Electric control microscope micro-motion loading platform and intelligent microscopic examination system and method thereof

Abstract

The invention discloses an electric control microscope micro-motion loading platform and an intelligent microscopic examination system and method thereof. Comprising an electric control microscope micro-motion objective table used for replacing an original manual objective table of a microscope in situ, an automatic focusing camera installed at the position of an original microscope eyepiece, and an electric control module used for controlling the electric control microscope micro-motion objective table. The electric control module comprises a GRBL control panel and a stepping motor driver. The beneficial effects of the invention are that the electric control microscope micro-motion objective table is a two-dimensional electric control objective table, and the slide bearing a to-be-observed target is controlled to move accurately on an XY plane through the two stepping motors which are perpendicular to each other; in addition, the uneven target is focused through the automatic focusing camera in the Z-axis direction, a clear image can be obtained for quality evaluation of the observation target, and therefore the problems that in the prior art, the observation target is subjected to full-range automatic scanning photographing and defocusing in the photographing process, and an electric control microscope micro-motion platform is high in price can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent microscopy, and particularly to an electronically controlled microscope micro-stage and its intelligent microscopy system and method. Background Art

[0002] In the traditional microscopic examination of cells or other microscopic substances, mainly the manual detection method under the microscope is used. Due to the huge number of cells or other microscopic substances, this method has a long operation time, slow speed, high cost, and large manual labor, and cannot timely reflect the situation of the observed target object. People apply an automatic stage to the microscope to complete the acquisition work, but the price of the microscopic stage on the market is expensive.

[0003] Chinese Patent Document CN201910645839.3, with the application date of July 17, 2019, and the patent name of: A method and system for microscopic examination and tracking of a microscope. This patent discloses a method for microscopic examination and tracking of a microscope. When taking the first photo, a coordinate system is established on the counting pool to obtain the central point coordinates of all shooting areas in the coordinate system. According to the central point coordinates, the first objective lens is used to take photos of all shooting areas in the counting pool and identify the suspected eggs in the photo results; the identified suspected eggs are located and the suspected egg coordinates of the suspected eggs in the coordinate system are generated, and according to the suspected egg coordinates, the second objective lens is used to take a second photo to generate a second photo image; the eggs in the second photo image are accurately identified, marked, and counted. This patent also discloses a system for microscopic examination and tracking of a microscope. Through the design of using different magnifications of an automatic microscope, this patent can accurately identify eggs within a large field of view, greatly improving the identification efficiency. Chinese Patent Document CN202010182470.X, with the application date of March 16, 2020, and the patent name of: A real-time autofocus system for a microscope. This patent discloses a real-time autofocus system for a microscope. The system includes an infrared light source module, an offset lens optical path module, a detection module, and a focus control module. Among them, the infrared light source module is used to emit parallel laser beams; the offset lens optical path module expands the parallel laser beams emitted by the infrared light source module into divergent light and irradiates the sample interface through the microscope objective lens, so that the laser diffraction spot irradiated on the sample reflection interface forms a comet aberration; the detection module modulates the comet-shaped diffraction spot reflected from the sample interface into a linear spot and obtains information related to the defocus amount of the microscopic system in the current field of view through the analysis of the linear spot; the focus control module iteratively controls the axial movement of the microscope objective lens based on the obtained information related to the defocus amount until the defocus amount meets the set target. The system of this patent can achieve high-precision real-time focusing of the microscopic system.

[0004] It can be seen that the above two methods introduce the microscopic inspection tracking system and the microscope autofocus method. However, the method or system combining the two is not mentioned or missing and needs to be improved. In addition, the situation that may require focusing during the movement is not mentioned in the prior art. Moreover, there is a method with autofocus but no micro-moving stage to control the completion of microscopic inspection. Therefore, an intelligent microscopic inspection device with an autofocus photographing function and a microscope micro-moving stage is lacking in relevant microscopic inspection research. Summary of the Invention

[0005] In view of the above-mentioned disadvantages of the prior art, the purpose of the present invention is to provide an electronically controlled microscope micro-moving stage, its intelligent microscopic inspection system and method, which are used to solve the problems of full-range automatic scanning and photographing of the observation target, defocusing during the photographing process, and the high price of the microscope micro-moving stage in the prior art.

[0006] To achieve the above purpose and other related purposes, the present invention provides the following technical solutions:

[0007] An electronically controlled microscope micro-moving stage includes a first-layer fixed platform installed at the position of the original manual stage of the microscope and having a shape of a capital "J" structure, a second-layer Y-axis moving platform installed on the first-layer fixed platform, and a third-layer X-axis moving platform located above the second-layer Y-axis moving platform. A Y-axis driving component for driving the second-layer Y-axis moving platform to move back and forth is provided on the first-layer fixed platform. An X-axis driving component for driving the third-layer X-axis moving platform to move left and right is provided on the second-layer Y-axis moving platform. A slide holder for fixing the slide to be observed is further installed on the third-layer X-axis moving platform.

[0008] In an embodiment of the present invention, the first-layer fixed platform includes a first support member and second support members installed on both sides of the first support member and integrally formed with the first support member. The shape of the first support member is an inverted "N", and the shape of the second support member is a hollow cuboid. The Y-axis driving component is installed on one of the second support members, and a Y-axis slide rail assembly is installed on the other second support member. The Y-axis slide rail assembly includes a slide rail installed on the second support member and a first slider slidably connected to the slide rail and installed on the bottom side of the second-layer Y-axis moving platform.

[0009] In an embodiment of the present invention, the second-layer Y-axis moving platform includes a first connecting plate mounted on the first slider and the Y-axis driving component, and a first supporting plate integrally formed with the first connecting plate. Through openings are provided on both the first supporting member and the first connecting plate. On the top side of the mounting block on the first connecting plate, a first hidden head groove is provided corresponding to the first slider and the Y-axis driving component. The X-axis driving component is mounted on the first supporting plate, and a second hidden head groove is provided on the bottom side of the first supporting plate corresponding to the X-axis driving component.

[0010] In an embodiment of the present invention, the third-layer X-axis moving platform includes a second connecting plate in an L shape mounted on the X-axis driving component, and a second supporting plate integrally formed with the second connecting plate. The glass slide clamp is mounted on the second supporting plate.

[0011] In an embodiment of the present invention, both the Y-axis driving component and the X-axis driving component include a fixing member mounted on the second supporting member or the first supporting plate, a stepping motor mounted on the fixing member, and a lead screw. The output shaft of the stepping motor is connected to the lead screw, and a second slider mounted on the bottom side of the mounting block or the bottom side of the second connecting plate is threadedly connected to the surface of the lead screw.

[0012] In an embodiment of the present invention, the fixing member includes a first fixing plate, a second fixing plate and a third fixing plate integrally formed with the first fixing plate and mounted on the first fixing plate. The stepping motor is mounted on the side of the first fixing plate away from the third fixing plate. The end of the lead screw away from the output shaft of the stepping motor passes through the second fixing plate and is mounted on the third fixing plate. Slide rods are mounted on the first fixing plate on both sides of the lead screw and are slidably connected to the second slider.

[0013] An intelligent microscopic examination system includes the above-mentioned electronically controlled microscope micro-stage, and also includes an automatic focusing camera mounted on the microscope and an electronic control module for controlling the electronically controlled microscope micro-stage. The electronic control module includes a GRBL control board and a stepping motor driver. The GRBL control board is connected to the stepping motor driver, and the GRBL control board is also connected to a computer.

[0014] An intelligent microscopy method, based on the intelligent microscopy system described above, the method includes an automatic scanning and photographing algorithm and a target detection algorithm. Among them, the automatic scanning and photographing algorithm includes the following steps: The user fixes the slide to be observed on the micro-moving stage of the electric control microscope, and moves the field of view to the upper left corner of the slide, that is, after the starting position of the scan, the user independently sets the number of rows and columns of the scan; the micro-moving stage of the electric control microscope will automatically move according to the set number of rows and columns to complete the full-path target scan. Among them, when the computer sends each movement control instruction, wait for the micro-moving stage of the electric control microscope to complete this movement, and wait for 3 seconds, then the autofocus camera completes autofocus, and then the autofocus camera will take a picture of the slide to be observed, and name the obtained picture according to the "column-row" rule. Repeat the above process until n*m pictures, that is, n*m photographing processes, are obtained. The pictures after scanning will be saved to a specified folder.

[0015] In an embodiment of the present invention, the target detection algorithm includes the following steps: Obtain the pictures taken by the autofocus camera of the target on the slide to be observed, and batch-detect the pictures through the YOLO algorithm. According to the batch detection results, obtain the position information and quantity of the detection target, and obtain the relevant non-flat target quality evaluation results. The user can view the detection target as needed. Enter the number of the specified target to view the intercepted part of the detection target from the picture. Among them, the YOLO algorithm is a lightweight YOLO model.

[0016] As described above, an electric control microscope micro-moving stage and its intelligent microscopy system and method of the present invention have the following beneficial effects: The electric control microscope micro-moving stage in the present invention controls the slide to be observed to move precisely in the XY plane through two mutually perpendicular stepper motors, and can adaptively replace the original loading stage of the microscope, playing a role in reducing costs; the microscope in the present invention uses an autofocus camera to collect images for later quality evaluation work. The autofocus camera focuses on the non-flat target in the Z-axis direction, so that clear images can be obtained; the automatic scanning and photographing algorithm and the target detection algorithm can count and classify the observed cells or other microscopic substances to provide data support for quality evaluation, thus solving the problems of full-range automatic scanning and photographing of the observation target, defocusing during the photographing process, and the high price of the microscope micro-moving platform in the prior art. Description of the Drawings

[0017] Figure 1 It is a schematic diagram of the overall structural framework of the present invention;

[0018] Figure 2 It is a right front three-dimensional schematic diagram of the electric control microscope micro-moving stage in the present invention;

[0019] Figure 3Left front elevation three-dimensional schematic diagram of the micro-moving stage of the electronic control microscope in the present invention;

[0020] Figure 4 Right front elevation three-dimensional schematic diagram of the first-layer fixed platform in the present invention;

[0021] Figure 5 Top front elevation three-dimensional schematic diagram of the second-layer Y-axis moving platform in the present invention;

[0022] Figure 6 Left rear elevation three-dimensional schematic diagram of the second-layer Y-axis moving platform in the present invention;

[0023] Figure 7 Rear bottom elevation three-dimensional schematic diagram of the second-layer Y-axis moving platform in the present invention;

[0024] Figure 8 Front elevation three-dimensional schematic diagram of the third-layer X-axis moving platform in the present invention;

[0025] Figure 9 Three-dimensional schematic diagram of the Y-axis drive assembly and the X-axis drive assembly in the present invention;

[0026] Figure 10 Functional structure schematic diagram of the present invention;

[0027] Figure 11 Schematic diagram of the automatic photographing sequence (from left to right) in the present invention;

[0028] Figure 12 Flow schematic diagram of automatic scanning and photographing in the present invention;

[0029] Figure 13 Physical diagram of the micro-moving stage of the electronic control microscope (the left side is the micro-moving stage of the electronic control microscope) in the present invention;

[0030] Figure 14 Schematic diagram of manual photographing detection in the human-machine interaction interface of the present invention;

[0031] Figure 15 Schematic diagram of quality assessment and recheck in the human-machine interaction interface of the present invention.

[0032] Explanation of component numbers

[0033] 1. First-layer fixed platform; 101. First support member; 102. Second support member;

[0034] 2. Second-layer Y-axis moving platform; 201. First connecting plate; 202. First support plate;

[0035] 3. Third-layer X-axis moving platform; 301. Second connecting plate; 302. Second support plate;

[0036] 4. Y-axis drive assembly; 5. X-axis drive assembly;

[0037] 6. Slide rail; 7. First slider; 8. Through port; 9. Screw hole; 10. Mounting block; 11. First hidden head groove; 12. Second hidden head groove; 13. Fixing piece; 1301. First fixing plate; 1302. Second fixing plate; 1303. Third fixing plate; 14. Stepper motor; 15. Lead screw; 16. Second slider; 17. Slide bar. Detailed implementation manners

[0038] The following specific embodiments illustrate the implementation manners of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. It should be noted that, without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0039] Please refer to Figures 1 to 15 , the present invention provides an intelligent microscopy system. The system as a whole is divided into three major parts: platform hardware, human-computer interaction interface, and software and algorithm design. Specifically, please refer to Figure 1 , the platform hardware mainly includes a GRBL control board, an electronically controlled microscope micro-stage, and an autofocus camera. The GRBL control board and hardware such as a stepper motor driver form an electronic control module. The electronic control module is the electronic control system of the present invention and is the central module to ensure normal communication and coordinated work among the system modules. Among them, the electronically controlled microscope micro-stage controls the precise movement of the glass slide in the XY plane through two mutually perpendicular motor modules, can adaptively replace the original stage, can accept computer instructions to complete precise movement instructions, and at the same time, the autofocus camera is used to collect images for later quality assessment work. The GRBL control board is responsible for receiving the Gcode code sent by the computer and converting it into pulses to drive the stepper motor 14, and the autofocus camera focuses on the uneven target to obtain clear images; the human-computer interaction interface mainly provides a convenient visual system operation method for users. According to user needs, the main interface consists of a real-time observation screen, micro-stage operation, manual photographing and detection, automatic scanning photographing, and quality assessment modules; the software and algorithm design include an automatic scanning photographing algorithm and a target detection algorithm, which mainly count and classify the observed cells or other microscopic substances to provide data support required for quality assessment.

[0040] Specifically, the fine-motion stage of the electron control microscope: includes the first-layer fixed platform 1, the second-layer Y-axis moving platform 2, and the third-layer X-axis moving platform 3. On the first-layer fixed platform 1, there is a Y-axis driving component 4 for driving the second-layer Y-axis moving platform 2 to move back and forth. On the second-layer Y-axis moving platform 2, there is an X-axis driving component 5 for driving the third-layer X-axis moving platform 3 to move left and right. Among them, both the Y-axis driving component 4 and the X-axis driving component 5 include a fixing member 13 installed on the second support member 102 or the first support plate 202, a stepping motor 14 and a lead screw 15 installed on the fixing member 13. The output shaft of the stepping motor 14 is connected to the lead screw 15. The surface of the lead screw 15 is threadedly connected with a second slider 16 installed on the bottom side of the second-layer Y-axis moving platform 2 or the bottom side of the third-layer X-axis moving platform 3. The fixing member 13 includes a first fixing plate 1301, and a second fixing plate 1302 and a third fixing plate 1303 which are integrally formed with and installed on the first fixing plate 1301. The stepping motor 14 is installed on the side of the first fixing plate 1301 away from the third fixing plate 1303. The end of the lead screw 15 away from the output shaft of the stepping motor 14 passes through the second fixing plate 1302 and is installed on the third fixing plate 1303. On the first fixing plate 1301, there are slide rods 17 located on both sides of the lead screw 15 and slidably connected to the second slider 16. For details, please refer to Figure 2 and Figure 3 ;

[0041] It should be noted that designing a new fine-motion stage to replace the original loading stage of the microscope is the best integrated solution. While maintaining the original precise moving ability, the thickness of the fine-motion stage of the electron control microscope also needs to be limited to avoid being unable to meet the focusing height during observation. The required design parameters of the fine-motion stage are shown in Table 1 as follows:

[0042] Table 1 Design Parameters of the Fine-Motion Stage

[0043] XY-axis travel Maximum load Resolution Repeat positioning accuracy Weight 100mm, 50mm 2KG <1μm 1μm <5KG

[0044] The cells or other microscopic substances for quality assessment are at the micron level. The moving accuracy of the fine-motion stage needs to reach the micron level. At the same time, the fragility of the cells or other microscopic substances requires the fine-motion stage to move the glass slide smoothly to avoid violently shaking and damaging the cells or other microscopic substances. The low-lead high-hardness silicon steel lead screw 15 can convert the small-angle rotation of the stepping motor 14 into a stable and precise micron-level linear motion. At the same time, in order to minimize the assembly height, the 28-step motor has become the best choice. The 28-step motor with the model FSK30J is selected in the present invention, and its basic parameters are shown in Table 2:

[0045] Table 2 Basic Parameters of the FSK30J Stepping Motor

[0046] Model Minimum step angle Lead screw pitch Load Effective travel FSK30J 1.8° 2mm 3KG 100mm, 50mm

[0047] To create space for the central optical device, the micro-moving stage adopts a double-layer moving mode. On the left and right sides of the bottom layer, a stepper motor 14 and a hard steel slide rail 6 are mounted, responsible for moving in the y-axis direction; on top of it, a second-layer stepper motor 14 and slide rail 6 are mounted, responsible for moving in the x-axis direction; finally, an upper-stage platform is mounted, enabling the micro-moving stage to move precisely on the XY plane. However, simple assembly still cannot meet the objective lens focusing height requirement. To further reduce the core height, the micro-moving stage innovatively adopts a design of sinking the slide table, sinking the motor slide table with the largest thickness to the left and right sides of the stage, that is, the first-layer fixed platform 1. Without affecting normal operation, it avoids the motor occupying the core height, reducing the core height from the original 62 mm to 11.4 mm, even thinner than the original stage's 16.5 mm;

[0048] The first-layer fixed platform 1 includes a first support member 101 and second support members 102 installed on both sides of the first support member 101 and integrally formed with the first support member 101. The shape of the first support member 101 is n-shaped, and the shape of the second support member 102 is a hollow cuboid. The Y-axis drive assembly 4 is installed on one of the second support members 102, and a Y-axis slide rail assembly is provided on the other second support member 102. The Y-axis slide rail assembly includes a slide rail 6 installed on the second support member 102 and a first slider 7 that is slidably connected to the slide rail 6 and installed on the bottom side of the second-layer Y-axis moving platform 2. It should be noted that the first-layer fixed platform 1 is responsible for connecting the microscope and the micro-moving stage. As Figure 4 shown, there are 4 M4 screw holes 9 for connecting the microscope on the first-layer fixed platform 1. The stepper motor 14 and slide rail assembly for controlling the y-axis movement are mounted on it, and it is designed as an n-shaped structure sunken on both sides to maximize the reduction of the core height;

[0049] The second-layer Y-axis moving platform 2 includes a first connecting plate 201 installed on the first slider 7 and the Y-axis drive assembly 4 and a first support plate 202 integrally formed with the first connecting plate 201. Through holes 8 are provided on both the first support member 101 and the first connecting plate 201. On the top side of the mounting block 10 on the first connecting plate 201, a first head-concealing groove 11 is provided corresponding to the first slider 7 and the second slider 16. The X-axis drive assembly 5 is installed on the first support plate 202, and a second head-concealing groove 12 is provided on the bottom side of the first support plate 202 corresponding to the X-axis drive assembly 5. It should be noted that the second-layer Y-axis moving platform 2 is connected to the first slider 7 by M4 flat head screws and a head-concealing groove (screw head) is reserved to avoid interfering with the moving space of the upper structure, providing a stable and accurate y-axis direction movement ability for the upper-stage control of the x-axis stepper motor 14. As Figures 5 to 7As shown, the second-layer Y-axis moving platform 2 is fixed to the stepper motor 14 that controls the x-axis movement with M4 flat head screws, and a recessed head slot is also reserved to avoid interfering with the underlying structure;

[0050] The third-layer X-axis moving platform 3 includes a second connecting plate 301 mounted on the X-axis drive assembly 5 and shaped like an L, and a second support plate 302 integrally formed with the second connecting plate 301. The glass slide clamp is mounted on the second support plate 302. It should be noted that the third-layer X-axis moving platform 3 is mounted above the x-axis stepper motor, and a glass slide clamp can be mounted thereon to fix the glass slide to be observed, as Figure 8 shown; during installation, first mount the y-axis stepper motor 14 and the slide rail assembly on the first-layer fixed platform 1, then mount the x-axis stepper motor 14 on the second-layer Y-axis moving platform 2 and hide the screw head in the recessed head slot under the second-layer Y-axis moving platform 2; then mount the second-layer Y-axis moving platform 2 on the stepper motor 14 and the slide rail assembly that control the y-axis movement and hide the screw head in the recessed head slot on the second-layer Y-axis moving platform 2; finally, mount the third-layer X-axis moving platform 3 and the glass slide clamp and connect and fix them to the microscope. The microscope micro-stage is connected by 3 self-designed panels, and the assembly effect is as Figure 2 and Figure 3 shown.

[0051] Stepper motor 14 control: This invention uses a GRBL CNC Controller stepper motor control board with an A4988 drive block, and its parameters are shown in Table 3:

[0052] Table 3 Parameters of A4988 drive block

[0053] Output current Microstepping Compatibility Insulation resistance Dimensions 2A 1 / 16 Compatible with Arduino 0.1Ω 15mm * 20mm

[0054] Vision module: This invention uses an HDMI autofocus camera to replace the original electronic eyepiece and ordinary eyepiece, with a magnification of about 40 times, which addresses the image blurring caused by the instability during movement and the instability of the glass slide. After improvement, the effect is excellent. The parameters of the autofocus camera are shown in Table 4:

[0055] Table 4 Parameters of autofocus camera

[0056]

[0057] Human-machine interaction interface: This system is developed using multi-threaded programming to execute multiple tasks simultaneously, greatly improving the efficiency of the platform. The functional structure diagram is as Figure 10 shown.

[0058] More specifically, the working process of the intelligent microscopy system based on the electronically controlled microscope micro-stage is as follows: Step 1: Real-time observation: Step 1 specifically includes the following steps: Step 1.1: The user fixes the slide to be observed on the micro-stage, clicks the button to open the camera, moves the field of view to the upper left corner of the slide, observes the screen field of view and manually focuses; Step 1.2: The program uses the library function of opencv to obtain the camera, passes the video frame into the YOLO model and circularly displays the labeled pictures on the interface. Considering compatibility issues, after repeated debugging, the format of the images captured by the camera is adjusted to be consistent with the format required by opencv and is successfully displayed on the interface.

[0059] Step 2: Automatic scanning and photographing: Step 2 specifically includes the following steps: Step 2.1: According to the size of each slide, set fixed parameters, which can also be set by the user independently. Generally, the system fixed value is 30*30. In the preliminary preparation work, the user needs to measure the size of the observation area and set the number of rows and columns. After a scan is completed, a complete slide picture can be taken and saved. Finally, target detection is performed in batches, data information is statistically analyzed, and quality assessment is completed; Step 2.2: The user clicks the "Automatic Photographing" button, and the micro-stage will automatically move according to the number of rows and columns to complete the full-path scan. For example, Figure 11 , and at the same time, in Step 2.3, the autofocus camera will capture photos in real time; Step 2.3: After the computer sends an instruction, the program sleeps for 3s to wait for the microscope micro-stage to complete a movement and waits for the autofocus camera to complete autofocus. After 3s, image capture is completed. This is a single photographing process, named according to the column-row rule. For example, the first column is 1-1, 1-2, 1-3...1-n,..., m-n, where m and n are the number of columns and rows respectively. By analogy, n*m photos, that is, n*m photographing processes, will be obtained. The pictures after the program scan is completed will be saved to the specified folder. The automatic photographing flowchart is as Figure 12 shown.

[0060] Step 3: Quality assessment; Step 3 specifically includes the following steps: Step 3.1: The program batch-detects the image data automatically taken by the camera, saves the position information and quantity of the detected targets, and gives the quality assessment results of relevant uneven targets. The present invention uses a lightweight YOLO model; Step 3.2: The user can view the detected targets as needed. By inputting the number of the specified target, the user can view the intercepted part of the target from the picture. Step 4: Manual photographing and detection; Step 4 specifically includes the following steps: Step 4.1: The user clicks a button to control the movement of the platform. The computer will send Gcode to the control board through serial communication. The control board will parse the instruction and convert it into a pulse instruction to send to the stepper motor 14 that controls the XY-axis direction, so that the micro-moving stage can move precisely within a two-dimensional plane. The present invention uses the metric moving distance and incremental coordinate mode of G21G91, moves a fixed length in the XY-axis direction. After repeated debugging, the moving distance is successfully calculated, and each movement can reach the next field of view without missing any field of view; Step 4.2: The user clicks the photographing and recognition buttons. The program saves the video frame in jpg format with a size of 1920*1080 and displays the labeled picture after detection after detection;

[0061] Furthermore, the specific implementation method: The user prepares the relevant equipment according to the specific situation and can start by opening the packaged exe program; The user clicks the interface button to control the movement of the platform. The computer will send it to the Gcode control board through serial communication. The Gcode control board will parse the instruction and convert it into a pulse instruction to send to the stepper motor 14 that controls the XY-axis direction, so that the micro-moving stage can move precisely within a two-dimensional plane; The user clicks the photographing and recognition buttons. The program saves the video frame in jpg format with a size of 1920*1080 and displays the labeled picture after detection after detection, as Figure 14 shown. When the user clicks to open the camera, the software needs to transmit the information directly collected by the autofocus camera back to the computer in real time for real-time observation. The resolution of the camera in the present invention is 1920*1080, and the frame rate is 30. The program uses the library function of opencv to obtain the camera, passes the video frame into the YOLO model and circularly displays the labeled picture on the interface written in Qt5, as Figure 15As shown. After the user independently sets the number of rows and columns and moves the slide field of view to the upper left corner, which is the starting position of the scan, the automatic scan can begin. Naming according to the column-row rule, such as the first column 1-1, 1-2, 1-3... 1-n,..., m-n, where m and n are the number of columns and rows respectively, and so on. There will be n*m photos, that is, n*m photo-taking processes. The pictures after the program scan will be saved to the specified folder. The program will batch-detect the picture data of the automatic scan, save the position information and quantity of the detection targets, and give the quality evaluation result of the non-flat targets. This invention uses the YOLO lightweight model. The user can view the detection targets as needed. By inputting the number of the specified target, the intercepted part of the target from the picture can be viewed, such as Figure 15 shown.

[0062] In summary, compared with the prior art, on the basis of expanding the finished microscope, it can actually help researchers save time costs and devote more time and energy to subsequent scientific research work.

[0063] The above embodiments are only illustrative of the principles and effects of the present invention, and are not used to limit the present invention. All equivalent modifications or changes completed by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. An electrically controlled microscopic micro-motion loading platform, characterized in that: The invention comprises a first-layer fixed platform (1) which is installed at the original manual stage position of a microscope and has a "X"-shaped structure, a second-layer Y-axis movable platform (2) which is installed on the first-layer fixed platform (1), and a third-layer X-axis movable platform (3) which is located above the second-layer Y-axis movable platform (2), wherein the first-layer fixed platform (1) is provided with a Y-axis driving component (4) for driving the second-layer Y-axis movable platform (2) to move forward and backward, the second-layer Y-axis movable platform (2) is provided with an X-axis driving component (5) for driving the third-layer X-axis movable platform (3) to move left and right, and the third-layer X-axis movable platform (3) is also provided with a glass slide clamp for fixing a glass slide to be observed.

2. The electric-controlled microscope micro-motion loading platform according to claim 1, characterized in that: The first-layer fixed platform (1) comprises a first support member (101) and second support members (102) mounted on both sides of the first support member (101) and integrally formed with the first support member (101); the first support member (101) is in the shape of an N-letter; the second support member (102) is in the shape of a hollow rectangular parallelepiped; the Y-axis drive assembly (4) is mounted on one of the second support members (102); and the other second support member (102) is provided with a Y-axis slide rail assembly; the Y-axis slide rail assembly comprises a slide rail (6) mounted on the second support member (102) and a first slider (7) slidably connected to the slide rail (6) and mounted on the bottom side of the second-layer Y-axis movable platform (2).

3. The electric-controlled microscope micro-motion loading platform according to claim 1, characterized in that: The second-layer Y-axis moving platform (2) comprises a first connecting plate (201) mounted on the first sliding block (7) and the Y-axis driving assembly (4) and a first supporting plate (202) integrally formed with the first connecting plate (201); the first supporting member (101) and the first connecting plate (201) are both provided with through openings (8); the top side of the mounting block (10) on the first connecting plate (201) is provided with a first head-hiding groove (11) corresponding to the first sliding block (7) and the Y-axis driving assembly (4); the X-axis driving assembly (5) is mounted on the first supporting plate (202); and the bottom side of the first supporting plate (202) is provided with a second head-hiding groove (12) corresponding to the X-axis driving assembly (5).

4. The electric-controlled microscope micro-motion loading platform according to claim 1, characterized in that: The third-layer X-axis moving platform (3) comprises a second connecting plate (301) mounted on the X-axis driving assembly (5) and having an L-shape, and a second supporting plate (302) integrally formed with the second connecting plate (301), and the glass slide clamp is mounted on the second supporting plate (302).

5. The electric-controlled microscope micro-motion loading platform according to claim 1, characterized in that: The Y-axis drive assembly (4) and the X-axis drive assembly (5) both comprise a fixing member (13) mounted on the second support member (102) or the first support plate (202), a stepping motor (14) and a lead screw (15) mounted on the fixing member (13), the output shaft of the stepping motor (14) being connected to the lead screw (15), and the surface of the lead screw (15) being threadedly connected to a second sliding block (16) mounted on the bottom side of the mounting block (10) or the bottom side of the second connecting plate (301).

6. The electric-controlled microscope micro-motion loading platform according to claim 5, characterized in that: The fixing member (13) comprises a first fixing plate (1301), a second fixing plate (1302) and a third fixing plate (1303) which are mounted on the first fixing plate (1301) and are integrally formed with the first fixing plate (1301); the stepping motor (14) is mounted on the side of the first fixing plate (1301) away from the third fixing plate (1303); the end of the lead screw (15) away from the output shaft of the stepping motor (14) passes through the second fixing plate (1302) and is mounted on the third fixing plate (1303); and the first fixing plate (1301) is provided with sliding rods (17) which are located on both sides of the lead screw (15) and are slidably connected to the second sliding block (16).

7. An intelligent microscopic inspection system, characterized in that: It comprises the electric-controlled microscope micro-motion loading platform as described in any one of claims 1 to 6, and also comprises an autofocus camera installed on a microscope and an electric control module for controlling the electric-controlled microscope micro-motion loading platform, the electric control module comprises a GRBL control board and a stepper motor driver, the GRBL control board is connected to the stepper motor driver, and the GRBL control board is also connected to a computer.

8. An intelligent microscopic examination method, characterized in that: Based on the intelligent microscopic inspection system of claim 7, the method includes an automatic scanning and photographing algorithm and a target detection algorithm, wherein the automatic scanning and photographing algorithm includes the following steps: The user fixes the slide to be observed on the micro-motion stage of the electronically controlled microscope, and moves the field of view to the upper left corner of the slide, which is the starting position of the scan. The user then independently sets the number of rows and columns to be scanned. The electric-controlled microscope micro-motion stage will autonomously complete the full-path target scanning according to the set number of rows and columns. After the computer sends each movement control instruction, it waits for the electric-controlled microscope micro-motion stage to complete the movement and waits for 3 seconds for the autofocus camera to complete the autofocus. Then the autofocus camera will take pictures of the glass slide to be observed and name the pictures according to the "column-row" rule. The above process is repeated until n*m pictures are obtained, that is, n*m shooting processes are performed. The pictures after scanning will be saved in the specified folder.

9. The intelligent microscopic inspection method according to claim 8, characterized in that: The target detection algorithm comprises the following steps: The target on the glass slide to be observed is photographed by an autofocus camera, and the images are batch inspected through an artificial intelligence algorithm. The position information and quantity of the inspection targets are obtained according to the batch inspection results, and the quality assessment results of related non-flat targets are obtained. The user can view the inspection targets as needed, and enter the number of the specified target to view the intercepted part of the inspection target from the picture.

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