Position calibration method and system and machine readable storage medium

Abstract

The invention discloses a position calibration method and system and a machine readable storage medium, the position calibration method is used for nucleic acid detection equipment with a motion module, the position calibration method comprises the following steps: circularly executing position calibration by a preset number of times, and obtaining a single calibration value; calculating an absolute value of a difference value between any two single calibration values; obtaining a first calibration value and a second calibration value according to the absolute value of the difference value; and taking a mean value of the first calibration value and the second calibration value as a final calibration value. Single position calibration operation is formed by controlling resetting and calibration of the motion module, the single position calibration operation is executed circularly, manual calibration in the prior art can be omitted, calibration efficiency and calibration difficulty are improved, and calibration precision is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of position calibration, and in particular relates to a position calibration method, system and machine-readable storage medium. Background Art

[0002] Point-of-care testing (POCT) is a method conducted at the sampling site, using portable analytical instruments and supporting reagents to quickly obtain test results. Currently, nucleic acid testing equipment is manually calibrated before shipment using manual tooling. This is time-consuming, inconsistent, and lacks high calibration accuracy, relying heavily on the user's expertise.

[0003] Furthermore, due to sample testing requirements, there are currently a variety of different types of nucleic acid testing equipment on the market. After a client has used nucleic acid testing equipment for a period of time, due to the high degree of calibration expertise and the varying calibration requirements for different types of nucleic acid testing equipment, clients are unable to calibrate their instruments themselves, significantly impacting after-sales maintenance costs and the customer experience. Summary of the Invention

[0004] The object of the present invention is to provide a position calibration method, system and machine-readable storage medium to solve the technical problem of poor calibration accuracy of the position calibration system in the prior art.

[0005] In order to achieve the above object, the present invention provides a position calibration method for a nucleic acid detection device with a motion module, the position calibration method comprising:

[0006] Perform position calibration in a preset number of cycles and obtain a single calibration value;

[0007] Calculating the absolute value of the difference between any two of the single calibration values;

[0008] Obtaining a first calibration value and a second calibration value according to the absolute value of the difference;

[0009] The average of the first calibration value and the second calibration value is taken as the final calibration value.

[0010] In an embodiment of the present invention, before performing position calibration, the method further includes:

[0011] Obtaining a calibration instruction, wherein the calibration instruction includes calibration position information and reset information;

[0012] determining whether the motion module is reset;

[0013] In the case that the motion module is not reset, the motion module is controlled to perform a reset operation in combination with the calibration position information and the reset information.

[0014] In an embodiment of the present invention, controlling the motion module to perform a reset operation in combination with the calibration position information and the reset information includes:

[0015] Controlling the motion module to move along a first direction for a preset distance;

[0016] Acquiring a detection signal from the reset detection module;

[0017] When the reset detection module detects the motion module, controlling the motion module to stop moving;

[0018] The motion module is controlled to move in a stepwise manner along a second direction until the reset detection module detects the motion module, wherein the first direction and the second direction are opposite.

[0019] In an embodiment of the present invention, controlling the motion module to move along a preset distance in the first direction includes:

[0020] The motion module is controlled to move at a reset speed until it moves to a preset stroke, where the preset stroke is the maximum theoretical stroke of the motion module.

[0021] In an embodiment of the present invention, controlling the motion module to stop motion includes:

[0022] The motion module is controlled to perform deceleration motion at a preset deceleration rate until it stops.

[0023] In an embodiment of the present invention, obtaining the first calibration value and the second calibration value according to the absolute value of the difference includes:

[0024] Select the minimum difference among the absolute values ​​of the differences;

[0025] When the minimum difference is within a preset range, the two single calibration values ​​corresponding to the minimum difference are used as the first calibration value and the second calibration value.

[0026] The present invention further provides a position calibration system, comprising:

[0027] Calibration tooling;

[0028] A nucleic acid detection device, comprising a motion module and a reset detection module, wherein the calibration tool is used to dock with the PCR module of the nucleic acid detection device, the motion module is used to drive the calibration tool, and the reset detection module is used to detect the calibration tool;

[0029] The motion module, the reset detection module, and the calibration tool are all electrically connected to the processor, and the processor is configured to execute the position calibration method as described above.

[0030] In an embodiment of the present invention, the motion module includes a pipette tip and an extraction Y-axis motor, a Z-axis motor and an S-axis motor for driving the pipette tip, and the reset detection module is used to detect the pipette tip.

[0031] In an embodiment of the present invention, the motion module includes a supporting base for supporting the calibration tool and an amplified Y-axis motor for driving the supporting base.

[0032] The present invention further provides a machine-readable storage medium having instructions stored thereon. When the instructions are executed by a processor, the processor is configured to execute the position calibration method as described above.

[0033] Through the above technical solution, the position calibration method provided by the embodiment of the present invention has the following beneficial effects:

[0034] When using a position calibration method to calibrate a motion module, a calibration instruction may be first received, the calibration instruction including at least calibration position information of the calibration position, reset information of the calibration position, preset number of times information, and precision information of a preset calibration precision. The motion module is then driven to perform a position calibration motion from an origin position. After a single position calibration operation, a single calibration value is recorded. The position calibration operation is then cyclically performed a preset number of times to obtain the single calibration values ​​for the preset number of times. The calibration deviation between each position calibration operation can be determined by calculating the absolute value of the difference between any two single calibration values. The single calibration values ​​with larger calibration deviations can be eliminated by the absolute value of the difference, and the single calibration values ​​with smaller deviations are retained as first calibration values ​​and second calibration values. The average of the first calibration value and the second calibration value is then calculated as the final calibration value, so that the calibration precision of a single position of the motion module is within ±0.1 mm. In this embodiment, by controlling the motion module calibration to form a single position calibration operation and cyclically performing the single position calibration operation, manual calibration in the prior art can be eliminated, thereby improving calibration efficiency and calibration difficulty while also improving calibration precision.

[0035] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present invention, but do not constitute a limitation of the embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without inventive work. In the accompanying drawings:

[0037] Figure 1is a flow chart of a position calibration method according to an embodiment of the present invention;

[0038] Figure 2 is a flow chart of a position calibration method according to another embodiment of the present invention;

[0039] Figure 3 FIG. 1 is a schematic structural diagram of a position calibration system according to an embodiment of the present invention.

[0040] Description of Reference Numerals

[0041] Label Name Label Name

[0042] 100 Position calibration system 230 Carrying seat

[0043] 200 Nucleic Acid Testing Equipment 240 Pipette Tips

[0044] 210 Z-axis motor 300 calibration fixture

[0045] 220 S-axis motor DETAILED DESCRIPTION

[0046] The following describes the specific embodiments of the present invention in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention and are not intended to limit the present invention.

[0047] Please refer to the following Figures 1 to 2 A position calibration method according to the present invention is described.

[0048] like Figure 1 As shown, in one embodiment, a position calibration method is used for a nucleic acid detection device 200 with a motion module, and the position calibration method includes:

[0049] Reset the motion module according to the reset information;

[0050] Perform position calibration in a preset number of cycles and obtain a single calibration value;

[0051] Calculate the absolute value of the difference between any two single calibration values;

[0052] Obtaining a first calibration value and a second calibration value according to an absolute value of the difference;

[0053] The average of the first calibration value and the second calibration value is taken as the final calibration value.

[0054] When performing position calibration of a motion module using the position calibration method of this embodiment, a calibration instruction may be first received, the calibration instruction including at least calibration position information of the calibration position, reset information of the calibration position, a preset number of times, and precision information of a preset calibration accuracy. The motion module is then driven to perform a position calibration motion from an origin position. After a single position calibration operation, a single calibration value is recorded. The position calibration operation is then cyclically performed a preset number of times to obtain the single calibration values ​​for the preset number of times. The calibration deviation between each position calibration operation can be determined by calculating the absolute value of the difference between any two single calibration values. The single calibration values ​​with larger calibration deviations can be eliminated based on the absolute value of the difference, and the single calibration values ​​with smaller deviations can be retained as the first calibration value and the second calibration value. The average of the first calibration value and the second calibration value is then calculated as the final calibration value, thereby achieving a calibration accuracy of a single position of the motion module within ±0.1 mm. In this embodiment, by controlling the motion module calibration to form a single position calibration operation and cyclically performing the single position calibration operation, manual calibration in the prior art can be eliminated, thereby improving calibration efficiency and calibration difficulty while also improving calibration accuracy.

[0055] Specifically, performing a single position calibration repeatedly for a preset number of times can prevent problems such as large deviations in the operation of the motion module and large deviations in the detection of the photoelectric switch during the single position calibration. In one embodiment, the calibration value obtained by analyzing and calculating the single calibration value obtained by calibrating a single position three times as the basis is used as the final calibration value, which can achieve an accuracy of ±0.1 mm for the calibration of a single position of each axis of the nucleic acid detection device 200.

[0056] like Figure 2 As shown, in another embodiment, before performing position calibration, the method further includes:

[0057] Obtaining a calibration instruction, wherein the calibration instruction includes calibration position information and reset information;

[0058] determining whether the motion module is reset;

[0059] In the case that the motion module is not reset, the motion module is controlled to perform a reset operation in combination with the calibration position information and the reset information.

[0060] When the position calibration method of this embodiment is used to calibrate the position of the motion module, a calibration instruction can be received first. The calibration instruction includes at least position information of the calibration position, reset information of the calibration position, preset number information, and accuracy information of the preset calibration accuracy. The motion module can be controlled to reset according to the reset information to ensure that the motion module is at the origin position, which can ensure the subsequent position calibration accuracy. The motion module is driven to perform position calibration movement from the origin position, and the single calibration value is recorded after the single position calibration operation. The position calibration operation is cyclically performed a preset number of times to obtain the single calibration value of the preset number. By calculating the absolute value of the difference between any two single calibration values, the calibration deviation between each position calibration operation can be determined. The single calibration value with a larger calibration deviation can be eliminated by the absolute value of the difference, and the single calibration value with a smaller calibration deviation is retained as the first calibration value and the second calibration value. The average of the first calibration value and the second calibration value is obtained as the final calibration value, so that the calibration accuracy of a single position of the motion module reaches within ±0.1mm. In this embodiment, a single position calibration operation is formed by controlling the motion module to reset and calibrate, and the single position calibration operation is performed cyclically, which can eliminate the manual calibration in the prior art, improve the calibration efficiency and calibration difficulty, and also improve the calibration accuracy.

[0061] In one embodiment, controlling the motion module to perform a reset operation in combination with the calibration position information and the reset information includes:

[0062] Controlling the motion module to move along a first direction for a preset distance;

[0063] Acquiring a detection signal from the reset detection module;

[0064] When the reset detection module detects the motion module, controlling the motion module to stop moving;

[0065] The motion module is controlled to move in a stepwise manner along a second direction until the reset detection module detects the motion module, wherein the first direction and the second direction are opposite.

[0066] The reset detection module can be a photoelectric switch installed on the nucleic acid detection device 200, which can obtain whether the motion module is reset through the photoelectric detection of the photoelectric switch. Specifically, in this embodiment, the reset information includes the origin position, and the motion module can be controlled to move in the direction close to the origin position until the preset motion stroke is reached, and in the process of moving the preset motion stroke, the reset detection module can detect the motion module, control the motion module to stop moving, and control the motion module to step in the reverse direction until the reset detection module can detect the motion module and shut down the motion module. At this time, the current position of the motion module is the origin position. In this embodiment, the forward motion of the fixed stroke is first performed, and the origin position is detected in combination with the reset detection module, and then the reverse stepping motion is performed. In combination with the photoelectric detection of the reset detection module, the reverse and forward reset detection can improve the accuracy of the reset of the motion module, so that the reset accuracy of a single position can be within ±0.02mm.

[0067] In one embodiment, the motion module can perform stepping motion with a minimum motion unit. In one embodiment, the minimum motion unit of the motion module is 0.01 mm, and reverse stepping operation is performed at a starting speed of 1 mm / s. This can improve the accuracy of reset detection.

[0068] In an embodiment of the present invention, controlling the motion module to move a preset distance along the first direction includes:

[0069] The motion module is controlled to move at a reset speed until it reaches a preset travel distance, which is the maximum theoretical travel distance of the motion module. In this embodiment, the reset speed can be 30 mm / s. When the motion module reaches the preset travel distance, a rough detection of origin reset can be performed, which can improve the efficiency of reset.

[0070] In an embodiment of the present invention, controlling the motion module to stop motion includes:

[0071] Control the motion module to decelerate at a preset deceleration until it stops.

[0072] In this embodiment, the deceleration rate can be 3000 mm / s 2 When the motion module moves along a preset stroke in the first direction, the motion module can be controlled to decelerate until it stops, which can avoid the situation where the motion module stops running rapidly and causes damage.

[0073] In an embodiment of the present invention, obtaining the first calibration value and the second calibration value according to the absolute value of the difference includes:

[0074] Select the minimum difference among the absolute values ​​of the differences;

[0075] When the minimum difference is within a preset range, the two single calibration values ​​corresponding to the minimum difference are used as the first calibration value and the second calibration value.

[0076] Specifically, in this embodiment, obtaining the first and second calibration values ​​includes comparing the absolute values ​​of multiple differences, obtaining the minimum difference among the absolute values, and, if the minimum difference is within a preset range, using the two single calibration values ​​corresponding to the minimum difference as the first and second calibration values, and averaging the first and second calibration values ​​to obtain the final calibration value. In this embodiment, by subtracting the absolute values ​​of the differences from each other, and comparing the absolute values ​​of the differences, first and second calibration values ​​with smaller calibration deviations can be obtained. By averaging the first and second calibration values, the reset accuracy of the motion module can be further improved.

[0077] like Figure 3 As shown, the present invention further provides a position calibration system 100, which includes:

[0078] Calibration tool 300;

[0079] The nucleic acid detection device 200 includes a motion module and a reset detection module. The calibration tool 300 is used to connect to the PCR module of the nucleic acid detection device 200. The motion module is used to drive the calibration tool 300, and the reset detection module is used to detect the calibration tool 300.

[0080] The processor, the motion module, the reset detection module, and the calibration fixture 300 are all electrically connected to the processor, and the processor is configured to execute the above position calibration method.

[0081] It should be noted that, in one embodiment, the single position calibration operation includes contact position calibration. The calibration fixture 300 may be provided with a slider connected to a spring. When the contact position calibration is used for amplification position calibration, the rear end of the slider blocks the photoelectric switch when moving forward, so as to determine the current position information of the amplification position. The slider can detect the current position of the motion module by abutting against the nucleic acid detection device 200. The single calibration value can be obtained by comparing the calibration default value of the calibration position in the calibration instruction with the current position information of the calibration position; in another embodiment, the single position calibration operation includes non-contact position calibration. For the calibration of the extraction position, the current position information of the extraction position of the motion module can be determined by blocking the photoelectric switch with the pipette tip 240. The single calibration value can be obtained by comparing the calibration default value of the calibration position in the calibration instruction with the current position information of the calibration position.

[0082] In this embodiment, the calibration fixture 300 may be equipped with multiple photoelectric switches for detecting the motion module. During position calibration, the photoelectric switches on the calibration fixture 300 can detect the current position of the motion module. The reset detection module may include multiple U-shaped photoelectric switches with a detection accuracy of less than 0.01 mm. The photoelectric switches in the reset detection module can detect the position of the motion module during the reset operation. In one embodiment, the calibration fixture 300 can detect the current position of the motion module through the reset detection module.

[0083] It should be noted that the external structure of the calibration tool 300 in this embodiment is consistent with the detection reaction module of the PCR module, and is used for standard position positioning of different operations. In one embodiment, the processor can be independently set, and the calibration tool 300 and the nucleic acid detection device 200 can be connected to the processor by wireless communication. In another embodiment, the processor can be integrated into the calibration tool 300 or the nucleic acid detection device 200. The detection reaction module of the nucleic acid detection device 200 is specifically a fluorescent detection card box, which includes different detection tubes jointly designed, and needs to execute reaction steps of different tube positions according to the detection process. The nucleic acid detection device 200 may also include functional modules such as power supply, temperature control, and display.

[0084] In an embodiment of the present invention, the motion module includes a pipette tip 240 and an extraction Y-axis motor, a Z-axis motor 210 and an S-axis motor 220 for driving the pipette tip 240, and the reset detection module is used to detect the pipette tip 240. In this embodiment, when the position calibration system 100 controls the nucleic acid detection device 200 to perform contact position calibration, it first controls the motor of the motion module to move the calibration fixture 300 in the direction of position calibration. During the slow movement, the front end of the slider on the calibration fixture 300 will touch the front block, and then the slider will move backward, and the rear end of the slider will block the light of the photoelectric switch on the calibration fixture 300, resulting in a change in state. The position at this time is calibrated to the position of the motion module. The Y-axis amplification position is calibrated using this method. The calibration default value is the theoretical structural point value, and the axis calibration range is the offset range that the device can accept.

[0085] It can be understood that the Z axis in this embodiment is Figure 3 The up and down directions in the Y axis are Figure 3 The S-axis motor 220 is used to drive the pipette tip 240 of the nucleic acid detection device 200 to rotate in the horizontal plane around the rotation center in the forward and backward direction. The nucleic acid detection device 200 is provided with an amplification position and an extraction position. After a period of use, to ensure the detection accuracy of the nucleic acid detection device 200, the motion module of the nucleic acid detection device 200 needs to be calibrated.

[0086] The pipette tip 240 in this embodiment has a cross-sectional diameter in the middle that is larger than the cross-sectional diameters at the top and bottom. The position calibration system 100 can perform non-contact position detection and center position detection on the pipette tip 240, thereby preventing deviations in photoelectric switch detection due to height deviations. Center position detection involves controlling the motor to move the calibration fixture 300 in the position calibration direction until the U-shaped opening of the photoelectric switch can detect the pipette tip 240. The U-shaped opening of the photoelectric switch for detecting the pipette tip 240 is installed perpendicular to the axis of the motion module. This method is used to calibrate the Y-axis motor, Z-axis motor 210, and S-axis motor 220.

[0087] In this embodiment of the present invention, the motion module includes a support base 230 for supporting the calibration fixture 300 and an amplified Y-axis motor for driving the support base 230. The calibration fixture 300 in this embodiment can be placed on the support base 230, and the amplified Y-axis motor drives the support base 230 to move, thereby driving the calibration fixture 300 to move.

[0088] The present invention further provides a machine-readable storage medium having instructions stored thereon. When the instructions are executed by a processor, the processor is configured to execute the above position calibration method.

[0089] In the present invention, the processor enters the calibration mode, starts the calibration logic, and then receives the status of the photoelectric switch feedback as the basis for judging the calibration position logic, and then performs position calibration on the nucleic acid detection device 200, and then writes the position calibration value into the memory of the nucleic acid detection device 200 as the calibration value of the position point.

[0090] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0091] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0092] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0093] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A position calibration method for a nucleic acid detection device (200) with a motion module, characterized in that: The position calibration method comprises: Perform position calibration in a preset number of cycles and obtain a single calibration value; Calculating the absolute value of the difference between any two of the single calibration values; Obtaining a first calibration value and a second calibration value according to the absolute value of the difference; The average of the first calibration value and the second calibration value is taken as the final calibration value.

2. The position calibration method according to claim 1, characterized in that: Before performing position calibration, also include: Obtaining a calibration instruction, wherein the calibration instruction includes calibration position information and reset information; determining whether the motion module is reset; In the case that the motion module is not reset, the motion module is controlled to perform a reset operation in combination with the calibration position information and the reset information.

3. The position calibration method according to claim 2, characterized in that: The controlling the motion module to perform a reset operation by combining the calibration position information and the reset information includes: Controlling the motion module to move along a first direction for a preset distance; Acquiring a detection signal from the reset detection module; When the reset detection module detects the motion module, controlling the motion module to stop moving; The motion module is controlled to move in a stepwise manner along a second direction until the reset detection module detects the motion module, wherein the first direction and the second direction are opposite.

4. The position calibration method according to claim 3, characterized in that: The controlling the motion module to move along a preset distance in the first direction includes: The motion module is controlled to move at a reset speed until it moves to a preset stroke, where the preset stroke is the maximum theoretical stroke of the motion module.

5. The position calibration method according to claim 3, characterized in that: The controlling the motion module to stop motion comprises: The motion module is controlled to perform deceleration motion at a preset deceleration rate until it stops.

6. The position calibration method according to any one of claims 1 to 5, characterized in that: The acquiring the first calibration value and the second calibration value according to the absolute value of the difference comprises: Select the minimum difference among the absolute values ​​of the differences; When the minimum difference is within a preset range, the two single calibration values ​​corresponding to the minimum difference are used as the first calibration value and the second calibration value.

7. A position calibration system (100), characterized in that The position calibration system (100) comprises: Calibration tool (300); A nucleic acid detection device (200) comprises a motion module and a reset detection module, wherein the calibration tool (300) is used to dock with a PCR module of the nucleic acid detection device (200), the motion module is used to drive the calibration tool (300), and the reset detection module is used to detect the calibration tool (300); A processor, the motion module, the reset detection module, and the calibration tool (300) are all electrically connected to the processor, and the processor is configured to execute the position calibration method according to any one of claims 1 to 6.

8. The position calibration system according to claim 7, characterized in that: The motion module comprises a pipette head (240) and an extraction Y-axis motor, a Z-axis motor (210) and an S-axis motor (220) for driving the pipette head (240), and the reset detection module is used to detect the pipette head (240).

9. The position calibration system according to claim 7, characterized in that: The motion module comprises a bearing seat (230) for bearing the calibration tool (300) and an amplified Y-axis motor for driving the bearing seat (230).

10. A machine-readable storage medium, characterized in that The machine-readable storage medium stores instructions, wherein when the instructions are executed by a processor, the processor is configured to execute the position calibration method according to any one of claims 1 to 6.

Images