A control system and method for automatically compensating for motor backhaul differences

Abstract

The present application relates to the technical field of medical devices, in particular to a control system and method for automatically compensating motor return difference, comprising calling a sampling needle reset process to reset a sampling needle longitudinal motor and a sampling needle transverse motor; whether to activate automatic elimination of return difference is configured to the FPGA by the MCU, and the number of motor stop steps is configured; the motor is configured to run outward; the FPGA continuously detects the level of the sampling needle transverse motor reset optocoupler, and if the detected optocoupler is not blocked, the actual distance walked by the motor at the current time is recorded; if the command of enabling the activation of automatic elimination of return difference configured by the MCU is detected, the number of stop steps configured by the MCU is compared with the actual distance walked, and the difference between the two is calculated as the size of the return difference; the FPGA automatically increases the target total number of steps by the size of the return difference, and then waits for the motor to complete running; if it is judged that the sampling needle transverse verification optocoupler is not blocked, it indicates that the needle can be lowered, and at this time the sampling needle longitudinal motor is configured to run downward for sampling.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, and particularly relates to a control system and method for automatically compensating for motor back difference. BACKGROUND

[0002] In the field of medical device detection, with the increasing requirement for detection accuracy, the requirement for motor motion control is also increasing. The current motion control technology supports the control mechanism to run from one point to another point, but if the starting point is uncertain or the sampling needle is moved manually, the motion destination will change, so that the sampling mechanism cannot run to the required target position. SUMMARY

[0003] The present application aims to provide a control system and method for automatically compensating for motor back difference, which aims to solve the problem that if the starting point is uncertain or the sampling needle is moved manually, the motion destination will change, so that the sampling mechanism cannot run to the required target position.

[0004] To achieve the above-mentioned purpose, in a first aspect, the present application provides a control method for automatically compensating for motor back difference, comprising the following steps:

[0005] The sampling needle reset process is called to reset the sampling needle longitudinal motor and the sampling needle transverse motor;

[0006] The MCU configures whether to activate automatic elimination of back difference and the number of motor stop steps to the FPGA;

[0007] The motor is configured to run outward;

[0008] The FPGA continuously detects the level of the sampling needle transverse motor reset optocoupler, and if the detected optocoupler is not blocked, the actual distance traveled by the motor at the current time is recorded;

[0009] If the MCU detects a command to enable the activation of automatic elimination of back difference, the number of stop steps configured by the MCU is compared with the actual distance traveled, and if the number of stop steps is less than the actual distance traveled, it means that there is a back difference, and the difference between the two is the size of the back difference;

[0010] The FPGA automatically increases the target total number of steps by the size of the back difference, and then waits for the motor to run to completion;

[0011] If it is judged that the sampling needle transverse verification optocoupler is not blocked, it means that the needle can be lowered, and at this time the sampling needle longitudinal motor is configured to run downward for sampling.

[0012] The sampling needle reset process is called to reset the sampling needle longitudinal motor and the sampling needle transverse motor, comprising:

[0013] The sampling needle transverse motor first judges whether it is manually pushed according to the level of the sampling needle transverse reset optocoupler during operation, if the sampling needle transverse reset optocoupler is not shielded based on the level judgment, it is not considered to be pushed, and then the sampling needle reset process is called to reset the sampling needle longitudinal motor and the sampling needle transverse motor.

[0014] In the second aspect, the application provides a control system for automatically compensating motor return difference, comprising a drag chain, a sampling needle longitudinal motor, a transverse verification optocoupler shield, a belt, a sampling needle, a sampling needle transverse reset optocoupler, a sampling needle transverse reset optocoupler shield, a sampling needle transverse verification optocoupler, two sampling needle transverse motors and a mounting plate.

[0015] The sampling needle longitudinal motor is arranged on one side of the drag chain, the sampling needle is arranged on one side of the sampling needle longitudinal motor, the two sampling needle transverse motors are arranged on one side of the mounting plate, the belt is sleeved on the output ends of the two sampling needle transverse motors, the sampling needle longitudinal motor is arranged on one side of the belt, the sampling needle transverse verification optocoupler and the sampling needle transverse reset optocoupler shield are arranged on the sampling needle longitudinal motor respectively, and the transverse verification optocoupler shield and the sampling needle transverse reset optocoupler are arranged on the mounting plate respectively.

[0016] The control method for automatically compensating motor return difference comprises the following steps: resetting the sampling needle longitudinal motor and the sampling needle transverse motor by calling a sampling needle reset process; configuring whether to activate automatic elimination of return difference and the number of motor stop steps by an MCU to an FPGA; configuring the motor to run outward; continuously detecting the level of the sampling needle transverse motor reset optocoupler by the FPGA, and recording the actual distance walked by the motor at the current time if the detected optocoupler is not shielded; comparing the number of stop steps configured by the MCU with the actual distance walked if the command for enabling the activation of automatic elimination of return difference is detected by the MCU, and determining that there is return difference if the number of stop steps is smaller than the actual distance walked, and the difference between the two is the size of the return difference; automatically increasing the target total number of steps by the size of the return difference by the FPGA, and then waiting for the motor to run to completion; and judging that the sampling needle can be lowered if the sampling needle transverse verification optocoupler is not shielded, and configuring the sampling needle longitudinal motor to run downward for sampling at this time. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0018] Fig. 1 is a flow chart of the control method for automatically filling the motor return difference provided by the present application.

[0019] Fig. 2 is a step schematic diagram of the control method for automatically filling the motor return difference provided by the present application.

[0020] Fig. 3 is a structure diagram of the control system for automatically filling the motor return difference provided by the present application.

[0021] 1- drag chain, 2- sampling needle longitudinal motor, 3- transverse verification optocoupler stop, 4- belt, 5- sampling needle, 6- sampling needle transverse reset optocoupler, 7- sampling needle transverse reset optocoupler stop, 8- sampling needle transverse verification optocoupler, 9- sampling needle transverse motor, 10- mounting plate. DETAILED DESCRIPTION

[0022] The embodiments of the present application will be described in detail below, and examples of the embodiments are shown in the drawings, wherein the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0023] Please refer to Figs. 1-2 , in a first aspect, the present application provides a control method for automatically filling the motor return difference, comprising the following steps:

[0024] S1, calling the sampling needle reset process to reset the sampling needle longitudinal motor 2 and the sampling needle transverse motor 9;

[0025] Specifically, the sampling needle transverse motor 9 first determines whether it is artificially pushed according to the level of the sampling needle transverse reset optocoupler 6 when it is running. If the sampling needle transverse reset optocoupler 6 is not blocked based on the level judgment, it is not considered to be pushed, and then the sampling needle reset process is called to reset the sampling needle longitudinal motor and the sampling needle transverse motor 9.

[0026] S2, whether to activate the automatic elimination of return difference is configured to the FPGA by the MCU, and the motor stop step number ConfStep is configured;

[0027] S3, configuring the motor to run outward;

[0028] S4, the FPGA continuously detects the level of the sampling needle horizontal motor 9 reset photocoupler, if the detected photocoupler is not blocked, then record the current time the motor actually running distance TrueStep;

[0029] S5, if the detection MCU configured to enable the command to activate the automatic elimination of the return difference, then the MCU configured to stop the number of steps ConfStep and the actual distance TrueStep running, if the stop step ConfStep than the actual distance TrueStep running, indicating that there is a return difference, the difference between the two DifferenceValue is the size of the return difference;

[0030] S6, the FPGA automatically increase the target total number of steps the size of the return difference, and then wait for the motor to run complete;

[0031] S7, if the sampling needle horizontal verification photocoupler 8 is not blocked, indicating that the needle can be down, at this time the configuration of the sampling needle vertical motor 2 down running for sampling.

[0032] Referring to Fig. 3 , secondly, the application provides a kind of control system for automatically filling motor return difference, including drag chain 1, sampling needle vertical motor 2, horizontal verification photocoupler baffle 3, belt 4, sampling needle 5, sampling needle horizontal reset photocoupler 6, sampling needle horizontal reset photocoupler baffle 7, sampling needle horizontal verification photocoupler 8, two sampling needle horizontal motor 9 and mounting plate 10.

[0033] The sampling needle vertical motor 2 is arranged on one side of the drag chain 1, the sampling needle 5 is arranged on one side of the sampling needle vertical motor 2, the two sampling needle horizontal motor 9 are arranged on one side of the mounting plate 10, the belt 4 is sleeved on the output end of the two sampling needle horizontal motor 9, and the sampling needle vertical motor 2 is arranged on one side of the belt 4, the sampling needle horizontal verification photocoupler 8 and the sampling needle horizontal reset photocoupler baffle 7 are arranged on the sampling needle vertical motor 2 respectively, and the horizontal verification photocoupler baffle 3 and the sampling needle horizontal reset photocoupler 6 are arranged on the mounting plate 10 respectively.

[0034] Specifically, when counting, the running of the sampling needle horizontal motor 9 is controlled by the program, and before running, the state of the sampling mechanism is determined according to whether the sampling needle horizontal reset photocoupler baffle 7 blocks the sampling needle horizontal reset photocoupler 6, and then the level of the photocoupler is collected, when running, the sampling needle horizontal motor 9 drives the running of the sampling mechanism through the belt 4, and during the running process, the drag chain 1 places part of the pipeline and wire; when running is completed, whether the sampling needle vertical motor 2 can be configured to sample the needle is determined according to the level of the sampling needle horizontal verification photocoupler 8.

[0035] The above disclosed is only a preferred embodiment of the control system and method for automatically compensating for motor backhaul difference of the application, and of course cannot limit the scope of the application. Those skilled in the art can understand that all or part of the processes of the above embodiment can be implemented, and equivalent changes made according to the claims of the application still belong to the scope covered by the application.

Claims

1. A control method for automatically compensating for motor backhaul differences, characterized in that, The method comprises the following steps: A sampling needle reset procedure is called to reset the sampling needle longitudinal motor and the sampling needle transverse motor; The MCU configures whether to activate the automatic elimination of the hysteresis and the number of motor stop steps to the FPGA; The motor is configured to run outwardly; The FPGA continuously detects the level of the sampling needle transverse motor reset optocoupler, and records the actual distance walked by the motor at the current time if the optocoupler is not blocked; If the MCU configures the command to activate the automatic elimination of the hysteresis, the actual distance walked is compared with the number of motor stop steps configured by the MCU, and if the number of motor stop steps is smaller than the actual distance walked, it is indicated that there is a hysteresis, and the difference between the two is the size of the hysteresis; The FPGA automatically increases the target total number of steps by the size of the hysteresis, and then waits for the motor to run to completion; If it is judged that the sampling needle transverse verification optocoupler is not blocked, it is indicated that the needle can be lowered, and the sampling needle longitudinal motor is configured to run downwardly for sampling.

2. The control method for automatically filling the motor hysteresis according to claim 1, wherein the calling of the sampling needle reset procedure to reset the sampling needle longitudinal motor and the sampling needle transverse motor comprises: When the sampling needle transverse motor is running, it is first judged whether it is artificially pushed according to the level of the sampling needle transverse reset optocoupler, and if the sampling needle transverse reset optocoupler is not blocked based on the level judgment, it is not considered to be pushed, and then the sampling needle reset procedure is called to reset the sampling needle longitudinal motor and the sampling needle transverse motor.

3. A control system for automatically filling the motor hysteresis, applied to the control method for automatically filling the motor hysteresis according to claim 1, wherein it comprises a drag chain, a sampling needle longitudinal motor, a transverse verification optocoupler blocking piece, a belt, a sampling needle, a sampling needle transverse reset optocoupler, a sampling needle transverse reset optocoupler blocking piece, a sampling needle transverse verification optocoupler, two sampling needle transverse motors and a mounting plate.

4. The control system for automatically filling the motor hysteresis according to claim 3, wherein the sampling needle longitudinal motor is arranged on one side of the drag chain, the sampling needle is arranged on one side of the sampling needle longitudinal motor, the two sampling needle transverse motors are arranged on one side of the mounting plate, the belt is sleeved on the output ends of the two sampling needle transverse motors, the sampling needle longitudinal motor is arranged on one side of the belt, the sampling needle transverse verification optocoupler and the sampling needle transverse reset optocoupler blocking piece are arranged on the sampling needle longitudinal motor respectively, and the transverse verification optocoupler blocking piece and the sampling needle transverse reset optocoupler are arranged on the mounting plate respectively.

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