Focusing method and apparatus based on linear array scanning, storage medium, and electronic device

Abstract

Disclosed in the present disclosure are a focusing method and apparatus based on linear array scanning, a storage medium, and an electronic device. The method is applied to a biological sample scanning system, and the biological sample scanning system at least comprises: a camera and an objective lens. The method comprises: acquiring spatial position information of an anchor point corresponding to a sample to be scanned, wherein the spatial position information of the anchor point represents the position of a focused target objective lens; on the basis of the spatial position information of the anchor point, determining curved surface information corresponding to the anchor point, wherein the curved surface information corresponding to the anchor point at least comprises target objective lens positions of a plurality of sampling points obtained by sampling the spatial position information of the anchor point; acquiring the current objective lens position corresponding to the current scanning point in the sample to be scanned; and on the basis of the current objective lens position and the curved surface information corresponding to the anchor point, adjusting the current objective lens position to carry out focusing operation on the objective lens. By means of the described solution, the present application improves the focusing efficiency of the objective lens.

Description

Focusing method, device, storage medium and electronic equipment based on linear scanning Technical Field

[0001] The present disclosure relates to the field of scanning imaging technology, and in particular to a focusing method, device, storage medium and electronic device based on linear array scanning. Background Art

[0002] In the field of biotechnology, a biological sample scanning system can scan biological samples and analyze the data corresponding to the biological samples based on the scanning results, and then analyze the health status of the biological samples based on the analysis results.

[0003] In related technologies, biological samples are typically scanned using a scanning platform. For example, Figure 1 shows a scanning platform that includes at least an objective lens, a mobile platform, and a biochip, with the biochip mounted on the mobile platform. During the scanning process, the mobile platform moves along the scanning direction, thereby presenting an image of the corresponding position on the biochip in the field of view of the objective lens. The camera then samples this image to generate scan data.

[0004] In practical applications, the biological sample on the biochip is not flat and may have a certain degree of concavity and convexity. Therefore, during the scanning process, the objective lens needs to be focused so that the biological sample can be clearly presented in the field of view of the objective lens.

[0005] To address the above-mentioned problems, no effective solutions have been proposed so far.

[0006] Summary of the Invention

[0007] The embodiments of the present disclosure provide a focusing method, device, storage medium, and electronic device based on linear scanning, so as to at least solve the technical problem of low focusing efficiency of an objective lens in the related art.

[0008] According to one aspect of an embodiment of the present disclosure, a focusing method based on linear array scanning is provided, which is applied to a biological sample scanning system, wherein the biological sample scanning system includes at least: a camera and an objective lens, and the method includes: obtaining spatial position information of an anchor point corresponding to a sample to be scanned, wherein the spatial position information of the anchor point represents a target objective lens position after focusing; determining surface information corresponding to the anchor point based on the spatial position information of the anchor point, wherein the surface information corresponding to the anchor point includes at least target objective lens positions of multiple sampling points obtained by sampling the spatial position information of the anchor point; obtaining a current objective lens position corresponding to a current scanning point in the sample to be scanned; and adjusting the current objective lens position based on the current objective lens position and the surface information corresponding to the anchor point, so as to perform a focusing operation on the objective lens.

[0009] Furthermore, the focusing method based on linear scanning also includes: before obtaining the spatial position information of the anchor point corresponding to the sample to be scanned, responding to the anchor point marking operation, and determining the anchor point position according to the position of the anchor point marking operation on the sample to be scanned; determining the anchor point from the scanned data of the sample to be scanned according to the anchor point position.

[0010] Furthermore, the focusing method based on linear scanning also includes: performing interpolation calculation on the spatial position information of each anchor point to obtain a spatial point cloud of the sample to be scanned, wherein the spatial point cloud is composed of multiple sampling points and each anchor point corresponds to at least one sampling point; determining the spatial position information of at least one sampling point corresponding to each anchor point according to the spatial point cloud of the sample to be scanned, and obtaining the surface information of each anchor point.

[0011] Furthermore, the focusing method based on linear scanning also includes: taking the circumscribed polygon of the current anchor point as the boundary, performing interpolation calculation on the current anchor point to obtain a first point cloud model, wherein the current anchor point is any one of the anchor points corresponding to the sample to be scanned; determining multiple initial anchor points based on the vertex position of the sample to be scanned; determining the anchor point closest to the target initial anchor point from the multiple initial anchor points to obtain the target anchor point, wherein the target initial anchor point is any one of the multiple initial anchor points; performing interpolation calculation on the spatial position information of the current anchor point based on the target anchor point to obtain a second point cloud model; integrating the first point cloud model and the second point cloud model to obtain a spatial point cloud of the current anchor point; and obtaining a spatial point cloud of the sample to be scanned based on the spatial point cloud of each anchor point.

[0012] Furthermore, the focusing method based on linear scanning also includes: obtaining the pixel size corresponding to the camera and the magnification of the camera; calculating the ratio of the pixel size to the magnification to obtain the scanning point distance; controlling the camera to perform linear scanning on the sample to be scanned based on the scanning point distance and the scanning direction to obtain the current scanning point; and determining the current objective lens position corresponding to the current scanning point.

[0013] Furthermore, the focusing method based on linear scanning also includes: determining at least one target sampling point whose position information is in the same area as the current scanning point from multiple sampling points in the spatial point cloud; determining the target objective lens position of the current scanning point based on the target objective lens position of the at least one target sampling point; adjusting the current objective lens position based on the target objective lens position of the current scanning point so that the current objective lens position is within the objective lens range, wherein the objective lens range is the objective lens position range that makes the clarity of the corresponding scanning point presented in the field of view of the objective lens reach the target clarity.

[0014] Furthermore, the focusing method based on linear array scanning also includes: determining the moving direction and speed gain of the focus control point according to the scanning parameters of the biological sample scanning system; calculating the difference between the target objective lens position of the current scanning point and the current objective lens position to obtain the position difference; calculating the position difference, the speed gain and the numerical values ​​corresponding to the moving direction to obtain the moving speed of the focus control point; based on the moving speed and the moving direction, controlling the objective lens to move from the current objective lens position to the target objective lens position of the current scanning point.

[0015] According to another aspect of an embodiment of the present disclosure, a focusing device based on linear array scanning is also provided, which is applied to a biological sample scanning system. The biological sample scanning system includes at least: a camera and an objective lens. The device includes a spatial information acquisition unit, which is used to acquire the spatial position information of an anchor point corresponding to a sample to be scanned, wherein the spatial position information of the anchor point represents the target objective lens position after focusing; a surface information determination unit, which is used to determine the surface information corresponding to the anchor point based on the spatial position information of the anchor point, wherein the surface information corresponding to the anchor point at least includes the target objective lens positions of multiple sampling points obtained by sampling the spatial position information of the anchor point; an objective lens position acquisition unit, which is used to acquire the current objective lens position corresponding to the current scanning point in the sample to be scanned; and a focusing unit, which is used to adjust the current objective lens position based on the current objective lens position and the surface information corresponding to the anchor point, so as to perform a focusing operation on the objective lens.

[0016] According to another aspect of an embodiment of the present disclosure, a non-volatile storage medium is further provided, in which a computer program is stored. The computer program is configured to execute the above-mentioned focusing method based on linear scanning when running.

[0017] According to another aspect of an embodiment of the present disclosure, an electronic device is also provided, which includes one or more processors; a memory for storing one or more programs, which, when the one or more programs are executed by the one or more processors, enables the one or more processors to run the programs, wherein the programs are configured to execute the above-mentioned linear scanning-based focusing method when running.

[0018] In an embodiment of the present disclosure, after obtaining the spatial position information of the anchor point corresponding to the sample to be scanned, the surface information of the target objective lens position including multiple sampling points obtained by sampling the spatial position information of the anchor point is determined according to the spatial position information of the anchor point; then, after obtaining the current objective lens position corresponding to the current scanning point in the sample to be scanned, the current objective lens position is adjusted according to the current objective lens position and the surface information corresponding to the anchor point to perform a focusing operation on the objective lens.

[0019] In the above process, the number of anchor points is usually much smaller than the amount of data corresponding to the spatial point cloud. That is, in the present disclosure, there is no need to determine the objective lens position corresponding to each scanning point. Instead, the objective lens position is based on the anchor point. By determining the target objective lens position of each sampling point in the spatial point cloud, and then using the target objective lens position of each sampling point as the reference position for objective lens focusing, the current objective lens position corresponding to the scanning point is adjusted to achieve automatic focusing of the objective lens, thereby improving the focusing efficiency of the objective lens.

[0020] It can be seen that the solution provided by the present disclosure achieves the purpose of automatically focusing the objective lens, thereby achieving the technical effect of improving the focusing efficiency of the objective lens, and further solving the technical problem of low focusing efficiency of the objective lens in the related art. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings described herein are used to provide a further understanding of the present disclosure and constitute a part of this application. The illustrative embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation of the present disclosure. In the drawings:

[0022] FIG1 is a schematic diagram of a scanning platform in the related art;

[0023] FIG2 is a flow chart of a focusing method based on linear scanning according to an embodiment of the present disclosure;

[0024] FIG3 is a schematic diagram of a field of view of an optional objective lens according to an embodiment of the present disclosure;

[0025] FIG4 is a schematic diagram of an optional platform coordinate system according to an embodiment of the present disclosure;

[0026] FIG5 is a comparison diagram of an optional objective lens position according to an embodiment of the present disclosure;

[0027] FIG6 is a comparison curve diagram of an optional objective lens position according to an embodiment of the present disclosure;

[0028] FIG7 is a schematic diagram of an optional biological sample scanning process according to an embodiment of the present disclosure;

[0029] FIG8 is a spatial point cloud image after an optional cubic spline interpolation according to an embodiment of the present disclosure;

[0030] FIG9 is an optional spatial point cloud diagram according to an embodiment of the present disclosure;

[0031] FIG10 is a flow chart of an optional objective lens focusing according to an embodiment of the present disclosure;

[0032] FIG11 is a schematic diagram of a focusing device based on linear scanning according to an embodiment of the present disclosure;

[0033] FIG12 is a schematic diagram of an optional electronic device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0034] In order to enable those skilled in the art to better understand the solutions of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the embodiments described are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present disclosure.

[0035] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0036] It should be noted that the relevant information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for display and analysis, etc.) involved in this disclosure are all information and data authorized by the user or fully authorized by all parties. For example, an interface is set up between this system and the relevant user or organization. Before obtaining relevant information, it is necessary to send an acquisition request to the aforementioned user or organization through the interface, and obtain the relevant information after receiving the consent information fed back by the aforementioned user or organization.

[0037] Example 1

[0038] According to an embodiment of the present disclosure, a method embodiment of a focusing method based on linear array scanning is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0039] Furthermore, it should be noted that this method can be applied to a biological sample scanning system, wherein the biological sample scanning system includes at least a camera and an objective lens. The camera can be a linear camera, such as a TDI (Time Delayed and Integration) camera. Alternatively, the biological sample scanning system can be the scanning platform shown in FIG1 , or any other platform capable of scanning biological samples. In this embodiment, the specific structure of the biological sample scanning system is not limited.

[0040] Area array scanning can be used to achieve objective lens focus in related technologies. However, when scanning biological samples using this method, the mobile platform must be moved to a fixed position before each scan can be performed, resulting in low focusing efficiency. Furthermore, each biological grid image corresponding to the biological sample can only have one focal plane. Each scan requires the mobile platform to be moved and the focus to be adjusted before the image can be scanned, resulting in slow scanning speeds.

[0041] FIG2 is a flow chart of an optional focusing method based on line scanning according to an embodiment of the present disclosure. As shown in FIG2 , the method includes the following steps:

[0042] Step S202 : obtaining spatial position information of an anchor point corresponding to the sample to be scanned, wherein the spatial position information of the anchor point represents the position of the target objective lens after focusing.

[0043] In step S202, the sample to be scanned is placed in a biochip, and before scanning the sample, the biological sample scanning system first performs a pre-scan on the sample to be scanned. In this embodiment, the sample to be scanned may be a sample of a concave-convex surface of a biological tissue.

[0044] In an optional embodiment, a pre-scan of the sample to be scanned can be performed to obtain data corresponding to the sample to be scanned, and then multiple anchor points can be determined from the data to be scanned, thereby determining the spatial position information of the anchor points. It should be noted that during the pre-scan of the sample to be scanned, the image of the sample to be scanned does not need to be completely presented within the depth of field of the objective lens; it is only necessary to ensure that the image is roughly visible. The pre-scan of the sample to be scanned can ensure that the position of the sample to be scanned can be clearly determined during the pre-scan preparation process, providing a basis for the subsequent selection of anchor points.

[0045] In addition, in step S202, the above-mentioned anchor points are the user's areas of interest, that is, the user can select an area of ​​interest from the field of view of the objective lens to determine the anchor points. For example, in the schematic diagram of the field of view of the objective lens shown in Figure 3, the user selected 6 anchor points.

[0046] In addition, the distribution of the multiple anchor points determined from the data to be scanned within the field of view area can cover the key data in the data to be scanned.

[0047] It should be noted that the biological sample scanning system has only one platform coordinate system, as shown in Figure 4. In the present disclosure, all coordinate positions are referenced to this coordinate system. During the scanning process, the three motion units (X, Y, Z) of the displacement platform change positions in real time and output coordinates (x, y, z). In addition, the coordinates of the upper left corner of the field of view area and the number of field of view grids are determined by the user, that is, the user determines the area of ​​interest in the coordinate system. Each grid represents a fixed actual distance in the coordinate system, and the distance is determined by the characteristics of the camera itself. In addition, when calculating the coordinates of the anchor point, the pixel position of the anchor point in the field of view area is calculated to obtain the position ratio of the anchor point in the x and y directions in the field of view area. Then, based on the actual width and height of the field of view area and the position of the upper left corner of the field of view, the actual position of the anchor point can be determined.

[0048] In addition, after determining multiple anchor points from the data to be scanned, the biological sample scanning system adjusts the position of the objective lens at each anchor point until the real-time preview image at each anchor point can be clearly displayed in the field of view of the objective lens. That is, when the field of view of the objective lens can clearly display the image at the anchor point, the position of the objective lens is the target objective lens position corresponding to the anchor point.

[0049] Step S204: determining the surface information corresponding to the anchor point according to the spatial position information of the anchor point.

[0050] In step S204 , the curved surface information corresponding to the anchor point at least includes target objective lens positions of a plurality of sampling points obtained by sampling the spatial position information of the anchor point.

[0051] In an optional embodiment, the biological sample scanning system can interpolate the spatial position information of the anchor point to obtain a spatial point cloud, and then determine the surface information corresponding to the anchor point based on the spatial point cloud. The surface information corresponding to the anchor point can include the spatial point cloud or a surface function corresponding to the spatial point cloud, and the target objective lens position of the sampling point can be obtained from the spatial point cloud or the surface function corresponding to the spatial point cloud. Methods for interpolating the spatial position information of the anchor point include, but are not limited to, quadratic spline interpolation algorithms, cubic spline interpolation algorithms, and quartic spline interpolation algorithms.

[0052] It should be noted that, in an optional embodiment, the reference target lens position is not obtained by focusing the lens at each sampling point in the spatial point cloud, but rather is obtained through interpolation calculation. This approach avoids the inefficient acquisition of the target lens position that occurs when focusing the lens at each sampling point in the spatial point cloud, thereby enabling the target lens position corresponding to each sampling point in the spatial point cloud to be quickly acquired.

[0053] Alternatively, Figure 5 is a comparison diagram of the target objective lens position and the actual objective lens position at the scanning point, and Figure 6 is a corresponding curve diagram of Figure 5 , where L1 is the target objective lens position and L2 is the objective lens position at the scanning point. As can be seen from Figures 5 and 6 , the target objective lens position at the sampling point obtained by interpolation is not much different from the actual objective lens position at the scanning point, indicating that the solution provided by this embodiment can meet the accuracy requirements for biological sample scanning.

[0054] Step S206 , obtaining the current objective lens position corresponding to the current scanning point in the sample to be scanned.

[0055] In one embodiment, the biological sample scanning system may scan the sample to be scanned using a linear array scanning method, and obtain the spatial position information corresponding to each scanning point from the scanning results of the linear array scanning. The spatial position information of each scanning point includes the objective lens position corresponding to the scanning point.

[0056] It should be noted that, in step S206 , the current scanning point is the scanning point currently scanned by the biological sample scanning system during the process of scanning the sample to be scanned.

[0057] In addition, it should be noted that in the present disclosure, the sampling linear array scanning method is used to scan the sample to be scanned. Compared with the area array scanning method, it can not only improve the focusing efficiency, but also increase the scanning speed and improve the scanning efficiency.

[0058] Step S208 , adjusting the current objective lens position according to the current objective lens position and the surface information corresponding to the anchor point, so as to perform a focusing operation on the objective lens.

[0059] In step S208, the biological sample scanning system can respond to the user's instructions and activate the autofocus function according to the user's instructions. After the autofocus function is activated, the biological sample scanning system scans the sample to be scanned using a linear array scan method to obtain the position information of each scanning point within the field of view and the objective lens position. Based on the position information of the scanning point (i.e., the current scanning point), the corresponding anchor point and the surface information of the corresponding anchor point are determined. Then, based on the surface information of the corresponding anchor point, the target objective lens position corresponding to the current scanning point is determined as the reference objective lens position for the scanning point. Finally, the current objective lens position of the scanning point is adjusted based on the target objective lens position to achieve the focusing operation of the objective lens.

[0060] It should be noted that the purpose of focusing is to move the objective lens so that the focal point of the objective lens is on the biological sample, so that the camera can obtain a clear image. When the focal point of the objective lens is above or below the biological sample, it exceeds the depth of field range of the objective lens, and the camera obtains a blurred image.

[0061] Based on the scheme defined by the above steps S202 to S208, it can be known that in the embodiment of the present disclosure, after obtaining the spatial position information of the anchor point corresponding to the sample to be scanned, the surface information of the target objective lens position including multiple sampling points obtained by sampling the spatial position information of the anchor point is determined according to the spatial position information of the anchor point; then, after obtaining the current objective lens position corresponding to the current scanning point in the sample to be scanned, the current objective lens position is adjusted according to the current objective lens position and the surface information corresponding to the anchor point to perform a focusing operation on the objective lens.

[0062] It is easy to notice that in the above process, the number of anchor points is usually much smaller than the amount of data corresponding to the spatial point cloud. That is, in the present disclosure, there is no need to determine the objective lens position corresponding to each scanning point. Instead, based on the objective lens position of the anchor point, the target objective lens position of each sampling point in the spatial point cloud is determined by interpolation calculation. Then, using this target objective lens position as the reference position for objective lens focus, the current objective lens position corresponding to the scanning point is adjusted to achieve automatic focus of the objective lens, thereby improving the objective lens focus efficiency. In addition, in the present disclosure, the sampling linear array scanning method is used to scan the sample to be scanned. Compared with the area array scanning method, it can not only improve the focusing efficiency, but also increase the scanning speed and scanning efficiency.

[0063] It can be seen that the solution provided by the present disclosure achieves the purpose of automatically focusing the objective lens, thereby achieving the technical effect of improving the focusing efficiency of the objective lens, and further solving the technical problem of low focusing efficiency of the objective lens in the related art.

[0064] In an optional embodiment, FIG7 shows a schematic diagram of an optional biological sample scanning process. As shown in FIG7 , the process mainly includes the following steps:

[0065] Step S70, scanning starts;

[0066] Step S71, selecting an anchor point and adjusting the position of the objective lens corresponding to the anchor point;

[0067] Step S72, constructing a spatial point cloud;

[0068] Step S73, sampling the spatial point cloud and sending the sampled data to the controller;

[0069] Step S74, focusing is enabled, and the biological sample scanning system performs automatic focusing;

[0070] Step S75 , the biological sample scanning system performs a line scan on the sample to be scanned, waits for one line of scanning to be completed, and performs automatic focusing during the scanning process;

[0071] Step S76, determining whether the scan is complete; if the scan is complete, executing step S77; otherwise, executing step S73 to scan the next row;

[0072] Step S77, scanning ends.

[0073] The following explains the automatic focusing during the scanning process of the sample to be scanned with reference to FIG. 7 .

[0074] In an optional embodiment, after the scanning starts, the biological sample scanning system executes step S71 , ie, determining a plurality of anchor points from the data to be scanned.

[0075] Specifically, the biological sample scanning system responds to the anchor point marking operation, determines the anchor point position according to the position of the anchor point marking operation on the sample to be scanned, and determines the anchor point from the data to be scanned according to the anchor point position.

[0076] Optionally, the user can right-click the mouse in the field of view of the objective lens through the biological sample scanning system. The objective lens will then move to the corresponding position according to the mouse cursor, and the user will view the preview image in the image preview interface, allowing the user to determine whether the position is the area of ​​interest. If the position is the area of ​​interest, the user can left-click the mouse to mark the position. At this point, the biological sample scanning system responds to the anchor point marking operation, thereby obtaining multiple anchor points as shown in Figure 3. Each anchor point corresponds to a coordinate at a physical location. The physical coordinates corresponding to these anchor points are used to provide a basis for reconstructing the spatial point cloud.

[0077] It should be noted that the distribution of the multiple anchor points determined from the data to be scanned within the field of view can cover the key data in the data to be scanned, that is, the anchor points cover the range of the focused samples as much as possible.

[0078] Furthermore, after determining the anchor point, the biological sample scanning system detects the clarity of each anchor point in the field of view, adjusts the position of the objective lens according to the clarity, and records the objective lens position when the clarity reaches a preset clarity, thereby obtaining the target objective lens position corresponding to each anchor point.

[0079] Optionally, the biological sample scanning system adjusts the position of the objective lens at each anchor point on the z-axis until the real-time preview image at each anchor point is within the depth of field of the objective lens to ensure that the biological sample image at the anchor point can be clearly seen.

[0080] In an optional embodiment, as shown in FIG7 , after selecting an anchor point and adjusting the objective lens position corresponding to the anchor point, the biological sample scanning system executes step S72 to construct a spatial point cloud. The biological sample scanning system interpolates the spatial position information of each anchor point to obtain a spatial point cloud of the sample to be scanned. The spatial point cloud is composed of multiple sampling points, with each anchor point corresponding to at least one sampling point.

[0081] It should be noted that the spatial point cloud is reconstructed based on the position information of the anchor point selected by the user. The spatial point cloud can be used as the original basis for target tracking during the focusing process, that is, the position information corresponding to the spatial point cloud can be used as the reference position of the objective lens during the focusing process.

[0082] In addition, algorithms for constructing spatial point clouds include, but are not limited to, quadratic spline interpolation, cubic spline interpolation, and quartic spline interpolation. Cubic spline interpolation is a widely used interpolation method in industrial design for obtaining smooth curves. Its characteristics are continuity and smoothness at endpoints, making it suitable for processing curved surfaces. In this embodiment, the spatial point cloud is constructed using a sampling cubic spline interpolation method.

[0083] Specifically, in the process of interpolating the spatial position information of each anchor point to obtain the spatial point cloud of the sample to be scanned, the biological sample scanning system uses the circumscribed polygon of the current anchor point as the boundary and performs interpolation calculation on the current anchor point to obtain a first point cloud model. At the same time, the biological sample scanning system determines multiple initial anchor points based on the vertex positions of the sample to be scanned, and determines the anchor point closest to the target initial anchor point from the multiple initial anchor points to obtain the target anchor point. Then, based on the target anchor point, the spatial position information of the current anchor point is interpolated to obtain a second point cloud model, and the first point cloud model and the second point cloud model are integrated to obtain the spatial point cloud of the current anchor point. Finally, based on the spatial point cloud of each anchor point, the spatial point cloud of the sample to be scanned is obtained. The target initial anchor point is any one of the multiple initial anchor points.

[0084] Optionally, the biological sample scanning system uses a circumscribed polygon formed by multiple anchor points as the boundary, and interpolates the anchor points within the circumscribed polygon to obtain the first point cloud model D1. Since the data outside the circumscribed polygon boundary does not have a focus position, the credibility of the data outside the circumscribed polygon boundary is not high.

[0085] At the same time, the biological sample scanning system takes an initial anchor point at each of the four vertices of the scanning area corresponding to the sample to be scanned, and uses the objective lens position of the anchor point closest to the initial anchor point at each vertex as the target objective lens position of the initial anchor point. The objective lens position of the initial anchor point is then added to the anchor point list, and multiple anchor points are interpolated based on the anchor point list to obtain the second point cloud model D2.

[0086] In addition, since the credibility of the second point cloud model D2 is lower than that of the first point cloud model D1, after obtaining the first point cloud model D1 and the second point cloud model D2, the sampling points in the second point cloud model D2 are replaced with the sampling points in the first point cloud model D1, thereby obtaining a spatial point cloud covering the entire scanning area. Figure 8 shows the spatial point cloud after cubic spline interpolation, which reflects the distribution of the reference position of the objective lens to be tracked for focus.

[0087] In an optional embodiment, as shown in FIG7 , after constructing the spatial point cloud, the biological sample scanning system samples the spatial point cloud, and determines the spatial position information of at least one sampling point corresponding to each anchor point based on the spatial point cloud of the sample to be scanned, and obtains the surface information of each anchor point.

[0088] Specifically, the biological sample scanning system performs linear interpolation or neighboring point interpolation calculation on the spatial position information corresponding to each sampling point in the spatial point cloud based on the target objective lens position corresponding to each anchor point, and obtains the target objective lens position corresponding to each sampling point. FIG9 shows the spatial point cloud diagram after linear interpolation of the sampling points. Finally, the surface information of each anchor point can be determined based on the spatial position information of the sampling points corresponding to each anchor point. Among them, the algorithm for linear interpolation calculation of the objective lens position of each sampling point can be any one of the quadratic spline interpolation algorithm, the cubic spline interpolation algorithm, and the quartic spline interpolation algorithm. The corresponding interpolation principle is similar to the process of obtaining the spatial point cloud by interpolation calculation of the anchor points, and will not be repeated here.

[0089] It should be noted that, as shown in FIG7 , after sampling the spatial point cloud, the sampled data (including the position information of the sampling points in the field of view and the target objective lens position of each sampling point) is sent to the controller so that the controller automatically focuses the objective lens according to the sampled data.

[0090] In an optional embodiment, the biological sample scanning system automatically focuses the objective lens during the linear scan of the sample to be scanned. Specifically, during the linear scan of the sample to be scanned, the biological sample scanning system obtains the corresponding pixel size and magnification of the camera, calculates the ratio of the pixel size to the magnification, and obtains the scanning point distance between multiple scanning points. Then, based on the scanning point distance and the scanning direction, the biological sample scanning system controls the camera to perform a linear scan of the sample to be scanned, obtains the current scanning point, and determines the current objective lens position corresponding to the current scanning point.

[0091] Optionally, the scanning point distance may satisfy the following formula:

[0092] In the above formula, Pi is the pixel size of the camera, Mag is the magnification of the camera, and S is the scanning point distance, that is, the biological sample scanning system needs to move S every time it scans a point.

[0093] It should be noted that if the resolution of the image output by the camera (i.e., the height of the output image) is xResolution, then to output one image, the distance S1 that the mobile platform needs to move satisfies the following formula:

[0094] When outputting FovNumber images, the moving distance S2 of the mobile platform satisfies the following formula:

[0095] Furthermore, after performing a linear scan on the sample to be scanned, the biological sample scanning system can also detect the position information of the current scanning point to ensure that the objective lens position corresponding to the current scanning point is within a reasonable objective lens range. In other words, the current objective lens position is adjusted based on the current objective lens position and the surface information corresponding to the anchor point.

[0096] Specifically, the biological sample scanning system determines at least one target sampling point whose position information is in the same area as the position information of the current scanning point from multiple sampling points in the spatial point cloud, and determines the target objective lens position of the current scanning point based on the target objective lens position of the at least one target sampling point; then, the current objective lens position is adjusted based on the target objective lens position of the current scanning point so that the current objective lens position is within the objective lens range, wherein the objective lens range is the objective lens position range that makes the clarity of the corresponding scanning point presented in the field of view of the objective lens reach the target clarity.

[0097] For example, the biological sample scanning system detects whether the current objective lens position of the current scanning point is within the objective lens range. If it is detected that the current objective lens position is greater than the upper limit value of the objective lens range, the current objective lens position of the current scanning point is adjusted to the upper limit value of the objective lens range; if it is detected that the current objective lens position is less than the lower limit value of the objective lens range, the current objective lens position of the current scanning point is adjusted to the lower limit value of the objective lens range; if it is detected that the current objective lens position is within the objective lens range, the current objective lens position of the current scanning point is not adjusted.

[0098] In an optional embodiment, as shown in FIG7 , after sending the sampled data to the controller, the biological sample scanning system automatically focuses the objective lens to adjust the current objective lens position relative to the current scanning point based on the target objective lens position corresponding to the current scanning point.

[0099] Specifically, the biological sample scanning system responds to a focus enable instruction, determines a current scanning point from a plurality of scanning points, obtains position information of the current scanning point in the field of view area and a current objective lens position, and determines a target sampling point in the same area range as the position information from a plurality of sampling points in the spatial point cloud. Then, the current objective lens position is adjusted based on the target objective lens position of the target sampling point so that the current objective lens position is within a target objective lens range, wherein the target objective lens range is a range of objective lens positions that enables the clarity of the corresponding scanning point presented in the field of view area to reach a target clarity.

[0100] Optionally, FIG10 shows a flow chart of objective lens focusing. As can be seen from FIG10 , the method includes the following steps:

[0101] Step S101 : responding to a focus enable instruction, causing a controller of the biological sample scanning system to execute an automatic focus program and monitor the direction of the biological sample scanning system and the position information of the current scanning point in the field of view in real time.

[0102] In step S102 , the controller obtains the target objective lens position corresponding to the current scanning point.

[0103] In this step, the controller can determine the sampling points whose position information of the current scanning point in the field of view area is within the same area from the sampling points corresponding to the spatial point cloud, and use the target objective lens position of the sampling point as the reference objective lens position corresponding to the current scanning point.

[0104] Step S103: The controller obtains the current objective lens position of the current scanning point in real time.

[0105] Step S104: Calculate the focus direction and speed.

[0106] Step S105 , adjusting the current objective lens position according to the focusing direction and speed to achieve focusing of the objective lens.

[0107] Step S106 , detecting whether a focus disabling instruction is received to determine whether to terminate the focus operation; if the focus disabling instruction is received, executing step S107 , otherwise executing step S101 , entering the next polling cycle, and scanning the next row.

[0108] Step S107: End the focusing, and the controller no longer performs the focusing task.

[0109] That is, after the host computer in the biological sample scanning system sends the calculated point set of each row to the controller, the host computer then sends a focus enable instruction to the controller. At this time, the controller controls the adjustment of the position of the objective lens on the z-axis (i.e., the objective lens position) to achieve focusing of the objective lens.

[0110] In an optional embodiment, during the process of adjusting the current objective lens position based on the target objective lens position at the current scanning point, the biological sample scanning system determines the movement direction and speed gain of the focus control point based on scanning parameters of the biological sample scanning system, calculates the difference between the target objective lens position at the current scanning point and the current objective lens position, and obtains a position difference. Simultaneously, the biological sample scanning system calculates the position difference, the speed gain, and a value corresponding to the movement direction to obtain a movement speed of the focus control point. Finally, based on the movement speed and movement direction, the biological sample scanning system controls the objective lens to move from the current objective lens position to the target objective lens position at the current scanning point.

[0111] It should be noted that the scanning parameters of a biological sample scanning system represent the hardware performance of the biological sample scanning system. Due to differences in the hardware performance of biological sample scanning systems, the corresponding scanning speeds and scanning directions may vary. Therefore, it is necessary to adjust the movement direction of the focus control point of the biological sample scanning system during the focusing process so that the focus control point can move in the correct direction. The movement direction can be corrected by the velocity polarity. For example, when the corresponding velocity value is +1, the movement direction does not change; when the corresponding velocity value is -1, it indicates that the movement direction needs to be adjusted to the opposite direction. The focus control point can be a control point that moves with the mobile platform during the focusing process.

[0112] In addition, the above-mentioned speed gain can be any one of a constant gain, a segmented gain, and a function gain. In this embodiment, the segmented gain is adopted to ensure that the target position range is reached in the fastest and most effective way.

[0113] The moving speed of the focus control point can satisfy the following formula: v=(P1-P2)*Δv*T

[0114] In the above formula, v represents the moving speed of the focus control point, P1 represents the target objective lens position, P2 represents the current objective lens position, Δv represents the speed gain, and T represents the moving direction.

[0115] As can be seen from the foregoing, this disclosure provides a method for rapid, real-time focus scanning of samples with concave and convex surfaces of biological tissues. This method has applications in a wide range of technical fields and products, including but not limited to scanning and detection equipment. In this disclosure, a linear array scanning approach is used to rapidly and in real time adjust the focal position based on information from map sampling points, effectively reducing scanning time. Furthermore, during the linear scanning process, focus tracking data is interactively tracked, and the image in each grid can correspond to multiple focal positions based on the undulations of the biological sample, enabling rapid focus adjustment of the objective lens.

[0116] Example 2

[0117] According to an embodiment of the present disclosure, an embodiment of a focusing device based on linear array scanning is also provided. This device is applied to a biological sample scanning system, which includes at least a camera and an objective lens. FIG11 is a schematic diagram of an optional focusing device based on linear array scanning according to an embodiment of the present disclosure. As shown in FIG11 , the device includes a spatial information acquisition unit 1101, a curved surface information determination unit 1103, an objective lens position acquisition unit 1105, and a focusing unit 1107.

[0118] Among them, the spatial information acquisition unit 1101 is used to obtain the spatial position information of the anchor point corresponding to the sample to be scanned, wherein the spatial position information of the anchor point represents the target objective lens position after focusing; the surface information determination unit 1103 is used to determine the surface information corresponding to the anchor point based on the spatial position information of the anchor point, wherein the surface information corresponding to the anchor point at least includes the target objective lens positions of multiple sampling points obtained by sampling the spatial position information of the anchor point; the objective lens position acquisition unit 1105 is used to obtain the current objective lens position corresponding to the current scanning point in the sample to be scanned; the focusing unit 1107 is used to adjust the current objective lens position according to the current objective lens position and the surface information corresponding to the anchor point, so as to focus the objective lens.

[0119] It should be noted here that the above-mentioned spatial information acquisition unit 1101, surface information determination unit 1103, objective lens position acquisition unit 1105 and focusing unit 1107 correspond to steps S202 to S208 of the above-mentioned embodiment. The four units and the corresponding steps implement the same examples and application scenarios, but are not limited to the contents disclosed in the above-mentioned embodiment.

[0120] Optionally, the focusing device based on linear scanning further includes: a first position determining unit, configured to respond to an anchor point marking operation and determine the position of the anchor point according to the position of the anchor point marking operation on the sample to be scanned before acquiring the spatial position information of the anchor point corresponding to the sample to be scanned;

[0121] The first anchor point determining unit is configured to determine an anchor point from the to-be-scanned data of the to-be-scanned sample according to the anchor point position.

[0122] Optionally, the surface information determination unit includes: a point cloud acquisition unit and a first surface determination unit. The point cloud acquisition unit is configured to perform interpolation calculations on the spatial position information of each anchor point to obtain a spatial point cloud of the sample to be scanned, wherein the spatial point cloud is composed of multiple sampling points, and each anchor point corresponds to at least one sampling point; and the first surface determination unit is configured to determine the spatial position information of at least one sampling point corresponding to each anchor point based on the spatial point cloud of the sample to be scanned, to obtain surface information of each anchor point.

[0123] Optionally, the point cloud acquisition unit includes: a first interpolation unit, a second anchor point determination unit, a third anchor point determination unit, a second interpolation unit, a model integration unit, and a point cloud determination unit. The first interpolation unit is used to perform interpolation calculation on the current anchor point with the circumscribed polygon of the current anchor point as the boundary to obtain a first point cloud model, wherein the current anchor point is any one of the anchor points corresponding to the sample to be scanned; the second anchor point determination unit is used to determine multiple initial anchor points based on the vertex positions of the sample to be scanned; the third anchor point determination unit is used to determine the anchor point closest to the target initial anchor point from the multiple initial anchor points to obtain a target anchor point, wherein the target initial anchor point is any one of the multiple initial anchor points; the second interpolation unit is used to perform interpolation calculation on the spatial position information of the current anchor point based on the target anchor point to obtain a second point cloud model; the model integration unit is used to integrate the first point cloud model and the second point cloud model to obtain a spatial point cloud of the current anchor point; and the point cloud determination unit is used to obtain a spatial point cloud of the sample to be scanned based on the spatial point cloud of each anchor point.

[0124] Optionally, the objective lens position acquisition unit includes: a camera information acquisition unit, a distance calculation unit, a linear array scanning unit, and a second position determination unit. The camera information acquisition unit is configured to acquire the corresponding pixel size and magnification of the camera; the distance calculation unit is configured to calculate the ratio of the pixel size to the magnification to obtain the scanning point distance; the linear array scanning unit is configured to control the camera to perform a linear scan on the sample to be scanned based on the scanning point distance and the scanning direction to obtain the current scanning point; and the second position determination unit is configured to determine the current objective lens position corresponding to the current scanning point.

[0125] Optionally, the focusing unit includes: a sampling point determination unit, a third position determination unit, and a first objective lens adjustment unit. The sampling point determination unit is configured to determine, from a plurality of sampling points in the spatial point cloud, at least one target sampling point whose position information is in the same region as the position information of the current scanning point; the third position determination unit is configured to determine the target objective lens position of the current scanning point based on the target objective lens position of the at least one target sampling point; and the first objective lens adjustment unit is configured to adjust the current objective lens position based on the target objective lens position of the current scanning point so that the current objective lens position is within an objective lens range, wherein the objective lens range is a range of objective lens positions within which the clarity of the corresponding scanning point presented in the field of view of the objective lens reaches a target clarity.

[0126] Optionally, the first objective lens adjustment unit includes: a focus data determination unit, a position calculation unit, a speed determination unit, and a second objective lens adjustment unit. The focus data determination unit is configured to determine the moving direction and speed gain of the focus control point based on the scanning parameters of the biological sample scanning system; the position calculation unit is configured to calculate the difference between the target objective lens position at the current scanning point and the current objective lens position to obtain a position difference; the speed determination unit is configured to calculate the position difference, the speed gain, and a numerical value corresponding to the moving direction to obtain a moving speed of the focus control point; and the second objective lens adjustment unit is configured to control the objective lens to move from the current objective lens position to the target objective lens position at the current scanning point based on the moving speed and the moving direction.

[0127] Example 3

[0128] According to another aspect of an embodiment of the present disclosure, a non-volatile storage medium is provided, in which a computer program is stored. The computer program is configured to execute the above-mentioned focusing method based on linear scanning when running.

[0129] Example 4

[0130] According to another aspect of an embodiment of the present disclosure, an electronic device is further provided, wherein Figure 12 is a schematic diagram of an optional electronic device according to an embodiment of the present disclosure. As shown in Figure 12, the electronic device includes one or more processors; a memory for storing one or more programs, which, when the one or more programs are executed by one or more processors, enables the one or more processors to run the programs, wherein the programs are configured to execute the above-mentioned linear scanning-based focusing method when running.

[0131] The serial numbers of the above-mentioned embodiments of the present disclosure are for description only and do not represent the advantages or disadvantages of the embodiments.

[0132] In the above embodiments of the present disclosure, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0133] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only exemplary. For example, the division of units can be a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0134] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple units. Some or all of the units may be selected to achieve the purpose of the present embodiment according to actual needs.

[0135] In addition, the functional units in the various embodiments of the present disclosure may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0136] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially 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, and the computer software product is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the various embodiments of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0137] The above is only a preferred embodiment of the present disclosure. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present disclosure. These improvements and modifications should also be regarded as within the scope of protection of the present disclosure.

Claims

1. A focusing method based on linear array scanning, applied to a biological sample scanning system, the biological sample scanning system at least comprising: camera and an objective lens, the method comprising: Acquire spatial position information of an anchor point corresponding to a sample to be scanned, wherein the spatial position information of the anchor point represents a position of a target objective lens after focusing; Determining the curved surface information corresponding to the anchor point according to the spatial position information of the anchor point, wherein the curved surface information corresponding to the anchor point at least includes the target objective lens positions of multiple sampling points obtained by sampling the spatial position information of the anchor point; Obtaining a current objective lens position corresponding to a current scanning point in the sample to be scanned; The current objective lens position is adjusted according to the current objective lens position and the surface information corresponding to the anchor point to perform a focusing operation on the objective lens.

2. The method according to claim 1, wherein: Before obtaining the spatial position information of the anchor point corresponding to the sample to be scanned, the method further includes: In response to an anchor point marking operation, determining an anchor point position according to a position of the anchor point marking operation on the sample to be scanned; The anchor point is determined from the to-be-scanned data of the to-be-scanned sample according to the anchor point position.

3. The method according to claim 1, wherein: Determining the surface information corresponding to the anchor point according to the spatial position information of the anchor point includes: Performing interpolation calculation on the spatial position information of each anchor point to obtain a spatial point cloud of the sample to be scanned, wherein the spatial point cloud is composed of a plurality of sampling points, and each anchor point corresponds to at least one sampling point; The spatial position information of at least one sampling point corresponding to each anchor point is determined according to the spatial point cloud of the sample to be scanned, and the surface information of each anchor point is obtained.

4. The method according to claim 3, wherein: Interpolation calculation is performed on the spatial position information of each anchor point to obtain the spatial point cloud of the sample to be scanned, including: Taking the circumscribed polygon of the current anchor point as a boundary, interpolating the current anchor point to obtain a first point cloud model, wherein the current anchor point is any one of the anchor points corresponding to the sample to be scanned; Determine a plurality of initial anchor points based on the vertex positions of the sample to be scanned; Determine an anchor point closest to a target initial anchor point from the multiple initial anchor points to obtain a target anchor point, wherein the target initial anchor point is any one of the multiple initial anchor points; Performing interpolation calculation on the spatial position information of the current anchor point based on the target anchor point to obtain a second point cloud model; Integrate the first point cloud model and the second point cloud model to obtain a spatial point cloud of the current anchor point; The spatial point cloud of the sample to be scanned is obtained based on the spatial point cloud of each anchor point.

5. The method according to claim 1, wherein: Obtaining a current objective lens position corresponding to a current scanning point in the sample to be scanned, comprising: Obtaining the pixel size corresponding to the camera and the magnification of the camera; Calculating the ratio of the pixel size to the magnification to obtain the scanning point distance; Controlling the camera to perform linear scanning on the sample to be scanned based on the scanning point distance and the scanning direction to obtain the current scanning point; Determine the current objective lens position corresponding to the current scanning point.

6. The method according to claim 3, wherein: Adjusting the current objective lens position according to the current objective lens position and the surface information corresponding to the anchor point includes: Determine at least one target sampling point from the plurality of sampling points of the spatial point cloud, the target sampling point being in the same area as the position information of the current scanning point; Determining the target objective lens position of the current scanning point based on the target objective lens position of the at least one target sampling point; The current objective lens position is adjusted based on the target objective lens position of the current scanning point so that the current objective lens position is within the objective lens range, wherein the objective lens range is the objective lens position range that makes the clarity of the corresponding scanning point in the field of view of the objective lens reach the target clarity.

7. The method according to claim 6, wherein: Adjusting the current objective lens position based on the target objective lens position of the current scanning point includes: Determining the moving direction and speed gain of the focus control point according to the scanning parameters of the biological sample scanning system; Calculating the difference between the target objective lens position of the current scanning point and the current objective lens position to obtain a position difference; Calculating the position difference, the speed gain, and a value corresponding to the moving direction to obtain a moving speed of the focus control point; Based on the moving speed and the moving direction, the objective lens is controlled to move from the current objective lens position to the target objective lens position of the current scanning point.

8. A focusing device based on linear array scanning, applied to a biological sample scanning system, the biological sample scanning system comprising at least: A camera and an objective lens, the device comprising: A spatial information acquisition unit, used to acquire spatial position information of an anchor point corresponding to a sample to be scanned, wherein the spatial position information of the anchor point represents a position of a target objective lens after focusing; A surface information determination unit, configured to determine the surface information corresponding to the anchor point according to the spatial position information of the anchor point, wherein the surface information corresponding to the anchor point at least includes target objective lens positions of a plurality of sampling points obtained by sampling the spatial position information of the anchor point; An objective lens position acquisition unit, used to acquire a current objective lens position corresponding to a current scanning point in the sample to be scanned; A focusing unit is used to adjust the current objective lens position according to the current objective lens position and the surface information corresponding to the anchor point, so as to perform a focusing operation on the objective lens.

9. A non-volatile storage medium having a computer program stored therein, wherein: The computer program is configured to execute the line scanning-based focusing method described in any one of claims 1 to 7 when executed.

10. An electronic device, comprising one or more processors; a memory for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors are enabled to run the programs, wherein: The program is configured to execute the line scanning-based focusing method described in any one of claims 1 to 7 when running.

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