Position calibration method of execution mechanism and luminescence immunoassay analyzer

Abstract

The invention provides a position calibration method of an execution mechanism and a luminescence immunoassay analyzer. The method comprises the following steps: outputting a negative pulse to enable an executing mechanism to move towards a zero position sensor, and returning the currently recorded pulse number to zero when an induction signal is received; a positive pulse is output to enable the execution mechanism to move towards the calibration sensor, when the induction signal is received, whether the currently recorded pulse number c is in [a-b, a + b] or not is judged, if yes, the pulse number c generated when the execution mechanism triggers the calibration sensor is recorded, a is the theoretical pulse number corresponding to the distance between the zero position sensor and the calibration sensor, and b is the set error pulse number; in the process of controlling the execution mechanism to reciprocate along the linear guide rail, if the induction signal is received, whether the currently recorded pulse number is in [a-b, a + b] is judged, and if yes, the currently recorded pulse number is updated to be c. The luminescence immunoassay analyzer adopts the method to calibrate the position of the execution mechanism of the luminescence immunoassay analyzer. According to the invention, the problems of complex time sequence control and low working efficiency caused by the position calibration mode of the execution mechanism of the existing luminescence immunoassay analyzer can be solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of position calibration of moving parts, and more specifically, relates to a position calibration method of an actuator and a luminescent immunoassay analyzer. Background Art

[0002] In recent years, more and more luminescent immunoassay analyzers have adopted a motion structure solution of actuators with linear guides, and adopted corresponding motion control systems to achieve precise motion control. Among them, the motion control system mainly includes a controller, a stepper motor and a zero position sensor. The stepper motor is used to provide a moving driving force for the actuator under the control of the controller, so that the actuator can move along the linear guide and then reach various working positions set along the linear guide; the zero position sensor is usually set at one end of the linear guide to calibrate the initial position of the actuator on the linear guide.

[0003] At present, the above-mentioned motion control system usually adopts an open-loop motion control scheme, specifically: in the power-on initialization stage, the controller outputs a negative pulse to control the actuator to move toward the zero position sensor, and resets the currently recorded pulse number to zero when receiving the sensing signal of the zero position sensor; in the subsequent motion control stage, the controller outputs a corresponding number of positive pulses and negative pulses to make the actuator reciprocate along the linear guide rail. However, when the actuator reciprocates for a certain number of times, there will be a deviation between the current pulse number recorded by the controller to characterize the current position of the actuator and the actual position of the actuator. In order to minimize the deviation between the current pulse number recorded by the controller and the actual position of the actuator, the above-mentioned motion control system usually chooses to control the actuator to return to zero position before each periodic action control of the luminescent immunoassay analyzer starts to calibrate its position relationship. However, this position calibration method of the actuator causes the timing control of the luminescent immunoassay analyzer to reserve the corresponding action time specifically for position calibration, which not only makes the timing control complicated, but also affects the working efficiency of the luminescent immunoassay analyzer. Summary of the invention

[0004] The purpose of the present invention is to solve the problem that the existing luminescent immunoassay analyzer has complex timing control and low working efficiency due to the position calibration method of its actuator.

[0005] In order to achieve the above-mentioned object, the present invention provides a position calibration method of an actuator and a luminescent immunoassay analyzer.

[0006] According to a first aspect of the present invention, there is provided a method for calibrating the position of an actuator, wherein the actuator is configured to be able to move along a linear guide rail under the control of a motion control system to reach various working positions arranged along the linear guide rail;

[0007] The motion control system includes a controller and a stepper motor, a zero position sensor and a calibration sensor electrically connected to the controller;

[0008] The stepper motor is used to provide a moving driving force for the actuator under the control of the controller;

[0009] The zero position sensor is disposed at the first end of the linear guide rail and is configured to send a sensing signal to the controller when triggered by the actuator;

[0010] The calibration sensor is disposed between the zero position sensor and the second end of the linear guide rail, and is configured to send an induction signal to the controller when triggered by the actuator;

[0011] The position calibration method is applied to the controller, comprising:

[0012] outputting a negative pulse to move the actuator toward the zero position sensor, and returning the currently recorded pulse number to zero when receiving an induction signal;

[0013] Output a positive pulse to move the actuator toward the calibration sensor. When receiving the induction signal, determine whether the currently recorded pulse number c is in [ab, a+b]. If so, record the pulse number c when the actuator triggers the calibration sensor, where a is the theoretical pulse number corresponding to the distance between the zero position sensor and the calibration sensor, and b is the set error pulse number;

[0014] In the process of controlling the actuator to reciprocate along the linear guide rail, if an induction signal is received, it is determined whether the currently recorded number of pulses is in [ab, a+b]. If so, the currently recorded number of pulses is updated to c.

[0015] Optionally, the calibration sensor is arranged between the zero position sensor and a remote working position, and the remote working position is a working position farthest from the first end of the linear guide rail among the various working positions.

[0016] Optionally, if the number of the working stations is more than two, the calibration sensor is arranged between the remote working station and the sub-remote working station.

[0017] Optionally, the controller records the current number of pulses in the following manner:

[0018] If the number of pulses recorded at time t1 is a1, and a2 positive pulses are output first and then a3 negative pulses are output from time t1, then if no induction signal is received during the corresponding process, the number of pulses currently recorded is a1+a2-a3.

[0019] Optionally, in the process of controlling the actuator to reciprocate along the linear guide rail, if an induction signal is received, determining whether the currently recorded number of pulses is in [ab, a+b], and if so, updating the currently recorded number of pulses to c, further includes:

[0020] In the process of outputting a positive pulse to move the actuator toward the second end of the linear guide rail, if an induction signal is received, it is determined whether the currently recorded number of pulses is in [ab, a+b], and if so, the currently recorded number of pulses is updated to c.

[0021] Optionally, in the process of controlling the actuator to reciprocate along the linear guide rail, if an induction signal is received, determining whether the currently recorded number of pulses is in [ab, a+b], and if so, updating the currently recorded number of pulses to c, further includes:

[0022] In the process of outputting a negative pulse to move the actuator toward the first end of the linear guide rail, if an induction signal is received, it is determined whether the currently recorded number of pulses is in [ab, a+b], and if so, the currently recorded number of pulses is updated to c.

[0023] Optionally, in the process of controlling the actuator to reciprocate along the linear guide rail, if an induction signal is received, determining whether the currently recorded number of pulses is in [ab, a+b], and if so, updating the currently recorded number of pulses to c, further includes:

[0024] When judging whether the currently recorded number of pulses is in [ab, a+b], if the judgment result is yes, determine whether the total number of times the judgment result is yes is an odd number or an even number. If it is an odd number, update the currently recorded number of pulses to c.

[0025] Optionally, in the process of controlling the actuator to reciprocate along the linear guide rail, if an induction signal is received, determining whether the currently recorded number of pulses is in [ab, a+b], and if so, updating the currently recorded number of pulses to c, further includes:

[0026] When judging whether the number of pulses currently recorded is in [ab, a+b], if the judgment result is yes, then determine whether the total number of times the judgment result is yes is an odd number or an even number. If it is an odd number, then judge whether the result of (n-1) / n1 is an integer. If so, then update the number of pulses currently recorded to c;

[0027] Wherein, n is the total number of times the judgment result is yes, and n1 is the set frequency parameter.

[0028] According to a second aspect of the present invention, there is provided a luminescent immunoassay analyzer, the luminescent immunoassay analyzer comprising an actuator, the actuator being configured to be able to move along a linear guide rail under the control of a motion control system to reach various working positions arranged along the linear guide rail;

[0029] The motion control system includes a controller and a stepper motor, a zero position sensor and a calibration sensor electrically connected to the controller;

[0030] The stepper motor is used to provide a moving driving force for the actuator under the control of the controller;

[0031] The zero position sensor is disposed at the first end of the linear guide rail and is configured to send a sensing signal to the controller when triggered by the actuator;

[0032] The calibration sensor is disposed between the zero position sensor and the second end of the linear guide rail, and is configured to send an induction signal to the controller when triggered by the actuator;

[0033] The controller performs position calibration on the actuator in the following manner:

[0034] outputting a negative pulse to move the actuator toward the zero position sensor, and returning the currently recorded pulse number to zero when receiving an induction signal;

[0035] Output a positive pulse to move the actuator toward the calibration sensor. When receiving the induction signal, determine whether the currently recorded pulse number c is in [ab, a+b]. If so, record the pulse number c when the actuator triggers the calibration sensor, where a is the theoretical pulse number corresponding to the distance between the zero position sensor and the calibration sensor, and b is the set error pulse number;

[0036] In the process of controlling the actuator to reciprocate along the linear guide rail, if an induction signal is received, it is determined whether the currently recorded number of pulses is in [ab, a+b]. If so, the currently recorded number of pulses is updated to c.

[0037] The beneficial effects of the present invention are:

[0038] The position calibration method of the actuator of the present invention determines the current pulse number c when the actuator triggers the calibration sensor in the power-on initialization stage. In the subsequent motion control stage, each time the actuator triggers the calibration sensor, the current pulse number recorded by the controller is updated to c to achieve position calibration of the actuator.

[0039] By adopting the position calibration method of the actuator of the present invention, the position calibration of the actuator can be realized when the actuator passes through the calibration sensor set between the two ends of the linear guide rail, and there is no need to control the actuator to return to position zero before each periodic action control of the luminescent immunoassay analyzer starts to calibrate its position relationship. It can be seen that by adopting the position calibration method of the actuator of the present invention, the timing control of the luminescent immunoassay analyzer does not need to reserve the corresponding action time specifically for position calibration, thereby effectively solving the problem of complex timing control and low working efficiency of the existing luminescent immunoassay analyzer due to its actuator position calibration method.

[0040] The luminescent immunoassay analyzer of the present invention and the position calibration method of the actuator described above belong to a general inventive concept, and have at least the same beneficial effects as the position calibration method of the actuator described above, and the beneficial effects are not repeated here.

[0041] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The present invention may be better understood by referring to the following description taken in conjunction with the accompanying drawings, in which the same or similar reference numerals are used throughout the drawings to represent the same or similar components.

[0043] Figure 1 A flowchart of a method for calibrating the position of an actuator according to an embodiment of the present invention is shown;

[0044] Figure 2 A schematic diagram of the motion control relationship of an actuator according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0045] In order to enable those skilled in the art to more fully understand the technical solution of the present invention, the exemplary embodiments of the present invention will be described in more comprehensive and detailed in conjunction with the accompanying drawings below. Obviously, the one or more embodiments of the present invention described below are only one or more of the specific ways in which the technical solution of the present invention can be implemented, and are not exhaustive. It should be understood that other ways belonging to a general inventive concept can be used to implement the technical solution of the present invention, and should not be limited by the exemplary embodiments described. Based on one or more embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without making creative work should fall within the scope of protection of the present invention.

[0046] Embodiment: In the embodiment of the present invention, the position calibration object is an actuator, which is configured to be able to move along a linear guide rail under the control of a motion control system to reach various working positions set along the linear guide rail;

[0047] Wherein, the motion control system includes a controller and a stepper motor, a zero position sensor and a calibration sensor electrically connected to the controller;

[0048] The stepper motor is used to provide moving driving force for the actuator under the control of the controller;

[0049] The zero position sensor is disposed at the first end of the linear guide rail and is configured to send a sensing signal to the controller when triggered by the actuator;

[0050] The calibration sensor is arranged between the zero position sensor and the second end of the linear guide rail, and is configured to send an induction signal to the controller when triggered by the actuator.

[0051] Specifically, in an embodiment of the present invention, the zero position sensor can be set on the linear guide, or it can be set on one side of the linear guide at a certain distance from the linear guide; the calibration sensor can be set on the linear guide, or it can be set on one side of the linear guide at a certain distance from the linear guide; as long as the zero position sensor and the calibration sensor can be triggered by the actuator moving along the linear guide.

[0052] Specifically, in the embodiment of the present invention, the working position can be considered as a predetermined position on the linear guide rail, and when the actuator moves to the working position, it is configured to perform the corresponding functional operation. The working position can also be considered as a predetermined position located on one side of the linear guide rail. When the sliding portion of the actuator is located at the corresponding position on the linear guide rail, the functional execution part of the actuator exceeds the range of the linear guide rail to perform the corresponding function. At this time, the position where the functional execution part of the actuator is located can also be considered as the working position.

[0053] Figure 1 FIG. 1 is a flowchart showing a method for calibrating the position of an actuator according to an embodiment of the present invention. Figure 1 The position calibration method of the actuator according to the embodiment of the present invention is applied to the controller, comprising the following steps:

[0054] Step S100, outputting a negative pulse to move the actuator toward the zero position sensor, and returning the currently recorded pulse number to zero when receiving the sensing signal;

[0055] Step S200, output a positive pulse to move the actuator toward the calibration sensor. When receiving the sensing signal, determine whether the currently recorded pulse number c is in [ab, a+b]. If so, record the pulse number c when the actuator triggers the calibration sensor, where a is the theoretical pulse number corresponding to the distance between the zero position sensor and the calibration sensor, and b is the set error pulse number;

[0056] Step S300: During the process of controlling the actuator to reciprocate along the linear guide rail, if an induction signal is received, it is determined whether the currently recorded number of pulses is in [ab, a+b]. If so, the currently recorded number of pulses is updated to c.

[0057] Specifically, in step S200 of the embodiment of the present invention, if the currently recorded pulse number c is not in [ab, a+b], it means that the sensing signal received by the controller is not sent by the calibration sensor, but an interference signal received by the controller. In this case, the controller continues to output positive pulses until the sensing signal is received again and the currently recorded pulse number c is in [ab, a+b]. In step S300 of the embodiment of the present invention, if the currently recorded pulse number is not in [ab, a+b], it means that the sensing signal received by the controller is not sent by the calibration sensor, but an interference signal received by the controller. In this case, the interference signal is ignored and the predetermined pulse control is continued.

[0058] Specifically, in the embodiment of the present invention, a is the theoretical number of pulses corresponding to the distance between the zero position sensor and the calibration sensor, and the acquisition method thereof is specifically as follows:

[0059] Obtain the mapping relationship between the output pulse number of the controller and the moving distance of the actuator on the linear guide;

[0060] Get the distance between the zero sensor and the calibration sensor;

[0061] A parameter a is determined according to the mapping relationship and the distance.

[0062] Specifically, using the position calibration method of the actuator of the embodiment of the present invention, except for the power-on initialization stage, in the subsequent motion control stage, there is no need to control the actuator to trigger the zero position sensor to achieve position calibration. Position calibration can be achieved based on the calibration sensor during the movement of the actuator on the linear guide rail.

[0063] Specifically, Figure 2 FIG. 1 is a schematic diagram showing the motion control relationship of the actuator of an embodiment of the present invention. As an optional implementation method of the motion control of the actuator, Figure 2In the figure, 100 is a stepper motor, 200 is a calibration sensor, 300 is a zero position sensor, 400 is a transmission belt, 500 is a linear guide rail, and 600 is an actuator. The stepper motor provides a moving driving force for the actuator based on the transmission belt, the first part of the actuator is fixedly arranged with the transmission belt, and the second part of the actuator is slidably arranged on the linear guide rail. When the transmission belt drives the actuator to move, the actuator slides synchronously on the linear guide rail. The zero position sensor is arranged on the first side of the linear guide rail and close to its first end, the calibration sensor is arranged on the first side of the linear guide rail and is located between the working position A and the working position B, and a baffle for triggering the zero position sensor and the calibration sensor is arranged on the actuator.

[0064] Furthermore, in an embodiment of the present invention, the calibration sensor is arranged between the zero position sensor and the remote working position, and the remote working position is the working position farthest from the first end of the linear guide rail among all the working positions.

[0065] Furthermore, in an embodiment of the present invention, if the number of working positions is more than two, the calibration sensor is disposed between the remote working position and the sub-remote working position.

[0066] Furthermore, in the embodiment of the present invention, the controller records the current number of pulses in the following manner:

[0067] If the number of pulses recorded at time t1 is a1, and a2 positive pulses are output first and then a3 negative pulses are output from time t1, then if no induction signal is received during the corresponding process, the number of pulses currently recorded is a1+a2-a3.

[0068] Furthermore, in the embodiment of the present invention, step S300 further includes:

[0069] In the process of outputting a positive pulse to move the actuator toward the second end of the linear guide rail, if an induction signal is received, it is determined whether the currently recorded number of pulses is in [ab, a+b]. If so, the currently recorded number of pulses is updated to c.

[0070] Furthermore, as an optional manner, in the embodiment of the present invention, step S300 further includes:

[0071] In the process of outputting a negative pulse to move the actuator toward the first end of the linear guide rail, if an induction signal is received, it is determined whether the currently recorded number of pulses is in [ab, a+b]. If so, the currently recorded number of pulses is updated to c.

[0072] Furthermore, as an optional manner, in the embodiment of the present invention, step S300 further includes:

[0073] When judging whether the currently recorded number of pulses is in [ab, a+b], if the judgment result is yes, determine whether the total number of times the judgment result is yes is an odd number or an even number. If it is an odd number, update the currently recorded number of pulses to c.

[0074] Furthermore, as an optional manner, in the embodiment of the present invention, step S300 further includes:

[0075] When judging whether the number of pulses currently recorded is in [ab, a+b], if the judgment result is yes, then determine whether the total number of times the judgment result is yes is an odd number or an even number. If it is an odd number, then judge whether the result of (n-1) / n1 is an integer. If so, then update the number of pulses currently recorded to c;

[0076] Wherein, n is the total number of times the judgment result is yes, and n1 is the set frequency parameter.

[0077] Accordingly, based on the position calibration method of the actuator of the embodiment of the present invention, the embodiment of the present invention further proposes a luminescent immunoassay analyzer, which includes an actuator, and the actuator is configured to be able to move along a linear guide rail under the control of a motion control system to reach various working positions set along the linear guide rail;

[0078] The motion control system includes a controller and a stepper motor, a zero position sensor and a calibration sensor electrically connected to the controller;

[0079] The stepper motor is used to provide moving driving force for the actuator under the control of the controller;

[0080] The zero position sensor is disposed at the first end of the linear guide rail and is configured to send a sensing signal to the controller when triggered by the actuator;

[0081] The calibration sensor is disposed between the zero position sensor and the second end of the linear guide rail and is configured to send a sensing signal to the controller when triggered by the actuator;

[0082] The controller calibrates the actuator position in the following ways:

[0083] Output negative pulses to move the actuator toward the zero position sensor, and reset the currently recorded pulse count to zero when receiving the sensing signal;

[0084] Output a positive pulse to move the actuator toward the calibration sensor. When receiving the induction signal, determine whether the currently recorded pulse number c is in [ab, a+b]. If so, record the pulse number c when the actuator triggers the calibration sensor, where a is the theoretical pulse number corresponding to the distance between the zero position sensor and the calibration sensor, and b is the set error pulse number.

[0085] In the process of controlling the actuator to reciprocate along the linear guide rail, if an induction signal is received, it is determined whether the currently recorded number of pulses is in [ab, a+b]. If so, the currently recorded number of pulses is updated to c.

[0086] Although one or more embodiments of the present invention are described above, it should be known to those skilled in the art that the present invention can be implemented in any other form without departing from its subject matter and scope. Therefore, the embodiments described above are illustrative rather than restrictive, and many modifications and substitutions are obvious to those skilled in the art without departing from the spirit and scope of the present invention as defined in the appended claims.

Claims

1. A method for calibrating the position of an actuator, characterized in that: The actuator is configured to be able to move along the linear guide rail under the control of the motion control system to reach various working positions arranged along the linear guide rail; The motion control system includes a controller and a stepper motor, a zero position sensor and a calibration sensor electrically connected to the controller; The stepper motor is used to provide a moving driving force for the actuator under the control of the controller; The zero position sensor is disposed at the first end of the linear guide rail and is configured to send a sensing signal to the controller when triggered by the actuator; The calibration sensor is disposed between the zero position sensor and the second end of the linear guide rail, and is configured to send an induction signal to the controller when triggered by the actuator; The position calibration method is applied to the controller, comprising: outputting a negative pulse to move the actuator toward the zero position sensor, and returning the currently recorded pulse number to zero when receiving an induction signal; Output a positive pulse to move the actuator toward the calibration sensor. When receiving the induction signal, determine whether the currently recorded pulse number c is in [ab, a+b]. If so, record the pulse number c when the actuator triggers the calibration sensor, where a is the theoretical pulse number corresponding to the distance between the zero position sensor and the calibration sensor, and b is the set error pulse number; In the process of controlling the actuator to reciprocate along the linear guide rail, if an induction signal is received, it is determined whether the currently recorded number of pulses is in [ab, a+b]. If so, the currently recorded number of pulses is updated to c.

2. The method for position calibration of an actuator according to claim 1, characterized in that: The calibration sensor is arranged between the zero position sensor and a remote working position, and the remote working position is a working position farthest from the first end of the linear guide rail among the various working positions.

3. The method for position calibration of an actuator according to claim 2, characterized in that: If the number of the working positions is more than two, the calibration sensor is arranged between the remote working position and the sub-remote working position.

4. The method for position calibration of an actuator according to claim 1, characterized in that: The controller records the current number of pulses in the following manner: If the number of pulses recorded at time t1 is a1, and a2 positive pulses are output first and then a3 negative pulses are output from time t1, then if no induction signal is received during the corresponding process, the number of pulses currently recorded is a1+a2-a3.

5. The method for position calibration of an actuator according to claim 4, characterized in that: In the process of controlling the actuator to reciprocate along the linear guide rail, if an induction signal is received, it is determined whether the currently recorded number of pulses is in [ab, a+b], and if so, the currently recorded number of pulses is updated to c, further comprising: In the process of outputting a positive pulse to move the actuator toward the second end of the linear guide rail, if an induction signal is received, it is determined whether the currently recorded number of pulses is in [ab, a+b], and if so, the currently recorded number of pulses is updated to c.

6. The method for position calibration of an actuator according to claim 4, characterized in that: In the process of controlling the actuator to reciprocate along the linear guide rail, if an induction signal is received, it is determined whether the currently recorded number of pulses is in [ab, a+b], and if so, the currently recorded number of pulses is updated to c, further comprising: In the process of outputting a negative pulse to move the actuator toward the first end of the linear guide rail, if an induction signal is received, it is determined whether the currently recorded number of pulses is in [ab, a+b], and if so, the currently recorded number of pulses is updated to c.

7. The method for position calibration of an actuator according to claim 4, characterized in that: In the process of controlling the actuator to reciprocate along the linear guide rail, if an induction signal is received, it is determined whether the currently recorded number of pulses is in [ab, a+b], and if so, the currently recorded number of pulses is updated to c, further comprising: When judging whether the currently recorded number of pulses is in [ab, a+b], if the judgment result is yes, determine whether the total number of times the judgment result is yes is an odd number or an even number. If it is an odd number, update the currently recorded number of pulses to c.

8. The method for position calibration of an actuator according to claim 4, characterized in that: In the process of controlling the actuator to reciprocate along the linear guide rail, if an induction signal is received, it is determined whether the currently recorded number of pulses is in [ab, a+b], and if so, the currently recorded number of pulses is updated to c, further comprising: When judging whether the number of pulses currently recorded is in [ab, a+b], if the judgment result is yes, then determine whether the total number of times the judgment result is yes is an odd number or an even number. If it is an odd number, then judge whether the result of (n-1) / n1 is an integer. If so, then update the number of pulses currently recorded to c; Wherein, n is the total number of times the judgment result is yes, and n1 is the set frequency parameter.

9. A luminescent immunoassay analyzer, characterized in that: The actuator is configured to move along the linear guide rail under the control of the motion control system to reach various working positions arranged along the linear guide rail; The motion control system includes a controller and a stepper motor, a zero position sensor and a calibration sensor electrically connected to the controller; The stepper motor is used to provide a moving driving force for the actuator under the control of the controller; The zero position sensor is disposed at the first end of the linear guide rail and is configured to send a sensing signal to the controller when triggered by the actuator; The calibration sensor is disposed between the zero position sensor and the second end of the linear guide rail, and is configured to send an induction signal to the controller when triggered by the actuator; The controller performs position calibration on the actuator in the following manner: outputting a negative pulse to move the actuator toward the zero position sensor, and returning the currently recorded pulse number to zero when receiving an induction signal; Output a positive pulse to move the actuator toward the calibration sensor. When receiving the induction signal, determine whether the currently recorded pulse number c is in [ab, a+b]. If so, record the pulse number c when the actuator triggers the calibration sensor, where a is the theoretical pulse number corresponding to the distance between the zero position sensor and the calibration sensor, and b is the set error pulse number; In the process of controlling the actuator to reciprocate along the linear guide rail, if an induction signal is received, it is determined whether the currently recorded number of pulses is in [ab, a+b]. If so, the currently recorded number of pulses is updated to c.

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