2) of the graph and the intersection points (t1, z1) and (t3, z3) of the curves and the straight line on two sides of the peak point as key nodes.

And step 4, controlling the camera 1 to reversely move to Z2 according to the found Z position, and then performing linear compensation with a value of | Z1-Z3 |.

The open-loop control microscopic automatic focusing device and the open-loop control microscopic automatic focusing method have the advantages that the microscopic automatic focusing is realized in an open-loop control mode, compared with the existing closed-loop control mode, the structure is simple, the cost is low, the economy is realized, the focusing time can be effectively shortened, the focusing efficiency is improved under the condition of ensuring high focusing degree after one-time compensation of focusing, the problem that the focusing is not in place due to the fact that the camera timestamp and the control system timestamp cannot be accurately synchronized is solved to a certain extent, and the quality of focusing imaging is effectively improved.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.