Target position calibration method and system, electronic equipment and storage medium

Abstract

The invention provides a target position calibration method and system, electronic equipment and a storage medium. The method comprises the steps of obtaining a calibration instruction; detecting a reference mark on the bearing module based on the calibration instruction, and determining an actual center position of the reference mark; acquiring a preset relative position relationship between the target object and the reference mark; and updating the position information of the target object in the database according to the relative position relationship and the actual center position. According to the invention, the actual position of the target object can be calculated by recording the relative position relation between the target object and the reference mark in advance and identifying the actual center position of the reference mark, so that automatic calibration of the position of the target object is completed, and the calibration efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of automation equipment technology, and in particular to a target position calibration method, system, electronic device and storage medium. Background Technology

[0002] Automated equipment refers to a complete set of technical systems that, based on preset programs, algorithms, or instructions, can autonomously complete specific production, testing, management, or operational tasks without direct human intervention. It typically integrates functional modules such as information sensing, data processing, logical judgment, and action execution, enabling the automated operation of processes according to predetermined rules. Among these, the positioning accuracy of the target location during action execution directly determines the stability, reliability, and operational efficiency of the automated process.

[0003] Current methods for calibrating target locations typically involve manual calibration. However, manual calibration is susceptible to errors due to factors such as visual angles and individual subjectivity, and it is also tedious and inefficient. Summary of the Invention

[0004] The main objective of this application is to propose a target position calibration method, system, electronic device, and storage medium to improve calibration efficiency.

[0005] To achieve the above objectives, this application proposes a target position calibration method, comprising: Obtain calibration instructions; The reference mark on the carrier module is detected based on the calibration command, and the actual center position of the reference mark is determined. Obtain the preset relative positional relationship between the target object and the reference marker; Update the position information of the target object in the database based on the relative positional relationship and the actual center position.

[0006] Optionally, in one embodiment, detecting the reference mark on the carrier module based on calibration instructions includes: Get the initial search position; Detection of baseline markers based on the initial search position; When no reference marker is detected, the search is extended from the initial search position according to the preset step size and preset direction until the reference marker is detected.

[0007] Optionally, in one embodiment, the search is expanded from the initial search position according to a preset step size and a preset direction until a reference marker is detected, including: Obtain the preset position error range; Starting from the initial search position according to the preset step size and preset direction, the search is extended within the preset position error range of the initial search position until the reference marker is detected.

[0008] Optionally, in one embodiment, the preset direction is the circumferential direction.

[0009] Optionally, in one embodiment, the reference mark is a crosshair, and determining the actual center position of the reference mark includes: The signal of light reflection intensity change along the horizontal line and the signal of light reflection intensity change along the vertical line of the cross coordinate line are obtained. The center ordinate of the cross coordinate line is determined based on the signal of light reflection intensity change along the horizontal line, and the center abscissa of the cross coordinate line is determined based on the signal of light reflection intensity change along the vertical line. The actual center position of the crosshair is determined based on the center ordinate and center abscissa.

[0010] Optionally, in one embodiment, acquiring the light reflection intensity change signals of the horizontal and vertical lines of the crosshair includes: Acquire the signal of light reflection intensity change on the carrier module; Based on the signal transition pattern, the horizontal and vertical light reflection intensity changes of the cross coordinate lines are identified from the light reflection intensity change signals.

[0011] Optionally, in one embodiment, after updating the position information of the target object in the database according to the relative positional relationship and the actual center position, the method further includes: Obtain the target object carried by the target object based on the updated location information; If the target object fails to be acquired, generate the calibration instructions for the next round.

[0012] This application also provides a target position calibration system, including: a target object, a carrying module, an operating mechanism, and a processing module; The surface of the load-bearing module is marked with reference marks; The operating mechanism is equipped with an optical sensor, which is used to collect signals reflecting changes in the light reflection intensity of the reference mark; The processing module is used to execute the target position calibration method as claimed in any one of claims 1-7.

[0013] Alternatively, in one embodiment, the reference marker is a crosshair.

[0014] Alternatively, in one embodiment, the cross coordinate lines are recesses or through-type cross coordinates machined into the surface of the carrier module.

[0015] Alternatively, in one embodiment, the length of the crosshair is adapted to a preset position error range.

[0016] Optionally, in one embodiment, the optical sensor is an optical fiber sensor, which includes an optical fiber, an optical fiber amplifier, and a convex lens. The end of the optical fiber is connected to the optical fiber amplifier, and the front end of the optical fiber is connected to the convex lens.

[0017] Optionally, in one embodiment, the fiber optic sensor is provided with an angle adjuster, which is used to adjust the detection angle of the fiber optic sensor so that the detection direction of the fiber optic sensor remains perpendicular to the surface of the carrier module.

[0018] Alternatively, in one embodiment, the optical sensor is also used to inventory the target object carried by the target object.

[0019] Optionally, in one embodiment, the target object is a blood card, the target object is used to carry the blood card, and the operating mechanism is a gripper, which is used to grasp the blood card.

[0020] Alternatively, in one implementation, the gripper grasps the blood card based on the updated position information of the target object; When the blood card capture fails, the processing module generates the calibration instructions for the next round.

[0021] Another aspect of this application provides an electronic device, comprising: Memory, transceiver, processor, and bus system; The memory is used to store programs; The processor is used to execute programs in memory, including methods for performing the aspects mentioned above; Bus systems are used to connect memory and processor to enable communication between them.

[0022] Another aspect of this application provides a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the methods described above.

[0023] As can be seen from the above technical solutions, the embodiments of this application have the following advantages: This method calculates the actual position of the target object by pre-recording the relative positional relationship between the target object and the reference mark, and then by identifying the actual center position of the reference mark, thereby completing the automatic calibration of the target object's position and improving calibration efficiency. Attached Figure Description

[0024] Figure 1 This is a schematic flowchart of the target position calibration method provided in the embodiments of this application; Figure 2 This is a schematic diagram of the target position calibration system provided in an embodiment of this application; Figure 3 This is a schematic diagram of the structure of the fiber optic sensor provided in the embodiments of this application; Figure 4 This is a schematic diagram of the crosshair lines provided in the embodiments of this application; Figure 5 This is a schematic diagram of the light reflection intensity change signal collected by the fiber optic sensor according to an embodiment of this application; Figure 6 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application.

[0025] Reference numerals in the attached drawings: target object 11, carrier module 12, reference mark 121, operating mechanism 13, optical sensor 131, fiber optic amplifier 1311, fiber optic cable 1312, convex lens 1313, processing module 14. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0027] It should be noted that although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first," "second," etc., in the specification, claims, and the aforementioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0028] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments.

[0029] In the embodiments of this application, the terms "module" or "unit" refer to a computer program or part of a computer program that has a predetermined function and works with other related parts to achieve a predetermined goal, and can be implemented wholly or partially using software, hardware (such as processing circuitry or memory), or a combination thereof. Similarly, a processor (or multiple processors or memory) can be used to implement one or more modules or units. Furthermore, each module or unit can be part of an overall module or unit that includes the functionality of that module or unit.

[0030] Furthermore, to better illustrate this application, numerous specific details are provided in the following detailed embodiments. Those skilled in the art should understand that this application can be implemented without certain specific details. In some instances, methods, means, components, and circuits well-known to those skilled in the art have not been described in detail in order to highlight the main points of this application.

[0031] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0032] Automated equipment refers to a complete set of technical systems that can autonomously complete production, processing, testing, verification, information management, or specific operational tasks without direct human intervention, based on preset programs, algorithms, or instructions. This type of equipment typically integrates core functional modules such as information sensing, data processing, logical judgment, and action execution, enabling fully automated operation according to established rules. It is worth noting that in the action execution phase of automated equipment, the positioning accuracy of the target location directly determines the operational stability, task reliability, and overall operational efficiency of the entire automated process.

[0033] Currently, manual calibration is still the most common method used in calibration schemes for the target positions of automated equipment. However, manual calibration has many drawbacks: on the one hand, the calibration process is easily affected by the visual observation angle, resulting in positioning errors, and is also greatly influenced by personal subjectivity, making it difficult to guarantee calibration accuracy; on the other hand, the manual calibration process is cumbersome, highly repetitive, and consumes a lot of manpower, resulting in low calibration efficiency and failing to meet the application requirements of efficient operation of automated equipment.

[0034] Based on this, embodiments of this application provide a target position calibration method that can solve the above-mentioned problems.

[0035] Please see Figure 1 ,like Figure 1 The diagram shown is a schematic flowchart of a target position calibration method provided in an embodiment of this application, including: Step 101: Obtain calibration instructions.

[0036] The calibration command is an instruction to initiate the calibration logic of the target object. It can be manually triggered by the operator or automatically generated by the system according to a preset cycle, and there is no restriction on this.

[0037] Step 102: Detect the reference mark on the carrier module based on the calibration command, and determine the actual center position of the reference mark.

[0038] The carrier module is a carrier integrally formed from a substrate, used to support the target object, and the target object and the carrier module maintain a relatively static positional relationship. The reference mark is a position reference mark set at a preset position on the substrate of the carrier module, providing identifiable optical feature points to identify the position of the reference mark, wherein the identified position is the actual center position of the reference mark.

[0039] Step 103: Obtain the preset relative positional relationship between the target object and the reference mark.

[0040] The target object refers to the calibration object specified by the calibration command. There is a stable physical positioning relationship between the target object and the carrier module. That is, the relative positional relationship between the target object and the reference mark on the carrier module is fixed. This relative positional relationship can be stored in the database in the form of coordinate offsets.

[0041] Step 104: Update the position information of the target object in the database according to the relative position relationship and the actual center position.

[0042] Based on the coordinate offset parameters included in the preset relative position relationship, and combined with the actual center position coordinates of the reference mark, the real-time position coordinates of the target object in the global coordinate system are calculated through a coordinate conversion algorithm. Then, the calculated real-time position coordinates of the target object are used to overwrite the original position information of the target object stored in the database, thereby completing the update operation of the target object position information in the database and ensuring that the target object position data in the database is consistent with the actual position.

[0043] This application provides a target position calibration method, which includes obtaining a calibration command; detecting a reference mark on a carrier module based on the calibration command and determining the actual center position of the reference mark; obtaining a preset relative positional relationship between the target object and the reference mark; and updating the position information of the target object in the database according to the relative positional relationship and the actual center position.

[0044] This method calculates the actual position of the target object by pre-recording the relative positional relationship between the target object and the reference mark, and then by identifying the actual center position of the reference mark, thereby completing the automatic calibration of the target object's position and improving calibration efficiency.

[0045] In one embodiment, detecting the reference mark on the carrier module based on calibration instructions includes: Get the initial search position; Detection of baseline markers based on the initial search position; When no reference marker is detected, the search is extended from the initial search position according to the preset step size and preset direction until the reference marker is detected.

[0046] In this embodiment, the initial search position is the starting positioning coordinate of the reference marker detection operation, which is pre-saved position information.

[0047] If no reference marker matching the feature template is detected at the initial search position, it usually means that the carrier module has shifted position or the reference marker is slightly obscured. In this case, an extended search mechanism is triggered, gradually expanding the detection range from the initial search position according to a pre-configured step size and direction. The pre-set step size is based on the maximum offset threshold of the carrier module, ensuring that the possible offset range is covered with the smallest possible search step size, avoiding missed detections due to excessively large step sizes. The pre-set direction is set to omnidirectional expansion to further optimize search efficiency. During the extended search process, the detection area is moved sequentially according to the set step size and direction, and the reference marker recognition operation is performed until the reference marker on the carrier module is successfully located.

[0048] By expanding the detection methods, we can ensure rapid detection of the reference mark when it is in the normal position, and also deal with the detection failure caused by the offset of the bearing module, thus effectively improving the robustness of the reference mark detection algorithm.

[0049] In one implementation, the search is expanded from the initial search position according to a preset step size and a preset direction until a reference marker is detected, including: Obtain the preset position error range; Starting from the initial search position according to the preset step size and preset direction, the search is extended within the preset position error range of the initial search position until the reference marker is detected.

[0050] In this embodiment, the preset position error range is a position interval threshold set in advance to constrain the spatial boundary of the extended search. It is a boundary parameter that is comprehensively set based on the maximum offset threshold of the bearing module during the actual installation / assembly process, the equipment installation tolerance, and the position fluctuation range caused by environmental disturbances.

[0051] Using the initial search position as the spatial origin, and based on the pre-configured preset step size and preset direction, the identification position is moved successively within the closed spatial area defined by the preset position error range corresponding to the initial search position until the reference mark on the carrier module is successfully located.

[0052] The preset position error range defines a clear boundary for the search, which can cover the possible offset range of the benchmark mark, and avoid the redundancy of computing power and the increase in detection time caused by unlimited expansion of the search range. In this way, the effectiveness of the search is guaranteed while the detection efficiency is optimized.

[0053] In one implementation, the preset direction is a circumferential direction. The circumferential direction search delineates a ring-shaped detection area with the initial search position as the center, which can achieve a blind-angle coverage search of the potential offset position of the reference mark and avoid the problem of missed detection caused by the mismatch between the linear search direction and the actual offset direction.

[0054] In one embodiment, the reference mark is a crosshair, and determining the actual center position of the reference mark includes: The signal of light reflection intensity change along the horizontal line and the signal of light reflection intensity change along the vertical line of the cross coordinate line are obtained. The center ordinate of the cross coordinate line is determined based on the signal of light reflection intensity change along the horizontal line, and the center abscissa of the cross coordinate line is determined based on the signal of light reflection intensity change along the vertical line. The actual center position of the crosshair is determined based on the center ordinate and center abscissa.

[0055] In this embodiment, the cross coordinate line is a reference mark with clear orthogonal geometric characteristics. It consists of a horizontal line and a vertical line that are perpendicular to each other and have a unique intersection point. The extension direction of the horizontal line of the cross coordinate line corresponds to the horizontal axis of the coordinate system (such as the X-axis), and the extension direction of the vertical line corresponds to the vertical axis of the coordinate system (such as the Y-axis). The intersection point of the two is the actual center position of the cross coordinate line.

[0056] The horizontal line light reflection intensity change signal refers to the signal data generated during the detection of the crosshair reference mark. This signal data reflects the spatial position characteristics of the horizontal line, resulting from the interaction between the horizontal line structure and the detection signal. The change pattern of its signal intensity is directly related to the physical edge position of the horizontal line. The surface material or geometry of the horizontal line differs from the substrate of the carrier module. When the detection signal acts on the surface of the carrier module and scans along a preset path, a significant abrupt change in the signal reflection intensity occurs the instant the scanning path contacts the edge of the horizontal line. The resulting signal data is the horizontal line light reflection intensity change signal. The waveform characteristics of this signal accurately characterize the spatial distribution of the horizontal line. The abrupt change range of signal intensity corresponds to the physical width range of the horizontal line, and the midpoint of the abrupt change range corresponds to the central axis position of the horizontal line. The ordinate of the central axis position of the horizontal line can be considered as the central ordinate of the crosshair.

[0057] Correspondingly, the vertical line light reflection intensity change signal refers to the signal data reflecting the spatial position characteristics of the vertical line of the cross coordinate line. The vertical line light reflection intensity change signal indicates the physical width range of the vertical line, and the abscissa of the central axis of this range can be regarded as the center abscissa of the cross coordinate line. Therefore, the actual center position of the cross coordinate line is determined by the center ordinate and the center abscissa.

[0058] The abrupt change range of the light reflection intensity signal directly corresponds to the physical edge of the crosshair. The coordinates are determined based on the midpoint of the abrupt change range. There is no need for complex image segmentation and feature extraction of the crosshair coordinate line. The coordinate calculation can be completed simply by identifying the signal abrupt change features, which significantly simplifies the data processing process, reduces the computing power consumption of the system, and improves the efficiency of determining the actual center position of the reference mark.

[0059] In one embodiment, acquiring the light reflection intensity change signals of the horizontal and vertical lines of the crosshair includes: Acquire the signal of light reflection intensity change on the carrier module; Based on the signal transition pattern, the horizontal and vertical light reflection intensity changes of the cross coordinate lines are identified from the light reflection intensity change signals.

[0060] In this embodiment, the light reflection intensity change signal refers to the set of signal data in which the intensity of the reflected signal changes regularly as the detection path moves when the detection signal acts on the carrier module and the surface of the reference mark during the reference mark detection process. This is because the material and geometric structure of different areas are different.

[0061] Signal jump patterns are the characteristic patterns of abrupt changes in light reflection intensity. In real-world environments, dust particles, processing residues, and other interfering substances adhering to the surface of the carrier module can alter the surface reflectivity of local areas, introducing irregular signal fluctuations into the overall light reflection intensity change signal. These fluctuations pose a risk of confusion with the characteristic signal jumps generated by the horizontal and vertical lines of the crosshair. Light reflection intensity change signals can be distinguished into valid jump signals and interfering jump signals. The signal intensity corresponding to the crosshair line exhibits a steep increase or decrease within the jump range, which is called a valid jump signal. Interfering substances such as dust and burrs cause irregular fluctuations due to random changes in local surface reflectivity, resulting in weak and irregular signal intensity changes; these are called interfering jump signals. Based on this signal jump pattern, the horizontal and vertical light reflection intensity change signals of the crosshair can be distinguished from the vertical light reflection intensity change signals of the crosshair.

[0062] Based on the signal transition patterns, interference signals can be distinguished and screened out, reducing detection errors caused by environmental interference and improving the accuracy and reliability of extracting horizontal and vertical line feature signals.

[0063] In one embodiment, after updating the target object's position information in the database based on relative positional relationships and actual center positions, the method further includes: Obtain the target object carried by the target object based on the updated location information; If the target object fails to be acquired, generate the calibration instructions for the next round.

[0064] In this implementation, after updating the location information of the target object in the database, it is possible to attempt to acquire the target object carried by the target object to verify the accuracy of the updated location information. Specifically, based on the updated location information, an acquisition operation of the target object carried by the target object is performed, and the acquisition result is judged. If the target object is successfully acquired, the current calibration process ends; if the target object acquisition fails, a new calibration process is executed by generating a new calibration command. By constructing a closed-loop fault-tolerant calibration link, the minor errors that may exist in a single location calibration are effectively solved, and the recalibration process can be automatically started without manual intervention, greatly improving the accuracy of calibration.

[0065] Please see Figure 2 ,like Figure 2 The diagram shown is a schematic representation of a target position calibration system provided in an embodiment of this application. (It should be noted that...) Figure 2 (This is only an illustration of the structure of the calibration system and should not be construed as a limitation on the actual structure.) It includes: target object 11, support module 12, operating mechanism 13 and processing module 14; The surface of the bearing module 12 is provided with a reference mark 121; The operating mechanism 13 is equipped with an optical sensor 131, which is used to collect signals reflecting changes in the light reflection intensity of the reference mark 121. The processing module 14 is used to execute the target position calibration method in the foregoing embodiments.

[0066] In this embodiment, the reference mark 121 is formed in the preset calibration area of ​​the carrier module 12 using processes such as laser engraving, etching, printing or pasting.

[0067] The optical sensor 131 is a detection device that realizes position sensing based on the principle of light reflection / transmission. It identifies the position by outputting a light signal of a specific wavelength through the transmitting end and receiving the reflected light signal. The optical sensor 131 can scan the surface of the carrier module 12 along a preset path. When scanning to the reference mark 121 (crosshair) and the base area of ​​the carrier module 12, the difference in surface reflectivity of different areas generates a corresponding light reflection intensity change signal, thereby identifying the actual center position of the reference mark 121.

[0068] The processing module is responsible for data parsing, logical operations, instruction issuance, and status management. It receives the light reflection intensity change signal collected by the optical sensor 131, calculates the actual center position coordinates of the reference marker 121, and calls the relative position relationship between the carrier module 12 and each target object 11 stored in the database. It calculates the actual coordinate position of the target object 11 through a coordinate mapping algorithm and overwrites the position information of the target object 11 in the database in real time with the actual coordinate position, ensuring that the position information of the target object 11 called by the system in subsequent calls is always the latest calibration result.

[0069] In one embodiment, the reference marker is a crosshair. The crosshair provides a reference point in two-dimensional space (X, Y axes) through the perpendicular intersection of the horizontal line (X-axis direction) and the vertical line (Y-axis direction), avoiding coordinate offset errors caused by scanning direction deviations of a single direction line.

[0070] In one embodiment, the cross coordinate lines are recesses or through-type cross coordinates machined into the surface of the carrier module.

[0071] In this embodiment, the recessed cross coordinate is a grooved cross structure that is processed on the surface of the carrier module (such as aluminum alloy, quartz glass, etc.) through processes such as laser etching and mechanical milling, without penetrating the overall thickness of the substrate.

[0072] The through-type cross coordinate is a perforated cross structure that completely penetrates the thickness of the substrate of the supporting module, processed by laser cutting, precision drilling and other processes.

[0073] When the crosshair is a recessed or through-type structure on the surface of the support module, it will form more significant signal characteristics through the difference in light reflection and transmission compared to etched planar crosshairs, and can prevent long-term dust and accidental reagent drips from contaminating the crosshair.

[0074] In one embodiment, the length of the crosshair is adapted to a preset position error range.

[0075] As described in the previous embodiments, the preset position error range is a position interval threshold set in advance to constrain the spatial boundary of the extended search. It is a boundary parameter set comprehensively based on the maximum offset threshold of the carrier module during the actual installation / assembly process, the equipment installation tolerance, and the position fluctuation range caused by environmental disturbances. In other words, it is a threshold set in advance according to the positioning accuracy requirements of the target object. This threshold determines the effective recognition range when the optical sensor scans the reference mark, and the length of the horizontal and vertical lines of the cross coordinate line must cover this effective recognition range to ensure that even if the carrier module or the target object has a small positional shift, the optical sensor can still completely capture the feature signal of the cross coordinate line.

[0076] In one embodiment, the optical sensor is an optical fiber sensor, which includes an optical fiber, an optical fiber amplifier, and a convex lens. The tail end of the optical fiber is connected to the optical fiber amplifier, and the front end of the optical fiber is connected to the convex lens.

[0077] The optical fiber is used for optical signal transmission. Its tail end is connected to the optical fiber amplifier to ensure that the infrared light of a specific wavelength emitted by the amplifier can be transmitted to the front end of the optical fiber without loss. At the same time, the optical signal reflected back by the convex lens is completely transmitted back to the amplifier, avoiding signal attenuation or distortion during transmission.

[0078] A convex lens converges the divergent light transmitted through the optical fiber into parallel light or a focused spot. When the light shines on the surface of the crosshairs, the spot size is more concentrated, accurately covering the physical width range of the horizontal and vertical lines, avoiding signal ambiguity caused by light diffusion. Furthermore, when the light is reflected from the surface of the crosshairs, the convex lens converges the dispersed reflected light back to the front end of the optical fiber, enhancing the amplitude of the reflected signal and further widening the signal difference between high and low levels, thus reducing the signal recognition difficulty of the optical fiber amplifier.

[0079] In one example, a schematic diagram of the fiber optic sensor 131 can be found here. Figure 3 As shown, the system includes an optical fiber amplifier 1311, an optical fiber 1312, and a convex lens 1313. The optical fiber amplifier 1311 provides an optical signal, which is transmitted through the optical fiber 1312 to the convex lens 1313 at the end face of the optical fiber 1312 for focusing. The height difference between the end face of the optical fiber and the set crosshair line is adapted to the focal length of the convex lens to ensure the smallest light spot and the highest sensitivity.

[0080] In one example, a diagram of the crosshairs can be found here. Figure 4 As shown, recessed or through-type crosshair lines 121 are machined on the surface of the carrier module. The horizontal lines of the crosshair lines 121 extend in the direction corresponding to the horizontal axis (e.g., the X-axis) of the coordinate system, and the vertical lines extend in the direction corresponding to the vertical axis (e.g., the Y-axis). These crosshair lines 121 have a machined edge line and a theoretical center line. In the figure, the machined edge is represented by a solid line, and the theoretical center line is represented by a dashed line. The machined edge corresponds to the actual physical contour of the crosshair line, i.e., the edge of the recessed or through-type region; the theoretical center line is the geometric center reference line of the crosshair line. A schematic diagram of the light reflection intensity change signal collected by the fiber optic sensor can be found in [reference needed]. Figure 5 As shown, taking the horizontal line of the cross coordinate line as an example, in Figure 2 and Figure 3 Based on this, when the fiber optic sensor reaches the preset position, it begins line searching. Line searching involves identifying changes in the light reflection intensity of horizontal and vertical lines. When the sensor's light spot intersects with the edge of one side of the horizontal line, the current vertical coordinate Y is recorded. 1-actual The optical sensor continues to move until it intersects with the machining edge on the other side of the horizontal line, triggering a trigger, and then records the current vertical coordinate Y again.2-actual The sum of the two ordinates divided by 2 gives the center ordinate Y of the crosshair. actual The process of finding the vertical line of the crosshair and obtaining the position of the center horizontal coordinate is similar and will not be repeated here.

[0081] For example, the theoretical center coordinates of the crosshair on the substrate of the carrier module are preset to (X0, Y0). By moving along the horizontal and vertical directions of the crosshair to collect the light reflection intensity change signal, and identifying the processing edge position of the crosshair, the actual center coordinates (X0, Y0) of the crosshair are calculated. actual ,Y actual Let the X-direction error of the cross coordinate line be OffsetX, then OffsetX = X actual -X0 sets the Y-direction error to Offset Y, then Offset Y = Y actual -Y0.

[0082] During the design phase, the positional offset of each target object relative to the theoretical center (X0, Y0) of the crosshair is determined. This offset is a fixed parameter and stored in the database. For example, taking target object number 1 as an example, its positional offset relative to the theoretical center (X0, Y0) of the crosshair reference mark is 10 units off in the X-axis direction and 20 units off in the Y-axis direction. That is, the theoretical position coordinates of target object number 1 are (X0+10, Y0+20).

[0083] The actual position coordinates of target object 1 are set as (X1, Y1). When it is necessary to obtain the actual position of target object 1, (X0+10, Y0+20) is no longer used as the actual position coordinates, but rather the actual center coordinates (X1, Y1) of the crosshair. actual ,Y actual Using a fixed offset, the actual position coordinates of the target object are calculated. Specifically, X1 = (X0 + 10) + OffsetX, that is, X1 = (X0 + 10) + (X... actual -X0), that is, X1=X actual + 10, similarly, Y1=(Y0+20)+Offset Y, that is, Y1=(Y0+20)+(Y actual -Y0), that is, Y1=Y actual +20, meaning the actual position coordinates of target object number 1 are (X... actual +10, Y actual +20), therefore, the actual coordinate position information of the target object can be updated based on the relative positional relationship between each target object and the cross coordinate line (i.e., fixed offset) and the actual center position of the cross coordinate line.

[0084] In one embodiment, the fiber optic sensor is equipped with an angle adjuster, which is used to adjust the detection angle of the fiber optic sensor so that the detection direction of the fiber optic sensor remains perpendicular to the surface of the carrier module. The angle adjuster can be adjusted manually or automatically.

[0085] Manual adjustment is used for equipment initialization or maintenance scenarios. First, move the gripper to the preset initial position above the carrier module, align the sensor with the coordinate line area, and manually adjust the pitch or yaw angle until the detection direction of the fiber optic sensor is perpendicular to the surface of the carrier module. Then, you can control the gripper to drive the sensor to scan the coordinate line. If the collected light reflection signal shows a symmetrical curve of first high level and then a sharp drop, then a stable low level, and finally a sharp rise back to high level, it indicates that the detection direction is vertical. If the signal is not asymmetrical, continue to fine-tune the angle until the requirements are met.

[0086] Automatic adjustment is used in dynamic calibration scenarios during equipment operation. The angle adjuster collects the current detection angle in real time and compares it with the vertical reference. At the same time, it combines the steepness of the signal transition and the amplitude difference to help judge the deviation. The angle adjuster receives the adjustment command from the processing module, drives the shaft to rotate according to the deviation value, and after the corresponding angle adjustment, the sensor rescans the coordinate line. The processing module verifies whether the signal meets the vertical state characteristics.

[0087] In one embodiment, the optical sensor is also used to inventory the target object carried by the target object.

[0088] After the target object's position is calibrated, the area where the target object is located can be scanned based on the updated target object's position information. The number and arrangement of the target objects can be analyzed and identified, and the final count and status confirmation of the target objects can be completed.

[0089] In one embodiment, the target object is a blood card, the target object is used to carry the blood card, and the operating mechanism is a gripper used to grasp the blood card.

[0090] A blood card is a carrier for blood typing experiments based on microcolumn gel technology, also known as a microcolumn gel card. Depending on the type of experiment, microcolumn gel cards come in various types, such as those used for blood typing (including forward typing, reverse typing, and forward / reverse typing), irregular antibody screening, and crossmatching.

[0091] The target object can be a blood card slot, which is used to hold and position the blood card. The inner wall of the slot can be treated with frosted or anti-slip texture, and elastic limiting protrusions (such as silicone material) can be set to prevent the blood card from shifting during the operation of the equipment (such as vibration or gripper movement).

[0092] The gripper is a structure that automates the grabbing, handling, and placement of blood cards through a mechanical clamping mechanism.

[0093] In one implementation, the gripper grasps the blood card based on the updated position information of the target object; When the blood card capture fails, the processing module generates the calibration instructions for the next round.

[0094] In this implementation, the target object acquisition operation involves the processing module sending a grasping control command to the gripper based on the updated location information. This command drives the gripper to move along the planned path to the corresponding position of the target object and perform the blood card grasping operation. After performing the grasping action, the gripper sends a grasping result signal back to the processing module. The processing module performs real-time judgment on this signal. If the grasping of the blood card is determined to have failed, it indicates that there is a deviation in the current position information of the target object. The processing module will automatically generate a position calibration command for the next round, triggering the system to restart the calibration process of signal acquisition of the crosshair reference mark, calculation of the actual center position, and updating of the target object's position information. After the new round of position information updates is completed, the gripper is driven to perform the blood card grasping operation again, thereby verifying the accuracy of the calibrated target object position information.

[0095] This application also provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the aforementioned blood card detection control method. This electronic device can be any smart terminal, including tablet computers, in-vehicle computers, etc.

[0096] Please see Figure 6 , Figure 6 The hardware structure of an electronic device according to another embodiment is illustrated. The electronic device includes: The processor 601 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application. The memory 602 can be implemented as a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 602 can store the operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 602 and is called by the processor 601 to execute the blood card detection control method of the embodiments of this application. The input / output interface 603 is used to implement information input and output; The communication interface 604 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.). Bus 605 transmits information between various components of the device (e.g., processor 601, memory 602, input / output interface 603, and communication interface 604); The processor 601, memory 602, input / output interface 603, and communication interface 604 are connected to each other within the device via bus 605.

[0097] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described control method for blood card detection.

[0098] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0099] The embodiments described in this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided by the embodiments of this application. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.

[0100] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of this application, and may include more or fewer steps than shown, or combine certain steps, or different steps.

[0101] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0102] Those skilled in the art will understand that all or some of the steps in the methods disclosed above, as well as the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, or suitable combinations thereof.

[0103] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0104] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0105] The technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes multiple instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0106] The preferred embodiments of the present application have been described above with reference to the accompanying drawings, but this does not limit the scope of the claims of the present application. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and substance of the embodiments of the present application shall be within the scope of the claims of the present application.

Claims

1. A target position calibration method, characterized in that, include: Obtain calibration instructions; Based on the calibration instructions, the reference mark on the carrier module is detected, and the actual center position of the reference mark is determined; Obtain the preset relative positional relationship between the target object and the reference marker; The position information of the target object in the database is updated based on the relative positional relationship and the actual center position.

2. The method according to claim 1, characterized in that, The step of detecting the reference mark on the carrier module based on the calibration command includes: Get the initial search position; Detection of reference markers based on the initial search position; When the reference marker is not detected, the search is extended from the initial search position according to the preset step size and preset direction until the reference marker is detected.

3. The method according to claim 2, characterized in that, The process of expanding the search from the initial search position according to a preset step size and a preset direction until the reference marker is detected includes: Obtain the preset position error range; Starting from the initial search position according to a preset step size and preset direction, the search is extended within a preset position error range of the initial search position until the reference marker is detected.

4. The method according to claim 2, characterized in that, The preset direction is the circumferential direction.

5. The method according to claim 1, characterized in that, The reference mark is a crosshair, and determining the actual center position of the reference mark includes: The horizontal light reflection intensity change signal and the vertical light reflection intensity change signal of the cross coordinate line are obtained, and the center ordinate of the cross coordinate line is determined based on the horizontal light reflection intensity change signal, and the center abscissa of the cross coordinate line is determined based on the vertical light reflection intensity change signal. The actual center position of the crosshair is determined based on the central ordinate and the central abscissa.

6. The method according to claim 5, characterized in that, The acquisition of the horizontal and vertical light reflection intensity change signals of the crosshair includes: Acquire the light reflection intensity change signal on the carrier module; Based on the signal transition pattern, the horizontal and vertical light reflection intensity change signals of the cross coordinate lines are identified from the light reflection intensity change signals.

7. The method according to claim 1, characterized in that, After updating the position information of the target object in the database according to the relative positional relationship and the actual center position, the method further includes: The target object carried by the target object is obtained based on the updated location information; If the acquisition of the target object fails, a calibration instruction for the next round is generated.

8. A target position calibration system, characterized in that, include: Target object, carrier module, operating mechanism, and processing module; The surface of the bearing module is provided with reference marks; The operating mechanism is equipped with an optical sensor, which is used to collect signals reflecting changes in the light reflection intensity of the reference mark. The processing module is used to execute the target position calibration method as described in any one of claims 1-7.

9. The system according to claim 8, characterized in that, The reference marker is a crosshair.

10. The system according to claim 9, characterized in that, The cross coordinate lines are recesses or through-lines machined into the surface of the bearing module.

11. The system according to claim 9, characterized in that, The length of the crosshair is adapted to the preset position error range.

12. The system according to claim 8, characterized in that, The optical sensor is an optical fiber sensor, which includes an optical fiber, an optical fiber amplifier, and a convex lens. The tail end of the optical fiber is connected to the optical fiber amplifier, and the front end of the optical fiber is connected to the convex lens.

13. The system according to claim 12, characterized in that, The fiber optic sensor is equipped with an angle adjuster, which is used to adjust the detection angle of the fiber optic sensor so that the detection direction of the fiber optic sensor remains perpendicular to the surface of the carrier module.

14. The system according to claim 8, characterized in that, The optical sensor is also used to inventory the target objects carried by the target object.

15. The system according to claim 14, characterized in that, The target object is a blood card, the target object is used to carry the blood card, and the operating mechanism is a gripper, which is used to grasp the blood card.

16. The system according to claim 15, characterized in that, The gripper grasps the blood card based on the updated position information of the target object; When the blood card fails to be retrieved, the processing module generates the calibration command for the next round.

17. An electronic device, characterized in that, include: Memory, transceiver, processor, and bus system; The memory is used to store programs; The processor is configured to execute a program in the memory, including performing the method as described in any one of claims 1 to 7; The bus system is used to connect the memory and the processor to enable communication between the memory and the processor.

18. A computer-readable storage medium, characterized in that, Includes instructions that, when run on a computer, cause the computer to perform the method as described in any one of claims 1 to 7.

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