Method for correcting and capturing biological particle capturing device

Abstract

A correction and acquisition method of a biological particle acquisition device comprises the following steps that an image observation unit is arranged on an observation platform so as to face one side of an object carrying platform, and a visual field area of the image observation unit faces the object carrying platform for shooting; the image observation unit performs fixed-point displacement on the observation platform corresponding to a plurality of observation basic coordinates set on an observation platform coordinate system, and when the image observation unit is positioned on one of the observation basic coordinates, a correction point is defined in the image of the view area; a capturing part of a particle capturing tool on a capturing platform is controlled to enter the visual field area of the image observation unit; when the image observation unit finds the particles on the carrying disc on the carrying area, the terminal device utilizes a specific conditional expression to calculate and obtain the relative capturing coordinates of the corresponding movement required by the particle capturing tool so as to correspond to the positions of the particles.

Description

Technical Field

[0001] The present invention relates to the calibration and acquisition technology of an acquisition device, and in particular to a calibration and acquisition method of a biological particle acquisition device. Background Art

[0002] With the advancement of biomedical testing technology, automatic capture devices are currently commonly used in biomedical testing technology to automatically sort specific biological particles in culture dishes to improve the accuracy of testing.

[0003] Specifically, the automatic capture device has a robotic arm that can drive the capillary to move and sort the specific biological particles in the culture dish through the capillary; however, in actual operation, due to the tolerance between the robotic arm and the capillary, the relative position of the robotic arm and the capillary is offset, and the relative position of the capillary and the culture dish may also have a slight error, resulting in the robotic arm being unable to accurately move the capillary to the correct position during the sorting process, resulting in a higher proportion of inaccuracy in the sorting of biological particles by the automatic capture device.

[0004] Therefore, there is an urgent need for a calibration and capture method for a biological particle capture device to improve the long-standing technical problems of traditional detection methods. Summary of the invention

[0005] In view of this, an object of the present invention is to provide a calibration and capture method for a biological particle capture device, which utilizes a multi-point calibration method to improve the accuracy of the particle capture tool in capturing biological particles.

[0006] In order to achieve the above-mentioned purpose, the calibration and capture method of the biological particle capture device provided by the present invention includes the following steps: an image observation unit is provided on an observation platform to face one side of a loading platform, and a field of view area of ​​the image observation unit is directed toward a loading area of ​​the loading platform for imaging; the image observation unit performs a fixed-point displacement on the observation platform corresponding to a plurality of observation basic coordinates set on an observation platform coordinate system, and when the image observation unit is positioned at one of the observation basic coordinates, a calibration point is defined from the image of the field of view area; the terminal device positions the image observation unit relative to one of the observation basic coordinates, and controls the image of the loading platform to the terminal device; A particle capture tool on a capture platform is moved relative to the loading area on the other side of the loading platform, and a capture part of the particle capture tool enters the image of the field of view area; the capture part of the particle capture tool is adjusted to align with the calibration point, and a capture calibration coordinate of a capture platform coordinate system of the capture part located on the capture platform is recorded by the terminal device; a carrier is placed in the loading area, and when the image observation unit finds a particle in the carrier, the terminal device captures a plurality of observation basic coordinates previously recorded in the observation platform coordinate system corresponding to the surroundings of the particle, and relatively calculates the image observation unit at each The position of the calibration point recorded in the observation basic coordinates enables the terminal device to obtain a plurality of calibration basic coordinates around the particle on the carrier; a virtual calibration area is simulated in the field of view of the image observation unit by the terminal device according to the plurality of calibration basic coordinates, and the position of the particle falls in the virtual calibration area accordingly; the terminal device generates a first extension axis and a second extension axis according to the simulation at the particle position, the first extension axis intersects perpendicularly with a first X-absolute coordinate axis in the virtual calibration area to obtain a first X-axis intersection coordinate, the first extension axis intersects perpendicularly with a second X-absolute coordinate axis in the virtual calibration area to obtain a first X-axis intersection coordinate, The standard axis intersects vertically with a second X-axis intersection coordinate, the second extended axis intersects vertically with a first Y-axis absolute coordinate axis in the virtual correction area to obtain a first Y-axis intersection coordinate, and the second extended axis intersects vertically with a second Y-axis absolute coordinate axis in the virtual correction area to obtain a second Y-axis intersection coordinate; and then controlling the particle capture tool to a position corresponding to the particle, wherein the terminal device captures the first X-axis intersection coordinate, the second X-axis intersection coordinate, the first Y-axis intersection coordinate and the second Y-axis intersection coordinate, and uses a specific conditional formula to calculate a relative capture coordinate required for the particle capture tool to move accordingly.

[0007] In one embodiment, the plurality of calibration base coordinates are respectively located at corners of the virtual calibration area, and the plurality of calibration base coordinates include a first calibration base coordinate, a second calibration base coordinate, a third calibration base coordinate, and a fourth calibration base coordinate, the first calibration base coordinate corresponds to an intersection of the first absolute X coordinate axis and the first absolute Y coordinate axis, the second calibration base coordinate corresponds to an intersection of the second absolute X coordinate axis and the first absolute Y coordinate axis, the third calibration base coordinate corresponds to an intersection of the first absolute X coordinate axis and the second absolute Y coordinate axis, and the fourth calibration base coordinate corresponds to an intersection of the second absolute X coordinate axis and the second absolute Y coordinate axis.

[0008] In one embodiment, the specific condition is: ((x2-x) / (x2-x1))*Px11+((x-x1) / (x2-x1))*Px21=Px1; ((x2-x) / (x2-x1))*Px12+((x-x1) / (x2-x1))*Px22=Px2; x1 represents the X-coordinate value of the first X-axis intersection coordinate located on the first X-absolute coordinate axis; x2 represents the X-coordinate value of the second X-axis intersection coordinate located on the second X-absolute coordinate axis; x represents the X-axis coordinate value of the particle in the observation platform coordinate system; Px11 represents the capture plane Px1 represents an X-relative coordinate value of the capture platform coordinate system corresponding to the first calibration basic coordinate; Px12 represents an X-relative coordinate value of the capture platform coordinate system corresponding to the second calibration basic coordinate; Px21 represents an X-relative coordinate value of the capture platform coordinate system corresponding to the third calibration basic coordinate; Px22 represents an X-relative coordinate value of the capture platform coordinate system corresponding to the fourth calibration basic coordinate, Px1 represents a first X-axis relative capture coordinate of the capture platform coordinate system corresponding to the first X-axis intersection coordinate, and Px2 represents a second X-axis relative capture coordinate of the capture platform coordinate system corresponding to the second X-axis intersection coordinate.

[0009] In one embodiment, the specific condition is: ((y2-y) / (y2-y1))*Px1+((y-y1) / (y2-y1))*Px2=Px; wherein y1 represents the Y coordinate value of the first Y-axis intersection coordinate located on the first Y absolute coordinate axis; y2 represents the Y coordinate value of the second Y-axis intersection coordinate located on the second Y absolute coordinate axis; y represents the Y-axis coordinate value of the particle in the observation platform coordinate system; Px1 represents the first X-axis relative capture coordinate, Px2 represents the second X-axis relative capture coordinate, and Px represents the X-coordinate value of the relative capture coordinate corresponding to the particle position.

[0010] In one embodiment, the specific condition is: ((x2-x) / (x2-x1))*Py11+((x-x1) / (x2-x1))*Py21=Py1; ((x2-x) / (x2-x1))*Py12+((x-x1) / (x2-x1))*Py22=Py2; wherein y1 represents the Y coordinate value of the first Y-axis intersection coordinate located on the first Y absolute coordinate axis; y2 represents the Y coordinate value of the second Y-axis intersection coordinate located on the second Y absolute coordinate axis; y represents the Y-axis coordinate value of the particle in the observation platform coordinate system; Py11 represents the The capture platform coordinate system corresponds to a Y relative coordinate value of the first correction basic coordinate; Py12 represents a Y relative coordinate value of the capture platform coordinate system corresponding to the second correction basic coordinate; Py21 represents a Y relative coordinate value of the capture platform coordinate system corresponding to the third correction basic coordinate; Py22 represents a Y relative coordinate value of the capture platform coordinate system corresponding to the fourth correction basic coordinate, Py1 represents a first Y-axis relative capture coordinate of the capture platform coordinate system corresponding to the first Y-axis intersection coordinate, and Py2 represents a second Y-axis relative capture coordinate of the capture platform coordinate system corresponding to the second Y-axis intersection coordinate.

[0011] In one embodiment, the specific condition is: ((y2-y) / (y2-y1))*Py1+((y-y1) / (y2-y1))*Py2=Py; wherein y1 represents the Y coordinate value of the first Y-axis intersection coordinate located on the first Y absolute coordinate axis; y2 represents the Y coordinate value of the second Y-axis intersection coordinate located on the second Y absolute coordinate axis; y represents the Y-axis coordinate value of the particle in the observation platform coordinate system; Py1 represents the first Y-axis relative capture coordinate, Py2 represents the second Y-axis relative capture coordinate, and Py represents the Y coordinate value of the relative capture coordinate corresponding to the particle position.

[0012] In one embodiment, the particle capture tool is controlled by a robotic arm to move relative to the carrier platform according to the capture platform coordinate system within the range covered by the capture platform, and the terminal device controls the robotic arm to drive the particle capture tool to move to the relative capture coordinates, so that the capture portion of the particle capture tool is aligned to capture the particles in the carrier.

[0013] In one embodiment, after the particle capture tool completes the particle capture operation, the robot arm moves the particle capture tool to a waste collection area for discarding, and then moves to a capture tool area to reinstall a new particle capture tool.

[0014] In one embodiment, a light-transmitting bottom of the carrier plate faces the observation platform, and the carrier plate is filled with a light-transmitting liquid, and a camera path of the image observation unit is projected from below the light-transmitting bottom and penetrates the light-transmitting liquid.

[0015] In one embodiment, the image observation unit includes a charge coupled device (CCD), a complementary metal oxide semiconductor device (CMOS) or a combination thereof, the image observation unit uses a camera magnification of 5 to 100 times, and the image observation unit is controlled by the terminal device to move.

[0016] The effect of the present invention is that the image observation unit is used to take pictures facing the carrier platform, and the image observation unit makes fixed-point displacement on the observation platform corresponding to each of the observation basic coordinates, and the terminal device defines a correction point based on the image of the field of view of the image observation unit, and controls the capture part of the particle capture tool to enter the field of view of the image observation unit and adjust it to align with the correction point to record the capture correction coordinates of the capture part; in this way, when the image observation unit takes pictures and finds biological particles at a certain position on the carrier, since the image observation unit on the observation platform and the particle capture tool on the capture platform have completed relative position correction on the carrier platform, and the multiple capture correction coordinates have been established on the capture platform coordinate system, the capture part can quickly reach the field of view where the image observation unit can capture images, thereby reducing the relative position error between the particle capture tool and the carrier, and improving the accuracy of the particle capture tool in capturing biological particles.

[0017] Next, the terminal device uses the specific conditional formula to perform correction calculations to obtain the relative capture coordinates of the capture platform coordinate system required to capture the particles, and then accurately controls the robotic arm to drive the particle capture tool to capture the particles, thereby achieving the effect of the particle capture tool accurately capturing biological particles. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 FIG. 1 is a flow chart of steps S1 to S4 of a calibration and capture method of a biological particle capture device according to a preferred embodiment of the present invention.

[0019] Figure 2 FIG. 1 is a flow chart of steps S5 and S6 of a calibration and capture method of a biological particle capture device according to a preferred embodiment of the present invention.

[0020] Figure 3 FIG. 1 is a flow chart of steps S7 to S10 of a calibration and capture method of a biological particle capture device according to a preferred embodiment of the present invention.

[0021] Figure 4FIG. 1 is a schematic diagram of the structure of a biological particle capture device according to a preferred embodiment of the present invention.

[0022] Figure 5 It is a schematic diagram of the structure of the image observation unit projecting toward the carrier in a biological particle capture device according to a preferred embodiment of the present invention.

[0023] Figure 6 It is a schematic diagram of defining calibration points in an image of a field of view area of ​​an image observation unit in a calibration and capture method of a biological particle capture device according to a preferred embodiment of the present invention.

[0024] Figure 7 It is a schematic diagram of fixed-point displacement of an image observation unit corresponding to each observation basic coordinate in a calibration and acquisition method of a biological particle acquisition device according to a preferred embodiment of the present invention.

[0025] Figure 8 It is a schematic diagram of the field of view area generated when the image observation unit is located at one observation base coordinate and shifted to an adjacent observation base coordinate in the calibration and capture method of the biological particle capture device according to a preferred embodiment of the present invention.

[0026] Fig. 9 It is a schematic diagram of the structure of the first image correction unit and the plurality of second image correction units on the loading platform in the calibration and capture method of the biological particle capture device according to a preferred embodiment of the present invention.

[0027] Fig.10 It is a schematic diagram of a field of view image in which the capture portion of the particle capture tool captured by the first image correction unit in the calibration and capture method of the biological particle capture device according to a preferred embodiment of the present invention does not fall on the positioning reference point.

[0028] Fig.11A It is a schematic diagram of a first image correction unit capturing a field of view image of a capture portion of a particle capture tool at the first camera magnification in a calibration and capture method of a biological particle capture device according to a preferred embodiment of the present invention.

[0029] Fig. 11B It is a schematic diagram of a second image correction unit capturing a field of view image of a capture portion of a particle capture tool at the second camera magnification in a calibration and capture method of a biological particle capture device according to a preferred embodiment of the present invention.

[0030] Fig. 11C It is a schematic diagram of a second image correction unit capturing a field of view image of a capture portion of a particle capture tool at the second camera magnification in a calibration and capture method of a biological particle capture device according to a preferred embodiment of the present invention.

[0031] Fig.12It is a schematic diagram of the structure in which a carrier plate is filled with light-transmitting liquid in a calibration and capturing method of a biological particle capturing device according to another preferred embodiment of the present invention.

[0032] Fig.13 This is a schematic diagram of the relative position of particles in the carrier plate simulated by the terminal device in the calibration and capture method of the biological particle capture device according to another preferred embodiment of the present invention.

[0033] Description of reference numerals:

[0034] 10: Loading platform

[0035] 11a: First image correction unit

[0036] 111a: Receiving end

[0037] 112a: Tail end

[0038] 11b, 11c: Second image correction unit

[0039] 111b, 111c: receiving end

[0040] 112b, 112c: tail end

[0041] 12: Loading plate

[0042] 121: Translucent bottom

[0043] 122 light-transmitting liquid

[0044] 13: Mobile Devices

[0045] 20: Observation Platform

[0046] 21: Control elements

[0047] 22: Image observation unit

[0048] 221, 221a, 221b: Field of view

[0049] 30: Capture Platform

[0050] 31: Robotic Arm

[0051] 32: Particle Capture Tool

[0052] 321: Capture Department

[0053] 40: Terminal device

[0054] 41: Calibration point

[0055] 42: Virtual calibration area

[0056] S1~S10: Steps

[0057] A: Observation platform coordinate system

[0058] B: Capture platform coordinate system

[0059] a1: first X axis

[0060] a2: First Y axis

[0061] a3: First Z axis

[0062] b1: Second X-axis direction

[0063] b2: Second Y axis

[0064] b3: Second Z axis

[0065] P: Positioning reference point

[0066] x: X absolute coordinate axis

[0067] x1: first X absolute coordinate axis

[0068] x2: second X absolute coordinate axis

[0069] y: Y absolute coordinate axis

[0070] y1: the first Y absolute coordinate axis

[0071] y2: Second Y absolute coordinate axis

[0072] g1: first extension axis

[0073] g2: Second extension axis

[0074] G: Particles

[0075] t1~t4: Correction of basic coordinates DETAILED DESCRIPTION

[0076] In order to more clearly illustrate the present invention, preferred embodiments are described in detail below with reference to the accompanying drawings. Figure 4 The present invention provides a calibration and capture method for a biological particle capture device, wherein the biological particle capture device includes a loading platform 10, an observation platform 20, a capture platform 30 and a terminal device 40.

[0077] The object-carrying platform 10 is provided with a first image correction unit 11a and a plurality of second image correction units 11b and 11c. The first image correction unit 11a and the plurality of second image correction units 11b and 11c respectively include a charge coupled device (CCD), a complementary metal oxide semiconductor device (CMOS) or a combination thereof. In this embodiment, the first image correction unit 11a and the plurality of second image correction units 11b and 11c are respectively mounted on the object-carrying platform 10 by a bracket (not shown) for photography. Please refer to Figure 4 , the first image correction unit 11a and the second image correction unit 11b are on the same horizontal reference plane (not shown) and are located above the object carrying platform 10, wherein the horizontal reference plane faces the object carrying platform 10, the second image correction unit 11c faces the horizontal reference plane for photography, and the camera axis of the second image correction unit 11c is perpendicular to the camera axis of the first image correction unit 11a and the camera axis of the second image correction unit 11b. Specifically, the camera axis of the first image correction unit 11a and the camera axis of the second image correction unit 11b are equivalent to the X-axis of the horizontal reference plane. In the Z-axis direction and the Y-axis direction, the camera axis of the second image correction unit 11c is equivalent to the Z-axis direction of the horizontal reference plane, so as to be perpendicular to the camera axis of the first image correction unit 11a and the camera axis of the second image correction unit 11b, but the installation method is not limited to the above-mentioned position and structure, as long as the first image correction unit 11a and the multiple second image correction units 11b and 11c can be installed on the loading platform 10, for example, in other embodiments, only at least one of the second image correction unit 11b and the first image correction unit 11a can be arranged on the horizontal reference plane.

[0078] In addition, if Fig. 9As shown, the receiving end 111a of the first image correction unit 11a and the receiving ends 111b and 111c of the multiple second image correction units 11b and 11c are arranged adjacent to each other, the tail end 112a of the first image correction unit 11a is opposite to the receiving end 111a and is located at the other end of the first image correction unit 11a, and the tail ends 112b and 112c of the multiple second image correction units 11b and 11c are respectively opposite to the receiving ends 111b and 111c and are located at the other end of the multiple second image correction units 11b and 11c, wherein the camera axis of the first image correction unit 11a passes through the receiving end 111a and the tail end 112a, the camera axes of the second image correction units 11b and 11c pass through the receiving ends 111b and 111c and the tail ends 112b and 112c respectively, and the image capture area of ​​the first image correction unit 11a overlaps with the image capture areas of the multiple second image correction units 11b and 11c.

[0079] The observation platform 20 is disposed on one side of the carrier platform 10. In the present embodiment, the observation platform 20 is located below the carrier platform 10, wherein a control element 21 and an image observation unit 22 are provided on the observation platform 20, wherein the control element 21 is connected to the image observation unit 22, and the control element 21 can control the image observation unit 22 to translate relative to the carrier platform 10 or to move relative to the carrier platform 10 at a predetermined angle, wherein the image observation unit 22 on the observation platform 20 is configured to observe biological particles on the carrier platform 10, wherein the image observation unit 22 includes a charge coupled device (CCD), a complementary metal oxide semiconductor device (CMOS) or a combination thereof.

[0080] However, the displacement relationship between the image observation unit 22 and the object carrying platform 10 is not limited to the above content. For example, in other embodiments, the control element 21 may be stationary, and the object carrying platform 10 is connected to a moving device 13 (see Figure 4 ), so that the carrying platform 10 can be driven by the moving device 13 to move relative to the image observation unit 22 or at an angle; or, in another embodiment, the control element 21 and the carrying platform 10 can both move, that is, the carrying platform 10 and the image observation unit 22 move relative to each other or at an angle. The angle can be 0 degrees horizontal, 90 degrees vertical, or adjusted to any angle according to implementation requirements.

[0081] In addition, an observation platform coordinate system A is defined on the observation platform 20, and the observation platform coordinate system A includes a first X-axis direction a1, a first Y-axis direction a2, and a first Z-axis direction a3 that are perpendicular to each other. After the observation platform coordinate system A is established, the coordinates of any point of the observation platform coordinate system A can be defined as (Xa, Ya, Za). The observation platform 20 drives the image observation unit 22 with a control element 21 so that the image observation unit 22 can be driven to move arbitrarily relative to the carrier platform 10 within the range covered by the observation platform 20 according to the observation platform coordinate system A, wherein a plurality of observation basic coordinates are set on the observation platform coordinate system A, and the plurality of observation basic coordinates are the position coordinates of the image observation unit 22 that correspond to the movement of the carrier platform 10 in advance, so that the image observation unit 22 can continuously move at a fixed point to fully capture the image of the carrier platform 10.

[0082] The capture platform 30 is disposed on the other side of the carrier platform 10 opposite to the observation platform 20. In the present embodiment, the capture platform 30 is located above the carrier platform 10, wherein a mechanical arm 31 and a particle capture tool 32 are disposed on the capture platform 30, wherein the mechanical arm 31 and the aforementioned manipulation element 21 can be defined as including any mechanism device that can move in any direction in a space, such as Figure 4 As shown, the robot arm 31 can drive the particle capture tool 32 to translate, move up and down, or move at an angle relative to the carrier platform 10, but it is not limited to this. In one embodiment, the robot arm 31 does not move, but the carrier platform 10 translates, moves up and down, or moves at an angle relative to the particle capture tool 32. In another embodiment, both the first robot arm 31 and the carrier platform 10 move, that is, the carrier platform 10 and the particle capture tool 32 translate, move up and down, or move at an angle relative to each other. The angle can be 0 degrees horizontal, 90 degrees vertical, or adjusted to any angle according to implementation requirements.

[0083] In addition, a capture platform coordinate system B is defined on the capture platform 30, and the capture platform coordinate system B includes a second X-axis direction b1, a second Y-axis direction b2, and a second Z-axis direction b3 that are perpendicular to each other, and any point of the capture platform coordinate system B is represented as (Xb, Yb, Zb). The robotic arm 31 on the capture platform 30 is driven by a driving device (not shown in the figure), and the driving device can be a power element such as an electric motor and a pneumatic cylinder, whereby the particle capture tool 32 can be controlled by the robotic arm 31 to be arbitrarily moved relative to the carrier platform 10 according to the capture platform coordinate system B within the range covered by the capture platform 30.

[0084] The terminal device 40 is electrically connected to the robotic arm 31 of the capture platform 30 and the control element 21 of the observation platform 20, respectively. The terminal device 40 can control the movement of the robotic arm 31 and the control element 21, respectively. The terminal device 40 is electrically connected to the first image correction unit 11a, the multiple second image correction units 11b, 11c and the image observation unit 22, respectively, to obtain image signals and analyze them.

[0085] Therefore, based on the above hardware architecture, the calibration and capture method of the biological particle capture device is further described below, including the following steps:

[0086] Step S1, such as Figure 1 , Figure 4 and Figure 5 As shown, the image observation unit 22 on the observation platform 20 is facing a loading area of ​​the loading platform 10. In this embodiment, a carrier plate 12 is placed on the loading area, and the carrier plate 12 can be used to carry biological particles. The aforementioned biological particles may include but are not limited to cells, cell clusters, bacteria, fungi, exosomes or liposomes, wherein the cells may include but are not limited to stem cells, cancer cells, germ cells, somatic cells, nerve cells, blood cells, circulating tumor cells, red blood cells, white blood cells, and nucleated red blood cells; a field of view 221 of the image observation unit 22 is directed toward the loading area of ​​the loading platform 10 for imaging, wherein the carrier plate 12 has a light-transmitting bottom 121 facing the observation platform 20, because the loading area of ​​the loading platform 10 and the light-transmitting bottom 121 of the carrier plate 12 have a light-transmitting function, thereby a camera path of the image observation unit 22 penetrates the loading platform 10 from the light-transmitting bottom 121 of the carrier plate 12.

[0087] In addition, the camera magnification used by the image observation unit 22 can be 5 to 100 times. The image observation unit 22 can adjust the camera magnification according to needs. In this embodiment, it is a 10-fold objective lens. The high magnification method can accurately image and detect the field of view of the light-transmitting bottom 121 of the carrier 12. In other embodiments, the carrier 12 can also be filled with a light-transmitting liquid 122. The camera path light of the image observation unit 22 is projected from below the light-transmitting bottom 121 of the carrier 12 and penetrates the light-transmitting liquid 122 to simulate the actual situation that the carrier 12 has a culture solution.

[0088] In step S2, the terminal device 40 controls the control element 21 of the observation platform 20 to drive the image observation unit 22 to move according to the multiple observation basic coordinates pre-set on the observation platform coordinate system A, so that the image observation unit 22 is moved to a fixed point at the position corresponding to the multiple observation basic coordinates on the observation platform 20, and the image observation unit 22 is directed toward the transparent bottom 121 of the carrier 12 to capture an image, and the image observation unit 22 transmits the image of the carrier 12 to the terminal device 40. In this embodiment, the distance between adjacent observation basic coordinates set on the observation platform coordinate system A is between 1 mm and 7 mm, wherein the distance between adjacent observation basic coordinates basically includes the distance between the X-axis coordinate value, the Y-axis coordinate value, and the distance between adjacent observation basic coordinates. The distance between the coordinate values ​​or the distance between the Z-axis coordinate values, wherein when the observation platform 20 causes the mechanism to deflect during the mechanical operation, so that the observation platform 20 is in a non-horizontal state, the adjacent observation basic coordinates set on the observation platform coordinate system A need to consider the distance between the Z-axis coordinate values. In this embodiment, the distance between the adjacent observation basic coordinates set on the observation platform coordinate system A is 1 mm. Assuming that one of the observation basic coordinates on the observation platform coordinate system A is (1,1,0), the adjacent observation basic coordinates can be (2,1,0) or (1,2,0), wherein the distance between the adjacent observation basic coordinates set on the observation platform coordinate system A is used for positioning and correction, and the size can be adjusted according to the needs, and does not constitute a limitation of the present invention in the present invention. However, if the distance between the adjacent observation basic coordinates is smaller, the more time is required for correction. In another embodiment, the distance between the adjacent observation basic coordinates can also be 3 mm, so as to achieve the purpose of completing the correction operation faster.

[0089] To further explain, Figure 5 and Figure 6 As shown, when the image observation unit 22 moves to one of the observation basic coordinates, a calibration point 41 is defined from the image of the field of view area 221, wherein the terminal device 40 first simulates an X absolute coordinate axis x and a Y absolute coordinate axis y in the field of view area 221, and the X absolute coordinate axis x and the Y absolute coordinate axis y intersect vertically at the focal center position of the field of view area 221 to form the calibration point 41.

[0090] In addition, the visual field area 221 generated by the image observation unit 22 being located at one of the observation basic coordinates and the visual field area 221 generated by the image observation unit 22 shifting to the adjacent observation basic coordinates may partially overlap; for a brief explanation, please refer to Figure 7 and Figure 8, assuming that the image observation unit 22 is positioned at the position where the observation basic coordinates are (1,1,0), and the image observation unit 22 corresponds to the field of view area 221a generated by the carrier platform 10, when the image observation unit 22 moves to the position where the observation basic coordinates are (2,1,0), the image observation unit 22 corresponds to the field of view area 221b generated by the carrier platform, and at this time, the field of view area 221a and the field of view area 221b may be partially overlapped.

[0091] In step S3, the terminal device 40 is positioned at a relative position of one of the observation base coordinates by using the image observation unit 22 to control the particle capture tool 32 on the capture platform 30 to move above the carrier platform 10 and relative to the carrier area, so that the capture portion 321 of the particle capture tool 32 is displaced on the disk surface of the carrier 12, and the capture portion 321 of the particle capture tool 32 enters the image of the field of view 221 of the image observation unit 22, thereby the image observation unit 22 can detect the relative position of the capture portion 321 of the particle capture tool 32 in the field of view 221. It should be specially noted that the capture portion 321 of the particle capture tool 32 can move regularly along a moving path on the disk surface of the carrier 12, such as: the moving path of the particle capture tool 32 can be moving from the inside to the outside with a fixed center of the carrier 12; it can also move back and forth repeatedly from left to right on the disk surface of the carrier 12; or the moving path of the particle capture tool 32 can be adjusted to move randomly along a non-repetitive trajectory, so that the capture portion 321 of the particle capture tool 32 eventually enters the image of the field of view 221 of the image observation unit 22. In another embodiment, the moving position or angle of the capture portion 321 of the particle capture tool 32 can also be adjusted manually so that the capture portion 321 of the particle capture tool 32 enters the image of the field of view 221 of the image observation unit 22.

[0092] Step S4, when the image observation unit 22 detects that the capture part 321 of the particle capture tool 32 enters the field of view area 221, the terminal device 40 adjusts the capture part 321 of the particle capture tool 32 to align with the calibration point 41 in the field of view area 221, and the image observation unit 22 determines that the capture part 321 of the particle capture tool 32 is indeed aligned with the calibration point 41, and records a capture calibration coordinate of the capture part 321 of the particle capture tool 32 located in the capture platform coordinate system B of the capture platform 30 through the terminal device 40; in other words, when the terminal device 40 records the capture calibration coordinate of the capture part 321 of the particle capture tool 32, the image observation unit 22 is continuously controlled. The image observation unit 22 is shifted to the position of another observation basic coordinate on the observation platform 20, and the terminal device 40 defines a corresponding other correction point 41 in the image of the field of view 221 generated by the image observation unit 22, and controls the capture part 321 of the particle capture tool 32 to enter the image of the field of view 221 of the image observation unit 22 according to the relative position of the other observation basic coordinate, and the terminal device 40 continues to adjust the capture part 321 of the particle capture tool 32 to align with the other correction point 41 in the field of view 221 generated by the image observation unit 22, and the terminal device 40 records the capture correction coordinates of the capture part 321 of the particle capture tool 32.

[0093] Therefore, when the image observation unit 22 finds biological particles at a certain position on the carrier 12, since the image observation unit 22 on the observation platform 20 and the particle capture tool 32 on the capture platform 30 have completed relative position calibration on the carrier platform 10, and the plurality of capture calibration coordinates have been established and recorded on the capture platform coordinate system B, the capture unit 321 can be quickly brought to the field of view 221 where the image observation unit 22 can capture images. However, after the particle capture tool 32 is replaced due to operational requirements, the angles of the particle capture tool 32 and the mechanical arm 31 may not always be the same when the particle capture tool 32 is connected to the mechanical arm 31, or the mechanical operation may be different. The error caused by the mechanism deviation during the operation or due to the shaking of the hardware causes a difference between the position where the particle capture tool 32 reaches the pre-set capture correction coordinates and the position where the image observation unit 22 moves to the corresponding capture correction coordinates, but the difference is still within the field of view area 221 where the image observation unit 22 can capture images. Therefore, in this embodiment, the correction method of steps S1 to S4 is used again to achieve position correction between the particle capture tool 32 and the image observation unit 22, thereby reducing the error in the relative position of the particle capture tool 32 and the carrier 12 and improving the accuracy of the particle capture tool 32 in capturing biological particles.

[0094] In more detail, the image observation unit 22 monitors the capture portion 321 by looking up, and the terminal device 40 determines the relative position of the capture portion 321 and the calibration point 41 in the field of view 221 according to the image captured by the image observation unit 22, and the terminal device 40 controls the robot arm 31 to adjust the position of the capture portion 321 on the carrier 12, so that the axis of the capture portion 321 is aligned with the calibration point 41 to calibrate the position of the particle capture tool 32, wherein the calibration method of the capture portion 321 is , is to control the capture portion 321 to move along the second X-axis direction b1 of the capture platform coordinate system B and along the second Y-axis direction b2 of the capture platform coordinate system B, so that the axis or tip of the capture portion 321 is aligned with the calibration point 41; in other embodiments, when the capture portion 321 is non-polygonal (such as circular or spherical, etc.), the center axis of the capture portion 321 is aligned with the calibration point 41, and at this time, the focus of the image observation unit 22 falls on the disk surface of the carrier 12, that is, the side away from the transparent bottom 121 of the carrier 12.

[0095] In one embodiment, the focus of the image observation unit 22 can be finely adjusted to be away from the disk surface of the carrier 12, or the focus of the image observation unit 22 just falls on the disk surface of the carrier 12, and the robotic arm 31 drives the capture portion 321 to repeatedly move along the second Z-axis direction b3 of the capture platform coordinate system B according to the control of the terminal device 40; when the image observation unit 22 monitors the edge sharpness of the capture portion 321 from a downward perspective and reaches the highest, the terminal device 40 determines that the capture portion 321 falls on the focus of the image observation unit 22, and the terminal device 40 defines this time The coordinate position of the capture unit 321 on the second Z-axis direction b3 of the capture platform coordinate system B is the correction position of the capture unit 321 relative to the image observation unit 22; when the capture unit 321 actually falls on the correction point 41, the terminal device 40 defines the coordinate position of the capture unit 321 on the second X-axis direction b1 and the second Y-axis direction b2 of the capture platform coordinate system B at this time as the correction position of the capture unit 321 relative to the correction point 41, and finally the correction information of the capture unit 321 located in the capture platform coordinate system B is recorded by the terminal device 40.

[0096] Specifically, the present invention controls the image observation unit 22 to perform fixed-point displacement on the observation platform 20 corresponding to each of the observation basic coordinates according to a predetermined sequence, and then the terminal device 40 controls the capture part 321 of the particle capture tool 32 to move and align with the position of the calibration point 41 in the image of the field of view 221 according to the relative position of the image observation unit 22 positioned at one of the observation basic coordinates, so as to record the position correspondence between the observation platform coordinate system A and the capture platform coordinate system B, and at the same time record the relative coordinate z of the capture part 321 of the particle capture tool 32 driven by the robot arm 31 to move to each of the calibration points 41. In this way, by calculating the relative coordinate z of the calibration point 41 and the capture part 321 of the particle capture tool 32 relative to the capture platform coordinate system B, the absolute position of the calibration point 41 and the relative coordinate of the corresponding movement of the particle capture tool 32 can be obtained.

[0097] See also Figure 2 , Figure 4 and Fig. 9 , further describing the details of step S5, the imaging focus of the first image correction unit 11a on the object loading platform 10 overlaps with the imaging focus of the plurality of second image correction units 11b and 11c to form a positioning reference point P. In this embodiment, the first image correction unit 11a receives the image signal through a first imaging magnification, and the plurality of second image correction units 11b and 11c receive the image signal through a second imaging magnification, respectively. The detailed relationship between the first image correction unit 11a and the plurality of second image correction units 11b and 11c is described in more detail, the first imaging magnification set by the first image correction unit 11a is smaller than the second imaging magnification set by the plurality of second image correction units 11b and 11c, wherein the first imaging magnification used by the first image correction unit 11a is between 1.5 and 5 times, and the second imaging magnification used by the second image correction units 11b and 11c is between 5 and 20 times.

[0098] In this embodiment, the first camera magnification used by the first image correction unit 11a is 2 times, and the second camera magnification used by the second image correction units 11b and 11c can be specifically 10 times. The purpose of the first camera magnification used by the first image correction unit 11a being smaller than the second camera magnification used by each of the second image correction units 11b and 11c is to allow the first image correction unit 11a to have a larger image capture area during the initial image capture process. It must be noted that the first image correction unit 11a, the second image correction unit 11b, and the second image correction unit 11c can adjust the camera magnification according to user needs, that is, the first image correction unit 11a, the second image correction unit 11b, and the second image correction unit 11c are not necessarily limited to the above-mentioned camera magnification.

[0099] Step S6, see Figure 2 and 4 The robotic arm 31 controls the particle capture tool 32 to move relative to the first image correction unit 11a and the multiple second image correction units 11b, 11c, and drives the capture part 321 of the particle capture tool 32 to enter the capture image area of ​​the first image correction unit 11a and the capture image areas of each of the second image correction units 11b, 11c. In the present embodiment, the robotic arm 31 on the capture platform 30 is driven by the driving device (not shown in the figure), which can drive the robotic arm 31 to drive the particle capture tool 32 to move arbitrarily relative to the first image correction unit 11a and the multiple second image correction units 11b, 11c according to the capture platform coordinate system B within the range covered by the capture platform 30.

[0100] During the actual operation of the particle capture tool 32, the particle capture tool is controlled to move to a position coordinate pre-set in the capture platform coordinate system. This position coordinate pre-sets the capture portion of the particle capture tool to correspond to the positioning reference point P where the camera focus of the first image correction unit 11a overlaps with the camera focus of the plurality of second image correction units 11b and 11c. However, in other embodiments, if the mechanism position is offset due to human factors or machine shaking, resulting in the particle capture tool 32 being unable to be parallel to the second Z-axis direction b3 of the capture platform coordinate system B, or other conditions that may occur cause the capture platform 30 to be unable to maintain a horizontal state, the axial direction of the particle capture tool 32 will be unable to be perpendicular to the second X-axis direction b1 and the second Y-axis direction b2 of the capture platform coordinate system B, so that the capture portion 321 will not fall exactly on the positioning reference point P. As a result, the corresponding relationship between the position coordinates of the particle capture tool 32 driven by the capture platform 30 and the actual position of the capture part 321 will be offset. When the particle capture tool 32 is shifted to the position coordinates and the capture part 321 is offset from the positioning reference point P, the terminal device 40 can read the offset distance between the positioning reference point P and the capture part 321 in the images of the first image correction unit 11a and the multiple second image correction units 11b, 11c, and calculate the offset distance into an offset compensation value, so that the terminal device 40 can adjust the position coordinates of the particle capture tool 32 according to the offset compensation value. In another embodiment, the terminal device 40 controls the robot arm 31 to move the particle capture tool 32 so that the capture part 321 of the particle capture tool 32 is aligned with the positioning reference point P.

[0101] For an example, see Fig.10 When the first image correction unit 11a detects that the capture part 321 of the particle capture tool 32 and the positioning reference point P are offset in the captured image area, the terminal device 40 calculates the offset distance between the capture part 321 and the positioning reference point P according to the image captured by the first image correction unit 11a, and uses the calculation result as the offset compensation value of the particle capture tool 32 in the X-axis direction of the capture platform coordinate system B; in other words, when the second image correction units 11b and 11c detect that the capture part 321 of the particle capture tool 32 and the positioning reference point P are offset in the captured image area, the terminal device 40 also calculates the offset distance corresponding to the images captured by the second image correction units 11b and 11c as the offset compensation value of the particle capture tool 32 in the Y-axis direction and the Z-axis direction of the capture platform coordinate system B.

[0102] However, in other embodiments, the particle capture tool 32 may be image-calibrated by the first image calibration unit and the plurality of second image calibration units, so that the capture portion 321 of the particle capture tool is positioned at the positioning reference point P, see Figure 4 and Figures 11A to 11C The calibration of the capture platform coordinate system B and the actual position of the capture portion 321 is to first control the capture portion 321 of the particle capture tool 32 to enter the capture image area of ​​the first camera magnification set by the first image correction unit 11a, and preliminarily capture the image of the capture portion 321 of the particle capture tool 32 with a larger field of view, and then adjust the capture portion 321 of the particle capture tool 32 to align with the camera focus of the first image correction unit 11a by moving the robot arm 31, and make the bottom edge image of the capture portion 321 be located in the field of view of the capture image area of ​​the first image correction unit 11a. The capture part 321 of the particle capture tool 32 is then controlled to enter the capture image area of ​​the second camera magnification set by each of the second image correction units 11b and 11c, and the capture part 321 of the particle capture tool 32 is captured in detail with the second camera magnification by using the plurality of second image correction units 11b and 11c, and the capture part 321 is adjusted by the robot arm 31 so that the capture part 321 is aligned with the camera focus of each of the second image correction units 11b and 11c, so that the bottom edge image of the capture part 321 is located at the center of the field of view of the capture image area of ​​each of the second image correction units 11b and 11c. Since the first camera magnification of the first image correction unit 11a is smaller than the second camera magnification of the plurality of second image correction units 11b and 11c, the first image correction unit 11a will have a larger field of view during the image capture process. Therefore, by first using the first image correction unit 11a to capture images for correction, it is possible to allow the image to be corrected to still be within the field of view when a large error is caused by human factors or mechanism displacement. On the contrary, since the field of view of the multiple second image correction units 11b and 11c is smaller, if the second image correction units 11b and 11c are used as the basis for correction first, there is a concern that the image to be corrected may exceed the field of view and the correction operation cannot be accurately performed. Therefore, after the first image correction unit 11a is used for preliminary correction, the multiple second image correction units 11b and 11c are used to capture images for correction, so as to achieve the purpose of ensuring that the captured object to be corrected is within the field of view of the captured image.

[0103] Regarding the calibration of the acquisition platform coordinate system B and the actual position of the acquisition unit 321, the following further describes the relevant contents in detail. Fig.11AAs shown, the first image correction unit 11a is used to capture an image at the first camera magnification, and the robot arm 31 is moved so that the bottom edge of the capture portion 321 is located at the center of the field of view of the capture area of ​​the first image correction unit 11a, and the edge sharpness of the capture portion 321 is maximized to complete the correction of the X-axis direction of the capture platform coordinate system B. Then, as Fig. 11B As shown, the second image correction unit 11b captures the capture portion 321 of the particle capture tool 32 in detail with a second camera magnification, and controls the robot arm 31 to drive the lower edge side view of the capture portion 321 to be located at the center of the field of view of the capture image area of ​​the second image correction unit 11b, and to achieve the maximum edge sharpness of the capture portion 321 to complete the Y-axis correction of the capture platform coordinate system B; then, as shown Fig. 11C As shown, the second image correction unit 11c is then used to capture the capture portion 321 of the particle capture tool 32 in detail with a second camera magnification, and the robot arm 31 is controlled to drive the top view of the capture portion 321 to be located at the center of the field of view of the capture image area of ​​the second image correction unit 11c, and the edge sharpness of the capture portion 321 is maximized to complete the correction of the Z-axis direction of the capture platform coordinate system B. This embodiment is only an example, and the correction order of the second image correction unit 11b and the second image correction unit 11c is the same. By utilizing the design of different camera magnifications of the first image correction unit 11a and the multiple second image correction units 11b and 11c, the capture portion 321 of the particle capture tool 32 can be quickly and accurately corrected to the positioning reference point P. Among them, the capture portion 321 is presented as follows Fig.11A The tip shown may be rounded, spherical, or have a cross section near the end that is smaller than (or equal to) the cross section far from the end.

[0104] In short, the robotic arm 31 drives the capture part 321 to move so that the capture part 321 first falls into the camera focus of the first image correction unit 11a, so that the image of the capture part 321 captured by the first image correction unit 11a is centered and the edge sharpness of the image of the capture part 321 reaches the maximum, that is, the coordinate position of the capture part 321 in the capture platform coordinate system B is recorded, and the acquired coordinate position information of the capture part 321 in the capture platform coordinate system B is transmitted to the terminal device 40 for storage, and the capture part 321 is focused to complete the preliminary alignment correction between the capture platform coordinate system B and the actual position of the capture part 321.

[0105] Next, the second image correction unit 11b is used to capture the image of the capture portion 321 in detail, and the robotic arm 31 is used to drive the capture portion 321 to move so that the capture portion 321 falls into the camera focus of the second image correction unit 11b, so that the image of the capture portion 321 captured by the second image correction unit 11b is centered and the edge sharpness of the image of the capture portion 321 is maximized.

[0106] Then, the second image correction unit 11c is used to capture the image of the capture part 321 in detail, and the robotic arm 31 is also used to drive the capture part 321 to move so that the capture part 321 falls into the camera focus of the second image correction unit 11c, so that the image of the capture part 321 captured by the second image correction unit 11c is centered and the edge sharpness of the image of the capture part 321 reaches the maximum, that is, the coordinate position of the capture part 321 in the second X-axis direction b1, the second Y-axis direction b2 and the second Z-axis direction b3 of the capture platform coordinate system B is recorded, and the acquired coordinate position information of the capture part 321 in the second X-axis direction b1, the second Y-axis direction b2 and the second Z-axis direction b3 of the capture platform coordinate system B is transmitted to the terminal device 40 for storage, and the capture part 321 is focused in detail to complete the correction of the capture platform coordinate system B and the actual position of the capture part 321, so as to achieve the purpose of platform correction.

[0107] Therefore, if the biological particle capture device causes the carrier platform 10 or the capture platform 30 to be misaligned due to installation or other factors, the regression alignment correction can be completed at any time by the correction method of the capture platform coordinate system B of this embodiment and the actual position of the capture part 321; furthermore, when the particle capture tool 32 is replaced, the correction method of the capture platform coordinate system B of this embodiment and the actual position of the capture part 321 will not affect the particle capture function due to the different coarseness of the selected materials or the tolerance of the materials during mass production. In this embodiment, the terminal device 40 can also record the particle capture tool 32 in the capture platform coordinate system B, which moves a first space vector toward the second X-axis direction b1, a second space vector toward the second Y-axis direction b2, and a third space vector toward the second Z-axis direction b3.

[0108] To explain briefly, in one embodiment, the capture platform coordinate system B is driven by the robotic arm 31 to move the capture portion 321 of the particle capture tool 32 to the area where the first image correction unit 11a and the multiple second image correction units 11b and 11c can capture images. In other words, the capture portion 321 falls on the positioning reference point P, which can correct the relative position of the robotic arm 31 and the particle capture tool 32.

[0109] In other embodiments, the steps S5 and S6 can be adjusted to before the aforementioned step S1 as needed, that is, the positional relationship between the capture portion 321 of the particle capture tool 32 and the positioning reference points P of the multiple first image correction units 11a and the multiple second image correction units 11b, 11c can be adjusted first, and then the positional relationship between the capture portion 321 of the particle capture tool 32 and the image observation unit 22 can be calibrated.

[0110] See also Figure 3 , Fig.12 and Fig.13 , further describing the details of step S7, when the image observation unit 22 actually finds a particle G in the carrier 12, the terminal device 40 first captures a plurality of observation base coordinates previously recorded in the observation platform coordinate system A corresponding to the vicinity of the particle G, and relatively calculates the position of the correction point 41 recorded in each of the observation base coordinates of the image observation unit 22, so that the terminal device 40 obtains a plurality of correction base coordinates t1~t4 around the particle G on the carrier 12.

[0111] Step S8, simulating a virtual calibration area in the field of view of the image observation unit by the terminal device 40 according to the plurality of calibration basic coordinates t1-t4, and the position of the particle falls in the virtual calibration area accordingly, see Fig.13, more specifically, a first X absolute coordinate axis x1, a second X absolute coordinate axis x2, a first Y absolute coordinate axis y1 and a second Y absolute coordinate axis y2 are simulated in the field of view 221 of the image observation unit 22 to enclose a virtual calibration area 42, and the position of the particle G falls in the virtual calibration area 42 accordingly, wherein the plurality of calibration basic coordinates are respectively located at the corners of the virtual calibration area, and the plurality of calibration basic coordinates include a first calibration basic coordinate t1, a second calibration basic coordinate t2, a third calibration basic coordinate t3 and a fourth calibration basic coordinate t4, the first calibration basic coordinate t1 corresponds to the intersection of the first X absolute coordinate axis x1 and the first Y absolute coordinate axis y1, the second calibration basic coordinate t2 corresponds to the intersection of the second X absolute coordinate axis x2 and the first Y absolute coordinate axis y1, the third calibration basic coordinate t3 corresponds to the intersection of the first X absolute coordinate axis x1 and the second Y absolute coordinate axis y2, and the fourth calibration basic coordinate t4 corresponds to the intersection of the second X absolute coordinate axis x2 and the second Y absolute coordinate axis y2.

[0112] Step S9, the terminal device 40 generates a first extension axis g1 and a second extension axis g2 according to the simulation at the position of the particle G, the first extension axis g1 will perpendicularly intersect with the first X absolute coordinate axis x1 in the virtual correction area 42 to obtain a first X-axis intersection coordinate, the first extension axis g1 will perpendicularly intersect with the second X absolute coordinate axis x2 in the virtual correction area 42 to obtain a second X-axis intersection coordinate; the second extension axis g2 will perpendicularly intersect with the first Y absolute coordinate axis y1 in the virtual correction area 42 to obtain a first Y-axis intersection coordinate, the second extension axis g2 will perpendicularly intersect with the second Y absolute coordinate axis y2 in the virtual correction area 42 to obtain a second Y-axis intersection coordinate.

[0113] In step S10, the robot arm 31 is controlled to drive the particle capture tool 32 to move to the position corresponding to the particle G, wherein the terminal device 40 captures the first X-axis intersection coordinate, the second X-axis intersection coordinate, the first Y-axis intersection coordinate, and the second Y-axis intersection coordinate, and uses a specific conditional formula to calculate a relative capture coordinate (Px, Py) that the particle capture tool 32 needs to move accordingly. The specific conditional formula is as follows:

[0114] Px coordinate value calculation method:

[0115] ((x2-x) / (x2-x1))*Px11+((x-x1) / (x2-x1))*Px21=Px1;

[0116] ((x2-x) / (x2-x1))*Px12+((x-x1) / (x2-x1))*Px22=Px2;

[0117] ((y2-y) / (y2-y1))*Px1+((y-y1) / (y2-y1))*Px2=Px;

[0118] Py coordinate value calculation method:

[0119] ((x2-x) / (x2-x1))*Py11+((x-x1) / (x2-x1))*Py21=Py1;

[0120] ((x2-x) / (x2-x1))*Py12+((x-x1) / (x2-x1))*Py22=Py2;

[0121] ((y2-y) / (y2-y1))*Py1+((y-y1) / (y2-y1))*Py2=Py;

[0122] The meanings of the symbols in the above conditional formula are as follows:

[0123] x1 represents the X coordinate value of the first X-axis intersection coordinate located on the first X absolute coordinate axis x1;

[0124] x2 represents the X coordinate value of the second X-axis intersection coordinate located on the second X absolute coordinate axis x2;

[0125] x represents the X-axis coordinate value of the particle in the observation platform coordinate system A;

[0126] y1 represents the Y coordinate value of the first Y-axis intersection coordinate located on the first Y absolute coordinate axis y1;

[0127] y2 represents the Y coordinate value of the second Y-axis intersection coordinate located on the second Y absolute coordinate axis y2;

[0128] y represents the Y-axis coordinate value of the particle in the observation platform coordinate system A;

[0129] Px11 represents an X-axis relative coordinate value z1 of the capture platform coordinate system B corresponding to the first calibration basic coordinate t1;

[0130] Px12 represents an X-axis relative coordinate value z2 of the capture platform coordinate system B corresponding to the second calibration basic coordinate t2;

[0131] Px21 represents an X-axis relative coordinate value z3 of the capture platform coordinate system B corresponding to the third calibration basic coordinate t3;

[0132] Px22 represents an X-axis relative coordinate value z4 of the capture platform coordinate system B corresponding to the fourth calibration basic coordinate t4;

[0133] Px1 represents a first X-axis relative capture coordinate of the capture platform coordinate system B corresponding to the first X-axis intersection coordinate;

[0134] Px2 represents a second X-axis relative capture coordinate of the capture platform coordinate system B corresponding to the second X-axis intersection coordinate;

[0135] Py11 represents a Y-axis relative coordinate value z1 of the capture platform coordinate system B corresponding to the first calibration basic coordinate t1;

[0136] Py12 represents a Y-axis relative coordinate value z2 of the capture platform coordinate system B corresponding to the second calibration basic coordinate t2;

[0137] Py21 represents a Y-axis relative coordinate value z3 of the capture platform coordinate system B corresponding to the third calibration basic coordinate t3;

[0138] Py22 represents a Y-axis relative coordinate value z4 of the capture platform coordinate system B corresponding to the fourth calibration basic coordinate t4;

[0139] Py1 represents a first Y-axis relative capture coordinate of the capture platform coordinate system B corresponding to the first Y-axis intersection coordinate;

[0140] Py2 represents a second Y-axis relative capture coordinate of the capture platform coordinate system B corresponding to the second Y-axis intersection coordinate;

[0141] Px represents the X coordinate value of the relative capture coordinate corresponding to the particle position;

[0142] Py represents the Y coordinate value of the relative capture coordinate corresponding to the particle position.

[0143] For example, when the image observation unit 22 finds a particle G in the aforementioned virtual calibration area 42 of the carrier 12, and the values ​​of each calibration point 41 of the virtual calibration area 42 at the corresponding calibration basic coordinates t1-t4 and the relative coordinates z1-z4 of the capture portion 321 relative to the capture platform coordinate system B are recorded in the terminal device 40 as shown in the following table:

[0144] Calibration base coordinates on the carrier Capture the relative coordinates of the platform coordinate system B t1(10,10) z1(31,28) t2(10,20) z2(32,39) t3(20,10) z3(41,29) t4(20,20) z4(42,40)

[0145] In addition, the position of the particle G in the virtual calibration area 42, the coordinate value (x, y) of the carrier 12 obtained by calculating the virtual extension line is (16, 18). In this way, the Px coordinate value and the Py coordinate value can be calculated using the above conditional expression as follows:

[0146] Px coordinate value calculation:

[0147] Px1=((x2-x) / (x2-x1))*Px11+((x-x1) / (x2-x1))*Px21

[0148] =((20-16) / (20-10))*31+((16-10) / (20-10))*41=37;

[0149] Px2=((x2-x) / (x2-x1))*Px12+((x-x1) / (x2-x1))*Px22

[0150] =((20-16) / (20-10))*32+((16-10) / (20-10))*42=38;

[0151] Px=((y2-y) / (y2-y1))*Px1+((y-y1) / (y2-y1))*Px2

[0152] =((20-18) / (20-10))*37+((18-10) / (20-10))*38=37.8;

[0153] Px coordinate value calculation:

[0154] Py1=((x2-x) / (x2-x1))*Py11+((x-x1) / (x2-x1))*Py21

[0155] =((20-16) / (20-10))*28+((16-10) / (20-10))*29=28.6;

[0156] Py2=((x2-x) / (x2-x1))*Py12+((x-x1) / (x2-x1))*Py22

[0157] =((20-16) / (20-10))*39+((16-10) / (20-10))*40=39.6;

[0158] Py=((y2-y) / (y2-y1))*Py1+((y-y1) / (y2-y1))*Py2

[0159] =((20-18) / (20-10))*28.6+((18-10) / (20-10))*39.6=37.4;

[0160] In this way, the terminal device 40 can drive the robot arm 31 to move the particle capture tool 32 to the relative capture coordinates (37.8, 37.4) of the capture platform coordinate system B through the (Px, Py) calculated by the above conditional formula to capture the particle G located at the corrected basic coordinates (x, y) of (16, 18).

[0161] In other words, the present invention first transmits the calibration basic coordinates t1-t4 of the carrier 12 to the terminal device 40, and then uses the terminal device 40 to capture images through the image observation unit 22 to obtain the corresponding relative coordinates z1-z4 of the capture platform coordinate system B. The terminal device 40 can then use the aforementioned conditional formula to perform calibration calculations to obtain the relative capture coordinates (Px, Py) of the capture platform coordinate system B required to capture the particle G, thereby accurately controlling the robot arm 31 to drive the particle capture tool 32 to capture the particle G. It should be noted that the example of this embodiment is based on 1 virtual calibration area 42 and 4 calibration points 41 for illustration, but is not limited to this. The more the number of the virtual calibration areas 42 and the corresponding calibration points 41, the more accurate the calibration result can be, but the calibration time is also relatively longer. In order to ensure the accuracy and time cost of the calibration, the number of different virtual calibration areas 42 and the spacing distance between the multiple virtual calibration areas 42 can be adjusted as needed in each calibration process to achieve the best calibration result.

[0162] In addition, when the particle capture tool 32 completes the particle capture operation, the robot arm 31 moves the particle capture tool 32 to a waste collection area (not shown in the figure) for disposal, and the robot arm 31 moves to a capture tool area (not shown in the figure) to reinstall a new particle capture tool 32, and repeats the aforementioned steps S1 to S4 for calibration. It is further explained that when the particle capture tool 32 completes the particle capture operation and the robot arm 31 moves the particle capture tool 32 to a waste collection area (not shown in the figure) for disposal, the relative position of the observation platform coordinate system A and the capture platform coordinate system B remains unchanged, so there is no need to perform steps S3 to S4 calibration again.

[0163] Through the design of the present invention, the image observation unit 22 is used to take pictures facing the object carrier 10, and the image observation unit 22 makes fixed-point displacement on the observation platform 20 corresponding to each of the observation basic coordinates. The terminal device 40 defines a correction point 41 based on the image of the field of view 221 of the image observation unit 22, and controls the capture part 321 of the particle capture tool 32 to enter the field of view 221 of the image observation unit 22 and adjust the alignment with the correction point 41 to record the capture correction coordinates of the capture part 321, so as to complete the relative position correction between the image observation unit 22 on the observation platform 20 and the particle capture tool 32 on the capture platform 30, and establish the multiple capture correction coordinates on the capture platform coordinate system B, and then in steps S5 and S6, the first image correction unit 11a with different camera magnifications and the multiple second image correction units 11b and 11c are used to calibrate the position relationship between the robot arm 31, the particle capture tool 32 and the carrier 12.

[0164] In step S4, the capture part 321 of the particle capture tool 32 is repeatedly calibrated with each calibration point 41 to complete the positional relationship between the observation platform coordinate system A and the capture platform coordinate system B; in this way, when the image observation unit 22 finds biological particles at a certain position of the carrier 12, the terminal device 40 can control the robot arm 31 to drive the particle capture tool 32 to the correct position according to the capture platform coordinate system B, and accurately capture the biological particles detected on the carrier 12.

[0165] Therefore, the method of this embodiment utilizes a multi-point correction method to reduce the relative position error between the particle capture tool 32 and the carrier 12, and improve the accuracy of the particle capture tool 32 in capturing biological particles. At the same time, in the design of the mechanism in this field, it is extremely difficult to ensure that the carrier platform 10 and the capture platform 30 are completely parallel, that is, there may be a certain offset angle between the carrier platform 10 and the capture platform 30, so that the capture part 321 will not fall exactly on the positioning reference point P, and then the corresponding relationship between the position coordinates of the particle capture tool 32 driven by the capture platform 30 and the actual position of the capture part 321 will be offset. Through steps S5 and S6 of the correction method of this embodiment, the first image correction unit 11a and the multiple first image correction units 11a and 11b can be comprehensively read by the terminal device 40. The offset distance between the positioning reference point P and the capture part 321 in the images of the two image correction units 11b and 11c is calculated into an offset compensation value, so that the terminal device 40 can adjust the position coordinates of the particle capture tool 32 accordingly according to the offset compensation value; furthermore, if the particle capture tool 32 of the capture platform 30 is misaligned due to the transportation movement of the machine or human collision, the correction method of this embodiment can automatically correct the relationship between the observation platform 20 and the capture platform 30, eliminating the problem of re-disassembling the machine or manually adjusting the machine to improve the correction efficiency.

[0166] The above descriptions are only preferred feasible embodiments of the present invention. Any equivalent changes made by applying the description and claims of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A calibration and capture method of a biological particle capture device, comprising the following steps: An image observation unit is provided on an observation platform to face one side of a loading platform, and a field of view of the image observation unit is directed toward a loading area of ​​the loading platform for taking pictures; The image observation unit performs fixed-point displacement on the observation platform corresponding to a plurality of observation basic coordinates set on an observation platform coordinate system, and when the image observation unit is positioned at one of the observation basic coordinates, a calibration point is defined from the image of the field of view area; A terminal device is configured to control a particle capture tool on a capture platform to move relative to the object loading area on the other side of the object loading platform by positioning the image observation unit at a relative position of one of the observation basic coordinates, and a capture portion of the particle capture tool enters the image of the field of view area; Adjusting the capture part of the particle capture tool to align with the calibration point, and recording a capture calibration coordinate of the capture part in a capture platform coordinate system of the capture platform through the terminal device; A carrier is placed in the object loading area. When the image observation unit finds a particle in the carrier, the terminal device captures a plurality of previously recorded observation base coordinates in the observation platform coordinate system corresponding to the surroundings of the particle, and relatively calculates the position of the calibration point recorded in each of the observation base coordinates of the image observation unit, so that the terminal device obtains a plurality of calibration base coordinates around the particle on the carrier. Simulating a virtual calibration area in the field of view of the image observation unit by the terminal device according to the plurality of calibration basic coordinates, and the position of the particle falls in the virtual calibration area accordingly; The terminal device generates a first extension axis and a second extension axis according to the simulation at the particle position, wherein the first extension axis intersects perpendicularly with a first X-absolute coordinate axis in the virtual calibration area to obtain a first X-axis intersection coordinate, the first extension axis intersects perpendicularly with a second X-absolute coordinate axis in the virtual calibration area to obtain a second X-axis intersection coordinate, the second extension axis intersects perpendicularly with a first Y-absolute coordinate axis in the virtual calibration area to obtain a first Y-axis intersection coordinate, and the second extension axis intersects perpendicularly with a second Y-absolute coordinate axis in the virtual calibration area to obtain a second Y-axis intersection coordinate; and A particle capture tool is then controlled to a position corresponding to the particle, wherein the terminal device captures the first X-axis intersection coordinate, the second X-axis intersection coordinate, the first Y-axis intersection coordinate and the second Y-axis intersection coordinate, and uses a specific conditional formula to calculate a relative capture coordinate required for the particle capture tool to move accordingly.

2. The calibration and capture method of the biological particle capture device as claimed in claim 1, wherein the plurality of calibration base coordinates are respectively located at corners of the virtual calibration area, the plurality of calibration base coordinates include a first calibration base coordinate, a second calibration base coordinate, a third calibration base coordinate and a fourth calibration base coordinate, the first calibration base coordinate corresponds to the intersection of the first X absolute coordinate axis and the first Y absolute coordinate axis, the second calibration base coordinate corresponds to the intersection of the second X absolute coordinate axis and the first Y absolute coordinate axis, the third calibration base coordinate corresponds to the intersection of the first X absolute coordinate axis and the second Y absolute coordinate axis, and the fourth calibration base coordinate corresponds to the intersection of the second X absolute coordinate axis and the second Y absolute coordinate axis.

3. The calibration and acquisition method of the biological particle acquisition device as described in claim 2, wherein the specific condition is: ((x2-x) / (x2-x1))*Px11+((x-x1) / (x2-x1))*Px21=Px1;((x2-x) / (x2-x1))*Px12+((x-x1) / (x2-x1))*Px22=Px2;x1 represents the X-coordinate value of the first X-axis intersection coordinate located on the first X-absolute coordinate axis;x2 represents the X-coordinate value of the second X-axis intersection coordinate located on the second X-absolute coordinate axis;x represents the X-axis coordinate value of the particle in the observation platform coordinate system;P x11 represents an X-relative coordinate value of the capture platform coordinate system corresponding to the first correction basic coordinate; Px12 represents an X-relative coordinate value of the capture platform coordinate system corresponding to the second correction basic coordinate; Px21 represents an X-relative coordinate value of the capture platform coordinate system corresponding to the third correction basic coordinate; Px22 represents an X-relative coordinate value of the capture platform coordinate system corresponding to the fourth correction basic coordinate, Px1 represents a first X-axis relative capture coordinate of the capture platform coordinate system corresponding to the first X-axis intersection coordinate, and Px2 represents a second X-axis relative capture coordinate of the capture platform coordinate system corresponding to the second X-axis intersection coordinate.

4. The calibration and acquisition method of the biological particle acquisition device as claimed in claim 3, wherein the specific condition is: ((y2-y) / (y2-y1))*Px1+((y-y1) / (y2-y1))*Px2=Px; wherein, y1 represents the Y coordinate value of the first Y-axis intersection coordinate located on the first Y absolute coordinate axis; y2 represents the Y coordinate value of the second Y-axis intersection coordinate located on the second Y absolute coordinate axis; y represents the Y-axis coordinate value of the particle in the observation platform coordinate system; Px1 represents the first X-axis relative capture coordinate, Px2 represents the second X-axis relative capture coordinate, and Px represents the X-coordinate value of the relative capture coordinate corresponding to the particle position.

5. The calibration and acquisition method of the bioparticle acquisition device as described in claim 2, wherein the specific condition is: ((x2-x) / (x2-x1))*Py11+((x-x1) / (x2-x1))*Py21=Py1; ((x2-x) / (x2-x1))*Py12+((x-x1) / (x2-x1))*Py22=Py2; wherein, y1 represents the Y coordinate value of the first Y-axis intersection coordinate located on the first Y absolute coordinate axis; y2 represents the Y coordinate value of the second Y-axis intersection coordinate located on the second Y absolute coordinate axis; y represents the Y-axis coordinate value of the particle in the observation platform coordinate system; Py11 represents a Y-relative coordinate value of the capture platform coordinate system corresponding to the first correction base coordinate; Py12 represents a Y-relative coordinate value of the capture platform coordinate system corresponding to the second correction base coordinate; Py21 represents a Y-relative coordinate value of the capture platform coordinate system corresponding to the third correction base coordinate; Py22 represents a Y-relative coordinate value of the capture platform coordinate system corresponding to the fourth correction base coordinate, Py1 represents a first Y-axis relative capture coordinate of the capture platform coordinate system corresponding to the first Y-axis intersection coordinate, and Py2 represents a second Y-axis relative capture coordinate of the capture platform coordinate system corresponding to the second Y-axis intersection coordinate.

6. The calibration and acquisition method of the bioparticle acquisition device as claimed in claim 5, wherein the specific condition is: ((y2-y) / (y2-y1))*Py1+((y-y1) / (y2-y1))*Py2=Py; wherein, y1 represents the Y coordinate value of the first Y-axis intersection coordinate on the first Y absolute coordinate axis; y2 represents the Y coordinate value of the second Y-axis intersection coordinate on the second Y absolute coordinate axis; y represents the Y-axis coordinate value of the particle in the observation platform coordinate system; Py1 represents the first Y-axis relative capture coordinate, Py2 represents the second Y-axis relative capture coordinate, and Py represents the Y coordinate value of the relative capture coordinate corresponding to the particle position.

7. A calibration and capture method for a biological particle capture device as described in claim 1, wherein the particle capture tool is controlled by a robotic arm to move relative to the carrier platform according to the capture platform coordinate system within the range covered by the capture platform, and the terminal device controls the robotic arm to drive the particle capture tool to move to the relative capture coordinates, so that the capture portion of the particle capture tool is aligned to capture the particles in the carrier.

8. A calibration and capture method for a biological particle capture device as described in claim 7, wherein after the particle capture tool completes the particle capture operation, the robotic arm first moves the particle capture tool to a waste collection area for disposal, and then the robotic arm moves to a capture tool area to reinstall a new particle capture tool.

9. The calibration and capture method of the biological particle capture device as described in claim 1, wherein a light-transmitting bottom of the carrier faces the observation platform, and the carrier is filled with a light-transmitting liquid, and a camera path of the image observation unit is projected from below the light-transmitting bottom and penetrates the light-transmitting liquid.

10. The calibration and capture method of the biological particle capture device as described in claim 1, wherein the image observation unit includes a charge coupled device, a complementary metal oxide semiconductor device or a combination thereof, the image observation unit uses a camera magnification of 5 to 100 times, and the image observation unit is controlled by the terminal device to move.

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