Compensation method, device, equipment and storage medium for vertical component movement

Abstract

The embodiment of the present invention discloses a compensation method and device, equipment and storage medium for vertical component movement. The present invention is applied to a sampling component, which includes a vertical component and a horizontal component. The method of the present invention mainly obtains the target rotation angle and horizontal movement direction of the horizontal component, and calculates the number of horizontal movement steps according to the target rotation angle, and then calculates the compensation steps and compensation direction of the vertical component based on the relative relationship of the position offset between the horizontal component and the vertical component, as well as the horizontal movement steps and the horizontal movement direction. Finally, the vertical component is step compensated based on the compensation steps and the compensation direction; the compensation steps and compensation direction are obtained by directly analyzing the horizontal movement instructions and the relative relationship that are easy to obtain, so that the entire calculation process is simpler, and the position of the vertical component is compensated based on the compensation steps and the compensation direction, so that the position of the vertical component is more accurate, thereby reducing the system error.

Description

Technical Field

[0001] The present invention relates to the technical field of component motion control, and in particular to a compensation method and device, equipment and storage medium for vertical component motion. Background Art

[0002] The sampling assembly commonly found in blood analyzers is a rotary type. It primarily consists of a vertical assembly and a horizontal assembly. The vertical assembly includes at least a lead screw shaft, a pipette assembly, and a vertical motor, while the horizontal assembly includes at least a horizontal motor. The pipette assembly is connected to the lead screw shaft, which is connected to one end of the shaft. The vertical motor is located at the other end of the shaft, with the pipette assembly positioned between the two motors.

[0003] During normal operation, the horizontal motor rotates horizontally to move the pipetting assembly to the target position for pipetting operations; the vertical motor controls the rotation of the screw shaft, and when the screw shaft rotates, it drives the pipetting assembly to move up and down. Therefore, the vertical motor controls the pipetting needle to move up and down to the corresponding position to perform sample addition or sample aspiration operations.

[0004] However, when the horizontal motor is working, the horizontal rotation of the horizontal motor will cause the screw shaft to rotate left and right in the horizontal direction, causing the vertical component position to be misaligned, thereby affecting the accuracy of the vertical component movement, causing system errors, and further affecting the working efficiency and analysis results of the blood analyzer. Summary of the Invention

[0005] Based on this, it is necessary to propose a compensation method for vertical component movement to address the above problems in order to reduce system errors, which in turn affects the working efficiency and analysis results of the blood analyzer.

[0006] To achieve the above objectives, the present application provides, in a first aspect, a method for compensating for vertical component motion. The method is applied to a sampling component, wherein the sampling component includes a vertical component and a horizontal component, and the vertical component and the horizontal component are connected. The method includes:

[0007] Acquire a horizontal motion instruction for the horizontal component, where the horizontal motion instruction includes a target rotation angle and a horizontal motion direction for the horizontal component;

[0008] Calculating the number of movement steps of the horizontal component according to the target rotation angle to obtain the number of horizontal movement steps;

[0009] Calculating the number of compensation steps and the direction of compensation for the vertical component based on a relative relationship of positional offsets between the horizontal component and the vertical component, the number of horizontal motion steps, and the direction of horizontal motion, wherein the relative relationship refers to an offset caused by the vertical component being affected by the motion of the horizontal component when the vertical component does not receive any motion command;

[0010] Step compensation is performed on the vertical component based on the compensation step number and the compensation direction.

[0011] Furthermore, the method according to claim 1 is characterized in that the step of calculating the movement steps of the horizontal component according to the target rotation angle to obtain the horizontal movement steps specifically includes:

[0012] Obtaining the step angle of the horizontal component;

[0013] The number of horizontal movement steps is obtained according to the target rotation angle and the step angle.

[0014] Furthermore, the number of horizontal movement steps is obtained according to the quotient of the target rotation angle and the step angle.

[0015] Furthermore, the relative relationship includes at least: an offset ratio and a rotational relationship, wherein the offset ratio is a fixed ratio of the offset size of the vertical component when the horizontal component moves a unit step; the rotational relationship is a rotational relationship between the rotation direction of the horizontal component and the offset direction of the vertical component;

[0016] The calculating, based on the relative relationship of the position offset between the horizontal component and the vertical component, the number of horizontal movement steps and the horizontal movement direction, the number of compensation steps and the direction of compensation of the vertical component specifically includes:

[0017] Calculating the number of offset steps and the offset direction of the vertical motor based on the rotation relationship, the offset ratio, the number of horizontal motion steps, and the horizontal motion direction;

[0018] The compensation steps and the compensation direction are obtained by analyzing the offset steps and the offset direction.

[0019] Furthermore, the calculating of the offset steps and the offset direction of the vertical motor based on the rotation relationship, the offset ratio, the horizontal motion steps, and the horizontal motion direction specifically includes:

[0020] Calculating the product of the offset ratio and the number of horizontal movement steps to obtain the number of offset steps;

[0021] The offset direction is obtained by analyzing the rotation relationship and the horizontal movement direction.

[0022] Furthermore, performing step compensation on the vertical component based on the compensation step number and the compensation direction specifically includes:

[0023] If a vertical movement instruction of the vertical component is received, the vertical movement instruction is acquired, where the vertical movement instruction includes a vertical movement step number and a vertical movement direction;

[0024] Calculating a target number of movement steps and a target direction of movement based on the number of vertical movement steps, the vertical movement direction, the number of compensation steps, and the compensation direction;

[0025] Performing step compensation on the vertical component according to the target motion step number and the target motion direction;

[0026] If the vertical movement instruction of the vertical component is not received, step compensation is performed on the vertical component based on the compensation step number and the compensation direction.

[0027] Furthermore, the calculating of the target movement steps and the target movement direction based on the vertical movement steps, the vertical movement direction, the compensation steps and the compensation direction specifically includes:

[0028] If the vertical motion direction is the same as the compensation direction, determining the target motion direction as the vertical motion direction, and determining the target motion step number as the sum of the vertical motion step number and the compensation step number;

[0029] If the vertical motion direction is different from the compensation direction, determining the size of the vertical motion step number and the compensation step number;

[0030] If the vertical motion step number is greater than the compensation step number, determining the target motion direction as the vertical motion direction, and determining the target motion step number as the difference between the vertical motion step number and the compensation step number;

[0031] If the vertical motion step number is less than the compensation step number, determining the target motion direction as the compensation direction, and determining the target motion step number as the difference between the compensation step number and the vertical motion step number;

[0032] If the vertical motion step number is the same as the compensation step number, step compensation is not performed on the vertical component.

[0033] To achieve the above-mentioned object, the second aspect of the present application provides a method and apparatus for compensating vertical component motion, the apparatus comprising: a parameter acquisition unit, a parameter calculation unit, and a parameter execution unit;

[0034] The parameter acquisition unit is configured to acquire a horizontal motion instruction for the horizontal component, wherein the horizontal motion instruction includes a target rotation angle and a horizontal motion direction for the horizontal component;

[0035] The parameter calculation unit is used to calculate the number of movement steps of the horizontal component according to the target rotation angle to obtain the number of horizontal movement steps;

[0036] Calculating the number of compensation steps and the direction of compensation for the vertical component based on a relative relationship of positional offsets between the horizontal component and the vertical component, the number of horizontal motion steps, and the direction of horizontal motion, wherein the relative relationship refers to an offset caused by the vertical component being affected by the motion of the horizontal component when the vertical component does not receive any motion command;

[0037] The parameter execution unit is used to perform step compensation on the vertical component based on the compensation step number and the compensation direction.

[0038] To achieve the above-mentioned purpose, the third aspect of the present application provides a computer-readable storage medium storing a computer program, characterized in that when the computer program is executed by a processor, the processor executes the steps of the method described in the first aspect.

[0039] To achieve the above-mentioned objectives, the fourth aspect of the present application provides a computer device, comprising a memory and a processor, characterized in that the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the method described in the first aspect.

[0040] The embodiments of the present invention have the following beneficial effects:

[0041] The present invention is applied to a sampling component, which includes a vertical component and a horizontal component, which are connected to each other. The method of the present invention mainly obtains a horizontal motion instruction of the horizontal component, wherein the horizontal motion instruction includes a target rotation angle and a horizontal motion direction of the horizontal component, calculates the motion steps of the horizontal component according to the target rotation angle, and obtains the horizontal motion step number. Then, based on the relative relationship of the position offset between the horizontal component and the vertical component, the horizontal motion step number and the horizontal motion direction, the compensation step number and the compensation direction of the vertical component are calculated. The relative relationship refers to the offset caused by the vertical component being affected by the motion of the horizontal component when no motion instruction is received. Finally, the step number of the vertical component is compensated based on the compensation step number and the compensation direction. The method directly analyzes the horizontal motion instruction and the relative relationship of the position offset between the horizontal component and the vertical component by easily obtaining the horizontal motion instruction and the relative relationship of the position offset between the horizontal component and the vertical component to obtain the compensation step number and the compensation direction for the offset of the vertical component caused by the motion of the horizontal component. The entire calculation process is simpler. The position of the vertical component is compensated based on the compensation step number and the compensation direction, so that the position of the vertical component is more accurate, thereby reducing system error and improving the working efficiency and analysis results of the blood analyzer. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0043] in:

[0044] Figure 1 This is a schematic structural diagram of a sampling component in an embodiment of the present invention;

[0045] Figure 2 Schematic diagram of a flow chart of a method for compensating for vertical component motion according to an embodiment of the present invention;

[0046] Figure 3 is a structural block diagram of a compensation device for vertical component movement in an embodiment of the present invention;

[0047] Figure 4 This is a diagram of the internal structure of a computer device in an embodiment of the present application. DETAILED DESCRIPTION

[0048] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0049] In an embodiment of the present application, a compensation method for vertical component movement is provided. The compensation method is applied to a sampling component. The sampling component includes a vertical component and a horizontal component, and the vertical component and the horizontal component are connected.

[0050] Specifically, a hematology analyzer, also known clinically as a blood cell analyzer or hematology analyzer, is primarily used to test blood specimens. It performs qualitative and quantitative analysis of formed elements in the blood and provides relevant information. The sampling assembly is a component of a hematology analyzer and is understood to be a device used to collect and acquire samples.

[0051] Common sampling component types include rotary sampling components, which can be found in Figure 1 , Figure 1This is a schematic diagram of the structure of the sampling assembly in an embodiment of the present invention. The sampling assembly is composed of at least a horizontal assembly and a vertical assembly, and the vertical assembly is connected to the horizontal assembly. Furthermore, the vertical assembly includes at least a vertical motor, a liquid suction assembly, and a screw shaft, and the two ends of the screw shaft are respectively connected to the vertical motor and the horizontal assembly. The liquid suction assembly is attached to the screw shaft. The working principle of the sampling assembly is roughly as follows: the horizontal assembly is used to rotate left and right on a horizontal plane perpendicular to the screw shaft to drive the liquid suction needle on the liquid suction assembly to rotate left and right and move to the target position. The vertical motor controls the rotation of the screw shaft. When the screw shaft rotates, the liquid suction assembly can move up and down smoothly, so that the liquid suction needle on the liquid suction assembly moves up and down to complete the liquid addition or removal operation.

[0052] During normal operation, the horizontal rotation of the horizontal component may drive the screw shaft to rotate, causing the aspiration component on the screw shaft to move and produce positional offset, causing the position of the aspiration component to deviate, thereby making the position of the entire vertical component inaccurate, affecting the working efficiency of the blood analyzer and the accuracy of the analysis results.

[0053] Based on this, the embodiment of the present invention proposes a method for compensating vertical component movement, see Figure 2 , Figure 2 FIG. 1 is a flow chart of a method for compensating vertical component motion according to an embodiment of the present invention, which specifically includes:

[0054] Step 100: Acquire a horizontal motion instruction of a horizontal component, where the horizontal motion instruction includes a target rotation angle and a horizontal motion direction of the horizontal component.

[0055] Specifically, in a scenario where a blood analyzer needs to perform pipetting operations, a horizontal movement instruction can be issued by an operator or a terminal device. After receiving the horizontal movement instruction and starting to move, the movement of the horizontal component affects the position of the vertical component, causing the vertical component to shift. At this time, the horizontal movement instruction of the horizontal component is obtained, and the degree of shift of the vertical component can be analyzed through the target rotation angle and horizontal movement direction of the horizontal component in the horizontal movement instruction.

[0056] Step 200: Calculate the number of movement steps of the horizontal component according to the target rotation angle to obtain the number of horizontal movement steps.

[0057] Specifically, since the horizontal component rotates clockwise or counterclockwise based on the horizontal plane, each time the horizontal component receives a movement instruction, it will receive a rotation angle instruction. Based on the target rotation angle, the movement distance of the horizontal component measured in "steps" can be obtained for subsequent calculation and analysis.

[0058] Step 300, based on the relative relationship of the position offset between the horizontal component and the vertical component, and the number of horizontal movement steps and the horizontal movement direction, calculate the compensation steps and compensation direction of the vertical component, wherein the relative relationship is the offset caused by the vertical component being affected by the movement of the horizontal component in a scenario where no movement command is received.

[0059] Specifically, when the horizontal component rotates clockwise or counterclockwise, it causes the vertical component to shift in position. This is primarily because the horizontal component is connected to the vertical component's screw shaft. When the horizontal component rotates, the screw shaft rotates in the same direction and to a certain degree as the horizontal component. The screw shaft is made of a slender metal rod with a very smooth surface, and some may even have threads. It is used to convert rotational motion into linear motion, or to convert linear motion into rotational motion. It also has high transmission efficiency. Therefore, when the screw shaft rotates, the liquid-absorbing component will also move up and down with the rotation of the screw shaft, causing the overall vertical component to shift in position. Therefore, in the scenario where the vertical component does not receive any motion instructions and the horizontal component moves, there is a relative relationship between the horizontal component's movement and the vertical component's offset motion. Therefore, based on the relative relationship between the position offsets between the horizontal and vertical components, the number of horizontal motion steps, and the direction of horizontal motion, the offset motion of the vertical component can be determined, and the compensation motion made to the vertical component, i.e., the number of compensation steps and the compensation direction of the vertical component, can be analyzed.

[0060] Step 400 : Perform step compensation on the vertical component based on the compensation step number and the compensation direction.

[0061] Specifically, after obtaining the compensation steps and compensation direction, a motion instruction can be issued according to the compensation steps and compensation direction to perform step compensation on the vertical component, so that the vertical component returns to the correct position to solve the problem of position offset of the vertical component due to the influence of the horizontal component movement.

[0062] The compensation method for vertical component movement proposed in an embodiment of the present invention calculates the compensatory movement of the vertical component required, including the compensation direction and the number of compensation steps, based on the relative relationship between the position offset of the horizontal component and the vertical component when the horizontal component moves. In this way, the position of the vertical component can be adjusted according to the movement and relative relationship of the horizontal component, making the position of the vertical component more accurate, effectively avoiding system errors, and improving the working efficiency of the blood analyzer and the accuracy of the analysis results.

[0063] In a feasible embodiment of the present invention, the following horizontal movement steps can be adopted, namely Figure 2 In the illustrated embodiment, step 200 calculates the number of movement steps of the horizontal component according to the target rotation angle to obtain the number of horizontal movement steps, which specifically includes:

[0064] (1), get the step angle of the horizontal component.

[0065] (2) According to the target rotation angle and step angle, the number of horizontal movement steps is obtained.

[0066] Specifically, the step angle refers to the angular displacement of a stepper motor's rotor corresponding to an input electrical pulse signal. It is related to the number of phases in the control winding, the number of rotor teeth, and the power supply method. It is understood that a smaller step angle results in smoother operation. The horizontal component can include a horizontal motor, and the step angle of the horizontal motor can be obtained. Based on the target rotation angle and step angle of the horizontal component, the number of horizontal movement steps after receiving the horizontal movement command can be calculated.

[0067] Furthermore, the number of horizontal movement steps is calculated from the quotient of the target rotation angle and the step angle. For example, assuming the step angle of the horizontal component is 1.8°, then the number of steps required for one rotation of the horizontal component is 360° / 1.8° = 200. Therefore, by obtaining the unit movement angle of the horizontal component, the number of steps required after receiving the horizontal movement command can be calculated.

[0068] In a feasible embodiment of the present application, by controlling the processing precision, a fixed ratio can be achieved between the vertical component and the horizontal component, so that the rotation angle of the horizontal component and the vertical component's up and down movement exist. In addition, due to the different structures and installation methods of the screw rods in the vertical component, there are also different mapping relationships between the rotation direction of the horizontal component and the offset direction of the vertical component. Then, the relative relationship includes at least: an offset ratio and a rotation relationship, wherein the offset ratio is a fixed ratio of the offset size of the vertical component after the horizontal component moves a unit number of steps; the rotation relationship is the rotation relationship between the rotation direction of the horizontal component and the offset direction of the vertical component.

[0069] Based on the above offset ratio and rotation relationship, Figure 2 In the illustrated embodiment, step 300 calculates the number of compensation steps and the direction of compensation for the vertical component based on the relative relationship of the positional offset between the horizontal component and the vertical component, as well as the number of horizontal motion steps and the direction of horizontal motion. Specifically, the step 300 includes:

[0070] (1) Calculate the offset steps and offset direction of the vertical motor based on the rotation relationship, offset ratio, horizontal motion steps, and horizontal motion direction.

[0071] Specifically, after the number of steps and direction of the movement of the horizontal component are obtained, the offset direction and number of offset steps of the vertical component can be calculated and analyzed based on the rotation relationship and the offset ratio.

[0072] Furthermore, the offset direction and offset steps can be obtained by:

[0073] a. Calculate the product of the offset ratio and the number of horizontal motion steps to obtain the number of offset steps.

[0074] b. Analyze the rotation relationship and horizontal movement direction to obtain the offset direction.

[0075] Specifically, the number of vertical component offset steps due to the horizontal component's rotation is calculated by multiplying the offset ratio by the number of horizontal motion steps. Secondly, the vertical component's offset direction due to the horizontal component's rotation is analyzed based on the rotational relationship and the horizontal motion direction. For example, when the horizontal component rotates clockwise, it drives the vertical component upward, and the offset direction is upward. Conversely, when the horizontal component rotates clockwise, it drives the vertical component downward, and the offset direction is downward. Based on the relative relationship between the positional offsets between the horizontal and vertical components—that is, the offset ratio and the rotational relationship—the number of vertical component offset steps and offset direction are calculated and analyzed, making the calculation simpler and more accurate.

[0076] (2) Based on the offset steps and offset direction, the compensation steps and compensation direction are obtained.

[0077] It can be understood that after obtaining the offset steps and offset direction, if the position of the vertical component needs to be corrected, the vertical component needs to be adjusted according to the opposite direction of the offset direction and the offset steps. Therefore, the opposite direction of the offset can be used as the compensation direction, and the offset steps are the compensation steps. For example, if the vertical component is offset upward by 5 steps, then the compensation direction is downward and the compensation steps are 5 steps.

[0078] By obtaining the fixed ratio and rotation relationship of the vertical component's offset size when the horizontal component moves, the compensation steps and compensation direction of the vertical component are further obtained, making the entire calculation process simpler and the calculation results more accurate.

[0079] Furthermore, the embodiment of the present application also provides a specific implementation method for performing step compensation on the vertical component based on the compensation step number and compensation direction, that is, the above Figure 2 Step 400 in the illustrated embodiment specifically includes:

[0080] (1) If a vertical motion instruction of a vertical component is received, the vertical motion instruction is obtained, and the vertical motion instruction includes the number of vertical motion steps and the vertical motion direction.

[0081] (2) Based on the vertical motion steps, vertical motion direction, compensation steps and compensation direction, the target motion steps and target motion direction are calculated.

[0082] (3) Perform step compensation on the vertical component according to the target motion steps and target motion direction.

[0083] (4) If the vertical movement instruction of the vertical component is not received, the vertical component is compensated for the number of steps based on the compensation step number and the compensation direction.

[0084] Specifically, when a horizontal movement instruction of a horizontal component is received, a vertical movement instruction of a vertical component may also be received. Then, it is necessary to determine whether a vertical movement instruction is received at the same time as or after the horizontal movement instruction is received, and then compensate the vertical component according to the compensation steps and compensation direction.

[0085] When no vertical movement instruction of the vertical component is received, the step compensation is directly performed on the vertical component based on the compensation step number and the compensation direction.

[0086] When a vertical motion instruction of a vertical component is received, the number of vertical motion steps and the vertical motion direction need to be considered when compensating the vertical component. Furthermore, if the vertical motion direction is the same as the compensation direction, the target motion direction is determined to be the vertical motion direction, and the target motion step number is determined to be the sum of the vertical motion step number and the compensation step number. If the vertical motion direction is different from the compensation direction, the size of the vertical motion step number and the compensation step number is determined. If the vertical motion step number is greater than the compensation step number, the target motion direction is determined to be the vertical motion direction, and the target motion step number is determined to be the difference between the vertical motion step number and the compensation step number. If the vertical motion step number is less than the compensation step number, the target motion direction is determined to be the compensation direction, and the target motion step number is determined to be the difference between the compensation step number and the vertical motion step number. If the vertical motion step number is the same as the compensation step number, step compensation is not performed on the vertical component.

[0087] The compensation method proposed in the present invention calculates the compensation steps and compensation direction of the vertical component through the easily obtained offset ratio and rotation relationship, as well as the movement of the horizontal component. The calculation method is simple and the process is convenient. The vertical component is compensated according to the compensation steps and compensation direction, effectively avoiding the influence of the movement of the horizontal component on the vertical component, making the position of the vertical component more accurate, solving the system error, and thus improving the working efficiency of the blood analyzer and the accuracy of the analysis results.

[0088] The present invention provides a compensation device for vertical component movement, see Figure 3 , Figure 3 This is a structural block diagram of a compensation device for vertical component motion according to an embodiment of the present invention, the device includes: a parameter acquisition unit 501, a parameter calculation unit 502 and a parameter execution unit 503;

[0089] The parameter acquisition unit 501 is configured to acquire a horizontal motion instruction of the horizontal component. The horizontal motion instruction includes a target rotation angle and a horizontal motion direction of the horizontal component.

[0090] The parameter calculation unit 502 is configured to calculate the number of motion steps of the horizontal component based on the target rotation angle to obtain the number of horizontal motion steps. The parameter calculation unit 502 is configured to calculate the number of compensation steps and the compensation direction of the vertical component based on the relative relationship between the position offsets of the horizontal component and the vertical component, as well as the number of horizontal motion steps and the horizontal motion direction. The relative relationship refers to the offset of the vertical component caused by the motion of the horizontal component when the vertical component does not receive any motion instructions.

[0091] The parameter execution unit 503 is configured to perform step compensation on the vertical component based on the compensation step number and the compensation direction.

[0092] The compensation device for vertical component movement in the embodiment of the present invention obtains the relative relationship between the horizontal component movement and the vertical component offset, as well as the movement of the horizontal component, and calculates the compensation steps and compensation direction of the vertical component. The calculation method is simple and the process is simple. The vertical component is then compensated according to the compensation steps and compensation direction, effectively avoiding the influence of the horizontal component movement on the vertical component, making the position of the vertical component more accurate, solving the system error, and thus improving the working efficiency of the blood analyzer and the accuracy of the analysis results.

[0093] Figure 4 FIG1 shows the internal structure of a computer device in one embodiment of the present invention. The computer device can be a terminal or a system. Figure 4 As shown, the computer device includes a processor, a memory, and a network interface connected via a system bus. The memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and may also store a computer program. When the computer program is executed by the processor, the processor can implement the various steps in the above method embodiment. The internal memory may also store a computer program. When the computer program is executed by the processor, the processor can implement the various steps in the above method embodiment. It will be understood by those skilled in the art that Figure 4 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0094] In one embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program. When the computer program is executed by the processor, the processor executes each step in the above method embodiment.

[0095] In one embodiment, a computer-readable storage medium is provided, which stores a computer program. When the computer program is executed by a processor, the processor executes the steps in the above method embodiment.

[0096] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0097] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0098] The above embodiments merely illustrate several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. A method for compensating vertical component movement, characterized in that: The method is applied to a sampling assembly, wherein the sampling assembly includes a vertical assembly and a horizontal assembly, and the vertical assembly and the horizontal assembly are connected, and the method includes: Acquire a horizontal motion instruction for the horizontal component, where the horizontal motion instruction includes a target rotation angle and a horizontal motion direction for the horizontal component; Calculating the number of movement steps of the horizontal component according to the target rotation angle to obtain the number of horizontal movement steps; Calculating the number of compensation steps and the direction of compensation for the vertical component based on a relative relationship of positional offsets between the horizontal component and the vertical component, the number of horizontal motion steps, and the direction of horizontal motion, wherein the relative relationship refers to an offset caused by the vertical component being affected by the motion of the horizontal component when the vertical component does not receive any motion command; Step compensation is performed on the vertical component based on the compensation step number and the compensation direction.

2. The method according to claim 1, characterized in that Calculating the number of movement steps of the horizontal component according to the target rotation angle to obtain the number of horizontal movement steps specifically includes: Obtaining the step angle of the horizontal component; The number of horizontal movement steps is obtained according to the target rotation angle and the step angle.

3. The method according to claim 2, characterized in that The number of horizontal movement steps is obtained according to the quotient of the target rotation angle and the step angle.

4. The method according to claim 2, characterized in that The relative relationship includes at least: an offset ratio and a rotational relationship, wherein the offset ratio is a fixed ratio of the offset size of the vertical component when the horizontal component moves a unit number of steps; and the rotational relationship is a rotational relationship between the rotation direction of the horizontal component and the offset direction of the vertical component. The calculating, based on the relative relationship of the position offset between the horizontal component and the vertical component, the number of horizontal movement steps and the horizontal movement direction, the number of compensation steps and the direction of compensation of the vertical component specifically includes: Calculating the number of offset steps and the offset direction of the vertical component based on the rotation relationship, the offset ratio, the number of horizontal motion steps, and the horizontal motion direction; The compensation steps and the compensation direction are obtained by analyzing the offset steps and the offset direction.

5. The method according to claim 4, characterized in that The calculating the offset step number and offset direction of the vertical component based on the rotation relationship, the offset ratio, the horizontal motion step number, and the horizontal motion direction specifically includes: Calculating the product of the offset ratio and the number of horizontal movement steps to obtain the number of offset steps; The offset direction is obtained by analyzing the rotation relationship and the horizontal movement direction.

6. The method according to claim 1, wherein The step compensation for the vertical component based on the compensation step number and the compensation direction specifically includes: If a vertical movement instruction of the vertical component is received, the vertical movement instruction is acquired, where the vertical movement instruction includes a vertical movement step number and a vertical movement direction; Calculating a target number of movement steps and a target direction of movement based on the number of vertical movement steps, the vertical movement direction, the number of compensation steps, and the compensation direction; Performing step compensation on the vertical component according to the target motion step number and the target motion direction; If the vertical movement instruction of the vertical component is not received, step compensation is performed on the vertical component based on the compensation step number and the compensation direction.

7. The method according to claim 6, characterized in that The calculating the target movement step number and the target movement direction based on the vertical movement step number, the vertical movement direction, the compensation step number and the compensation direction specifically includes: If the vertical motion direction is the same as the compensation direction, determining the target motion direction as the vertical motion direction, and determining the target motion step number as the sum of the vertical motion step number and the compensation step number; If the vertical motion direction is different from the compensation direction, determining the size of the vertical motion step number and the compensation step number; If the vertical motion step number is greater than the compensation step number, determining the target motion direction as the vertical motion direction, and determining the target motion step number as the difference between the vertical motion step number and the compensation step number; If the vertical motion step number is less than the compensation step number, determining the target motion direction as the compensation direction, and determining the target motion step number as the difference between the compensation step number and the vertical motion step number; If the vertical motion step number is the same as the compensation step number, step compensation is not performed on the vertical component.

8. A method and device for compensating vertical component movement, characterized in that: The device comprises: a parameter acquisition unit, a parameter calculation unit and a parameter execution unit; The parameter acquisition unit is used to acquire a horizontal motion instruction of the horizontal component, wherein the horizontal motion instruction includes a target rotation angle and a horizontal motion direction of the horizontal component; The parameter calculation unit is used to calculate the number of movement steps of the horizontal component according to the target rotation angle to obtain the number of horizontal movement steps; Calculating the number of compensation steps and the direction of compensation for the vertical component based on a relative relationship of positional offsets between the horizontal component and the vertical component, the number of horizontal motion steps, and the direction of horizontal motion, wherein the relative relationship refers to an offset caused by the vertical component being affected by the motion of the horizontal component when the vertical component does not receive any motion command; The parameter execution unit is used to perform step compensation on the vertical component based on the compensation step number and the compensation direction.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the processor is caused to perform the steps of the method according to any one of claims 1 to 7.

10. A computer device comprising a memory and a processor, characterized in that: The memory stores a computer program, and when the computer program is executed by the processor, the processor is caused to perform the steps of the method according to any one of claims 1 to 7.

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