Motion mechanism motion control method and device, medical test equipment and medium

Abstract

The invention relates to the technical field of medical instruments, and discloses a motion control method and device of a motion mechanism, medical test equipment and a medium, and the method comprises the steps: obtaining the current residual motion displacement and preset motion time; determining target speed data of different motion stages under the current residual motion displacement according to the current residual motion displacement, preset motion time and a preset operation rule; determining a corresponding target motion displacement by combining the acceleration stage displacement, the constant speed stage displacement, the preset buffer displacement and the corresponding target speed data of the current residual motion displacement; determining the next residual motion displacement according to the current residual motion displacement and the corresponding target motion displacement until the next residual motion displacement is smaller than the preset motion displacement or the number of the target motion displacements reaches the preset number; and controlling the movement mechanism to move according to the speed data of each target movement displacement. By means of the method, the shaking amount of the movement mechanism in the movement execution process is reduced.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to a motion control method and device for a motion mechanism, a medical testing device and a medium. Background Art

[0002] In the medical industry, many test devices need to complete multiple mechanical movements in a short period of time to meet the requirements of test throughput. These test devices usually perform reverse movement after each movement cycle. In the prior art, in order to improve test efficiency, the time setting of each movement cycle of the motion mechanism that needs to be moved in the test equipment is relatively short, and in order to ensure that the motion mechanism can complete the movement in one motion cycle, a larger acceleration and maximum speed are usually set, and the acceleration and maximum speed are usually fixed. After the motion mechanism completes the current motion cycle, it will perform reverse movement in the next motion cycle, which will cause a certain reverse impulse, and then cause vibration of the test equipment, especially when moving short distances, the acceleration needs to decelerate and move in the reverse direction before reaching the maximum value, which makes the movement very uneven and affects the stability of the instrument. Summary of the invention

[0003] In view of this, the embodiments of the present application provide a motion control method, device, medical testing equipment and medium for a motion mechanism, which can make the motion mechanism run more smoothly during the motion execution process, thereby reducing the amount of shaking of the motion mechanism during the motion execution process, so that the device with the motion mechanism vibrates less during the operation of the motion mechanism.

[0004] In a first aspect, an embodiment of the present application provides a motion control method for a motion mechanism, comprising:

[0005] Get the current remaining motion displacement and preset motion time;

[0006] Determine the target speed data of different motion stages under the current remaining motion displacement according to the current remaining motion displacement, the preset motion time and the preset operation rules; wherein the motion stages include an acceleration stage, a uniform speed stage and a deceleration stage; the preset operation rules include the proportion relationship of the acceleration stage displacement, the uniform speed stage displacement and the deceleration stage displacement of the motion mechanism within the current remaining motion displacement;

[0007] Determine a corresponding target motion displacement by combining the acceleration phase displacement, the uniform phase displacement, the preset buffer displacement and the corresponding target speed data of the current remaining motion displacement;

[0008] Determine a next remaining motion displacement according to the current remaining motion displacement and the corresponding target motion displacement, use the next remaining motion displacement as the current remaining motion displacement, and continue to obtain the next remaining motion displacement until the next remaining motion displacement is less than a preset motion displacement or the number of the target motion displacements reaches a preset number;

[0009] The movement of the motion mechanism is controlled according to the speed data of each of the target motion displacements.

[0010] In some embodiments, the determining the corresponding target motion displacement by combining the acceleration phase displacement, the uniform phase displacement, the preset buffer displacement and the corresponding target speed data of the current residual motion displacement includes:

[0011] Constructing a preliminary displacement velocity curve according to the target velocity data and the proportion relationship of the acceleration phase displacement, the uniform phase displacement and the deceleration phase displacement in the current remaining motion displacement;

[0012] The target motion displacement corresponding to the current remaining motion displacement is obtained according to the preset buffer displacement and the preliminary displacement speed curve.

[0013] In some embodiments, obtaining the target motion displacement corresponding to the current remaining motion displacement according to the preset buffer displacement and the preliminary displacement speed curve includes:

[0014] Determine the uniform speed phase end point of the target motion displacement according to the uniform speed phase displacement of the current remaining motion displacement and the preset buffer displacement, and use the acceleration phase displacement end point of the current remaining motion displacement as the uniform speed phase start point of the target motion displacement to obtain the target uniform speed phase of the target motion displacement, and construct a target uniform speed phase line segment in the corresponding preliminary displacement velocity curve;

[0015] Determine the deceleration phase line segment of the target motion displacement according to the acceleration phase line segment of the preliminary displacement velocity curve and the target uniform phase line segment, or determine the deceleration phase line segment of the target motion displacement according to the acceleration phase line segment of the preliminary displacement velocity curve, the deceleration phase line segment of the preliminary displacement velocity curve and the target uniform phase line segment;

[0016] The target motion displacement is determined according to the acceleration phase line segment of the preliminary displacement velocity curve, the target uniform velocity phase line segment and the deceleration phase line segment of the target motion displacement.

[0017] In some embodiments, determining the next remaining motion displacement according to the current remaining motion displacement and the corresponding target motion displacement includes:

[0018] The next remaining motion displacement is the displacement remaining after the target motion displacement in the current remaining motion displacement is subtracted from the current remaining motion displacement.

[0019] In some embodiments, the determining of target speed data of different motion stages under the current remaining motion displacement according to the current remaining motion displacement, the preset motion time and the preset operation rule includes:

[0020] Randomly selecting a preset number of groups of proportions of the acceleration phase displacement, the uniform speed phase displacement, and the deceleration phase displacement from the preset operation rules as the target operation rules;

[0021] Determine a preset number of groups of speed data according to the current remaining motion displacement, the preset motion time and the target operation rule; wherein the speed data includes acceleration, uniform speed and deceleration;

[0022] The target speed data is determined according to the preset number of groups of speed data.

[0023] In some embodiments, the acceleration of the next remaining motion displacement is less than or equal to the acceleration of the current remaining motion displacement; the uniform speed of the next remaining motion displacement is less than the uniform speed of the current remaining motion displacement.

[0024] In some embodiments, the ratio of the acceleration phase displacement, the uniform speed phase displacement and the deceleration phase displacement in the preset operation rule is [10% to 25%]: [50% to 80%]: [10% to 25%].

[0025] In a second aspect, an embodiment of the present application provides a motion control device for a motion mechanism, comprising:

[0026] An acquisition module is used to obtain the current remaining motion displacement and the preset motion time;

[0027] A calculation module, used to determine the target speed data of different motion stages under the current remaining motion displacement according to the current remaining motion displacement, the preset motion time and the preset operation rules; wherein the motion stage includes an acceleration stage, a uniform speed stage and a deceleration stage; the preset operation rules include the proportion relationship of the acceleration stage displacement, the uniform speed stage displacement and the deceleration stage displacement of the motion mechanism within the current remaining motion displacement;

[0028] A determination module, configured to determine a corresponding target motion displacement by combining the acceleration phase displacement, the uniform phase displacement, the preset buffer displacement and the corresponding target speed data of the current remaining motion displacement;

[0029] The determination module is further used to determine a next remaining motion displacement according to the current remaining motion displacement and the corresponding target motion displacement, and use the next remaining motion displacement as the current remaining motion displacement, and continue to obtain the next remaining motion displacement until the next remaining motion displacement is less than a preset motion displacement or the number of the target motion displacements reaches a preset number;

[0030] A control module is used to control the movement of the motion mechanism according to the speed data of each target motion displacement.

[0031] In a third aspect, an embodiment of the present application provides a medical testing device, which includes a processor, a memory and a motion mechanism, wherein the memory stores a computer program, and the processor is used to implement the above-mentioned motion mechanism motion control method to make the motion mechanism move.

[0032] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium storing a computer program, which, when executed on a processor, implements the above-mentioned motion control method for a motion mechanism.

[0033] The embodiments of the present application have the following beneficial effects: after obtaining the target speed data of each residual motion displacement, the target motion displacement corresponding to the residual motion displacement is obtained, and then the speed data of the corresponding target motion displacement can be obtained. After each target motion displacement is determined, the motion mechanism can move according to the motion data of each target motion displacement. In this way, the total motion displacement of the motion mechanism is divided into multiple sections, and the speed data of each section is different, but the speed data of each section moves in the manner of increasing speed, uniform speed and decreasing speed, so that the momentum of the motion mechanism will not be always large, and the momentum makes the step type smaller and smaller, and because the motion mechanism has a uniform speed stage when moving in each target motion displacement, the motion mechanism will not suddenly reverse its momentum during the movement process, so that the motion mechanism can move relatively smoothly, and the device with the motion mechanism has less shaking. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 A first schematic diagram of a motion control method for a motion mechanism according to an embodiment of the present application is shown;

[0036] Figure 2 A schematic diagram of a first displacement-time curve of an embodiment of the present application is shown;

[0037] Figure 3 A second flow chart of the motion control method of the motion mechanism according to an embodiment of the present application is shown;

[0038] Figure 4 A third flow chart of the motion control method of the motion mechanism according to the embodiment of the present application is shown;

[0039] Figure 5 A fourth flow chart of the motion control method of the motion mechanism according to the embodiment of the present application is shown;

[0040] Figure 6 A schematic diagram of a second displacement-time curve of an embodiment of the present application is shown;

[0041] Figure 7 A structural schematic diagram of a motion control device for a motion mechanism in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0042] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments.

[0043] The components of the embodiments of the present application generally described and shown in the drawings herein may be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0044] Hereinafter, the terms "including", "having" and their cognates that can be used in various embodiments of the present application are intended only to indicate specific features, numbers, steps, operations, elements, components or a combination of the foregoing items, and should not be understood as first excluding the existence of one or more other features, numbers, steps, operations, elements, components or a combination of the foregoing items or increasing the possibility of one or more features, numbers, steps, operations, elements, components or a combination of the foregoing items. In addition, the terms "first", "second", "third" and the like are only used to distinguish descriptions and cannot be understood as indicating or implying relative importance.

[0045] Unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meanings as those generally understood by those skilled in the art to which the various embodiments of the present application belong. The terms (such as those defined in generally used dictionaries) will be interpreted as having the same meanings as the contextual meanings in the relevant technical field and will not be interpreted as having idealized meanings or overly formal meanings unless clearly defined in the various embodiments of the present application.

[0046] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0047] In the medical industry, most medical testing equipment, especially those with test throughput requirements (such as the number of tests required within an hour), usually move in the opposite direction in the next motion cycle after the current motion cycle, that is, the mechanical movement of completing a motion cycle is usually performed in a shorter time. In order to improve the efficiency of the test in the prior art and to ensure that the motion mechanism in the test equipment can complete the specified path within one motion cycle, a larger acceleration and maximum speed are set, and regardless of the length of the specified path, the acceleration and maximum speed are fixed. Since the motion mechanism inside the test equipment performs reverse isomotor motion (momentum is a vector, and the calculation formula is M*V, where M is the mass (weight) of the motion mechanism, and V is the motion speed. Since the direction of each motion is opposite to the direction of the next motion cycle, it is called reverse isomotor motion) and iso-motion periodic motion, the necessary conditions for resonance are met, which causes the vibration amplitude of the test equipment to become larger and larger, resulting in an increase in the shaking of the test equipment. In particular, when running over short distances, the acceleration may not be completed before the motion is switched to the opposite direction for reduction. This will make the motion of the motion mechanism uneven, thereby affecting the stability of the test equipment.

[0048] Based on this, the present application proposes a motion control method, device, medical testing equipment and medium for a motion mechanism. Through the motion control method for the motion mechanism of the present application, the displacement that the motion mechanism needs to move within a motion cycle is divided into several displacement segments, and each displacement segment moves in a manner of first accelerating, then moving at a constant speed, and finally decelerating, ensuring that the motion mechanism moves according to different speed data in each displacement segment within the motion cycle, and thus the momentum is also changed, which will not cause the momentum to be very large for a long time, thus making the motion mechanism run more smoothly within a motion cycle, and can reduce the amount of shaking of the motion mechanism during the motion execution process, so that the equipment with the motion mechanism vibrates less during the operation of the motion mechanism.

[0049] The motion control method of the motion mechanism is described below in conjunction with some specific embodiments.

[0050] Figure 1 A flow chart of a motion control method for a motion mechanism of an embodiment of the present application is shown. Exemplarily, the motion direction of the motion mechanism in the current motion cycle is different from the motion direction of the next motion cycle. For example, the motion mechanism may be in the opposite direction of the motion direction of the current motion cycle to the motion direction of the next motion cycle, that is, the motion mechanism is in periodic reciprocating motion. The method includes the following steps:

[0051] Step S100, obtaining the current remaining motion displacement and motion time.

[0052] Exemplarily, each motion cycle refers to the cycle in which the motion mechanism moves on a path. If the direction is changed, the next motion cycle will be entered. For example, a chemiluminescent immunoassay analyzer includes a sampling needle, which is responsible for drawing the sample from the five-cup and transferring it to the reaction cup in the instrument to ensure accurate transfer and mixing of the sample. Therefore, the sampling needle is the motion mechanism in the chemiluminescent immunoassay analyzer. After the sampling needle transfers a sample to the reaction cup, it returns to perform the next sampling. It can be understood that the motion process of transferring the sample to the reaction cup after sampling is a motion cycle, and moving from the reaction cup to the sampling area is the next motion cycle. This embodiment mainly describes the motion control of the motion mechanism within a motion cycle.

[0053] Exemplarily, the motion path of the motion mechanism of the same device can be fixed. If it is fixed, the total motion displacement of the motion path of each motion cycle can also be determined. If the motion path is not fixed, the total motion displacement of each motion cycle can also be obtained based on the starting motion position, ending motion position and motion route of the motion mechanism in each motion cycle.

[0054] If the method of this embodiment is used for medical testing equipment, for the medical testing equipment, the path of each running motion cycle of its motion mechanism can be fixed or not. In this way, for the motion mechanism of the medical testing equipment, the total motion displacement of the motion path of each motion cycle can be obtained in advance, so that the total motion displacement of each motion cycle can be saved. When the motion mechanism performs work, the preset corresponding total motion displacement can be obtained from the storage medium according to the executed motion cycle; if it is not pre-saved, the total motion displacement of each motion path can also be obtained according to the displacement sensor.

[0055] After the total motion displacement is determined, in response to the motion control instruction of the corresponding motion mechanism, at the beginning, the current remaining motion displacement is the total motion displacement, and the preset motion time is the time preset by the user, which can be 0.35 seconds, 0.4 seconds, 0.3 seconds, 0.2 seconds, etc. It can be understood that the preset motion time is not specifically limited.

[0056] After subsequently obtaining the first target motion displacement corresponding to the total motion displacement, the next remaining motion displacement can be obtained. At this time, the next remaining motion displacement is the motion displacement after deducting the first target motion displacement from the total motion displacement. Then, the next remaining motion displacement is used as the current remaining motion displacement (for the convenience of explanation, the current remaining motion displacement is used as the second current remaining motion displacement, and the current remaining motion displacement corresponding to the total motion displacement is the first current remaining motion displacement), and the preset motion time corresponding to the second current remaining motion displacement is obtained; then, through subsequent steps, the second target motion displacement corresponding to the second current remaining motion displacement is obtained, and the remaining motion displacement after deducting the second target motion displacement from the second current remaining motion displacement is the third current remaining motion displacement, and so on, until the last current remaining motion displacement.

[0057] For ease of understanding, the following Figure 2 The current remaining motion displacement and target motion displacement are described, such as Figure 2 As shown, L is the total motion displacement. At the beginning, the total motion displacement L is taken as the first current remaining motion displacement. The target speed data of different motion stages are calculated according to the preset running time and the proportion of the acceleration stage displacement, the uniform speed stage displacement and the deceleration stage displacement in the current remaining motion displacement, and the motion curve S1 is constructed. The curve is trapezoidal (0J, JK, KW). Then after calculation, for example, if the minimum uniform speed time is reserved for 10ms or the preset buffer displacement is reserved, the JM uniform speed platform should occupy 10ms time or the displacement length of the preset buffer displacement. Through geometric symmetry mirroring, the OJ segment acceleration segment is mirrored along the JM center (or the KW deceleration segment is translated to the right) to obtain the MA segment. In this way, L1 is actually used as the first target motion displacement (the displacement size is between O and A, and the target speed data of the motion curve S1 is used for operation, that is, in the acceleration segment (OJ segment), it moves according to the acceleration corresponding to the current remaining motion displacement, in the uniform speed stage (JM segment), it moves according to the uniform speed corresponding to the current remaining motion displacement, and in the deceleration segment (MA segment), it moves according to the deceleration corresponding to the current remaining motion displacement. The motion displacement remaining after the total motion displacement L is subtracted from the first target motion displacement L1 is the next remaining motion displacement (that is, the second remaining motion displacement) as shown in Figure 2As shown, the second residual motion displacement is the motion displacement between A and W. According to the same method, the motion curve S2 (AN, NP, PW) is constructed. By analogy, the entire motion is divided into multiple displacement intervals such as L1, L2, L3, L4, etc., and the motion curves of these motion intervals show a sawtooth decreasing trend. Except for the L1 segment with a large momentum, the momentum of the remaining intervals shows a decreasing trend as the displacement becomes shorter, so as to arrange the motion from large to small and weaken the momentum as much as possible, so that the instrument movement is smoother and the shaking is reduced.

[0058] In some implementations, the preset motion time of each current remaining motion displacement may be the same or different. Usually, the preset motion time of the current remaining motion displacement is greater than or equal to the preset motion time of the next remaining motion displacement.

[0059] Step S200, determining target speed data of different motion stages under the current remaining motion displacement according to the current remaining motion displacement, the preset motion time and the preset operation rules.

[0060] Among them, the preset operation rule is a rule that makes the displacement-speed curve of the motion mechanism under the current residual motion displacement present a trapezoidal curve, that is, the preset operation rule of this embodiment makes the motion speed of the motion mechanism under the current residual motion displacement first increase in speed, then uniform speed, and then decelerate. Among them, the proportion relationship of the acceleration stage displacement, the uniform speed stage displacement and the deceleration stage displacement in the preset operation rule conforms to the following proportion relationship: [10% to 25%]: [50% to 80%]: [10% to 25%]. Under normal circumstances, in order to facilitate calculation, the proportion of the acceleration stage displacement and the deceleration stage displacement is usually the same, that is, if the proportion of the acceleration stage displacement is 10%, the proportion of the deceleration stage displacement is also 10%; if the proportion of the acceleration stage displacement is 15%, the proportion of the deceleration stage displacement is also 15%. The setting of the proportion relationship of the acceleration stage displacement, the uniform speed stage displacement and the deceleration stage displacement facilitates the subsequent division of the total motion displacement into multiple displacements so that the motion mechanism operates according to the corresponding speed data in each displacement, so that the entire operation process is relatively smooth and the vibration of the medical testing equipment with the motion mechanism is reduced.

[0061] Among them, the motion stage includes an acceleration stage, a uniform speed stage and a deceleration stage; the preset operation rules include the proportion of the acceleration stage displacement, the uniform speed stage displacement and the deceleration stage displacement of the motion mechanism within the current remaining motion displacement.

[0062] Among them, speed data includes acceleration, constant speed and deceleration.

[0063] Among them, the preset movement time is the preset movement time corresponding to the current remaining movement displacement. When calculating the speed data corresponding to the current remaining movement displacement, the total time to complete the current remaining movement displacement only needs to be less than or equal to the corresponding preset movement time, that is, as long as the motion mechanism can complete the current remaining movement displacement within the preset movement time, but the total time to complete the current remaining movement displacement obtained by calculation is usually not much different from the preset movement time. For example, if the preset movement time is 0.4 seconds, the total time to complete the current remaining movement displacement obtained by calculation will usually not be less than 0.3 seconds.

[0064] When the current remaining motion displacement is the total motion displacement, a set of proportions of acceleration phase displacement, uniform velocity phase displacement and deceleration phase displacement can be directly determined, and the proportions of the acceleration phase displacement, uniform velocity phase displacement and deceleration phase displacement can be used as the target operation rule, and then the target speed data of different motion stages under the current remaining motion displacement can be determined according to the current remaining motion displacement, the preset motion time and the target operation rule. If the current remaining motion displacement is not the total motion displacement, then Figure 3 As shown, step S200 includes:

[0065] Step S210, randomly selecting a preset number of groups of proportions of acceleration phase displacement, uniform speed phase displacement and deceleration phase displacement from the preset operation rules as the target operation rules.

[0066] When determining the speed data based on the current remaining motion displacement, preset motion time and preset operating rules, since the preset operating rules include many groups of operating rules (that is, including many groups of proportions of acceleration stage displacement, uniform speed stage displacement and deceleration stage displacement), when determining the speed data, for the sake of program economy, a preset number of groups of operating rules can be randomly selected, and several groups of acceleration stage displacement, uniform speed stage displacement and deceleration stage displacement can be selected, and the randomly selected multiple groups of operating rules can be used as target operating rules. Usually, the proportion of acceleration phase displacement and deceleration phase displacement in the proportion relationship of acceleration phase displacement, uniform speed phase displacement and deceleration phase displacement of the current residual motion displacement is greater than or equal to the proportion of acceleration phase displacement and deceleration phase displacement in the proportion relationship of acceleration phase displacement, uniform speed phase displacement and deceleration phase displacement of the previous residual motion displacement; if the proportion relationship of acceleration phase displacement, uniform speed phase displacement and deceleration phase displacement of the previous residual motion displacement is 15%:70%:15%; then the proportion relationship of acceleration phase displacement, uniform speed phase displacement and deceleration phase displacement of the current residual motion displacement can be 15%:70%:15%, 18%:64%:18% or 20%:60%:20%, etc.

[0067] Step S220, determining a preset number of sets of speed data according to the current remaining motion displacement, the preset motion time and the target operation rule.

[0068] When calculating velocity data, the mathematical relationship between acceleration, time, velocity and displacement can be used for calculation by computer, which will not be elaborated here.

[0069] Step S230, determining target speed data according to a preset number of sets of speed data.

[0070] Since the acceleration of the next remaining motion displacement is less than or equal to the acceleration of the current remaining motion displacement; and the uniform speed of the next remaining motion displacement is less than the uniform speed of the current remaining motion displacement, after obtaining multiple sets of speed data of the current remaining motion displacement, the multiple sets of speed data currently obtained are compared with the previous remaining motion displacement. If the acceleration of the current remaining motion displacement is less than or equal to the acceleration of the previous remaining motion displacement, and the speed of the current remaining motion displacement is less than or equal to the speed of the previous remaining motion displacement, the speed requirements are met. If there is only one set of speed data that meets the requirements, then this speed data is the target speed data. If there are multiple sets, then one set is randomly selected from the multiple groups as the target speed data.

[0071] In addition, when determining the speed data, a preset number of groups of speed rules are randomly selected for program economy, that is, the proportions of several acceleration stage displacements, uniform speed stage displacements and deceleration stage displacements that conform to the preset operating rules are randomly combined. In this way, when subsequently judging whether each group of speed data meets the requirements, if none of them meet the requirements, the process returns to step S210 and redefines the target operating rules until speed data that meets the requirements is obtained.

[0072] After the target speed data is determined, step S300 is executed to determine the corresponding target motion displacement in combination with the acceleration phase displacement, the uniform phase displacement, the preset buffer displacement and the corresponding target speed data of the current remaining motion displacement.

[0073] For example, Figure 4 As shown, step S300 includes:

[0074] Step 310 , constructing a preliminary displacement velocity curve according to the target velocity data and the proportion of the acceleration phase displacement, the uniform velocity phase displacement and the deceleration phase displacement in the current remaining motion displacement.

[0075] In the above steps, the target velocity data of different motion stages of the current remaining motion displacement are obtained, that is, the acceleration, uniform velocity and deceleration of different motion stages of the current remaining motion displacement are obtained, and the proportion relationship of the acceleration stage displacement, uniform velocity stage displacement and deceleration stage displacement in the current remaining motion displacement is known, so the preliminary displacement velocity curve corresponding to the current remaining motion displacement can be constructed; Figure 2 As shown, the preliminary displacement velocity curve of the first current residual motion displacement L is S1 (a trapezoidal curve composed of 0J, JK, and KW); the preliminary displacement velocity curve of the second current residual motion displacement AW is S2 (a trapezoidal curve composed of AN, NP, and PW), and so on. Each current residual motion displacement can be constructed to form a preliminary displacement velocity curve (including acceleration stage segments, uniform speed stage segments, and deceleration stage segments).

[0076] Step S320 , obtaining a target motion displacement corresponding to the current remaining motion displacement according to the preset buffer displacement and the preliminary displacement velocity curve.

[0077] Exemplary, such as Figure 5 As shown, step S320 includes:

[0078] Step S321, determine the uniform speed phase end point of the target motion displacement according to the uniform speed phase displacement of the current remaining motion displacement and the preset buffer displacement, and use the acceleration phase displacement end point of the current remaining motion displacement as the uniform speed phase starting point of the target motion displacement to obtain the target uniform speed phase of the target motion displacement, and construct the target uniform speed phase line segment in the corresponding preliminary displacement velocity curve.

[0079] Among them, the preset buffer displacement is 2% to 10% of the total motion displacement, or reserved according to time, such as 2% to 10% of the total preset motion time (i.e., a displacement of 2% to 10% of the total preset motion time of walking at a uniform speed in the uniform speed stage), which is specifically determined according to the total preset motion time reservation and characteristics of the system. Generally, the smaller the preset buffer displacement, the better, as long as there is a small buffer platform, so that the motion mechanism will not directly switch from acceleration to deceleration (if the motion mechanism directly switches from acceleration to deceleration, such a sudden change in momentum will cause the motion mechanism to shake).

[0080] In the above steps, the uniform speed stage displacement of the current remaining motion displacement has been determined, and the preset buffer displacement is pre-set. At this time, when determining the uniform speed stage end point of the target motion displacement, the preset buffer displacement is added backward from the end point of the acceleration stage to obtain the uniform speed stage end point of the target motion displacement, and the acceleration stage end point of the current remaining motion displacement is used as the uniform speed stage starting point of the target motion displacement. The target motion displacement uniform speed stage starting point to the uniform speed stage end point is the target uniform speed stage, and the target uniform speed stage line segment is constructed in the corresponding preliminary displacement velocity curve.

[0081] Step S322, determining the deceleration phase line segment of the target motion displacement according to the acceleration phase line segment of the preliminary displacement velocity curve and the target uniform speed phase line segment, or determining the deceleration phase line segment of the target motion displacement according to the acceleration phase line segment of the preliminary displacement velocity curve, the deceleration phase line segment of the preliminary displacement velocity curve and the target uniform speed phase line segment.

[0082] Step S323, determining the target motion displacement according to the acceleration phase line segment of the preliminary displacement velocity curve, the target uniform velocity phase line segment and the deceleration phase line segment of the target motion displacement.

[0083] For example, Figure 2 As shown in the figure, L is the first current remaining motion displacement, and its displacement velocity curve is S1 (a trapezoidal curve composed of OJ, JK, and KW). In the S1 curve, the acceleration stage of the current remaining motion displacement L is the OJ line segment, and the J point of the OJ line segment is used as the starting point of the corresponding target motion segment. Then, combined with the preset buffer displacement, the end point of the target motion displacement can be determined. Point M is the end point of the target motion displacement, and JM is the target uniform velocity segment of the target motion displacement. After determining the target uniform speed line segment, when determining the deceleration stage line segment of the target motion displacement, the displacement velocity curve can be used as the standard. The acceleration stage line segment OJ of the current remaining motion displacement can be used as a mirror image of the midpoint of the target uniform speed line segment JM to determine the deceleration stage line segment MA of the target motion displacement. The deceleration stage line segment KW of the current remaining motion displacement can also be translated to the end point M of the target motion displacement, so that point K coincides with point M, and then the deceleration stage line segment MA is obtained. Point A is the end point of the target motion displacement corresponding to the current remaining motion displacement L, and the target motion displacement corresponding to the current remaining motion displacement L is segment OA (i.e., L1). According to step S400, after the first target motion displacement L1 corresponding to the first current remaining motion displacement L is determined, the next (second) current remaining motion displacement (the displacement corresponding to AW) can be obtained by removing the first target motion displacement L1 from the first current remaining motion displacement L, and its corresponding displacement velocity curve is S2 (a curve composed of AN, QP, and PW). According to the same method as that of obtaining the target motion displacement L1 for the first current remaining motion displacement L, the second target motion displacement L2 corresponding to the second current remaining motion displacement can be obtained, and the target motion displacement curve corresponding to the second target motion displacement L2 is a curve composed of AN, NQ, and QB, wherein AN is the acceleration stage, NQ is the uniform speed stage, and QB is the deceleration stage; the method for determining the target motion displacement for the remaining current remaining motion displacements is the same and will not be repeated here.

[0084] In this embodiment, the motion mechanism is accelerated first, then at a constant speed, and finally decelerated during each target motion displacement. In this way, the constant speed stage becomes a small buffer platform, and the momentum of the motion mechanism will not be directly reversed, thereby reducing the vibration of the equipment with the motion mechanism.

[0085] Step S400, determining the next remaining motion displacement according to the current remaining motion displacement and the target motion displacement in the current remaining motion displacement, and taking the next remaining motion displacement as the current remaining motion displacement, and continuing to obtain the next remaining motion displacement until the next remaining motion displacement is less than the preset motion displacement or the number of target motion displacements reaches a preset number.

[0086] It can be understood that the next remaining motion displacement is the displacement remaining after the current remaining motion displacement is subtracted from the target motion displacement in the current remaining motion displacement. In this embodiment, each current remaining motion displacement will obtain a set of corresponding speed data, and continue to calculate to obtain the corresponding target motion displacement, and the speed data of the target motion displacement can also be obtained. The acceleration, uniform speed and deceleration of the target motion displacement are the same as the acceleration, uniform speed and deceleration of the corresponding current remaining motion displacement, and so on until the next remaining motion displacement is less than the preset motion displacement. In this case, the next remaining motion displacement is the last target motion displacement. If the preset motion displacement is 10% of the total motion displacement, then until the displacement of the remaining motion displacement is less than 10% of the total displacement, there is no need to continue to determine the target motion displacement of the remaining motion displacement, that is, the remaining motion displacement is the target motion displacement of the current remaining motion displacement. At this time, it is only necessary to determine the speed data of the remaining motion displacement. In addition, the last target motion displacement can also be determined according to the preset number of preset target motion displacements. For example, the preset number can be 4, such as Figure 2 The CW shown is the last target motion displacement; if the preset number is 6, such as Figure 6 The EF segment shown is the last target motion displacement. It can be understood that the above determination of the last target motion displacement is only exemplary, and the preset number can also be other values, which will not be repeated here, and can be set as needed.

[0087] Step S500, controlling the motion mechanism to move according to the speed data of each target motion displacement.

[0088] In the above steps, multiple target motion displacements are obtained, and these multiple target motion displacements constitute the total motion displacement. When the motion mechanism moves to a certain target motion displacement, it moves according to the speed data of the target motion displacement.

[0089] After obtaining the target speed data of each residual motion displacement, the target motion displacement corresponding to the residual motion displacement is obtained in this embodiment, and then the speed data of the corresponding target motion displacement can be obtained. After each target motion displacement is determined, the motion mechanism can move according to the motion data of each target motion displacement. In this way, the total motion displacement of the motion mechanism is divided into multiple sections, and the speed data of each section is different, but the speed data of each section is moved in the manner of increasing speed, uniform speed and decreasing speed, so that the momentum of the motion mechanism will not be always large, and the momentum is variable, and because the motion mechanism has a uniform speed stage (buffer stage) when moving in each target motion displacement, the motion mechanism will not suddenly reverse its momentum during the movement process, and according to the displacement speed curve corresponding to the divided multiple motion displacements, its speed shows a sawtooth decreasing trend, except that its momentum shows a decreasing trend as the displacement becomes shorter, and then the movement of the motion mechanism can be arranged from large to small and the momentum can be gradually weakened, so that the instrument movement is smoother and the equipment with the motion mechanism can reduce shaking.

[0090] Figure 7 A schematic diagram of the structure of a motion control device for a motion mechanism of an embodiment of the present application is shown. Exemplarily, the motion control device for a motion mechanism is applied to a motion of a motion mechanism in which the motion direction of a current motion cycle is different from the motion direction of a next motion cycle, and includes:

[0091] The acquisition module 100 is used to acquire the current remaining motion displacement and the preset motion time.

[0092] The calculation module 200 is used to determine the target speed data of different motion stages under the current remaining motion displacement according to the current remaining motion displacement, the preset motion time and the preset operating rules; wherein the motion stage includes the acceleration stage, the uniform speed stage and the deceleration stage; the preset operating rules include the proportion relationship of the acceleration stage displacement, the uniform speed stage displacement and the deceleration stage displacement of the motion mechanism within the current remaining motion displacement.

[0093] The determination module 300 is used to determine the corresponding target motion displacement by combining the acceleration phase displacement, the uniform phase displacement, the preset buffer displacement and the corresponding target speed data of the current remaining motion displacement.

[0094] The determination module 300 is further used to determine the next remaining motion displacement according to the current remaining motion displacement and the corresponding target motion displacement, and use the next remaining motion displacement as the current remaining motion displacement, and continue to obtain the next remaining motion displacement until the next remaining motion displacement is less than the preset motion displacement or the number of target motion displacements reaches a preset number.

[0095] The control module 400 is used to control the movement of the motion mechanism according to the speed data of each target motion displacement.

[0096] It can be understood that the device of this embodiment corresponds to the motion control method of the motion mechanism of the above embodiment, and the options in the above embodiment are also applicable to this embodiment, so they will not be described repeatedly here.

[0097] The present application also provides a medical testing device, which includes a processor, a memory and a motion mechanism, wherein the memory stores a computer program, and the processor is used to implement the above-mentioned motion mechanism motion control method to make the motion mechanism move.

[0098] Among them, the medical testing equipment is a medical device with a moving mechanism that moves back and forth, which includes but is not limited to chemiluminescence immunoassay analyzers, microbiological diagnostic instruments, biochemical analysis instruments, and immunodiagnostic instruments.

[0099] Among them, the processor can be an integrated circuit chip with signal processing capabilities. The processor can be a general-purpose processor, including a central processing unit (CPU), a graphics processing unit (GPU) and a network processor (NP), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or at least one of other programmable logic devices, discrete gates or transistor logic devices, and discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc., which can implement or execute the disclosed methods, steps and logic block diagrams in the embodiments of the present application.

[0100] The memory may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc. Among them, the memory is used to store a computer program, and the processor can execute the computer program accordingly after receiving an execution instruction.

[0101] The present application also provides a computer-readable storage medium for storing the computer program used in the above-mentioned medical testing device. For example, the computer-readable storage medium may include but is not limited to: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0102] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and structure diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in an alternative implementation, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the structure diagram and / or the flow diagram, and the combination of boxes in the structure diagram and / or the flow diagram, can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0103] In addition, the functional modules or units in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0104] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a smart phone, a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the various embodiments of the present application.

[0105] The above description is only a specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application.

Claims

1. A motion control method for a motion mechanism, characterized in that: include: Get the current remaining motion displacement and preset motion time; Determine the target speed data of different motion stages under the current remaining motion displacement according to the current remaining motion displacement, the preset motion time and the preset operation rules; wherein the motion stages include an acceleration stage, a uniform speed stage and a deceleration stage; the preset operation rules include the proportion relationship of the acceleration stage displacement, the uniform speed stage displacement and the deceleration stage displacement of the motion mechanism within the current remaining motion displacement; Determine a corresponding target motion displacement by combining the acceleration phase displacement, the uniform phase displacement, the preset buffer displacement and the corresponding target speed data of the current remaining motion displacement; Determine a next remaining motion displacement according to the current remaining motion displacement and the corresponding target motion displacement, use the next remaining motion displacement as the current remaining motion displacement, and continue to obtain the next remaining motion displacement until the next remaining motion displacement is less than a preset motion displacement or the number of the target motion displacements reaches a preset number; The movement of the motion mechanism is controlled according to the speed data of each target motion displacement.

2. The motion control method of a motion mechanism according to claim 1, characterized in that: The determining of the corresponding target motion displacement by combining the acceleration phase displacement, the uniform phase displacement, the preset buffer displacement and the corresponding target speed data of the current residual motion displacement includes: Constructing a preliminary displacement velocity curve according to the target velocity data and the proportion relationship of the acceleration phase displacement, the uniform velocity phase displacement and the deceleration phase displacement in the current remaining motion displacement; The target motion displacement corresponding to the current remaining motion displacement is obtained according to the preset buffer displacement and the preliminary displacement speed curve.

3. The motion control method of a motion mechanism according to claim 2, characterized in that: The step of obtaining the target motion displacement corresponding to the current remaining motion displacement according to the preset buffer displacement and the preliminary displacement speed curve includes: Determine the uniform speed phase end point of the target motion displacement according to the uniform speed phase displacement of the current remaining motion displacement and the preset buffer displacement, and use the acceleration phase displacement end point of the current remaining motion displacement as the uniform speed phase start point of the target motion displacement to obtain the target uniform speed phase of the target motion displacement, and construct a target uniform speed phase line segment in the corresponding preliminary displacement velocity curve; Determine the deceleration phase line segment of the target motion displacement according to the acceleration phase line segment of the preliminary displacement velocity curve and the target uniform phase line segment, or determine the deceleration phase line segment of the target motion displacement according to the acceleration phase line segment of the preliminary displacement velocity curve, the deceleration phase line segment of the preliminary displacement velocity curve and the target uniform phase line segment; The target motion displacement is determined according to the acceleration phase line segment of the preliminary displacement velocity curve, the target uniform velocity phase line segment and the deceleration phase line segment of the target motion displacement.

4. The motion control method of a motion mechanism according to claim 1, characterized in that: The determining the next remaining motion displacement according to the current remaining motion displacement and the corresponding target motion displacement comprises: The next remaining motion displacement is the displacement remaining after the target motion displacement in the current remaining motion displacement is subtracted from the current remaining motion displacement.

5. The motion control method of a motion mechanism according to claim 1, characterized in that: The determining of target speed data of different motion stages under the current remaining motion displacement according to the current remaining motion displacement, the preset motion time and the preset operation rule includes: Randomly selecting a preset number of groups of proportions of the acceleration phase displacement, the uniform speed phase displacement, and the deceleration phase displacement from the preset operation rules as the target operation rules; Determine a preset number of groups of speed data according to the current remaining motion displacement, the preset motion time and the target operation rule; wherein the speed data includes acceleration, uniform speed and deceleration; The target speed data is determined according to the preset number of groups of speed data.

6. The motion control method of a motion mechanism according to claim 1, characterized in that: The acceleration of the next remaining motion displacement is less than or equal to the acceleration of the current remaining motion displacement; the uniform speed of the next remaining motion displacement is less than the uniform speed of the current remaining motion displacement.

7. The motion control method of a motion mechanism according to claim 1, characterized in that: The ratio of the acceleration phase displacement, the uniform speed phase displacement and the deceleration phase displacement in the preset operation rule is [10% to 25%]: [50% to 80%]: [10% to 25%].

8. A motion control device for a motion mechanism, characterized in that: include: An acquisition module is used to obtain the current remaining motion displacement and the preset motion time; A calculation module, used to determine the target speed data of different motion stages under the current remaining motion displacement according to the current remaining motion displacement, the preset motion time and the preset operation rules; wherein the motion stage includes an acceleration stage, a uniform speed stage and a deceleration stage; the preset operation rules include the proportion relationship of the acceleration stage displacement, the uniform speed stage displacement and the deceleration stage displacement of the motion mechanism within the current remaining motion displacement; A determination module, configured to determine a corresponding target motion displacement by combining the acceleration phase displacement, the uniform phase displacement, the preset buffer displacement and the corresponding target speed data of the current remaining motion displacement; The determination module is further used to determine a next remaining motion displacement according to the current remaining motion displacement and the corresponding target motion displacement, and use the next remaining motion displacement as the current remaining motion displacement, and continue to obtain the next remaining motion displacement until the next remaining motion displacement is less than a preset motion displacement or the number of the target motion displacements reaches a preset number; A control module is used to control the movement of the motion mechanism according to the speed data of each target motion displacement.

9. A medical testing device, characterized in that: The medical testing device comprises a processor, a memory and a motion mechanism, wherein the memory stores a computer program, and the processor is used to implement the motion mechanism motion control method according to any one of claims 1 to 7 to move the motion mechanism.

10. A computer-readable storage medium, characterized in that: It stores a computer program, which, when executed on a processor, implements the motion control method of a motion mechanism according to any one of claims 1-7.

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