Microscope capable of automatically focusing and shooting

Abstract

The invention provides a microscope capable of automatically focusing and shooting. The microscope comprises a microscope body and an external assembly, the microscope body comprises a coarse focusing screw, a fine focusing screw, an objective table Y-direction control rod, an objective table X-direction control rod, an objective lens, an eyepiece and an objective table; the external assembly comprises a microscope view moving module, a microscope focusing module, a camera module and a control module; the microscope view moving module is used for driving the objective table to move in a horizontal plane; the microscope focusing module is used for driving the microscope body to focus; the camera module is fixed on the eyepiece through an external bracket and is used for acquiring a view image of the microscope body; the control module is electrically connected with the camera module, the microscope view moving module and the microscope focusing module respectively; the control module is used for controlling the camera shooting module, the microscope view moving module and the microscope focusing module to cooperate with the microscope body to realize automatic focusing camera shooting, and the external structure does not need to change the original microscope structure.

Description

Technical Field

[0001] This invention relates to the field of microscopy, and more specifically, to an autofocus microscope. Background Technology

[0002] Optical microscopes, due to their intuitive imaging, ease of operation, and wide applicability, have been widely used in fields such as biomedicine, materials analysis, electronic manufacturing, quality inspection, and education. However, in practical applications, existing ordinary optical microscopes typically require manual movement of the stage, manual focusing, and frame-by-frame imaging when performing full-field scanning of slide samples. This results in low scanning efficiency, poor consistency between image position and step distance, inconsistent image sharpness due to reliance on experience in focusing, and difficulty in generating standardized data suitable for stitching and analysis. Many typical tasks (such as sample counting, target identification and localization, field screening, image acquisition and recording) are characterized by high repetition, large workload, and high dependence on operator experience, often requiring significant manpower and time, and the consistency of results is easily affected by subjective factors.

[0003] A Chinese patent with publication number CN120722532A discloses an automatic focusing method and system for spore microscopic imaging based on a target recognition algorithm. In this method, the focusing effect of spore images acquired at different object distances is analyzed during the process of changing the microscope object distance. The optimal positive focus object distance is determined based on the object distance corresponding to the spore image with the best focusing effect. The focusing effect is determined collaboratively based on the number of spores that can be identified in the image using the target recognition algorithm and the focusing evaluation value obtained by analyzing the image using a focusing evaluation function. Prioritize determining the focusing effect of different images based on the number of identifiable spores. When the number of spores is the same and the difference in focusing effect cannot be determined, the focusing effect of different images is further determined based on the size of the focusing evaluation value.

[0004] Existing intelligent microscope systems with functions such as autofocus, automatic stage scanning, and automatic imaging can significantly improve efficiency and consistency. However, their overall cost, maintenance, and upgrade costs are high, and they typically rely on supporting software and specific hardware ecosystems, making deployment and use relatively difficult. Many existing automated scanning imaging solutions require disassembly and modification of the microscope itself or adjustment of the optical path / frame, resulting in high costs, poor versatility, and disruption to the normal use of the original microscope. Therefore, in cost-sensitive applications or those with long equipment upgrade cycles, ordinary optical microscopes, with their simple structure, lower price, and ease of maintenance, remain the mainstream configuration, with a large number in use and high frequency of operation. Summary of the Invention

[0005] In view of the shortcomings of the prior art, the purpose of this invention is to provide an autofocus camera microscope.

[0006] An autofocus camera microscope according to the present invention includes: a microscope body and an external component;

[0007] The microscope body includes a coarse adjustment knob, a fine adjustment knob, a stage Y-direction control lever, a stage X-direction control lever, an objective lens, an eyepiece, and a stage. The external components include a microscope field of view movement module, a microscope focusing module, a camera module, and a control module; The drive end of the microscope moving module is detachably connected to the Y-direction control rod and the X-direction control rod of the stage, respectively, and the microscope field of view moving module is detachably mounted on the stage. The microscope field of view moving module is used to drive the stage to move in the horizontal plane. The drive end of the microscope focusing module is detachably connected to the coarse focus knob and the fine focus knob, and the microscope focusing module is installed on the table where the microscope body is placed. The microscope focusing module is used to drive the microscope body to focus. The camera module is fixed to the eyepiece by an external bracket, and the camera module is used to acquire the field of view image of the microscope body; The control module is electrically connected to the camera module, the microscope field of view movement module, and the microscope focusing module, respectively; the control module is used to control the camera module, the microscope field of view movement module, and the microscope focusing module to cooperate with the microscope body to achieve automatic focusing and imaging.

[0008] Preferably, the microscope field of view moving module includes a third stepper motor, a fourth stepper motor, a third motor housing, a fourth motor housing, a moving module connecting shaft, a third stepper motor drive belt, and a fourth stepper motor drive belt; The third stepper motor is installed inside the housing of the third motor, and the housing of the third motor is fixed to the connecting shaft of the moving module by the first wing bolt; the fourth stepper motor is installed inside the housing of the fourth motor, and the housing of the fourth motor is fixed to the connecting shaft of the moving module by the second wing bolt; the connecting shaft of the moving module is installed on the platform; The third stepper motor is detachably connected to the Y-direction control lever of the platform via the third stepper motor conveyor belt; the fourth stepper motor is detachably connected to the X-direction control lever of the platform via the fourth stepper motor conveyor belt. The third stepper motor drives the Y-direction control lever of the platform to move the platform's field of view in the Y direction; the fourth stepper motor drives the X-direction control lever of the platform to move the platform's field of view in the X direction.

[0009] Preferably, the moving module connecting shaft is rigidly connected to the platform using a clamp, the clamp including a lower fixing clamp and an upper fixing clamp; The lower fixing clamp is fixed to the connecting shaft of the moving module by a third butterfly bolt, and the upper fixing clamp is fixed to the connecting shaft of the moving module by a fourth butterfly bolt; The lower fixing clamp cooperates with the upper fixing clamp to clamp the upper and lower sides of the platform, and the upper fixing clamp is fixed to the platform using the fifth wing bolt.

[0010] Preferably, the microscope field of view movement module includes an electric telescopic rod, the drive end of which is connected to the stage and used to drive the stage to move in the horizontal plane.

[0011] Preferably, the microscope focusing module includes a focusing module connecting shaft, a first motor housing, a second motor housing, a first stepper motor, a second stepper motor, a fine focusing spiral drive belt, and a coarse focusing spiral drive belt. The first stepper motor is installed inside the first motor housing, which is fixed to the focusing module connecting shaft by bolts; the second stepper motor is installed inside the second motor housing, which is fixed to the focusing module connecting shaft by bolts; the focusing module connecting shaft is installed on the table where the microscope body is placed; The first stepper motor is detachably connected to the fine focusing screw via a fine focusing screw drive belt; the second stepper motor is detachably connected to the coarse focusing screw via a coarse focusing screw drive belt. The first stepper motor drives the fine focusing screw to rotate via a fine focusing screw transmission belt, and the second stepper motor drives the coarse focusing screw to rotate via a coarse focusing screw transmission belt. The first and second stepper motors are used to drive the microscope body to focus.

[0012] Preferably, the microscope focusing module uses the first stepper motor to drive the microscope body for focusing; The first stepper motor drives the fine focus knob to control the microscope body to scan the slide on the stage using the first step length. When the sharpness no longer increases and there is a downward trend in the sharpness for 5 consecutive times, the minimum value between the two values ​​of the maximum sharpness value is recorded and denoted as A1. The first stepper motor drives the fine focus knob to control the microscope body to perform reverse scanning of the slide on the stage using the second step length until the sharpness is greater than A1 and there is a downward trend in sharpness for 5 times. The minimum value between the two sides of the maximum sharpness is recorded as A2, and A2 is the second threshold. The first stepper motor drives the fine focusing knob to control the microscope body to perform a second reverse scan of the slide on the stage using the second step length until the clarity is greater than A2, and the focusing is completed.

[0013] Preferably, the microscope focusing module uses the first stepper motor and the second stepper motor to drive the microscope body to focus; The second stepper motor drives the coarse focus knob to control the microscope body to scan the slide on the stage using the first step length. When the sharpness no longer increases and there is a downward trend in the sharpness for 5 consecutive times, the minimum value between the two values ​​of the maximum sharpness value is recorded and denoted as A1. The first stepper motor drives the fine focus knob to control the microscope body to perform reverse scanning of the slide on the stage using the second step length until the sharpness is greater than A1 and there is a downward trend in sharpness for 5 times. The minimum value between the two sides of the maximum sharpness is recorded as A2, and A2 is the second threshold. The first stepper motor drives the fine focusing knob to control the microscope body to perform a second reverse scan of the slide on the stage using the second step length until the clarity is greater than A2, and the focusing is completed.

[0014] Preferably, the camera module includes a telephoto lens and an image acquisition device; The telephoto lens is fixed to the eyepiece by an external bracket, and the image acquisition device is connected to the telephoto lens. The image acquisition device acquires the field-of-view image of the microscope body through the telephoto lens.

[0015] Preferably, the image acquisition device includes a mobile phone, a microcontroller slave device with a camera module, or a DSLR camera.

[0016] Preferably, the control module includes a stepper motor driver chip, an ESP32 microcontroller, and a computer; The ESP32 microcontroller is electrically connected to the microscope field of view movement module and the microscope focusing module, and is used to receive control commands and drive the stepper motor driver chip, which in turn drives the corresponding motor to move. The computer is communicatively connected to the camera module and the ESP32 microcontroller, and is used to run the image sharpness evaluation algorithm, the scanning path planning program, and send control commands to the ESP32 microcontroller and the camera module.

[0017] Compared with the prior art, the present invention has the following beneficial effects: This invention externalizes the microscope field-of-view movement module, microscope focusing module, camera module, and control module to the microscope body without disassembling the microscope or altering its original optical path and frame structure. It is compatible with common optical microscopes that rely on rotation for focusing and field-of-view movement. The device is highly modular, allowing for easy modification and individual upgrades of each module. Correspondingly, control code parameters are modified within the control module, making it portable. Different microscope field-of-view movement modules, focusing modules, and camera modules can be selected based on different microscope bodies. The device offers a high degree of selectability for external devices, resulting in low-cost microscopes with external autofocus and camera structures. The external structure enables the microscope body to automatically scan and capture images at preset steps, automatically focus, and automatically trigger camera capture. This automated shooting reduces manpower input, minimizes human error, and improves imaging efficiency, clarity consistency, and acquisition repeatability. Attached Figure Description

[0018] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a schematic diagram of the overall structure of the microscope that mainly embodies the automatic focusing imaging of the present invention; Figure 2 This is a schematic diagram illustrating the structure of the microscope focusing module, which is the main feature of this invention. Figure 3 This is a schematic diagram illustrating the structure of the microscope field of view movement module, which is the main feature of this invention.

[0019] The diagram shows: 1. Focusing module connecting shaft; 2. First motor housing; 3. Second motor housing; 4. Stepper motor No. 1; 5. Stepper motor No. 2; 6. Fine focusing spiral drive belt; 7. Coarse focusing spiral drive belt; 8. Coarse focusing spiral; 9. Fine focusing spiral; 10. Stage Y-direction control lever; 11. Stage X-direction control lever; 12. Stepper motor No. 3; 13. Objective lens; 14. Stepper motor No. 4; 15. Third motor housing. 16. Fourth motor housing; 17. Moving module connecting shaft; 18. Stage; 19. Electric telescopic rod; 20. Eyepiece; 21. Telephoto lens; 22. Third stepper motor drive belt; 23. Fourth stepper motor drive belt; 24. Stepper motor driver chip; 25. First wing bolt; 26. Second wing bolt; 27. Third wing bolt; 28. Lower fixing clamp; 29. ​​Fourth wing bolt; 30. Fifth wing bolt; 31. Upper fixing clamp. Detailed Implementation

[0020] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0021] like Figure 1 As shown, an autofocus camera microscope includes: a microscope body and an external component. The external component is independent of the microscope body, does not change the structure of the microscope body, and can be detachably installed in various parts of the microscope body.

[0022] The microscope body includes a coarse adjustment knob 8, a fine adjustment knob 9, a stage Y-direction control lever 10, a stage X-direction control lever 11, an objective lens 13, an eyepiece 20, and a stage 18. The coarse adjustment knob 8 and the fine adjustment knob 9 are integral parts of the microscope body. The stage Y-direction control lever 10 and the stage X-direction control lever 11 are connected to the stage 18 using different methods depending on the microscope body's structure, such as through clamps, glue, bolts, etc., thus becoming an integral part of the microscope body.

[0023] External components include a microscope field of view movement module, a microscope focusing module, a camera module, and a control module; The drive end of the microscope moving module is detachably connected to the Y-direction control rod 10 and the X-direction control rod 11 of the stage, respectively, and the microscope field of view moving module is detachably mounted on the stage 18. Specifically, the Y-direction control rod 10 and the X-direction control rod 11 of the stage are thin cylinders that rotate around the vertical direction, and the drive end of the microscope moving module is directly sleeved on the other end of the Y-direction control rod 10 and the X-direction control rod 11 of the stage.

[0024] The microscope field of view movement module is used to drive the stage 18 to move in the horizontal plane.

[0025] The drive end of the microscope focusing module is detachably connected to the coarse adjustment knob 8 and the fine adjustment knob 9. The microscope focusing module is installed on the table where the microscope body is placed. The microscope focusing module is used to drive the coarse adjustment knob 8 and the fine adjustment knob 9 to rotate, thereby driving the microscope body to focus. The microscope focusing module realizes fast automatic focusing and will not cause the image to be blurred due to the movement of the field of view.

[0026] The camera module is fixed to the eyepiece 20 by an external bracket, and the camera module is used to acquire the field of view image of the microscope body.

[0027] The control module is electrically connected to the camera module, microscope field-of-view movement module, and microscope focusing module, respectively. The control module controls the camera module, microscope field-of-view movement module, and microscope focusing module to work in conjunction with the microscope body to achieve automatic focusing and imaging. The camera module acquires the field-of-view image of the microscope body at a fixed focal length. The control module evaluates the sharpness of the field-of-view image acquired by the image acquisition device based on a sharpness algorithm, thereby controlling the microscope focusing module to drive the microscope body to focus, achieving automatic focusing based on real-time image sharpness evaluation.

[0028] The camera module, microscope field of view movement module, and microscope focusing module are respectively installed on the microscope body, and the camera module, microscope field of view movement module, and microscope focusing module are electrically connected to the control module.

[0029] The control module controls the microscope field-of-view movement module to drive the stage 18 to move, thereby moving the microscope's field of view area until the entire slide sample appears within the microscope's field of view. The control module also controls the microscope focusing module to change the focal length of the microscope body and acquires the field of view image through the imaging module. The control module then uses image algorithms to evaluate the sharpness of the field of view image. Based on the sharpness evaluation results, the control module controls the microscope focusing module to perform multiple focusing adjustments to find the optimal focal length, thus completing the focusing process. Finally, the control module controls the imaging module to acquire images of the slide sample.

[0030] External components enable the microscope body to automatically scan and capture images of the full-width (or preset area) sample on the slide at preset step distances, automatically focus and automatically trigger the camera, and output data that can be used for subsequent image stitching and quantitative analysis, thereby improving imaging efficiency, clarity consistency and acquisition repeatability.

[0031] By connecting the microscope field-of-view movement module, microscope focusing module, camera module, and control module externally to the microscope body, without disassembling the microscope or altering its original optical path and frame structure, this device is compatible with common optical microscopes that rely on rotation for focusing and field-of-view movement. The device is highly modular, allowing for easy modification and individual upgrades of each module, with corresponding changes to the control code parameters in the control module. It is portable and allows for the selection of different microscope field-of-view movement modules, focusing modules, and camera modules depending on the microscope body. The device offers a high degree of selectability for external devices, and the cost of microscopes with external autofocus cameras is low. The external structure also provides strong versatility. Furthermore, the external structure enables the microscope body to automatically scan and capture images at preset steps, automatically focus, and automatically trigger camera capture. This automated shooting reduces manpower input, minimizes human error, and improves imaging efficiency, clarity consistency, and acquisition repeatability.

[0032] like Figure 3As shown, in one feasible embodiment, the microscope field of view moving module includes a third stepper motor 12, a fourth stepper motor 14, a third motor housing 15, a fourth motor housing 16, a moving module connecting shaft 17, a third stepper motor drive belt 22, and a fourth stepper motor drive belt 23.

[0033] The third stepper motor 12 is installed inside the third motor housing 15, which is fixed to the moving module connecting shaft 17 by the first wing bolt 25. The fourth stepper motor 14 is installed inside the fourth motor housing 16, which is fixed to the moving module connecting shaft 17 by the second wing bolt 26. The moving module connecting shaft 17 is mounted on the stage 18 by bolts or clamps. This allows the microscope field of view moving module to move together with the stage 18.

[0034] Stepper motor 12 is detachably connected to the Y-direction control lever 10 of the stage via stepper motor conveyor belt 22; stepper motor 14 is detachably connected to the X-direction control lever 11 of the stage via stepper motor conveyor belt 23. The tension of stepper motor conveyor belts 22 and 23 can be adjusted by changing the connection angle of the third motor housing 15 and the fourth motor housing 16 on the moving module connecting shaft 17. Furthermore, the microscope can be adapted by changing the connection angle and fixed position of the third motor housing 15 and the fourth motor housing 16 on the moving module connecting shaft 17.

[0035] Stepper motor 12 drives stepper motor conveyor belt 22 to rotate, causing the Y-direction control lever 10 of the platform to rotate. The Y-direction control lever 10 then moves the platform 18 to achieve visual movement in the Y direction. Stepper motor 14 drives stepper motor conveyor belt 23 to rotate, causing the X-direction control lever 11 of the platform to rotate. The X-direction control lever 11 then moves the platform 18 to achieve visual movement in the X direction. Stepper motors 12 and 14 work together to move the platform 18 in the horizontal plane.

[0036] In one feasible implementation, the moving module connecting shaft 17 is rigidly connected to the stage 18 by a clamp, which includes a lower fixing clamp 28 and an upper fixing clamp 31.

[0037] The lower fixing clamp 28 is fixed to the mobile module connecting shaft 17 by the third butterfly bolt 27, and the upper fixing clamp 31 is fixed to the mobile module connecting shaft 17 by the fourth butterfly bolt 29.

[0038] The lower fixing clamp 28 and the upper fixing clamp 31 are used to clamp the upper and lower sides of the platform 18, and the upper fixing clamp 31 is fixed to the platform 18 using the fifth wing bolt 30.

[0039] In one feasible implementation, the microscope field-of-view movement module includes an electrically operated telescopic rod 19, the drive end of which is connected to the stage 18 for driving the stage 18 to move in the horizontal plane. Specifically, the electrically operated telescopic rod 19 and the stage 18 are directly connected by bolts, and the electrically operated telescopic rod 19 and the stage 18 are on the same horizontal plane. The linear reciprocating motion of the threaded rod of the electrically operated telescopic rod 19 directly drives the stage 18 to move horizontally.

[0040] like Figure 2 As shown, Figure 2 The coarse focusing screw 8 and fine focusing screw 9 in the microscope body are not clearly drawn, but are only represented by circles. In one feasible embodiment, the microscope focusing module includes a focusing module connecting shaft 1, a first motor housing 2, a second motor housing 3, a first stepper motor 4, a second stepper motor 5, a fine focusing screw drive belt 6, and a coarse focusing screw drive belt 7.

[0041] Stepper motor 4 is installed inside the first motor housing 2, which is bolted to the focusing module connecting shaft 1. Stepper motor 5 is installed inside the second motor housing 3, which is bolted to the focusing module connecting shaft 1. The focusing module connecting shaft 1 is mounted on the table where the microscope body is placed.

[0042] Specifically, the fixing method in which the first motor housing 2 is fixed to the focusing module connecting shaft 1 by bolts and the second motor housing 3 is fixed to the focusing module connecting shaft 1 by bolts is the same as that used in the microscope field of view moving module.

[0043] Stepper motor 4 is detachably connected to fine focusing screw 9 via fine focusing screw drive belt 6. Stepper motor 5 is detachably connected to coarse focusing screw 8 via coarse focusing screw drive belt 7.

[0044] Stepper motor 4 drives fine focusing screw 9 to rotate via fine focusing screw drive belt 6, and stepper motor 5 drives coarse focusing screw 8 to rotate via coarse focusing screw drive belt 7. Stepper motor 4 and stepper motor 5 are used to drive the microscope body to focus.

[0045] In one feasible implementation, the microscope focusing module uses a first stepper motor 4 to drive the microscope body for focusing. At this time, the second stepper motor 5 is not working, and the first stepper motor 4 is working. Only the first stepper motor drives the fine focusing screw 9 to control the microscope body for focusing.

[0046] The first stepper motor 4 drives the fine focus knob 9 to control the microscope body to scan the slide on the stage 18 using the first step length. When the sharpness no longer increases and there is a continuous downward trend in sharpness for 5 consecutive times, the minimum value between the two values ​​of the maximum sharpness value is recorded and denoted as A1.

[0047] The first stepper motor 4 drives the fine focus knob 9 to control the microscope body to perform reverse scanning on the slide on the stage 18 using the second step length until the sharpness is greater than A1 and there is a downward trend in sharpness for 5 times. The minimum value between the two sides of the maximum sharpness is recorded as A2. A2 is the second threshold.

[0048] The first stepper motor 4 drives the fine focusing knob 9 to control the microscope body to perform a second reverse scan on the slide on the stage 18 using the second step length until the clarity is greater than A2, and the focusing is completed.

[0049] In one feasible implementation, the microscope focusing module uses a first stepper motor 4 and a second stepper motor 5 to drive the microscope body to focus. At this time, both the second stepper motor 5 and the first stepper motor 4 are working. The first stepper motor 4 and the second stepper motor 5 drive the fine focusing screw 9 and the coarse focusing screw 8 respectively to achieve faster focusing.

[0050] By using two stepper motors, No. 1 (stepper motor 4) and No. 2 (stepper motor 5), to operate in opposite directions alternately, the backlash difference of the control motor is eliminated, resulting in faster focusing and response, as well as reducing the heat generated by continuous motor operation.

[0051] The second stepper motor 5 drives the coarse focus knob 8 to control the microscope body to scan the slide on the stage 18 using the first step length. When the sharpness no longer increases and there is a continuous downward trend in sharpness for 5 consecutive times, record the minimum value between the two values ​​of the maximum sharpness value, and denote it as A1.

[0052] The first stepper motor 4 drives the fine focus knob 9 to control the microscope body to perform reverse scanning on the slide on the stage 18 using the second step length until the sharpness is greater than A1 and there is a downward trend in sharpness for 5 times. The minimum value between the two sides of the maximum sharpness is recorded as A2. A2 is the second threshold.

[0053] The first stepper motor 4 drives the fine focusing knob 9 to control the microscope body to perform a second reverse scan on the slide on the stage 18 using the second step length until the clarity is greater than A2, and the focusing is completed.

[0054] In one feasible implementation, the first motor housing 2, the second motor housing 3, the third motor housing 15, and the fourth motor housing 16 are 3D printed to adapt to various microscope bodies.

[0055] The microscope field of view moving module and the microscope focusing module are approximately 90mm high and 50mm wide.

[0056] In one feasible implementation, the camera module includes a telephoto lens 21 and an image acquisition device; The telephoto lens 21 is fixed to the eyepiece 20 by an external bracket. The image acquisition device is connected to the telephoto lens 21 and acquires the field of view image of the microscope body using the fixed focal length of the telephoto lens 21. The control module evaluates the sharpness of the field of view image acquired by the image acquisition device according to a sharpness algorithm, thereby controlling the microscope focusing module to achieve automatic focusing based on real-time image sharpness evaluation.

[0057] In one feasible implementation, the image acquisition device includes a mobile phone, a microcontroller slave device with a camera module, or a DSLR camera. The image acquisition device is the imaging end, which works with the control module to realize automatic triggering of acquisition and data output.

[0058] In one feasible implementation, the control module includes a stepper motor driver chip 24, an ESP32 microcontroller, and a computer; Multiple stepper motor driver chips 24 are respectively connected to the third stepper motor 12, the fourth stepper motor 14, the first stepper motor 4, and the second stepper motor 5 in the microscope field of view movement module and the microscope focusing module. The stepper motors are installed together with the stepper motor driver chips in their respective housings.

[0059] The ESP32 microcontroller is electrically connected to the microscope field of view movement module and the microscope focusing module. It is used to receive control commands and drive the stepper motor driver chip 24. The stepper motor driver chip 14 drives the corresponding motor to move. The computer, camera module, and ESP32 microcontroller can communicate wirelessly or via wired connection to run image sharpness evaluation algorithms, scan path planning programs, and send control commands to the ESP32 microcontroller and camera module. The algorithms can run independently on the ESP32 microcontroller or on the computer.

[0060] It supports various communication methods (Wi-Fi, USB, I2C) and can store web page files (HTML / CSS / JS) in the ESP32's Flash file system (LittleFS / SPIFFS), then start an HTTP server to read and return these files and data to the browser according to the path, so as to realize real-time image transmission and monitoring of the operating status.

[0061] During operation, the ESP32 microcontroller launches a control webpage hosted on its built-in web server via Wi-Fi. The webpage sends commands to the ESP32 microcontroller via an HTTP API, which are then executed by the firmware to achieve remote control. Images are transmitted in real-time via a camera module, and a video stream is streamed to the computer. The microscope movement path program runs on the computer and communicates with the microcontroller to move the microscope's field of view. An image sharpness evaluation program and a focusing program based on this program are run. After focusing is completed, the image is captured and saved, thus enabling automatic capture of target images within any field of view according to any movement strategy.

[0062] Specifically, if a DC electric telescopic pole is used, the microcontroller needs to provide 2 GPIO interfaces; if a stepper motor is used, the microcontroller needs to provide 3 GPIO interfaces. The microcontroller only needs to meet the interface requirements. This invention defaults to using a 12V working voltage two-phase four-wire 1:125 geared stepper motor and DRV8825 motor drive, a 12V working voltage 50mm stroke DC electric telescopic pole and DRV8871 motor drive, and an ESP32-WROOM microcontroller.

[0063] Specifically, stepper motors can be equipped with encoders to obtain more accurate focus positions, thereby improving focusing efficiency.

[0064] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0065] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A microscope with automatic focusing and imaging, characterized in that, include: Microscope body and external components; The microscope body includes a coarse adjustment knob (8), a fine adjustment knob (9), a stage Y-direction control lever (10), a stage X-direction control lever (11), an objective lens (13), an eyepiece (20), and a stage (18). The external components include a microscope field of view movement module, a microscope focusing module, a camera module, and a control module; The drive end of the microscope moving module is detachably connected to the Y-direction control rod (10) and the X-direction control rod (11) of the stage, and the microscope field of view moving module is detachably mounted on the stage (18). The microscope field of view moving module is used to drive the stage (18) to move in the horizontal plane. The drive end of the microscope focusing module is detachably connected to the coarse focusing screw (8) and the fine focusing screw (9), and the microscope focusing module is installed on the table where the microscope body is placed. The microscope focusing module is used to drive the microscope body to focus. The camera module is fixed to the eyepiece (20) by an external bracket, and the camera module is used to acquire the field of view image of the microscope body; The control module is electrically connected to the camera module, the microscope field of view movement module, and the microscope focusing module, respectively; the control module is used to control the camera module, the microscope field of view movement module, and the microscope focusing module to cooperate with the microscope body to achieve automatic focusing and imaging.

2. The microscope with autofocus imaging as described in claim 1, characterized in that, The microscope field of view moving module includes a third stepper motor (12), a fourth stepper motor (14), a third motor housing (15), a fourth motor housing (16), a moving module connecting shaft (17), a third stepper motor drive belt (22), and a fourth stepper motor drive belt (23). The third stepper motor (12) is installed inside the third motor housing (15), and the third motor housing (15) is fixed to the moving module connecting shaft (17) by the first wing bolt (25); the fourth stepper motor (14) is installed inside the fourth motor housing (16), and the fourth motor housing (16) is fixed to the moving module connecting shaft (17) by the second wing bolt (26); the moving module connecting shaft (17) is installed on the platform (18); The third stepper motor (12) is detachably connected to the Y-direction control rod (10) of the platform via the third stepper motor conveyor belt (22); the fourth stepper motor (14) is detachably connected to the X-direction control rod (11) of the platform via the fourth stepper motor conveyor belt (23). The third stepper motor (12) drives the Y-direction control lever (10) of the platform to move the platform (18) in the Y direction; the fourth stepper motor (14) drives the X-direction control lever (11) of the platform to move the platform (18) in the X direction.

3. The microscope with autofocus imaging as described in claim 2, characterized in that, The moving module connecting shaft (17) is rigidly connected to the platform (18) by a clamp, which includes a lower fixing clamp (28) and an upper fixing clamp (31). The lower fixing clip (28) is fixed to the mobile module connecting shaft (17) by the third butterfly bolt (27), and the upper fixing clip (31) is fixed to the mobile module connecting shaft (17) by the fourth butterfly bolt (29); The lower fixing clamp (28) and the upper fixing clamp (31) are used to clamp the upper and lower sides of the platform (18), and the upper fixing clamp (31) is fixed to the platform (18) using the fifth butterfly bolt (30).

4. The microscope with autofocus imaging as described in claim 1, characterized in that, The microscope field of view moving module includes an electric telescopic rod (19), the driving end of which is connected to the stage (18) and is used to drive the stage (18) to move in the horizontal plane.

5. The microscope with autofocus imaging as described in claim 1, characterized in that, The microscope focusing module includes a focusing module connecting shaft (1), a first motor housing (2), a second motor housing (3), a first stepper motor (4), a second stepper motor (5), a fine focusing spiral drive belt (6), and a coarse focusing spiral drive belt (7). The first stepper motor (4) is installed inside the first motor housing (2), and the first motor housing (2) is fixed to the focusing module connecting shaft (1) by bolts; the second stepper motor (5) is installed inside the second motor housing (3), and the second motor housing (3) is fixed to the focusing module connecting shaft (1) by bolts; the focusing module connecting shaft (1) is installed on the table where the microscope body is placed; The first stepper motor (4) is detachably connected to the fine coherent screw (9) via the fine coherent screw transmission belt (6); the second stepper motor (5) is detachably connected to the coarse coherent screw (8) via the coarse coherent screw transmission belt (7). The first stepper motor (4) drives the fine focus screw (9) to rotate via the fine focus screw transmission belt (6), and the second stepper motor (5) drives the coarse focus screw (8) to rotate via the coarse focus screw transmission belt (7). The first stepper motor (4) and the second stepper motor (5) are respectively used to drive the microscope body to focus.

6. The microscope with autofocus imaging as described in claim 5, characterized in that, The microscope focusing module uses the first stepper motor (4) to drive the microscope body to focus; The first stepper motor (4) drives the fine focus knob (9) to control the microscope body to scan the slide on the stage (18) using the first step length. When the sharpness no longer increases and there is a downward trend in the sharpness for 5 consecutive times, the minimum value between the two values ​​of the maximum sharpness value is recorded and denoted as A1. The first stepper motor (4) drives the fine focus knob (9) to control the microscope body to perform reverse scanning on the slide on the stage (18) using the second step length until the clarity is greater than A1 and there is a downward trend in the clarity for 5 times. The minimum value between the two sides of the maximum clarity is recorded as A2, and A2 is the second threshold. The first stepper motor (4) drives the fine focusing screw (9) to control the microscope body to use the second step to perform a reverse scan on the slide on the stage (18) until the clarity is greater than A2, and the focusing is completed.

7. The microscope with autofocus imaging as described in claim 5, characterized in that, The microscope focusing module uses the first stepper motor (4) and the second stepper motor (5) to drive the microscope body to focus; The second stepper motor (5) drives the coarse focus knob (8) to control the microscope body to scan the slide on the stage (18) using the first step length. When the sharpness no longer increases and there is a downward trend in the sharpness for 5 consecutive times, the minimum value between the two values ​​of the maximum sharpness value is recorded and denoted as A1. The first stepper motor (4) drives the fine focus knob (9) to control the microscope body to perform reverse scanning on the slide on the stage (18) using the second step length until the clarity is greater than A1 and there is a downward trend in the clarity for 5 times. The minimum value between the two sides of the maximum clarity is recorded as A2, and A2 is the second threshold. The first stepper motor (4) drives the fine focusing screw (9) to control the microscope body to use the second step to perform a reverse scan on the slide on the stage (18) until the clarity is greater than A2, and the focusing is completed.

8. The microscope with autofocus imaging as described in claim 1, characterized in that, The camera module includes a telephoto lens (21) and an image acquisition device; The telephoto lens (21) is fixed to the eyepiece (20) by an external bracket. The image acquisition device is connected to the telephoto lens (21) and acquires the field of view image of the microscope body through the telephoto lens (21).

9. The microscope with autofocus imaging as described in claim 8, characterized in that, The image acquisition device includes a mobile phone, a microcontroller slave device with a camera module, or a DSLR camera.

10. The microscope with autofocus imaging as described in claim 1, characterized in that, The control module includes a stepper motor driver chip (24), an ESP32 microcontroller, and a computer. The ESP32 microcontroller is electrically connected to the microscope field of view movement module and the microscope focusing module, and is used to receive control commands and drive the stepper motor driver chip (24). The stepper motor driver chip (24) drives the corresponding motor to move. The computer is communicatively connected to the camera module and the ESP32 microcontroller, and is used to run the image sharpness evaluation algorithm, the scanning path planning program, and send control commands to the ESP32 microcontroller and the camera module.

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