A method for high-precision positioning of orifice plates in a sampling system

Abstract

The present invention provides a method for high-precision positioning of a well plate of an injection system, which belongs to the technical field of well plate positioning, and includes: randomly moving a sample needle to the top of an injector platform of a flow cytometer, and controlling two groups of laser beam sensors arranged on the injector platform to move; photographing and acquiring the current image after the movement, determining the position difference between the laser beam point of the current image and the sample needle, and judging whether the set standard is met; if the set standard is not met, continuing to control the two groups of laser beam sensors to move finely according to the standard error until the set standard is met; when the set standard is met, based on the acquired first hole coordinates and the whole plate hole coordinate system, the stepper motor is closed-loop controlled to insert the sample needle into the corresponding hole position. Fine adjustment of the sensor is achieved to ensure the accuracy of coordinate acquisition, avoid visual errors, and help improve automated production efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of orifice plate positioning, and in particular to a method for high-precision positioning of an orifice plate of a sampling system. Background Art

[0002] At present, in the process of flow cytometer measurement, the three-point positioning method is usually used to calculate the coordinate system of each hole to obtain the coordinate table. This process inevitably uses calibration fixtures, and the debugging personnel are required to use visual inspection or other methods to calibrate the first hole and the last hole, and then calculate the well plate coordinate system; this process increases the complexity and labor costs, is not conducive to improving the efficiency of automated instrument production, and is not easy to regularly calibrate and accurately position the flow cytometer sample needle.

[0003] The existing positioning solution has poor operability and requires external tooling and debugging personnel to perform manual calibration. In addition, there are certain errors or even mistakes caused by visual and personnel differences, and the instrument cannot be automatically calibrated on a regular basis, which is not conducive to the long-term accurate positioning of the sample needle.

[0004] Therefore, the present invention proposes a method for high-precision positioning of a well plate of a sampling system. Summary of the invention

[0005] The present invention provides a method for high-precision positioning of a well plate of a sampling system, which is used to control the movement of two groups of laser beam sensors to approach a randomly moved point, and obtain an image after the movement to automatically determine the coordinate difference after the movement, so as to achieve fine adjustment of the sensor, ensure the accuracy of coordinate acquisition, avoid visual errors, and help improve automated production efficiency.

[0006] The present invention provides a method for high-precision positioning of an orifice plate of an injection system, comprising:

[0007] Step 1: Move the sample needle to the top of the injector platform of the flow cytometer at will, and control the two sets of laser beam sensors arranged on the injector platform to move;

[0008] Step 2: Capture and obtain the current image after the movement, determine the position difference between the laser incident point and the sample needle in the current image, and judge whether the set standard is met;

[0009] Step 3: If the set standard is met, obtain the coordinates of the first hole and the coordinate system of the entire plate hole position;

[0010] If the set standard is not met, the two groups of laser beam sensors are controlled to move finely according to the standard error until the set standard is met;

[0011] Step 4: When the set standard is met, the stepper motor is closed-loop controlled based on the acquired first hole coordinates and the entire plate hole coordinate system, and the sample needle is inserted into the corresponding hole.

[0012] Preferably, controlling two groups of laser beam sensors disposed on the sample injector platform to move includes:

[0013] Initialize the motor motion zero points of the X-axis, Y-axis, and Z-axis of the sample injector platform respectively;

[0014] Determining a first movement distance based on the Z axis, a second movement distance based on the X axis, and a third movement distance based on the Y axis according to the position point of the random movement of the sample needle;

[0015] Control the Z-axis motor to perform a descending motion according to a first motion distance;

[0016] When the descending movement is completed, the X-axis motor is controlled to perform the first movement according to the second movement distance and the Y-axis motor is controlled to perform the second movement according to the third movement distance to achieve rough calibration;

[0017] Continue to control the X-axis motor to perform the third movement and control the Y-axis motor to perform the fourth movement to achieve fine calibration.

[0018] Preferably, controlling the X-axis motor to perform the first movement according to the second movement distance includes:

[0019] Determining whether the first movement performed according to the second movement distance is a medium-speed movement;

[0020] If yes, control the X-axis motor to stop moving and record the photoelectric trigger motor running distance X1;

[0021] Otherwise, the optical coupler is blocked to trigger and read the encoder value, and determine whether the encoder value is within the set range. If so, the X-axis motor is controlled to stop moving, and the photoelectric trigger motor running distance X1 is recorded;

[0022] If not, control the X-axis motor to continue the first motion.

[0023] Preferably, continuing to control the X-axis motor to perform the third movement includes:

[0024] When the X-axis moves to X1-S0 at medium speed, the X-axis motor is controlled to perform the third movement, and it is determined whether the third movement is a low-speed movement;

[0025] If it is a low-speed movement, control the X-axis motor to stop moving, and record the photoelectric trigger motor movement distance X0 to achieve X-axis calibration.

[0026] Preferably, capturing and acquiring the current image after the movement includes:

[0027] Based on the device acquisition parameters during the image acquisition process, and combined with the platform width of the injector platform and platform length , determine the number of acquisitions N;

[0028] ;

[0029] Among them, max represents the maximum value symbol; Indicates the length based on the Z axis of the randomly moved position point; Indicates that the parameters are collected based on the device and The spatial collection setting amount; Indicates the rounding up symbol; Indicates setting the collection threshold;

[0030] Performing spatial mapping between the acquisition times N and the injector platform, determining N acquisition positions and performing image acquisition to obtain N initial images;

[0031] Performing depth processing on the initial image to obtain a depth image, and determining the possibility of missing coordinates under the corresponding acquisition orientation;

[0032] ;

[0033] in, Indicates the number of pixels that are not visible in the depth image corresponding to the acquisition orientation; Indicates the theoretical number of pixels displayed for the injector platform; They represent the laser beam points in the three-dimensional movement results captured under the corresponding acquisition orientation c1. Based on the lateral and longitudinal displacement of the edge of the injector platform; Respectively represent the X-axis and Y-axis coordinate points of the randomly moved position point Based on the lateral displacement and longitudinal displacement of the edge of the injector platform, one pixel point corresponds to one coordinate point;

[0034] The possibilities of missing coordinates in N directions are sorted by size, and the initial image of the direction corresponding to the possibility with the last sorting is selected as the reference image, and the initial images of the remaining directions are used as auxiliary images;

[0035] Taking the basic image as the first image, feature extraction and feature alignment are performed on the auxiliary images in adjacent directions respectively, and the feature alignment result is adjusted according to the pixel change amount in combination with the relative movement distance of the adjacent directions to obtain a first fused image;

[0036] Arrange all first fused images in sequence, and continue to fuse adjacently arranged images until an image is obtained as the second image;

[0037] Optimizing the pixels of the reference image based on the second image to obtain a current image.

[0038] Preferably, the movement result is subjected to calibration analysis, including:

[0039] Determine the final coordinate point of the laser beam point based on the X-axis and the Y-axis based on the current image and move the position points randomly on the X-axis and Y-axis coordinate points Conduct comparative analysis;

[0040] If satisfied and At this time, it is determined that the set standard is met, where They represent the set thresholds respectively;

[0041] Otherwise, it is determined that the set standard is not met.

[0042] Preferably, the two groups of laser beam sensors are continuously controlled to perform fine movement according to the standard error, including:

[0043] A quantity-command vector is constructed according to the displacement of the laser beam sensor captured in real time during the movement of the corresponding axis motor and the control command sent to the corresponding axis motor;

[0044] The quantity-command vector is input into the vector analysis model to obtain the corresponding axis movement error of the corresponding axis motor at each movement moment, wherein the corresponding axis movement error is divided into: a coarse calibration error of the corresponding axis and a fine calibration error of the corresponding axis;

[0045] Acquire a first nonlinear reference error amount based on a coarse calibration error of the corresponding axis and a second nonlinear reference error amount based on a fine calibration error of the corresponding axis;

[0046] At the same time, all movement errors under the corresponding axis are plotted according to the movement time to obtain the error curve of the corresponding axis;

[0047] Determine a first actual distance at the last moment of the rough calibration and a second actual distance at the first moment of the fine calibration, and obtain a first ratio of the first actual distance to the first standard distance and a second ratio of the second actual distance to the second standard distance;

[0048] Performing a first scaling on a coarse calibration curve in the error curve of the corresponding axis according to a first ratio, and performing a second scaling on a fine calibration curve in the error curve of the corresponding axis according to a second ratio;

[0049] Obtaining a linear fitting value of a scaling curve for a corresponding axis, and combining a first nonlinear reference error value and a second nonlinear reference error value for the corresponding axis to obtain a current reference error for the corresponding axis;

[0050] Obtain the unsatisfied error in the failure to meet the set standard and regard it as the standard error;

[0051] According to the current reference error and standard error of different axes, the first control instruction for the X-axis motor and the second control instruction for the Y-axis motor are obtained, and the positions of the two groups of laser beam sensors are controlled and adjusted.

[0052] Preferably, obtaining a first control instruction for the X-axis motor and a second control instruction for the Y-axis motor according to current reference errors and standard errors of different axes includes:

[0053] like and At this time, according to the current reference error of the X-axis and , determine the X-axis standby error;

[0054] like and At this time, according to the current reference error of the Y axis and , determine the Y-axis standby error;

[0055] like and At this time, according to the current reference error of the X-axis and , determine the standby error of the X axis, and at the same time, according to the current reference error of the Y axis and , determine the Y-axis standby error;

[0056] The standby errors are matched with the error-command comparison table respectively to obtain the control command of the corresponding axis and send it to the motor of the corresponding axis.

[0057] Compared with the prior art, the present invention has the following beneficial effects:

[0058] By setting up two groups of laser beam sensors to control their movement to approach the randomly moving sample needle, and obtaining the image after movement to automatically determine the coordinate difference after movement, fine adjustment of the sensor can be achieved to ensure the accuracy of coordinate acquisition and avoid visual errors, which is conducive to improving automated production efficiency.

[0059] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings.

[0060] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0062] Figure 1 A flow chart of a method for high-precision positioning of an orifice plate of an injection system in an embodiment of the present invention;

[0063] Figure 2 It is a structural diagram of the arrangement of two groups of laser beam sensors on the injector platform in an embodiment of the present invention;

[0064] Figure 3 1 is a relative diagram of the position of the intersection point A of the two optical systems and the aperture plate in an embodiment of the present invention. DETAILED DESCRIPTION

[0065] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0066] The present invention provides a method for high-precision positioning of a well plate in a sample injection system, such as Figure 1 As shown, including:

[0067] Step 1: Move the sample needle to the top of the injector platform of the flow cytometer at will, and control the two sets of laser beam sensors arranged on the injector platform to move;

[0068] Step 2: Capture and obtain the current image after the movement, determine the position difference between the laser incident point and the sample needle in the current image, and judge whether the set standard is met;

[0069] Step 3: If the set standard is met, obtain the coordinates of the first hole and the coordinate system of the entire plate hole position;

[0070] If the set standard is not met, the two groups of laser beam sensors are controlled to move finely according to the standard error until the set standard is met;

[0071] Step 4: When the set standard is met, the stepper motor is closed-loop controlled based on the acquired first hole coordinates and the entire plate hole coordinate system, and the sample needle is inserted into the corresponding hole.

[0072] Preferably, controlling two groups of laser beam sensors disposed on the sample injector platform to move includes:

[0073] Initialize the motor motion zero points of the X-axis, Y-axis, and Z-axis of the sample injector platform respectively;

[0074] Determining a first movement distance based on the Z axis, a second movement distance based on the X axis, and a third movement distance based on the Y axis according to the position point of the random movement of the sample needle;

[0075] Control the Z-axis motor to perform a descending motion according to a first motion distance;

[0076] When the descending movement is completed, the X-axis motor is controlled to perform the first movement according to the second movement distance and the Y-axis motor is controlled to perform the second movement according to the third movement distance to achieve rough calibration;

[0077] Continue to control the X-axis motor to perform the third movement and control the Y-axis motor to perform the fourth movement to achieve fine calibration.

[0078] Preferably, controlling the X-axis motor to perform the first movement according to the second movement distance includes:

[0079] Determining whether the first movement performed according to the second movement distance is a medium-speed movement;

[0080] If yes, control the X-axis motor to stop moving and record the photoelectric trigger motor running distance X1;

[0081] Otherwise, the optical coupler is blocked to trigger and read the encoder value, and determine whether the encoder value is within the set range. If so, the X-axis motor is controlled to stop moving, and the photoelectric trigger motor running distance X1 is recorded;

[0082] If not, control the X-axis motor to continue the first motion.

[0083] Preferably, continuing to control the X-axis motor to perform the third movement includes:

[0084] When the X-axis moves to X1-S0 at medium speed, the X-axis motor is controlled to perform the third movement, and it is determined whether the third movement is a low-speed movement;

[0085] If it is a low-speed movement, control the X-axis motor to stop moving, and record the photoelectric trigger motor movement distance X0 to achieve X-axis calibration.

[0086] In this embodiment, "moving to at random" means moving the sample needle at random to the top of the platform and being perpendicular to the platform. After the needle moves to the top of the platform, since the coordinates of the sample needle are unclear and the platform itself is engraved with coordinates, the coordinates of the sample needle are determined by moving the laser matching sensor and the sample needle to perform coarse and fine locking based on the X-axis and the Y-axis based on the horizontal plane. After the coordinates of the sample needle are determined, they are compared with the coordinates of the hole that can be inserted on the platform. If it can be inserted, a reminder to insert it is given. If it cannot be inserted, a reminder to move to the hole that can be inserted is given for insertion.

[0087] In this embodiment, if Figure 2 As shown, two groups of laser beam sensors 54 / 55, 56 / 57 are installed in the sample injector platform, and 77 is a sample needle.

[0088] In this embodiment, under the background of high-precision processing and installation, the position of the intersection point A of the two optical systems and the relative position of the orifice plate are known (the relative distance relative to the first hole in the first row of the orifice plate is known, i.e., X axis: s1, Y axis: s2), as shown in FIG. Figure 3 shown.

[0089] In this embodiment, the purpose of the present invention is to quickly, easily and automatically complete the flow cytometer well plate position positioning calibration to overcome the tedious manual calibration and other errors or mistakes caused by other reasons. At the same time, the instrument can regularly calibrate the position of the sample needle, and use optical positioning and motor encoder closed-loop control to achieve long-term precise positioning of the sample needle for sample aspiration.

[0090] In this embodiment, the current image refers to an image of the injector platform including the laser incident point.

[0091] In this embodiment, the set standard refers to whether the lateral error and the longitudinal error between the laser incident point and the point after random movement are less than the corresponding set threshold value.

[0092] In this embodiment, the first movement, the second movement, the third movement and the fourth movement are movements of the motor, thereby driving the displacement movement of the sensor.

[0093] The beneficial effect of the above technical solution is: by setting two groups of laser beam sensors to control their movement, and obtaining the image after movement to automatically determine the coordinate difference after movement, fine adjustment of the sensor can be achieved to ensure the accuracy of the sample coordinate acquisition, avoid visual errors, and help improve automated production efficiency.

[0094] The present invention provides a method for high-precision positioning of a well plate of a sampling system, which captures and obtains a current image after three-dimensional movement, comprising:

[0095] Based on the device acquisition parameters during the image acquisition process, and combined with the platform width of the injector platform and platform length , determine the number of acquisitions N;

[0096] ;

[0097] Among them, max represents the maximum value symbol; Indicates the length based on the Z axis of the randomly moved position point; Indicates that the parameters are collected based on the device and The spatial collection setting amount; Indicates the rounding up symbol; Indicates setting the collection threshold;

[0098] Performing spatial mapping between the acquisition times N and the injector platform, determining N acquisition positions and performing image acquisition to obtain N initial images;

[0099] Performing depth processing on the initial image to obtain a depth image, and determining the possibility of missing coordinates under the corresponding acquisition orientation;

[0100] ;

[0101] in, Indicates the number of pixels that are not visible in the depth image corresponding to the acquisition orientation; Indicates the theoretical number of pixels displayed for the injector platform; They represent the laser beam points in the three-dimensional movement results captured under the corresponding acquisition orientation c1. Based on the lateral and longitudinal displacement of the edge of the injector platform; Respectively represent the X-axis and Y-axis coordinate points of the randomly moved position point Based on the lateral displacement and longitudinal displacement of the edge of the injector platform, one pixel point corresponds to one coordinate point;

[0102] The possibilities of missing coordinates in N directions are sorted by size, and the initial image of the direction corresponding to the possibility with the last sorting is selected as the reference image, and the initial images of the remaining directions are used as auxiliary images;

[0103] Taking the basic image as the first image, feature extraction and feature alignment are performed on the auxiliary images in adjacent directions respectively, and the feature alignment result is adjusted according to the pixel change amount in combination with the relative movement distance of the adjacent directions to obtain a first fused image;

[0104] Arrange all first fused images in sequence, and continue to fuse adjacently arranged images until an image is obtained as the second image;

[0105] Optimizing the pixels of the reference image based on the second image to obtain a current image.

[0106] In this embodiment, the device acquisition parameters correspond to the setting parameters of the multi-eye camera itself during the acquisition process, and the spatial acquisition setting amount is obtained based on the matching of the parameter-height-quantity comparison table. The comparison table contains the device acquisition parameters of different devices and the spatial acquisition setting amount under the motor height displacement, which is set in advance and can therefore be directly matched.

[0107] In this embodiment, setting the acquisition threshold refers to a dividing value for the number of images acquired by the injector platform, which may be 4.

[0108] In this embodiment, spatial mapping is achieved based on the number of acquisitions - the size of the space above the length, width and height of the platform itself - the orientation deployment comparison table matching, thereby effectively determining the deployment orientation for the injector platform, and the number of deployment orientations is strictly executed according to N.

[0109] In this embodiment, the depth image is intended to intuitively reflect the surface geometry of the injector platform, and the pixels existing thereon, that is, the displayed pixels, can be clearly seen.

[0110] In this embodiment, feature extraction and feature alignment are combined with relative movement distance in order to align the positions of auxiliary images at adjacent orientations at the same coordinate point to achieve image fusion.

[0111] In this embodiment, for example, the relative movement distance between orientation 1 and orientation 2 is 10 cm. At this time, the pixel change for this 10 cm is u1. Because the change in pixel position corresponding to different shooting angles may also be different, mainly because of the difference in visual length. After the feature alignment, the point value of the corresponding aligned image can be adjusted again to obtain the first fused image. For example, after the feature ru1 of the auxiliary image 1 is aligned with the feature ru2 of the auxiliary image 2, the alignment feature is obtained. At this time, the pixel change for the alignment feature may be u1. Here, the pixels of the corresponding alignment feature are adjusted according to u1, and the result is retained to obtain the first fused image.

[0112] In this embodiment, the sequential arrangement is arranged in the sequential order of adjacent positions.

[0113] For example: there are initial images in sequence: image 01, image 02, image 03, image 04. At this time, image 02 is the reference image, image 01, image 03 and image 04 are auxiliary images, and then image 02 and image 03, image 03 and image 04, image 04 and image 01 are two images in adjacent directions respectively, and finally they are fused to obtain a second image.

[0114] In this embodiment, the pixel optimization processing refers to selecting points with more pixel information value at the same coordinate point from the second image and the reference image and retaining them, thereby obtaining the current image.

[0115] In this embodiment, the device acquisition parameters include acquisition resolution, acquisition focal length, etc.

[0116] The beneficial effects of the above technical solution are: starting from the equipment acquisition parameters and the platform width and length, the number of acquisitions is determined, and then the possibility of missing images is judged through deep processing to obtain the reference image and the auxiliary image. Subsequently, feature extraction, alignment, pixel adjustment, and pixel point optimization are used to determine the reliability and accuracy of the current image acquisition, providing a basis for the subsequent control of the motor and the insertion of the sample needle.

[0117] The present invention provides a method for high-precision positioning of a well plate of a sampling system, and performs calibration analysis on a three-dimensional movement result, comprising:

[0118] Determine the final coordinate point of the laser beam point based on the X-axis and the Y-axis based on the current image and move the position points randomly on the X-axis and Y-axis coordinate points Conduct comparative analysis;

[0119] If satisfied and At this time, it is determined that the set standard is met, where They represent the set thresholds respectively;

[0120] Otherwise, it is determined that the set standard is not met.

[0121] In this embodiment, the final coordinate point It is determined based on the current image.

[0122] In this embodiment, The value range is (0, 1mm).

[0123] The beneficial effect of the above technical solution is: by comparing the coordinate points of the X-axis and the Y-axis, it is intuitively determined whether the set standards are met, providing a basis for judging whether to continue adjustments later.

[0124] The present invention provides a method for high-precision positioning of a well plate of a sampling system, which continuously controls two groups of laser beam sensors to perform fine movement according to a standard error, comprising:

[0125] A quantity-command vector is constructed according to the displacement movement of the laser beam sensor captured in real time during the movement of the corresponding axis motor and the control command issued to the corresponding axis motor;

[0126] The quantity-command vector is input into the vector analysis model to obtain the corresponding axis movement error of the corresponding axis motor at each movement moment, wherein the corresponding axis movement error is divided into: a coarse calibration error of the corresponding axis and a fine calibration error of the corresponding axis;

[0127] Acquire a first nonlinear reference error amount based on a coarse calibration error of the corresponding axis and a second nonlinear reference error amount based on a fine calibration error of the corresponding axis;

[0128] At the same time, all movement errors under the corresponding axis are plotted according to the movement time to obtain the error curve of the corresponding axis;

[0129] Determine a first actual distance at the last moment of the rough calibration and a second actual distance at the first moment of the fine calibration, and obtain a first ratio of the first actual distance to the first standard distance and a second ratio of the second actual distance to the second standard distance;

[0130] Performing a first scaling on a coarse calibration curve in the error curve of the corresponding axis according to a first ratio, and performing a second scaling on a fine calibration curve in the error curve of the corresponding axis according to a second ratio;

[0131] Obtaining a linear fitting value of a scaling curve for a corresponding axis, and combining a first nonlinear reference error value and a second nonlinear reference error value for the corresponding axis to obtain a current reference error for the corresponding axis;

[0132] Obtain the unsatisfied error in the failure to meet the set standard and regard it as the standard error;

[0133] According to the current reference error and standard error of different axes, the first control instruction for the X-axis motor and the second control instruction for the Y-axis motor are obtained, and the positions of the two groups of laser beam sensors are controlled and adjusted.

[0134] Preferably, obtaining a first control instruction for the X-axis motor and a second control instruction for the Y-axis motor according to current reference errors and standard errors of different axes includes:

[0135] like and At this time, according to the current reference error of the X-axis and , determine the X-axis standby error;

[0136] like and At this time, according to the current reference error of the Y axis and , determine the Y-axis standby error;

[0137] like and At this time, according to the current reference error of the X-axis and , determine the standby error of the X axis, and at the same time, according to the current reference error of the Y axis and , determine the Y-axis standby error;

[0138] The standby errors are matched with the error-command comparison table respectively to obtain the control command of the corresponding axis and send it to the motor of the corresponding axis.

[0139] In this embodiment, the X-axis standby error is as follows: (the current reference error of the X-axis + ) / 2.

[0140] The Y-axis standby error is as follows: (the current reference error of the Y-axis + ) / 2.

[0141] In this embodiment, the error-instruction comparison table includes errors under different axes and adjustment instructions for the errors under the axes, and is pre-set to achieve precise control of the axes under corresponding errors.

[0142] In this embodiment, the first calibration distance and the second standard distance are both pre-set, that is, the length of movement according to the corresponding instructions is planned and can be used directly.

[0143] In this embodiment, the standard error for the X-axis is: , for the Y axis: .

[0144] In this embodiment, the displacement movement refers to the moving position of the corresponding motor control sensor on the X-axis, and the control instruction sent to the corresponding axis motor refers to the movement of the motor after receiving a certain signal (mainly controlling the speed of movement and then controlling the movement displacement of the sensor based on a certain axis). At this time, a combination at a certain moment will be obtained: displacement movement amount-control instruction, and then the quantity-instruction vector is: {displacement movement amount-control instruction at different movement moments}.

[0145] In this embodiment, the vector analysis model is obtained by training the neural network model based on different combination instructions and the movement displacements matched with the combination instructions, and then based on the error between the theoretical distance difference and the actual distance difference under adjacent displacements as samples, and then the movement error under different movement moments can be obtained. For example, at moment 1 under instruction e1, the theoretical movement should be L01, but the actual movement is L02. At this time, the movement error is: L02-L01.

[0146] In this embodiment, because different axes are adjusted in two steps, one is a coarse adjustment, such as an adjustment of 10 cm, and the other is a fine adjustment, such as an adjustment of 0.3 cm from 9.8 cm.

[0147] In this embodiment, the first nonlinear reference error refers to the mean value of the coarse calibration error minus the variance of the coarse error, and the second nonlinear reference error refers to the mean value of the fine calibration error minus the variance of the fine error.

[0148] In this embodiment, the horizontal axis of the error curve is time, and the vertical axis is the magnitude of the error.

[0149] In this embodiment, scaling refers to reducing or enlarging the curve according to a corresponding ratio to obtain more information details, or ignoring some information details to further ensure the reliability of the curve.

[0150] In this embodiment, the linear fitting value refers to the value of the intersection point of the coarse calibration curve and the fine calibration curve obtained by performing linear fitting on the curve, which is regarded as the fitting value.

[0151] The beneficial effect of the above technical solution is: by obtaining the displacement movement and control instructions under different axes, the model analyzes the vector to obtain the errors under coarse calibration and fine calibration, and combines the analysis results of the curve to achieve scaling of the curve to ensure the accuracy of the current reference error acquisition, and further combines the standard error to achieve effective control of the motor to determine the movement of the laser sensor to the specified position, thereby ensuring the efficient placement of the sample needle.

[0152] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A method for high-precision positioning of a well plate in a sample injection system, characterized in that: include: Step 1: Move the sample needle to the top of the injector platform of the flow cytometer at will, and control the two sets of laser beam sensors arranged on the injector platform to move; Step 2: Capture and obtain the current image after the movement, determine the position difference between the laser incident point and the sample needle in the current image, and judge whether the set standard is met; Step 3: If the set standard is met, obtain the coordinates of the first hole and the coordinate system of the entire plate hole position; If the set standard is not met, the two groups of laser beam sensors are controlled to move finely according to the standard error until the set standard is met; Step 4: When the set standard is met, the stepper motor is closed-loop controlled based on the acquired first hole coordinates and the entire plate hole coordinate system, and the sample needle is inserted into the corresponding hole; Among them, the positions of the intersections of the two optical systems and the relative positions of the aperture plates are known; The current image refers to the image of the injector platform and includes the laser incident point; The setting standard refers to whether the lateral error and longitudinal error between the laser shooting point and the point after random movement are less than the corresponding set threshold value.

2. The method for high-precision positioning of a well plate in a sample injection system according to claim 1, characterized in that: Control the movement of two groups of laser beam sensors arranged on the injector platform, including: Initialize the motor motion zero points of the X-axis, Y-axis, and Z-axis of the sample injector platform respectively; Determining a first movement distance based on the Z axis, a second movement distance based on the X axis, and a third movement distance based on the Y axis according to the position point of the random movement of the sample needle; Control the Z-axis motor to perform a descending motion according to a first motion distance; When the descending movement is completed, the X-axis motor is controlled to perform the first movement according to the second movement distance and the Y-axis motor is controlled to perform the second movement according to the third movement distance to achieve rough calibration; Continue to control the X-axis motor to perform the third movement and control the Y-axis motor to perform the fourth movement to achieve fine calibration.

3. The method for high-precision positioning of a well plate in a sample injection system according to claim 2, characterized in that: Controlling the X-axis motor to perform the first movement according to the second movement distance includes: Determining whether the first movement performed according to the second movement distance is a medium-speed movement; If yes, control the X-axis motor to stop moving and record the photoelectric trigger motor running distance X1; Otherwise, the optical coupler is blocked to trigger and read the encoder value, and determine whether the encoder value is within the set range. If so, the X-axis motor is controlled to stop moving, and the photoelectric trigger motor running distance X1 is recorded; If not, control the X-axis motor to continue the first motion.

4. The method for high-precision positioning of a well plate in a sample injection system according to claim 3, characterized in that: Continue to control the X-axis motor to perform the third movement, including: When the X-axis moves to X1-S0 at medium speed, the X-axis motor is controlled to perform the third movement, and it is determined whether the third movement is a low-speed movement; If it is a low-speed movement, control the X-axis motor to stop moving, and record the photoelectric trigger motor movement distance X0 to achieve X-axis calibration.

5. The method for high-precision positioning of a well plate in a sample injection system according to claim 4, characterized in that: Capture and obtain the current image after movement, including: Based on the device acquisition parameters during the image acquisition process, and combined with the platform width of the injector platform and platform length , determine the number of acquisitions N; ; Among them, max represents the maximum value symbol; Indicates the length based on the Z axis of the randomly moved position point; Indicates that the parameters are collected based on the device and The spatial collection setting amount; Indicates the rounding up symbol; Indicates setting the collection threshold; Performing spatial mapping between the acquisition times N and the injector platform, determining N acquisition positions and performing image acquisition to obtain N initial images; Performing depth processing on the initial image to obtain a depth image, and determining the possibility of missing coordinates under the corresponding acquisition orientation; ; in, Indicates the number of pixels that are not visible in the depth image corresponding to the acquisition orientation; Indicates the theoretical number of pixels displayed for the injector platform; They represent the laser beam points in the three-dimensional movement results captured under the corresponding acquisition orientation c1. Based on the lateral and longitudinal displacement of the edge of the injector platform; Respectively represent the X-axis and Y-axis coordinate points of the randomly moved position point Based on the lateral displacement and longitudinal displacement of the edge of the sampler platform, one pixel point corresponds to one coordinate point, the device acquisition parameter corresponds to the setting parameter of the multi-eye camera itself during the acquisition process, and the spatial acquisition setting amount is obtained based on the matching of the parameter-height-quantity comparison table, which contains the device acquisition parameters of different devices and the spatial acquisition setting amount under the motor height displacement; The possibilities of missing coordinates in N directions are sorted by size, and the initial image of the direction corresponding to the possibility with the last sorting is selected as the reference image, and the initial images of the remaining directions are used as auxiliary images; Taking the reference image as the first image, feature extraction and feature alignment are performed on the auxiliary images in adjacent orientations respectively, and the feature alignment result is adjusted according to the pixel change amount in combination with the relative movement distance of the adjacent orientations to obtain a first fused image; Arrange all first fused images in sequence, and continue to fuse adjacently arranged images until an image is obtained as the second image; Optimizing the pixels of the reference image based on the second image to obtain a current image.

6. The method for high-precision positioning of a well plate in a sample injection system according to claim 5, characterized in that: Perform calibration analysis of mobile results, including: Determine the final coordinate point of the laser beam point based on the X-axis and the Y-axis based on the current image and move the position points randomly on the X-axis and Y-axis coordinate points Conduct comparative analysis; If satisfied At this time, it is determined that the set standard is met, where Respectively represent the set thresholds; otherwise, it is determined that the set standards are not met.

7. The method for high-precision positioning of a well plate in a sample injection system according to claim 6, characterized in that: Continue to control the two sets of laser beam sensors to perform fine movement according to standard errors, including: A quantity-command vector is constructed according to the displacement of the laser beam sensor captured in real time during the movement of the corresponding axis motor and the control command sent to the corresponding axis motor; The quantity-command vector is input into the vector analysis model to obtain the corresponding axis movement error of the corresponding axis motor at each movement moment, wherein the corresponding axis movement error is divided into: a coarse calibration error of the corresponding axis and a fine calibration error of the corresponding axis; Acquire a first nonlinear reference error amount based on a coarse calibration error of the corresponding axis and a second nonlinear reference error amount based on a fine calibration error of the corresponding axis; At the same time, all movement errors under the corresponding axis are plotted according to the movement time to obtain the error curve of the corresponding axis; Determine a first actual distance at the last moment of the rough calibration and a second actual distance at the first moment of the fine calibration, and obtain a first ratio of the first actual distance to the first standard distance and a second ratio of the second actual distance to the second standard distance; Performing a first scaling on a coarse calibration curve in the error curve of the corresponding axis according to a first ratio, and performing a second scaling on a fine calibration curve in the error curve of the corresponding axis according to a second ratio; Obtaining a linear fitting value of a scaling curve for a corresponding axis, and combining a first nonlinear reference error value and a second nonlinear reference error value for the corresponding axis to obtain a current reference error for the corresponding axis; Obtain the unsatisfied error in the failure to meet the set standard and regard it as the standard error; According to the current reference error and standard error of different axes, the first control instruction for the X-axis motor and the second control instruction for the Y-axis motor are obtained, and the positions of the two groups of laser beam sensors are controlled and adjusted.

8. The method for high-precision positioning of a well plate in a sample injection system according to claim 7, characterized in that: According to the current reference errors and standard errors of different axes, a first control instruction for the X-axis motor and a second control instruction for the Y-axis motor are obtained, including: like At this time, according to the current reference error of the X-axis and , determine the X-axis standby error; like At this time, according to the current reference error of the Y axis and , determine the Y-axis standby error; like At this time, according to the current reference error of the X-axis and , determine the standby error of the X axis, and at the same time, according to the current reference error of the Y axis and , determine the Y-axis standby error; The standby errors are matched with the error-command comparison table respectively to obtain the control command of the corresponding axis and send it to the motor of the corresponding axis.

Images