Imaging system, gene sequencer and control method, and biological sample detection apparatus

Abstract

An imaging system, a gene sequencer and a control method, and a biological sample detection apparatus. The imaging system comprises: a sample stage (101); an optical assembly (102), which is movably disposed relative to the sample table (101), and comprises an objective lens (1020) and a focusing sensor (1021), wherein the focusing sensor (1021) outputs a real-time focusing signal acquired at the sample stage (101) via the objective lens (1020); an actuator (103), which is coupled to the sample stage (101) and / or the optical assembly (102), so as to drive relative movement between the optical assembly (102) and the sample stage (101), wherein the actuator (103) comprises a driver (1030) and an encoder (1031), which outputs a real-time relative displacement signal (θm) between the optical assembly (102) and the sample stage (101); and a control circuit (104), which is configured to adjust a drive signal of the driver (1030) on the basis of a focusing displacement signal (θl) corresponding to the real-time focusing signal and the real-time relative displacement signal (θm). The problem of inaccurate focusing during detection using a gene sequencer that is caused by a mechanical elastic link being prone to causing position oscillation can be overcome.

Description

Imaging system, gene sequencer and control method, biological sample detection device Technical Field

[0001] The present invention relates to the field of motion control technology or other related technical fields, and in particular to an imaging system, a gene sequencer and a control method, and a biological sample detection device. Background Art

[0002] Currently, when using a gene sequencer for testing, most gene sequencers require pre-focusing of the surface of the sample to be tested on the sample table. There are two focusing methods in the existing technology: manual focus and automatic focus. Among them, the manual focus method is cumbersome to operate and prone to operating errors, and the focusing effect cannot be guaranteed; while in the automatic focus method, due to the existence of mechanical nonlinear links, the position of the motor side and the position of the load side cannot be simply regarded as a proportional relationship. The position control accuracy is not enough in the process of using the gene sequencer to detect and image the sample to be tested, and errors are easily generated between the actual position of the objective lens and the expected position. Therefore, improving the control performance of the position control system has become an urgent problem to be solved.

[0003] Current position control systems employ two main approaches: semi-closed-loop control and full-closed-loop control. Semi-closed-loop control uses the position information calculated from the motor encoder as position feedback. This method cannot eliminate the effects of mechanical nonlinearities and can introduce a range of measurement errors, such as ball screw pitch error, backlash error, mechanical transmission deformation, and positioning errors caused by temperature characteristics. Full-closed-loop control, on the other hand, uses a linear encoder mounted on the load side as position feedback. This method eliminates motion errors caused by mechanical nonlinearities such as backlash, pitch, and thermal expansion, but it cannot effectively eliminate mechanical friction and elasticity. When the motor reverses direction, frictional nonlinearity can cause velocity stagnation, leading to a delayed position response. In single-axis sinusoidal motion, this manifests as a tracking error spike at the position reversal point, and in dual-axis circular motion, a contour error spike at the quadrant crossing point. Overall, this results in a larger tracking error, which limits the performance of the full-closed-loop control system and makes the sequencer's motion platform susceptible to position oscillation. Consequently, the position control system still lacks precise position control of the sequencer.

[0004] To address the above-mentioned problems, no effective solutions have been proposed so far.

[0005] Summary of the Invention

[0006] Embodiments of the present invention provide an imaging system, a gene sequencer and a control method, and a biological sample detection device to at least solve the technical problem in related technologies of inaccurate focusing when using a gene sequencer for detection due to position oscillation easily caused by mechanical elastic links.

[0007] According to one aspect of an embodiment of the present invention, an imaging system is provided, comprising: a sample stage comprising a surface configured to support a sample to be detected; an optical assembly movably arranged between the optical assembly and the sample stage, the optical assembly comprising: an objective lens and a focus sensor optically connected to the objective lens, the focus sensor outputting a real-time focus signal acquired from the sample stage via the objective lens; an actuator coupled to the sample stage and / or the optical assembly, the actuator being configured to drive relative movement between the optical assembly and the sample stage, the actuator comprising a driver and an encoder, the encoder outputting a real-time relative displacement signal between the optical assembly and the sample stage; and a control circuit, the control circuit being configured to acquire a focus displacement signal corresponding to the real-time focus signal and adjust a drive signal of the driver according to the focus displacement signal and the real-time relative displacement signal, comprising: adjusting the drive signal based on an expected target position signal, the real-time relative displacement signal, and a filtered displacement error signal, the displacement error signal comprising a difference signal between the focus displacement signal and the real-time relative displacement signal.

[0008] Optionally, the control circuit includes a pre-compensator, which is configured to pre-correct the expected target position signal, including: obtaining a position error data set, wherein the position error data set includes: N periodic position error amounts generated by performing position control operations on the objective lens and the sample stage in N historical control cycles, each of the historical control cycles corresponds to one periodic position error amount, the position error amount includes the difference between the real-time relative displacement signal output by the encoder and the expected target position signal, and N is a positive integer; calculating the cumulative position error compensation amount between the objective lens and the sample stage generated in N historical control cycles based on the position error data set; correcting the expected target position signal in the next control cycle based on the cumulative position error compensation amount and outputting the corrected expected target position signal to the control circuit.

[0009] Optionally, the control circuit further includes a first-order low-pass filter configured to perform filtering processing on the displacement error signal.

[0010] Optionally, the control circuit further includes a speed corrector, which performs feedback adjustment on a target speed signal based on a real-time relative speed signal corresponding to the real-time relative displacement signal, and the target speed signal is obtained according to the corrected expected target position signal.

[0011] Optionally, the speed corrector is further connected to the focus sensor to receive a real-time focus speed signal and further adjusts the driving signal based on a difference signal between the real-time focus speed signal and the real-time relative speed signal.

[0012] Optionally, the control circuit also includes: a drive correction unit connected to the speed corrector, the drive correction unit generating an expected current signal based on the adjusted target speed signal, generating a current error signal using a difference signal between the real-time focus speed signal and the real-time relative speed signal, and adjusting the expected current signal based on the current error signal to output the drive signal.

[0013] According to another aspect of an embodiment of the present invention, a control method for a gene sequencer is also provided, the gene sequencer comprising: a sample stage and an optical component that can move relative to each other, and an actuator that drives the Z-axis mutual movement between the sample stage and the objective lens, wherein the optical component comprises: the objective lens, and a focus sensor optically connected to the objective lens, the actuator comprises a driver and an encoder, the control method comprising: the focus sensor outputting a real-time focus signal obtained from the sample stage via the objective lens; the encoder outputting a real-time relative displacement signal between the optical component and the sample stage; obtaining a focus displacement signal corresponding to the real-time focus signal and adjusting the drive signal of the driver according to the focus displacement signal and the real-time relative displacement signal, comprising: adjusting the drive signal based on an expected target position signal, the real-time relative displacement signal, and a displacement error signal processed by filtering, the displacement error signal comprising a difference signal between the focus displacement signal corresponding to the real-time focus signal and the real-time relative displacement signal.

[0014] Optionally, before adjusting the driving signal of the driver according to the focus displacement signal and the real-time relative displacement signal, the control method also includes pre-correcting the expected target position signal, including: obtaining a position error data set, the position error data set including: N periodic position error amounts generated by performing position control operations on the objective lens and the sample stage in N historical control cycles, each of the historical control cycles corresponding to one periodic position error amount, the position error amount including the difference between the real-time relative displacement signal output by the encoder and the expected target position signal, N being a positive integer; calculating the cumulative position error compensation amount between the objective lens and the sample stage generated in N historical control cycles based on the position error data set; correcting the expected target position signal in the next control cycle based on the cumulative position error compensation amount and outputting the corrected expected target position signal.

[0015] Optionally, the control method further includes: an encoder outputting a real-time relative speed signal between the optical component and the sample stage; outputting a real-time focus speed signal obtained on the sample stage via the objective lens based on a focus sensor; adjusting a target speed signal of the driver based on the real-time focus speed signal and the real-time relative speed signal, the target speed signal being obtained according to the corrected expected target position signal; and generating the drive signal based on the adjusted target speed signal.

[0016] Optionally, generating the drive signal based on the adjusted target speed signal includes: generating an expected current signal based on the adjusted target speed signal, generating a current error signal using a difference signal between the real-time focusing speed signal and the real-time relative speed signal, and adjusting the expected current signal based on the current error signal to output the drive signal.

[0017] According to another aspect of an embodiment of the present invention, a control method for a biological sample detection device is also provided. The biological sample detection device includes a sample stage and an optical component that can move relative to each other, and an actuator that drives the sample stage and the objective lens to move relative to each other along the Z axis, wherein the optical component includes: the objective lens, a focus sensor optically connected to the objective lens, and the actuator includes a driver and an encoder. The control method includes: the focus sensor outputting a real-time focus signal obtained from the sample stage via the objective lens; the encoder outputting a real-time relative displacement signal between the optical component and the sample stage; obtaining a focus displacement signal corresponding to the real-time focus signal and adjusting a drive signal of the driver based on the focus displacement signal and the real-time relative displacement signal, including: adjusting the drive signal based on an expected target position signal, the real-time relative displacement signal, and a filtered displacement error signal, wherein the displacement error signal includes a difference signal between the focus displacement signal corresponding to the real-time focus signal and the real-time relative displacement signal.

[0018] Optionally, before adjusting the driving signal of the driver according to the focus displacement signal and the real-time relative displacement signal, the control method also includes pre-correcting the expected target position signal, including: obtaining a position error data set, the position error data set including: N periodic position error amounts generated by performing position control operations between the objective lens and the sample stage in N historical control cycles, each of the historical control cycles corresponding to one periodic position error amount, the position error amount including the difference between the real-time relative displacement signal output by the encoder and the expected target position signal, N being a positive integer; calculating the cumulative position error compensation amount between the objective lens and the sample stage generated in N historical control cycles based on the position error data set; correcting the expected target position signal in the next control cycle based on the cumulative position error compensation amount and outputting the corrected expected target position signal.

[0019] Optionally, the control method further includes: an encoder outputting a real-time relative speed signal between the optical component and the sample stage; a focus sensor outputting a real-time focus speed signal obtained on the sample stage via the objective lens; adjusting a target speed signal of the driver based on the real-time focus speed signal and the real-time relative speed signal, the target speed signal being obtained according to the corrected expected target position signal; and generating the drive signal based on the adjusted target speed signal.

[0020] Optionally, generating the drive signal based on the adjusted target speed signal includes: generating an expected current signal based on the adjusted target speed signal, generating a current error signal using a difference signal between the real-time focusing speed signal and the real-time relative speed signal, and adjusting the expected current signal based on the current error signal to output the drive signal.

[0021] According to another aspect of an embodiment of the present invention, a gene sequencer is further provided, comprising: a sample stage comprising a surface configured to support a sample to be detected; an optical component, wherein the optical component and the sample stage are movably arranged relative to each other, the optical component comprising an objective lens and a focus sensor optically connected to the objective lens, the focus sensor outputting a real-time focus signal acquired at the sample stage via the objective lens; an actuator coupled to at least one of the sample stage and the optical component, the actuator being used to drive relative movement between the optical component and the sample stage, the actuator comprising a driver and an encoder, the encoder outputting a real-time relative displacement signal between the optical component and the sample stage; and a control circuit, wherein the control circuit is configured to adjust a drive signal of the driver based on the real-time focus signal and the real-time relative displacement signal, comprising: adjusting the drive signal based on an expected target position signal, the real-time relative displacement signal, and a filtered displacement error signal, the displacement error signal comprising a difference signal between a focus displacement signal corresponding to the real-time focus signal and the real-time relative displacement signal.

[0022] Optionally, the sample to be tested includes a nucleic acid sequencing library.

[0023] According to another aspect of an embodiment of the present invention, a biological sample detection device is provided, comprising: a sample stage including a surface configured to support a sample to be detected; an optical assembly, wherein the optical assembly and the sample stage are movably arranged relative to each other, the optical assembly including an objective lens and a focus sensor optically connected to the objective lens, the focus sensor outputting a real-time focus signal acquired from the sample stage via the objective lens; an actuator coupled to at least one of the sample stage and the optical assembly, the actuator being configured to drive relative movement between the optical assembly and the sample stage, the actuator including a driver and an encoder, the encoder outputting a real-time relative displacement signal between the optical assembly and the sample stage; and a control circuit, wherein the control circuit is configured to adjust a drive signal of the driver based on the real-time focus signal and the real-time relative displacement signal, comprising: adjusting the drive signal based on an expected target position signal, the real-time relative displacement signal, and a filtered displacement error signal, the displacement error signal comprising a difference signal between a focus displacement signal corresponding to the real-time focus signal and the real-time relative displacement signal.

[0024] Optionally, the sample to be detected includes a tissue sample or a nucleic acid sequencing library.

[0025] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is further provided, wherein the computer-readable storage medium includes a stored computer program, wherein when the computer program is run, the device where the computer-readable storage medium is located is controlled to execute any one of the above-mentioned methods for controlling a gene sequencer or any one of the above-mentioned methods for controlling a biological sample detection device.

[0026] According to another aspect of an embodiment of the present invention, an electronic device is also provided, comprising one or more processors and a memory, wherein the memory is used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the control method of the gene sequencer described in any one of the above-mentioned items, or the control method of the biological sample detection device described in any one of the above-mentioned items.

[0027] The present invention provides an imaging system comprising a sample stage, an optical component, an actuator, and a control circuit. The sample stage surface can be used to support a sample to be inspected. The optical component and the sample stage are then configured to be movable relative to each other. The optical component comprises an objective lens and a focus sensor optically connected to the objective lens, the focus sensor being configured to output a real-time focus signal acquired on the sample stage via the objective lens. An actuator is then coupled to the sample stage and / or the optical component to drive relative motion between the optical component and the sample stage. The actuator comprises a driver and an encoder, the encoder outputting a real-time relative displacement signal between the optical component and the sample stage. Finally, a focus displacement signal corresponding to the real-time focus signal is acquired by the control circuit, and a drive signal of the actuator is adjusted based on the focus displacement signal and the real-time relative displacement signal. Specifically, the drive signal is adjusted based on an expected target position signal, a real-time relative displacement signal, and a filtered displacement error signal, wherein the displacement error signal comprises a difference signal between the focus displacement signal and the real-time relative displacement signal.

[0028] In the present invention, a focus sensor in an optical assembly acquires a real-time focus signal collected by an objective lens on a sample stage, an encoder in an actuator acquires a real-time relative displacement signal between the optical assembly and the sample stage, a control circuit acquires a focus displacement signal of the sample stage based on the real-time focus signal, calculates the difference between the focus displacement signal and the real-time relative displacement signal to obtain a displacement error signal, filters the displacement error signal, and finally adjusts the drive signal of the actuator in accordance with the expected target position signal, the real-time relative displacement signal, and the filtered displacement error signal to drive the relative motion between the optical assembly and the sample stage. The present invention forms a dual-feedback fully closed-loop position control system by combining the focus sensor and the encoder, which can eliminate the steady-state error caused by elastic deformation, and use the encoder for PID adjustment to reduce the position gain when position oscillation occurs. The focus sensor acts as a position detection sensor for the optical axis of the objective lens, eliminating the influence of the position error of the optical axis itself, thereby achieving accurate focusing of the objective lens in the optical assembly on the object to be detected on the support surface of the sample stage, thereby solving the technical problem in the related art that mechanical elastic links easily cause position oscillations and inaccurate focusing when using gene sequencers for detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0030] FIG1 is a schematic diagram of an optional imaging system according to an embodiment of the present invention;

[0031] FIG2 is a schematic diagram of an optional full-closed-loop PID control based on dual-position feedback according to an embodiment of the present invention;

[0032] 3A is a schematic diagram of an optional device for correcting an expected target position signal using a precompensator according to an embodiment of the present invention;

[0033] 3B is a schematic diagram of an operation of correcting an expected target position signal by an optional precompensator according to an embodiment of the present invention;

[0034] FIG3C is a schematic diagram of an optional position correction process based on a position feedback circuit according to an embodiment of the present invention;

[0035] 3D is a flowchart of an optional method for correcting an expected target position signal based on a precompensator according to an embodiment of the present invention;

[0036] FIG4 is a flow chart of an optional method for controlling a gene sequencer according to an embodiment of the present invention;

[0037] FIG5 is a flow chart of an optional control method of a biological sample detection device according to an embodiment of the present invention;

[0038] FIG6 is a schematic diagram of an optional gene sequencer according to an embodiment of the present invention;

[0039] FIG7 is a schematic diagram of an optional biological sample detection device according to an embodiment of the present invention;

[0040] FIG8 is a hardware structure block diagram of an electronic device (or mobile device) for a control method of a gene sequencer or a control method of a biological sample detection device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0041] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0042] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention 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 invention 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.

[0043] To facilitate those skilled in the art to understand the present invention, some of the terms or nouns involved in the embodiments of the present invention are explained below:

[0044] The AF focus module is an automatic focus module, which is used in the present invention to automatically focus and adjust the lens focal plane to ensure clear images and accurate focus. It can also serve as a position detection sensor in a motion control system.

[0045] DNA, deoxyribonucleic acid, is a double-helix molecule that contains the genetic information of an organism and encodes the genetic information of an organism through the order of arrangement of these bases.

[0046] RNA, ribonucleic acid, is a single-stranded molecule that, like DNA, is involved in biological processes such as gene expression, protein synthesis, and cell metabolism.

[0047] The following embodiments of the present invention can be applied to various systems / applications / devices requiring automatic and precise focusing of optical inspection instruments, and can eliminate steady-state errors caused by elastic deformation and avoid position oscillations caused by mechanical elastic links. The present invention utilizes a focus sensor and an encoder to form a dual-feedback, fully closed-loop position control system. When position oscillation occurs, the encoder is used for PID regulation to reduce the position gain. The focus sensor is used as a position detection sensor in the direction of the objective lens's optical axis, eliminating the influence of the optical axis's own positional errors. This allows the objective lens in the optical assembly to precisely focus on the object to be inspected on the support surface of the sample stage.

[0048] The present invention will be described in detail below with reference to various embodiments.

[0049] Example 1

[0050] According to an embodiment of the present invention, an embodiment of an imaging system is provided, wherein the imaging system includes multiple implementation components. FIG1 is a schematic diagram of an optional imaging system according to an embodiment of the present invention, and in conjunction with FIG1-3D , the imaging system includes:

[0051] The sample stage 101 includes a surface configured to support a sample to be detected.

[0052] The optical component 102 is movably arranged between the optical component 102 and the sample stage 101. The optical component 102 includes: an objective lens 1020 and a focus sensor 1021 optically connected to the objective lens 1020. The focus sensor 1021 outputs a real-time focus signal obtained on the sample stage 101 via the objective lens 1020.

[0053] The actuator 103 is coupled to the sample stage 101 and / or the optical component 102. The actuator 103 is used to drive the relative movement between the optical component 102 and the sample stage 101. The actuator 103 includes a driver 1030 and an encoder 1031. The encoder 1031 outputs a real-time relative displacement signal θ between the optical component 102 and the sample stage 101. m .

[0054] The control circuit 104 is configured to obtain a focus displacement signal θ corresponding to the real-time focus signal. l And according to the focus displacement signal θ l and the real-time relative displacement signal θ m Adjusting the drive signal of the driver 1030 includes: based on the expected target position signal θ ref ′, real-time relative displacement signal θ m, and the displacement error signal Δθ′ after filtering to adjust the driving signal, the displacement error signal Δθ′ includes the focus displacement signal θ l and the real-time relative displacement signal θ m The difference signal.

[0055] In the above-mentioned imaging system, the surface of the sample stage 101 is used to support the sample to be detected. The optical component 102 and the sample stage 101 are arranged to be movable relative to each other. The optical component 102 includes an objective lens 1020 and a focus sensor 1021 optically connected to the objective lens 1020. The focus sensor 1021 is used to output a real-time focus signal (e.g., a focus displacement signal θ) obtained by the objective lens 1020 on the sample stage 101. l ), the actuator 103 is coupled to the sample stage 101 and / or the optical component 102, and is used to drive the relative movement between the optical component 102 and the sample stage 101. The actuator 103 includes a driver 1030 and an encoder 1031. The encoder 1031 is used to output a real-time relative displacement signal θ between the optical component 102 and the sample stage 101. m The control circuit 104 is used to obtain the focus displacement signal θ corresponding to the real-time focus signal l , and according to the focus displacement signal θ l and the real-time relative displacement signal θ m The drive signal of the driver 1030 is adjusted. Specifically, the control circuit is based on the expected target position signal θ ref ′, real-time relative displacement signal θ m , and the displacement error signal Δθ′ after filtering to adjust the driving signal, the displacement error signal Δθ′ includes the focus displacement signal θ l and the real-time relative displacement signal θ m The difference signal.

[0056] In the embodiment of the present invention, the focus sensor 1021 in the optical component 102 obtains the real-time focus signal collected on the sample stage 101 via the objective lens 1020, and the encoder 1031 in the actuator 103 obtains the real-time relative displacement signal θ between the optical component 102 and the sample stage 101. m , the control circuit 104 obtains the focus displacement signal θ of the sample stage 101 according to the real-time focus signal l , calculate the focus displacement signal θ l and real-time relative displacement signal θ m The displacement error signal Δθ′ is obtained by the difference between the two values, and the displacement error signal Δθ′ is filtered and finally the expected target position signal θ is obtained. ref ′, real-time relative displacement signal θ mThe filtered displacement error signal Δθ′ is used to adjust the drive signal of the driver 1030 in the actuator 103 to drive the relative motion between the optical component 102 and the sample stage 101. The present invention utilizes a dual-feedback, fully closed-loop position control system composed of a focus sensor 1021 and an encoder 1031 to eliminate steady-state errors caused by elastic deformation. When position oscillation occurs, the encoder 1031 is used for PID regulation to reduce the position gain. The focus sensor 1021 is used as a position detection sensor for the optical axis of the objective lens 1020 to eliminate the influence of the position error of the optical axis itself. This allows the objective lens 1020 in the optical component 102 to accurately focus on the object to be detected on the support surface of the sample stage 101. This solves the technical problem in related technologies of inaccurate focusing when using a gene sequencer for detection due to position oscillations easily caused by mechanical elastic links.

[0057] The following describes the embodiments of the present invention in detail based on various system components in the imaging system.

[0058] The embodiment of the present invention combines motion control technology and data analysis technology, forms a dual-feedback full-closed-loop position control mechanism through the two-way position information feedback of the focus sensor 1021 and the encoder 1031, and uses the two-way feedback position information and the expected target position signal θ to obtain the desired position. ref ' Adjust the driving signal of the driver 1030 and use the driving signal to adjust the relative position between the sample stage 101 and the objective lens 1020, thereby achieving precise focusing of the objective lens 1020 on the sample to be detected on the sample stage 101.

[0059] The sample stage 101 includes a surface configured to support a sample to be detected. The sample stage 101 may be, for example, a multi-axis motion platform. The sample to be detected may be, for example, a sequencing chip. The sample stage 101 drives the sequencing chip to be movable relative to the objective lens 1020.

[0060] It should be noted that the sample to be tested may include a tissue sample or a nucleic acid sequencing library, and the sample type may include: DNA or RNA sample. The sample to be tested is placed or fixed on the supporting surface of the sample table 101, and the sample table 101 drives the sample to be tested to move.

[0061] Optical assembly 102 is movably disposed between objective lens 1020 and sample stage 101. Optical assembly 102 includes an objective lens 1020 and a focus sensor 1021 optically connected to objective lens 1020. Focus sensor 1021 outputs a real-time focus signal acquired on sample stage 101 via objective lens 1020. It should be noted that the real-time focus signal includes instant feedback on the focus state of objective lens 1020 on sample stage 101, captured by focus sensor 1021. This signal indicates the current focus of objective lens 1020, facilitating real-time focus adjustment.

[0062] The real-time focus signal helps determine the sharpness of the sample or object being photographed, serving as a basis for focus adjustment. Focus sensor 1021 monitors the focus position of objective lens 1020 on sample stage 101 and converts this information into a focus signal output—a voltage, digital data, or other form—for display or to drive an autofocus system. This real-time focus signal allows the focal length of objective lens 1020 to be adjusted based on real-time feedback, ensuring the sharpest possible image quality.

[0063] It should be noted that the objective lens 1020 is used to perform zoom detection on the target sample to be tested. By focusing light, the image of the target sample to be tested (e.g., a DNA or RNA sample) is magnified, allowing the sample's fine structure to be clearly observed and recorded, thereby enabling accurate genetic sequencing and analysis. It should be understood that the present application may also provide one or more controllers (not shown, such as a host computer) to control the operation of the above-mentioned imaging system. The host computer can be configured to operate the various components of the imaging system to perform various operations, such as focusing and imaging of the optical assembly 102, relative movement between the sample stage 101 and the optical assembly 102, etc. For example, the host computer can be implemented using hardware, software, or a combination of both. For example, the host computer may include one or more CPUs or processors with associated memory; or. The host computer may include hardware or other circuitry to control operations. For example, the circuitry may include one or more of the following: a field programmable gate array (FPGA), an application-specific integrated circuit (ASIC), a programmable logic device (PLD), a complex programmable logic device (CPLD), a programmable logic array (PLA), a programmable array logic (PAL), or other similar processing devices or circuits. As yet another example, the host computer may include a combination of the circuit and one or more processors.

[0064] In the embodiment of the present invention, the AF focusing module configured in the optical system includes a focusing sensor 1021. The AF focusing module is not affected by the position error of the motion axis itself. The signal feedback device of the AF focusing module configured in the optical system can also be used for position detection of the motion axis.

[0065] The actuator 103 is coupled to the sample stage 101 and / or the optical component 102. The actuator 103 is used to drive the relative movement between the optical component 102 and the sample stage 101. The actuator 103 includes a driver 1030 and an encoder 1031. The encoder 1031 outputs a real-time relative displacement signal θ between the optical component 102 and the sample stage 101. m It should be noted that the real-time relative displacement signal θ m The position change of the feedback optical component 102 relative to the sample stage 101 and the real-time relative displacement signal θ mIt is an instant feedback signal. As the position of the optical component 102 or the sample stage 101 changes, the encoder 1031 will immediately output a corresponding change signal. It is very important for applications that require precise positioning and control of the optical component 102 and the sample stage 101.

[0066] It should be noted that encoder 1031 is a sensor device for measuring position. It helps the control system monitor and control the position of the device in real time by detecting the mechanical position and outputting a corresponding position signal. A position encoder usually consists of two parts: a sensor and a scale. The sensor is installed in a fixed position, while the scale is connected to a moving part (such as a motor shaft). When the moving part moves, there will be specific textures, bumps or magnetic marks on the scale. The sensor can detect these marks and generate a corresponding position signal. According to different working principles, position encoders can be divided into various types, including optical encoders, magnetic encoders, and Hall effect encoders.

[0067] The control circuit 104 is configured to obtain a focus displacement signal θ corresponding to the real-time focus signal. l And according to the focus displacement signal θ l With the real-time relative displacement signal θ m Adjusting the drive signal of the driver 1030 includes: based on the expected target position signal θ ref ′, real-time relative displacement signal θ m , and the displacement error signal Δθ′ after filtering to adjust the driving signal, the displacement error signal Δθ′ includes the focus displacement signal θ l With the real-time relative displacement signal θ m The expected target position signal before correction is θ ref ′ comes from the host computer.

[0068] It should be noted that the focus displacement signal θ l The displacement of the objective lens 1020 on the focus plane calculated by the real-time focus signal is used to indicate the amount of slight adjustment that the objective lens 1020 needs to make relative to the initial position in order to achieve the best focus state for the sample to be detected.

[0069] Optionally, as shown in FIG2 , the control circuit 104 includes a precompensator 201, a first-order low-pass filter 202, and a speed corrector 203, wherein the precompensator 201 is configured to correct the expected target position signal θ ref', the first-order low-pass filter 202 is configured to perform filtering processing on the displacement error signal Δθ' to obtain a signal Δθ. It should be noted that the main function of filtering the displacement error signal Δθ' is to reduce noise and interference, smooth the signal waveform, and improve the system response characteristics. Eliminating signal fluctuations caused by noise, interference or instability can improve the stability and accuracy of the system. Optionally, the transfer function of the first-order low-pass filter 202 is G(s) = 1 / (1+τs) where τ is the filter time constant. The first-order low-pass filter 202 can effectively suppress the angle difference oscillation problem and high-frequency noise on the motor side and the load side.

[0070] Optionally, the precompensator 201 specifically performs the following steps: obtaining a position error data set, wherein the position error data set includes: N periodic position error amounts generated by position control operations performed on the objective lens 1020 and the sample stage 101 during N historical control cycles, each historical control cycle corresponding to one periodic position error amount, and the position error amount includes the real-time relative displacement signal θ output by the encoder 1031 m and the expected target position signal θ ref ′, N is a positive integer; calculate the cumulative position error compensation between the objective lens 1020 and the sample stage 101 generated in N historical control cycles based on the position error data set; correct the expected target position signal θ in the next control cycle based on the cumulative position error compensation ref ′ and outputs the corrected expected target position signal θ ref to the control circuit 104.

[0071] It should be noted that due to the mechanical vibration of the system, there may be a gap between the actual displacement and the expected displacement, which is expressed in the embodiment of the present invention as the real-time relative displacement signal θ output by the encoder 1031. m and the expected target position signal θ ref ′, there may be an error superposition phenomenon in N historical control cycles. The pre-compensator 201 is set to analyze and process the position error data generated in the historical control cycle, calculate the cumulative position error compensation, and correct the expected target position signal θ in the next control cycle according to the compensation. ref ′ and output the corrected expected target position signal θ ref , in order to achieve pre-compensation control of the system.

[0072] Embodiments of the present invention can employ a method combining PID control technology and a three-loop cascade control mechanism to perform PID control of the imaging system based on the position loop, velocity loop, and current loop. The above steps describe how the position loop uses a PID controller to compare the difference between the desired position and the actual position and generate a corresponding velocity command. The PID controller adjusts the velocity command based on the magnitude of the current position error, taking into account the regulation effects of the proportional, integral, and derivative components to reduce the position error and enable the motor to quickly reach the desired position.

[0073] In addition, the PID controller can be used through the speed loop to receive the speed command output by the position loop, compare it with the actual speed, and generate a corresponding current command. The PID controller adjusts the current command size to reduce the speed error based on the size of the speed error and the regulation effects of the proportional, integral and differential parts, so that the motor can move at the desired speed.

[0074] Optionally, the speed corrector 203 is based on the real-time relative displacement signal θ m The corresponding real-time relative speed signal to the target speed signal ω c Feedback adjustment is performed, and the target speed signal ω c is the corrected expected target position signal θ ref Obtained.

[0075] Optionally, the speed corrector 203 is further connected to the focus sensor 1021 to receive a real-time focus speed signal, and further adjusts the driving signal based on a difference signal between the real-time focus speed signal and the real-time relative speed signal.

[0076] In addition, a PID controller can be used through the current loop to receive the current command output by the speed loop, compare it with the actual current, and generate the final control signal. The PID controller adjusts the size of the control signal to reduce the current error based on the size of the current error, taking into account the regulation effects of the three parts of proportion, integration and differentiation, so that the motor can output the desired torque or moment.

[0077] Optionally, the control circuit 104 further includes a drive correction unit 204 connected to the speed corrector, the drive correction unit 204 is based on the adjusted target speed signal ω c An expected current signal is generated, a current error signal is generated using a difference signal between a real-time focus speed signal and a real-time relative speed signal, and the expected current signal is adjusted based on the current error signal to output a driving signal.

[0078] Figure 2 is a schematic diagram of an optional full-closed-loop PID control based on dual-position feedback according to an embodiment of the present invention. As shown in Figure 2, the full-closed-loop PID control process mainly includes: a position PID adjustment link, a speed PID adjustment link, and a current PID adjustment link.

[0079] Among them, the expected target position signal θ provided by the host computer ref ′, and the corrected expected target position signal θ is obtained after correction ref , based on the corrected expected target position signal θ ref Execute position PID adjustment to obtain θ m and θ l As two position feedback signals, θ m is the real-time relative displacement signal fed back by the encoder 1031 associated with the actuator 103 (e.g., grating feedback displacement), θ l It refers to the focus displacement signal (e.g., load feedback displacement or auto-focus AF signal) corresponding to the real-time focus signal fed back by the focus sensor 1021 in the optical assembly 102; in addition, the position feedback circuit 206 calculates the displacement error signal Δθ′=θ m -θ l , that is, the real-time relative displacement signal θ m and the focus displacement signal θ l The difference signal.

[0080] Furthermore, the first-order low-pass filter 202 in the position feedback circuit 206 filters the displacement error signal Δθ′ to obtain a signal Δθ as a positive feedback signal, and converts θ m As a negative feedback signal, the corrected expected target position signal θ ref Perform feedback adjustment calculation and output the calculation result θ out Perform position PID adjustment to correct the drive signal. After position PID adjustment, the target speed signal ω of the actuator 103 is output. c Specifically, as shown in FIG3A , in an optional embodiment of the present application, the expected target signal θ ref ′ is corrected by the precompensator 201 to obtain the corrected expected target position signal θ ref , and then enters the position feedback circuit 206, the position signal θ after dual position feedback adjustment out After position PID adjustment, the target speed signal ω is output c .

[0081] In the process of speed PID adjustment, the speed corrector 203 can output the target speed signal ω according to the position PID. c And corresponding to the real-time relative displacement signal θ m Real-time relative speed signal ωm Perform speed correction calculation, perform feedback correction on the drive signal based on the speed correction calculation result, and output the adjusted corrected target speed signal ω c and the target speed signal ω c The corresponding drive signal (for example, the motor torque T e ).

[0082] As shown in FIG2 , after the speed PID adjustment process, the embodiment of the present invention also adjusts the target speed signal ω according to the correction. c Determine and correct the target speed signal ω c Corresponding motor torque T e , by driving the correction unit 204 according to the static friction torque T of the actuator 103 s and corresponds to the corrected target speed signal ω c The motor torque T e Perform drive correction calculation and determine the corrected motor torque T based on the drive correction calculation result. e , the corrected motor torque T e It is proportional to the driving current signal, and then the current PID adjustment is performed on the driving current signal, and the final driving signal is output to the driver (such as the motor) to achieve the correction of the driving current signal.

[0083] In the embodiment of the present invention, the static friction torque T s (corresponding to the current error signal) and the real-time relative speed signal ω of the actuator 103 m And the corresponding focus displacement signal θ l Focus speed signal ω l As shown in FIG2 , the driving correction unit 204 uses the real-time relative speed signal ω m And the focus speed signal ω l Calculate the static friction torque T s , and according to the static friction torque T s Motor torque T e Perform drive correction, obtain the corrected motor torque signal, and enter the current PID link. Optionally, the drive correction unit 204 uses the disturbance torque T l and static friction torque T s After the correction operation, the focus speed signal ω corresponding to the focus sensor end is obtained l .

[0084] In this embodiment of the present invention, precise control of motor motion can be achieved by applying PID controllers to the position, velocity, and current loops. The PID controller adjusts based on system feedback and desired values, continuously iterating to achieve rapid system response and stable control.

[0085] In the embodiment of the present invention, high-precision and high-reliability control accuracy is targeted. Compared with the existing methods, the dual position feedback signal provides a double reliability guarantee for the feedback source of the Z-axis control system.

[0086] The AF focusing module configured in the optical system of the embodiment of the present invention is not affected by the position error of the motion axis itself, and the position feedback is more reliable and accurate.

[0087] In an embodiment of the present invention, a full-closed-loop dual-feedback position control system is constructed based on the AF focus module and the photoelectric encoder on the motion axis as the source of dual feedback signals. The AF position information and the motion axis grating information are fully utilized to form a full-closed-loop control based on dual position feedback, which can eliminate the steady-state position error caused by mechanical oscillation and / or elastic deformation and realize bidirectional detection.

[0088] The present invention will be described below in conjunction with another specific embodiment.

[0089] In the embodiment of the present invention, the AF signal and the motion axis encoder are used for dual feedback full closed loop control, which avoids the steady-state error that may be generated under semi-closed loop control and can effectively suppress the control oscillation problem. Before the dual feedback full closed loop control, the embodiment of the present invention can also use a precompensator to calculate the expected target position signal θ ref 'Perform pre-compensation correction adjustment.

[0090] FIG3A is a schematic diagram of an optional device for correcting an expected target position signal by a precompensator according to an embodiment of the present invention; FIG3B is a schematic diagram of an operation of correcting an expected target position signal by an optional precompensator according to an embodiment of the present invention; FIG3C is a schematic diagram of a position correction process based on a position feedback circuit according to an embodiment of the present invention; FIG3D is a flowchart of an optional method for correcting an expected target position signal based on a precompensator according to an embodiment of the present invention. As shown in FIG3A-FIG3D, based on the correction of the expected target position signal θ by the precompensator 201, ref After correction, the corrected expected target position signal θ is obtained ref , the correction method comprises the following steps:

[0091] Step S301 : Acquire a first position signal and a second position signal of the objective lens 1020 .

[0092] It should be noted that the first position signal refers to the expected target position signal θ of the objective lens 1020. ref ′, the expected target position signal θ ref ′ is provided by the host controller, and the second position signal is the actual relative displacement signal θ of the objective lens 1020 fed back by the encoder 1031 mThe encoder 1031 is installed on the moving axis, for example, and can also be used as a position sensor to collect and feedback the actual position of the objective lens 1020.

[0093] Optionally, in addition to selecting a single photoelectric encoder, in order to ensure the improvement of output accuracy, this embodiment can also install two photoelectric encoders at the end of the moving shaft to achieve the output of multiple position feedback signals and further improve positioning accuracy.

[0094] Step S302 : Calculate the cyclic position error within a single position control period based on the first position signal and the second position signal, and then determine the cyclic position error compensation amount corresponding to the actuator 103 .

[0095] It should be noted that, in addition to positioning accuracy, the embodiment of the present invention also ensures repeatability as much as possible. Therefore, the position control process is designed as multiple position control cycles, and the periodic position error and periodic position error compensation amount of each position control cycle are calculated respectively.

[0096] Step S303 , obtaining the cumulative position error of all position control cycles, and calculating the cumulative position error compensation amount of all position control cycles.

[0097] Step S304: Calculate the current expected target position signal θ based on the periodic position error compensation and the cumulative position error compensation. ref ′The corrected expected target position signal θ ref .

[0098] It should be noted that the expected target position signal θ ref ' refers to the expected position of the objective lens 1020. The motor end and the objective lens 1020 are connected by a rigid connecting material. Without causing deformation, all position compensation applied to the motor end should act on the objective lens 1020. It should be understood that the motor of the present application can also be configured to drive the sample stage 101 to move while the objective lens 1020 remains stationary. In this case, the expected target position is the target movement position of the sample stage 101 relative to the objective lens 1020 along the Z axis.

[0099] Step S305: Based on the corrected expected target position signal θ ref A position control operation instruction is generated and sent to an execution unit (eg, the position corrector 205 ).

[0100] The embodiment of the present invention can use the photoelectric position encoder on the motion axis to perform PID regulation, and reduce the position gain in the PID position regulation to reduce the position error of the motion platform.

[0101] The AF focusing module in the embodiment of the present invention is not affected by the position error of the motion axis itself, and the position feedback is more reliable and accurate.

[0102] In an embodiment of the present invention, the AF focusing module and the photoelectric encoder on the motion axis are used as the source of dual feedback signals to form two feedback paths, which can achieve accurate acquisition of the position of the objective lens 1020 relative to the sample stage 101, and construct a fully closed-loop dual-feedback position control system. This can eliminate steady-state position errors caused by mechanical vibration and / or elastic deformation, and realize bidirectional detection.

[0103] The embodiment of the present invention aims at high-precision and high-reliability control accuracy. Compared with the existing methods with lower efficiency, dual feedback provides a double reliability guarantee for the feedback source of the motion axis control system. Due to the characteristics of the motion axis control system such as multiple inputs, large time delay, and nonlinearity, the digital model of the control system is determined, which can ensure the efficiency of online debugging and greatly reduce the time cost of control system debugging.

[0104] The present invention is described below in conjunction with another optional embodiment.

[0105] Example 2

[0106] As shown in Figures 6 and 4, according to an embodiment of the present invention, an embodiment of a gene sequencer and a method for controlling a gene sequencer are provided. It should be noted that the steps shown in the flowcharts 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.

[0107] As shown in Figure 6, the gene sequencer in an embodiment of the present invention includes at least: a sample stage 601 and an optical component 602 that can move relative to each other, and an actuator 603 that drives the Z-axis relative movement between the sample stage 601 and the objective lens 6020, wherein the optical component 602 includes: an objective lens 6020 and a focus sensor 6021 optically connected to the objective lens 6020, and the actuator 603 includes a driver 6031 and an encoder 6030.

[0108] It should be noted that the sample table 601 includes a surface configured to support the sample to be tested. The sample to be tested may include a tissue sample or a nucleic acid sequencing library. The sample type may include: DNA or RNA sample. The sample to be tested is placed or fixed on the supporting surface of the sample table 601, and the sample to be tested is moved by the sample table 601.

[0109] It should be noted that objective lens 6020 is used to perform zoom detection on the target sample to be tested, and amplifies the image of the target sample to be tested (for example, DNA or RNA sample) by focusing light, so that the fine structure of the sample can be clearly observed and recorded, and then accurately sequenced and analyzed.

[0110] FIG4 is a flow chart of an optional method for controlling a gene sequencer according to an embodiment of the present invention. As shown in FIG4 , the method includes the following steps:

[0111] In step S401 , the focus sensor 6021 outputs a real-time focus signal acquired on the sample stage 601 via the objective lens 6020 .

[0112] Step S402: The encoder 6030 outputs a real-time relative displacement signal θ between the optical component 602 and the sample stage 601. m .

[0113] Step S403: Obtain the focus displacement signal θ corresponding to the real-time focus signal l And according to the focus displacement signal θ l With the real-time relative displacement signal θ m Adjust the drive signal of the driver 6031, including: based on the expected target position signal θ ref ′, real-time relative displacement signal θ m , and the displacement error signal Δθ′ after filtering to adjust the driving signal, the displacement error signal Δθ′ includes the focus displacement signal θ corresponding to the real-time focus signal l With the real-time relative displacement signal θ m The difference signal.

[0114] In the above-described gene sequencer control method, the sample stage 601 supports the sample to be detected on its surface, and the optical assembly 602 and the sample stage 601 are movable relative to each other. The objective lens 6020 in the optical assembly 602 acquires an optical signal from the sample to be detected, and a focus sensor 6021 optically connected to the objective lens 6020 outputs a real-time focus signal acquired on the sample stage 601 via the objective lens 6020 based on the optical signal. An actuator 603 is coupled to the sample stage 601 and / or the optical assembly 602 and is used to drive relative motion between the optical assembly 602 and the sample stage 601. The actuator 603 includes a driver 6031 and an encoder 6030. The encoder 6030 outputs a real-time relative displacement signal θ between the optical assembly 602 and the sample stage 601. m , the focus displacement signal θ corresponding to the real-time focus signal is obtained through the control circuit 604 l , and according to the focus displacement signal θ l With the real-time relative displacement signal θ m The drive signal of the driver 6031 is adjusted. Specifically, the control circuit 604 adjusts the drive signal of the driver 6031 based on the expected target position signal θ ref ′, real-time relative displacement signal θ m , and the displacement error signal Δθ′ after filtering to adjust the driving signal, wherein the displacement error signal Δθ′ includes the focus displacement signal θ l With the real-time relative displacement signal θ mThe difference signal.

[0115] In the embodiment of the present invention, the focus sensor 6021 in the optical component 602 obtains the real-time focus signal collected on the sample stage 601 via the objective lens 6020, and the encoder 6030 in the actuator 603 obtains the real-time relative displacement signal θ between the optical component 602 and the sample stage 601. m , the control circuit 604 obtains the focus displacement signal θ of the sample stage 601 according to the real-time focus signal l , calculate the focus displacement signal θ l and real-time relative displacement signal θ m The displacement error signal Δθ′ is obtained by the difference between the two values, and the displacement error signal Δθ′ is filtered and finally the expected target position signal θ is obtained. ref ′, real-time relative displacement signal θ m The filtered displacement error signal Δθ′ is used to adjust the drive signal of the driver 6031 in the actuator 603 to drive the relative motion between the optical component 602 and the sample stage 601. The present invention utilizes a dual-feedback, fully closed-loop position control system composed of a focus sensor 6021 and an encoder 6030 to eliminate steady-state errors caused by elastic deformation. When position oscillation occurs, the encoder 6030 is used for PID regulation to reduce the position gain. The focus sensor 6021 is used as a position detection sensor for the optical axis of the objective lens 6020 to eliminate the influence of the position error of the optical axis itself. This allows the objective lens 6020 in the optical component 602 to accurately focus on the object to be detected on the support surface of the sample stage 601. This solves the technical problem in related technologies of inaccurate focusing when using a gene sequencer for detection due to position oscillations easily caused by mechanical elastic links.

[0116] The gene sequencer control method according to the embodiment of the present invention is described in detail below in combination with the above steps.

[0117] The embodiment of the present invention can be implemented as a position control system of a gene sequencer, which combines motion control technology and data analysis technology to form a dual-feedback full-closed-loop position control mechanism through two-way position information feedback from the focus sensor 6021 and the encoder 6030. The position information of the two feedbacks is combined with the expected target position signal θ ref ' Adjust the driving signal of the driver 6031 and use the driving signal to adjust the relative position between the sample stage 601 and the objective lens 6020, thereby achieving precise focusing of the objective lens 6020 on the sample to be detected on the sample stage 601.

[0118] In step S401 , the focus sensor 6021 outputs a real-time focus signal acquired on the sample stage 601 via the objective lens 6020 .

[0119] It should be noted that the real-time focus signal includes an instant feedback signal regarding the focus status of the objective lens 6020 on the sample stage 601, captured by the focus sensor 6021, which is used to indicate the current focus of the objective lens 6020 so as to facilitate real-time focus adjustment. The real-time focus signal can help determine the clarity of the sample or object being photographed. As a basis for focus adjustment, the focus sensor 6021 monitors the focus position of the objective lens 6020 on the sample stage 601 and converts this information into a focus signal output, which can be in the form of voltage, digital data, or other forms for display or driving the autofocus system. The real-time focus signal can be used to adjust the focal length of the objective lens 6020 based on real-time feedback to make the sample to be inspected as clear as possible.

[0120] The optical system of the embodiment of the present invention is equipped with an AF focus sensor, which is not affected by the position error of the motion axis itself. The AF focus sensor equipped in the optical system monitors the focus quality on the one hand, and realizes the position detection function of the motion axis on the other hand.

[0121] Step S402: The encoder 6030 outputs a real-time relative displacement signal θ between the optical component 602 and the sample stage 601. m .

[0122] It should be noted that the real-time relative displacement signal θ m It is used to feedback the position change of the optical component 602 relative to the sample stage 601 and the real-time relative displacement signal θ m It is an instant feedback signal. As the position of the optical component 602 or the sample stage 601 changes, the encoder 6030 will immediately output a corresponding change signal. It is very important for applications that require precise positioning and control of the optical component 602 and the sample stage 601.

[0123] It should be noted that the encoder 6030 is a sensor device used to measure the position of a mechanical device or equipment. It helps the control system monitor and control the position of the equipment in real time by detecting the mechanical position and outputting a corresponding position signal. A position encoder generally consists of two parts: a sensor and a scale. The sensor is mounted on a fixed component, while the scale is connected to a moving component (such as a motor shaft). When the moving component moves, the scale will have specific textures, bumps, or magnetic marks. The sensor can detect these marks and generate a corresponding position signal. Based on different working principles, position encoders can be divided into various types, including optical encoders, magnetic encoders, and Hall effect encoders.

[0124] Step S403: Obtain the focus displacement signal θ corresponding to the real-time focus signal l And according to the focus displacement signal θ l With the real-time relative displacement signal θ mAdjust the drive signal of the driver 6031, including: based on the expected target position signal θ ref ′, real-time relative displacement signal θ m , and the displacement error signal Δθ′ after filtering to adjust the driving signal, the displacement error signal Δθ′ includes the focus displacement signal θ corresponding to the real-time focus signal l and the real-time relative displacement signal θ m The difference signal.

[0125] It should be noted that the focus displacement signal θ l It includes the relative displacement of the objective lens 6020 on the focus plane calculated by the real-time focus signal, which is used to represent the adjustment amount that the objective lens 6020 needs to make a small adjustment relative to the initial position in order to achieve the optimal focus state of the sample to be detected.

[0126] In an embodiment of the present invention, a first-order low-pass filter can be used to perform filtering processing on the displacement error signal Δθ′, the main functions of which are to reduce noise and interference, smooth the signal waveform, and improve the system response characteristics. Eliminating signal fluctuations caused by noise, interference or instability can improve the stability and accuracy of the system.

[0127] In an embodiment of the present invention, a method combining PID control technology and a three-loop cascade control mechanism can be used to perform PID control on an imaging system based on a position loop, a speed loop, and a current loop. The above steps describe that the position loop uses a PID controller to compare the difference between the desired position and the actual position and generate a corresponding speed command. The PID controller adjusts the speed command based on the current position error, taking into account the regulation effects of the proportional, integral, and derivative components, to reduce the position error, so that the motor can quickly reach the desired position.

[0128] In addition, the PID controller can be used through the speed loop to receive the speed command output by the position loop, compare it with the actual speed, and generate a corresponding current command. The PID controller adjusts the current command size to reduce the speed error based on the size of the speed error and the regulation effects of the proportional, integral and differential parts, so that the motor can move at the desired speed.

[0129] Optionally, the control method further includes: the encoder 6030 outputs a real-time relative speed signal between the optical component 602 and the sample stage 601; based on the focus sensor 6021 outputs a real-time focus speed signal obtained on the sample stage 601 via the objective lens 6020; and adjusting the target speed signal ω of the driver 6031 based on the real-time focus speed signal and the real-time relative speed signal. c , target speed signal ω cis the corrected expected target position signal θ ref Obtained; Based on the adjusted target speed signal ω c Generate a drive signal.

[0130] In addition, a PID controller can be used through the current loop to receive the current command output by the speed loop, compare it with the actual current, and generate the final control signal. The PID controller adjusts the size of the control signal to reduce the current error based on the size of the current error, taking into account the regulation effects of the three parts of proportion, integration and differentiation, so that the motor can output the desired torque or moment.

[0131] Optionally, based on the adjusted target speed signal ω c Generate a drive signal, including: based on the adjusted target speed signal ω c An expected current signal is generated, a current error signal is generated using a difference signal between a real-time focus speed signal and a real-time relative speed signal, and the expected current signal is adjusted based on the current error signal to output a driving signal.

[0132] In this embodiment of the present invention, precise control of motor motion can be achieved by applying PID controllers to the position, velocity, and current loops. The PID controller adjusts based on system feedback and desired values, continuously iterating to achieve rapid system response and stable control.

[0133] Optionally, according to the focus displacement signal θ l and the real-time relative displacement signal θ m Before adjusting the driving signal of the driver 6031, the control method further includes pre-correcting the expected target position signal θ ref ′, including: obtaining a position error data set, the position error data set including: N periodic position errors generated by position control operations performed on the objective lens 6020 and the sample stage 601 during N historical control cycles, each historical control cycle corresponding to one periodic position error, the position error including the real-time relative displacement signal θ output by the encoder 6030 m and the expected target position signal θ ref ′, N is a positive integer; based on the position error data set, the cumulative position error compensation amount between the objective lens 6020 and the sample stage 601 generated in N historical control cycles is calculated; based on the cumulative position error compensation amount, the expected target position signal θ in the next control cycle is corrected. ref ′ and outputs the corrected expected target position signal θ ref .

[0134] It should be noted that due to the mechanical vibration of the system, there may be a gap between the actual displacement and the expected displacement, which is expressed in the embodiment of the present invention as the real-time relative displacement signal θ output by the encoder 6030.m and the expected target position signal θ ref The difference between the position error and the error of the control cycle may cause error superposition in N historical control cycles. A pre-compensator is set to analyze and process the position error data generated in the historical control cycle, calculate the cumulative position error compensation, and correct the expected target position signal θ in the next control cycle based on the compensation. ref ′ and outputs the corrected expected target position signal θ ref , in order to achieve pre-compensation control of the system.

[0135] In the embodiment of the present invention, high-precision and high-reliability control accuracy is targeted. Compared with the existing methods, the dual position feedback signal provides a double reliability guarantee for the feedback source of the Z-axis control system.

[0136] In the embodiment of the present invention, the signal feedback device (focus sensor) in the AF focusing module configured in the optical system can act as a position detection sensor for the motion axis. The AF focusing module is not affected by the position error of the motion axis itself, and the position feedback is more reliable and accurate.

[0137] In an embodiment of the present invention, a full-closed-loop dual-feedback position control system is constructed based on the AF focus module and the photoelectric encoder on the motion axis as the source of dual feedback signals. The AF position information and the motion axis grating information are fully utilized to form a full-closed-loop control based on dual position feedback, which can eliminate the steady-state position error caused by mechanical oscillation and / or elastic deformation and realize bidirectional detection.

[0138] Example 3

[0139] As shown in Figures 7 and 5, according to an embodiment of the present invention, a biological sample detection device and a control method for a biological sample detection device are provided. It should be noted that the steps shown in the flowcharts 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 flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0140] As shown in FIG7 , the biological sample detection apparatus in an embodiment of the present invention includes at least: a sample stage 701 and an optical assembly 702 that can move relative to each other, and an actuator 703 that drives the Z-axis relative movement between the sample stage 701 and the objective lens 7020. The optical assembly 702 includes: an objective lens 7020 and a focus sensor 7021 optically connected to the objective lens 7020. The actuator 703 includes a driver 7031 and an encoder 7030.

[0141] It should be noted that the sample table 701 includes a surface configured to support the sample to be tested. The sample to be tested may include a tissue sample or a nucleic acid sequencing library. The sample type may include: DNA or RNA sample. The sample to be tested is placed or fixed on the supporting surface of the sample table 701, and the sample to be tested is moved by the sample table 701.

[0142] It should be noted that the objective lens 7020 is used to perform zoom detection on the target sample to be tested, and amplifies the image of the target sample to be tested (for example, a DNA or RNA sample) by focusing light, so that the fine structure of the sample can be clearly observed and recorded, and then accurately sequenced and analyzed.

[0143] FIG5 is a flow chart of an optional control method of a biological sample detection device according to an embodiment of the present invention. As shown in FIG5 , the method includes the following steps:

[0144] In step S501 , the focus sensor 7021 outputs a real-time focus signal acquired on the sample stage 701 via the objective lens 7020 .

[0145] Step S502: The encoder 7030 outputs a real-time relative displacement signal θ between the optical component 702 and the sample stage 701. m .

[0146] Step S503: Obtain the focus displacement signal θ corresponding to the real-time focus signal l And according to the focus displacement signal θ l With the real-time relative displacement signal θ m Adjust the drive signal of the driver 7031, including: based on the expected target position signal θ ref ′, real-time relative displacement signal θ m , and the displacement error signal Δθ′ after filtering to adjust the driving signal, the displacement error signal Δθ′ includes the focus displacement signal θ corresponding to the real-time focus signal l With the real-time relative displacement signal θ m The difference signal.

[0147] In the control method of the above-mentioned biological sample detection device, the surface of the sample stage 701 supports the sample to be detected, and the optical component 702 and the sample stage 701 are movable relative to each other. The objective lens 7020 in the optical component 702 obtains an optical signal of the sample to be detected, and the focus sensor 7021 optically connected to the objective lens 7020 outputs a real-time focus signal obtained on the sample stage 701 via the objective lens 7020 based on the optical signal. The actuator 703 is coupled to the sample stage 701 and / or the optical component 702, and is used to drive the relative movement between the optical component 702 and the sample stage 701. The actuator 703 includes a driver 7031 and an encoder 7030. The encoder 7030 outputs a real-time relative displacement signal θ between the optical component 702 and the sample stage 701. m , the focus displacement signal θ corresponding to the real-time focus signal is obtained through the control circuit 704 l , and according to the focus displacement signal θ l With the real-time relative displacement signal θ m The drive signal of the driver 7031 is adjusted. Specifically, the control circuit 704 adjusts the drive signal of the driver 7031 based on the expected target position signal θ ref ′, real-time relative displacement signal θ m , and the displacement error signal Δθ′ after filtering to adjust the driving signal, wherein the displacement error signal Δθ′ includes the focus displacement signal θ l With the real-time relative displacement signal θ m The difference signal.

[0148] In the embodiment of the present invention, the focus sensor 7021 in the optical component 702 obtains the real-time focus signal collected on the sample stage 701 via the objective lens 7020, and the encoder 7030 in the actuator 703 obtains the real-time relative displacement signal θ between the optical component 702 and the sample stage 701. m , the control circuit 704 obtains the focus displacement signal θ of the sample stage 701 according to the real-time focus signal l , calculate the focus displacement signal θ l and real-time relative displacement signal θ m The displacement error signal Δθ′ is obtained by the difference between the two values, and the displacement error signal Δθ′ is filtered and finally the expected target position signal θ is obtained. ref ′, real-time relative displacement signal θ mThe filtered displacement error signal Δθ′ is used to adjust the drive signal of the driver 7031 in the actuator 703 to drive the relative motion between the optical component 702 and the sample stage 701. The present invention utilizes a dual-feedback, fully closed-loop position control system composed of a focus sensor 7021 and an encoder 7030 to eliminate steady-state errors caused by elastic deformation. When position oscillation occurs, the encoder 7030 is used for PID regulation to reduce the position gain. The focus sensor 7021 is used as a position detection sensor for the optical axis of the objective lens 7020 to eliminate the influence of the position error of the optical axis itself. This allows the objective lens 7020 in the optical component 702 to accurately focus on the object to be detected on the support surface of the sample stage 701. This solves the technical problem in related technologies of inaccurate focusing when using a gene sequencer for detection due to position oscillations easily caused by mechanical elastic links.

[0149] The embodiment of the present invention is described in detail below in conjunction with the above steps.

[0150] The embodiment of the present invention can be implemented by a position control system where a biological sample detection device is located. By combining motion control technology and data analysis technology, a dual-feedback full-closed-loop position control mechanism is formed through two-way position information feedback from the focus sensor 7021 and the encoder 7030. The position information of the two feedbacks is combined with the expected target position signal θ ref ' Adjust the driving signal of the driver 7031 and use the driving signal to adjust the relative position between the sample stage 701 and the objective lens 7020, thereby achieving precise focusing of the objective lens 7020 on the sample to be detected on the sample stage 701.

[0151] In step S501 , the focus sensor 7021 outputs a real-time focus signal acquired on the sample stage 701 via the objective lens 7020 .

[0152] It should be noted that the real-time focus signal includes an instant feedback signal about the focus state of the objective lens 7020 on the sample stage 701 captured by the focus sensor 7021, which is used to indicate the current focus status of the objective lens 7020 so as to perform real-time focus adjustment. The real-time focus signal can help determine the clarity of the sample or the object being photographed. As a basis for focus adjustment, the focus sensor 7021 monitors the focus position of the objective lens 7020 on the sample stage 701 and converts this information into a focus signal output, which can be a voltage, digital data, or other form for display or driving the autofocus system. The real-time focus signal can be used to adjust the focal length of the objective lens 7020 based on real-time feedback to make the sample to be tested as clear as possible.

[0153] The AF focusing module configured in the optical system in the embodiment of the present invention is not affected by the position error of the motion axis itself, and the focus sensor of the AF focusing module configured in the optical system can detect the position of the motion axis.

[0154] Step S502: The encoder 7030 outputs a real-time relative displacement signal θ between the optical component 702 and the sample stage 701. m .

[0155] It should be noted that the real-time relative displacement signal θ m It is used to feedback the position change of the optical component 702 relative to the sample stage 701 and the real-time relative displacement signal θ m It is an instant feedback signal. As the position of the optical component 702 or the sample stage 701 changes, the encoder 7030 will immediately output a corresponding change signal. It is very important for applications that require precise positioning and control of the optical component 702 and the sample stage 701.

[0156] It should be noted that the encoder 7030 is a sensor device used to measure the position of a mechanical device or device. It helps the control system monitor and control the position of the device in real time by detecting the mechanical position and outputting a corresponding position signal. A position encoder typically consists of two parts: a sensor and a scale. The sensor is mounted in a fixed position, while the scale is attached to a moving part (such as a motor shaft). When the moving part moves, the scale will have specific textures, bumps, or magnetic marks. The sensor can detect these marks and generate a corresponding position signal. Based on different working principles, position encoders can be divided into various types, including optical encoders, magnetic encoders, and Hall effect encoders.

[0157] Step S503: Obtain the focus displacement signal θ corresponding to the real-time focus signal l And according to the focus displacement signal θ l With the real-time relative displacement signal θ m Adjust the drive signal of the driver 7031, including: based on the expected target position signal θ ref ′, real-time relative displacement signal θ m , and the displacement error signal Δθ′ after filtering to adjust the driving signal, the displacement error signal Δθ′ includes the focus displacement signal θ corresponding to the real-time focus signal l With the real-time relative displacement signal θ m The difference signal.

[0158] It should be noted that the focus displacement signal θ l It includes the displacement of the objective lens 7020 on the focus plane calculated by the real-time focus signal, which is used to represent the adjustment amount that the objective lens 7020 needs to make a small adjustment relative to the initial position in order to achieve the best focus state for the sample to be detected.

[0159] In an embodiment of the present invention, a first-order low-pass filter can be used to perform filtering processing on the displacement error signal Δθ′, the main functions of which are to reduce noise and interference, smooth the signal waveform, and improve the system response characteristics. Eliminating signal fluctuations caused by noise, interference or instability can improve the stability and accuracy of the system.

[0160] In an embodiment of the present invention, a method combining PID control technology and a three-loop cascade control mechanism can be used to perform PID control on an imaging system based on a position loop, a speed loop, and a current loop. The above steps describe that the position loop uses a PID controller to compare the difference between the desired position and the actual position and generate a corresponding speed command. The PID controller adjusts the speed command based on the current position error, taking into account the regulation effects of the proportional, integral, and derivative components, to reduce the position error, so that the motor can quickly reach the desired position.

[0161] In addition, the PID controller can be used through the speed loop to receive the speed command output by the position loop, compare it with the actual speed, and generate a corresponding current command. The PID controller adjusts the current command size to reduce the speed error based on the size of the speed error and the regulation effects of the proportional, integral and differential parts, so that the motor can move at the desired speed.

[0162] Optionally, the control method further includes: the encoder 7030 outputs a real-time relative speed signal between the optical component 702 and the sample stage 701; the focus sensor 7021 outputs a real-time focus speed signal obtained on the sample stage 701 via the objective lens 7020; and the target speed signal ω of the driver 7031 is adjusted based on the real-time focus speed signal and the real-time relative speed signal. c , target speed signal ω c is the corrected expected target position signal θ ref Obtained; Based on the adjusted target speed signal ω c Generate a drive signal.

[0163] It should be noted that due to the mechanical vibration of the system, there may be a gap between the actual displacement and the expected displacement, which is expressed in the embodiment of the present invention as the real-time relative displacement signal θ output by the encoder 7030. m and the expected target position signal θ ref The difference between the position error and the error of the control cycle may cause error superposition in N historical control cycles. A pre-compensator is set to analyze and process the position error data generated in the historical control cycle, calculate the cumulative position error compensation, and correct the expected target position signal θ in the next control cycle based on the compensation. ref ′ and outputs the corrected expected target position signal θref , in order to achieve pre-compensation control of the system.

[0164] Optionally, according to the focus displacement signal θ l and the real-time relative displacement signal θ m Before adjusting the driving signal of the driver 7031, the control method further includes correcting the expected target position signal θ ref ′, including: obtaining a position error data set, the position error data set including: N periodic position errors generated by performing position control operations between the objective lens 7020 and the sample stage 701 in N historical control cycles, each historical control cycle corresponding to one periodic position error, the position error including the real-time relative displacement signal θ output by the encoder 7030 m The host computer provides the expected target position signal θ ref ′, N is a positive integer; based on the position error data set, the cumulative position error compensation amount between the objective lens 7020 and the sample stage 701 generated in N historical control cycles is calculated; based on the cumulative position error compensation amount, the expected target position signal θ in the next control cycle is corrected. ref ′ and outputs the corrected expected target position signal θ ref .

[0165] In addition, a PID controller can be used through the current loop to receive the current command output by the speed loop, compare it with the actual current, and generate the final control signal. The PID controller adjusts the size of the control signal to reduce the current error based on the size of the current error, taking into account the regulation effects of the three parts of proportion, integration and differentiation, so that the motor can output the desired torque or moment.

[0166] Optionally, based on the adjusted target speed signal ω c Generate a drive signal, including: based on the adjusted target speed signal ω c An expected current signal is generated, a current error signal is generated using a difference signal between a real-time focus speed signal and a real-time relative speed signal, and the expected current signal is adjusted based on the current error signal to output a driving signal.

[0167] In this embodiment of the present invention, precise control of motor motion can be achieved by applying PID controllers to the position, velocity, and current loops. The PID controller adjusts based on system feedback and desired values, continuously iterating to achieve rapid system response and stable control.

[0168] In the embodiment of the present invention, high-precision and high-reliability control accuracy is targeted. Compared with the existing methods, the dual position feedback signal provides a double reliability guarantee for the feedback source of the Z-axis control system.

[0169] In the embodiment of the present invention, the signal feedback device in the AF focusing module configured in the optical system can serve as a position detection sensor for the motion axis. The AF focusing module is not affected by the position error of the motion axis itself, and the position feedback is more reliable and accurate.

[0170] In an embodiment of the present invention, a full-closed-loop dual-feedback position control system is constructed based on the AF focus module and the photoelectric encoder on the motion axis as the source of dual feedback signals. The AF position information and the motion axis grating information are fully utilized to form a full-closed-loop control based on dual position feedback, which can eliminate the steady-state position error caused by mechanical oscillation and / or elastic deformation and realize bidirectional detection.

[0171] The present application also provides a computer program product, including a computer program, which, when executed by a processor, is adapted to perform the following initialization method steps: a focus sensor outputs a real-time focus signal obtained on a sample stage via an objective lens; an encoder outputs a real-time relative displacement signal θ between an optical component and the sample stage; m ; Get the focus displacement signal θ corresponding to the real-time focus signal l And according to the focus displacement signal θ l and the real-time relative displacement signal θ m Adjust the drive signal of the actuator, including: based on the expected target position signal θ ref ′, real-time relative displacement signal θ m , and the displacement error signal Δθ′ after filtering to adjust the driving signal, the displacement error signal Δθ′ includes the focus displacement signal θ corresponding to the real-time focus signal l and the real-time relative displacement signal θ m The difference signal.

[0172] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is further provided, which includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute any of the above-mentioned gene sequencer control methods or biological sample detection device control methods.

[0173] According to another aspect of an embodiment of the present invention, an electronic device is also provided, comprising one or more processors and a memory, wherein the memory is used to store one or more programs, wherein when the one or more programs are executed by one or more processors, the one or more processors implement any of the above-mentioned gene sequencer control methods or biological sample detection device control methods.

[0174] According to another aspect of an embodiment of the present invention, another computer program product is provided, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method described in each embodiment of the present application are implemented.

[0175] FIG8 is a block diagram of the hardware structure of an electronic device (or mobile device) for a control method of a gene sequencer or a control method of a biological sample detection device according to an embodiment of the present invention. As shown in FIG8 , the electronic device may include one or more (802a, 802b, ..., 802n are used in FIG8 ) processors 802 (the processor 802 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA), and a memory 804 for storing data. In addition, it may also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the I / O interface), a network interface, a keyboard, a power supply, and / or a camera. It will be understood by those skilled in the art that the structure shown in FIG8 is merely illustrative and does not limit the structure of the electronic device described above. For example, the electronic device may also include more or fewer components than shown in FIG8 , or have a configuration different from that shown in FIG8 .

[0176] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0177] In the above embodiments of the present invention, 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.

[0178] 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 the 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.

[0179] The units described as separate components may or may not be physically separate, and the 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 according to actual needs to achieve the purpose of the present embodiment.

[0180] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, 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.

[0181] 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. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program code.

[0182] The above is only a preferred embodiment of the present invention. 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 invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. An imaging system comprising: a sample stage comprising a surface configured to support a sample to be tested; an optical assembly movably disposed between the sample stage, the optical assembly comprising: an objective lens and a focus sensor optically connected to the objective lens, the focus sensor outputting a real-time focus signal acquired by the objective lens on the sample stage; an actuator coupled to the sample stage and / or the optical component, the actuator being configured to drive relative motion between the optical component and the sample stage, the actuator comprising a driver and an encoder, the encoder outputting a real-time relative displacement signal between the optical component and the sample stage; and A control circuit is configured to obtain a focus displacement signal corresponding to the real-time focus signal, and adjust the drive signal of the driver according to the focus displacement signal and the real-time relative displacement signal, including: adjusting the drive signal based on an expected target position signal, the real-time relative displacement signal, and a filtered displacement error signal, wherein the displacement error signal includes a difference signal between the focus displacement signal and the real-time relative displacement signal.

2. The imaging system according to claim 1, wherein The control circuit includes a precompensator configured to precorrect the expected target position signal, including: Acquire a position error data set, wherein the position error data set includes: N periodic position error amounts generated by position control operations performed on the objective lens and the sample stage within N historical control cycles, each of the historical control cycles corresponding to one periodic position error amount, the position error amount including a difference between the real-time relative displacement signal output by the encoder and the expected target position signal, and N is a positive integer; Calculating a cumulative position error compensation amount between the objective lens and the sample stage generated in N historical control cycles based on the position error data set; The expected target position signal in the next control cycle is corrected based on the accumulated position error compensation amount and the corrected expected target position signal is output to the control circuit.

3. The imaging system according to claim 1, wherein: The control circuit further includes a first-order low-pass filter configured to perform filtering processing on the displacement error signal.

4. The imaging system according to claim 2, wherein: The control circuit further includes a speed corrector, which performs feedback adjustment on a target speed signal based on a real-time relative speed signal corresponding to the real-time relative displacement signal, wherein the target speed signal is obtained according to the corrected expected target position signal.

5. The imaging system according to claim 4, wherein: The speed corrector is further connected to the focus sensor to receive a real-time focus speed signal, and further adjusts the driving signal based on a difference signal between the real-time focus speed signal and the real-time relative speed signal.

6. The imaging system according to claim 5, wherein: The control circuit also includes: a drive correction unit connected to the speed corrector, the drive correction unit generating an expected current signal based on the adjusted target speed signal, generating a current error signal using a difference signal between the real-time focus speed signal and the real-time relative speed signal, and adjusting the expected current signal based on the current error signal to output the drive signal.

7. A method for controlling a gene sequencer, the gene sequencer comprising: A sample stage and an optical assembly capable of relative movement, and an actuator for driving the Z-axis movement between the sample stage and the objective lens, wherein the optical assembly includes: the objective lens and a focus sensor optically connected to the objective lens; the actuator includes a driver and an encoder; and the control method includes: The focus sensor outputs a real-time focus signal obtained by the objective lens on the sample stage; The encoder outputs a real-time relative displacement signal between the optical component and the sample stage; Obtaining a focus displacement signal corresponding to the real-time focus signal and adjusting the drive signal of the driver according to the focus displacement signal and the real-time relative displacement signal, including: adjusting the drive signal based on the expected target position signal, the real-time relative displacement signal, and the filtered displacement error signal, the displacement error signal including a difference signal between the focus displacement signal corresponding to the real-time focus signal and the real-time relative displacement signal.

8. The control method of a gene sequencer according to claim 7, wherein: Before adjusting the driving signal of the driver according to the focus displacement signal and the real-time relative displacement signal, the control method further includes pre-correcting the expected target position signal, including: Acquire a position error data set, the position error data set comprising: N periodic position error values generated by position control operations performed on the objective lens and the sample stage over N historical control cycles, one periodic position error value corresponding to each historical control cycle, the position error value comprising a difference between the real-time relative displacement signal output by the encoder and the expected target position signal, where N is a positive integer; Calculating a cumulative position error compensation amount between the objective lens and the sample stage generated in N historical control cycles based on the position error data set; The expected target position signal in the next control cycle is corrected based on the accumulated position error compensation amount. And output the corrected expected target position signal.

9. The control method of a gene sequencer according to claim 8, wherein: The control method further includes: The encoder outputs a real-time relative speed signal between the optical component and the sample stage; A real-time focus speed signal obtained by the objective lens on the sample stage based on a focus sensor output; adjusting a target speed signal of the actuator based on the real-time focus speed signal and the real-time relative speed signal, the target speed signal being obtained according to the corrected expected target position signal; The drive signal is generated based on the adjusted target speed signal.

10. The control method of a gene sequencer according to claim 9, wherein: Generating the driving signal based on the adjusted target speed signal includes: An expected current signal is generated based on the adjusted target speed signal, a current error signal is generated using a difference signal between the real-time focus speed signal and the real-time relative speed signal, and the expected current signal is adjusted based on the current error signal to output the drive signal.

11. A control method for a biological sample detection device, the biological sample detection device comprising a sample stage and an optical component capable of relative movement, and an actuator for driving the Z-axis relative movement between the sample stage and an objective lens, wherein: The optical assembly includes: the objective lens, a focus sensor optically connected to the objective lens, the actuator includes a driver and an encoder, and the control method includes: The focus sensor outputs a real-time focus signal obtained by the objective lens on the sample stage; The encoder outputs a real-time relative displacement signal between the optical component and the sample stage; Obtaining a focus displacement signal corresponding to the real-time focus signal and adjusting the drive signal of the driver according to the focus displacement signal and the real-time relative displacement signal, including: adjusting the drive signal based on the expected target position signal, the real-time relative displacement signal, and the filtered displacement error signal, the displacement error signal including a difference signal between the focus displacement signal corresponding to the real-time focus signal and the real-time relative displacement signal.

12. The control method of the biological sample detection device according to claim 11, wherein: Before adjusting the driving signal of the driver according to the focus displacement signal and the real-time relative displacement signal, the control method further includes pre-correcting the expected target position signal, including: Acquire a position error data set, wherein the position error data set includes: N period position errors generated by performing position control operations between the objective lens and the sample stage in N historical control cycles, each of the historical control cycles corresponds to one period position error, and the position error includes the output of the encoder. The difference between the real-time relative displacement signal and the expected target position signal, N is a positive integer; Calculating a cumulative position error compensation amount between the objective lens and the sample stage generated in N historical control cycles based on the position error data set; The expected target position signal in the next control cycle is corrected based on the accumulated position error compensation amount and the corrected expected target position signal is output.

13. The control method of the biological sample detection device according to claim 12, wherein: The control method further comprises: The encoder outputs a real-time relative speed signal between the optical component and the sample stage; The focus sensor outputs a real-time focus speed signal obtained by the objective lens on the sample stage; adjusting a target speed signal of the actuator based on the real-time focus speed signal and the real-time relative speed signal, the target speed signal being obtained according to the corrected expected target position signal; The drive signal is generated based on the adjusted target speed signal.

14. The control method of the biological sample detection device according to claim 13, wherein: Generating the driving signal based on the adjusted target speed signal includes: An expected current signal is generated based on the adjusted target speed signal, a current error signal is generated using a difference signal between the real-time focus speed signal and the real-time relative speed signal, and the expected current signal is adjusted based on the current error signal to output the drive signal.

15. A gene sequencer comprising: a sample stage comprising a surface configured to support a sample to be tested; an optical assembly, the optical assembly and the sample stage being movably disposed relative to each other, the optical assembly comprising an objective lens and a focus sensor optically connected to the objective lens, the focus sensor outputting a real-time focus signal acquired by the objective lens on the sample stage; an actuator coupled to at least one of the sample stage and the optical component, the actuator being configured to drive relative motion between the optical component and the sample stage, the actuator comprising a driver and an encoder, the encoder outputting a real-time relative displacement signal between the optical component and the sample stage; as well as, The control circuit is configured to adjust the driving signal of the driver based on the real-time focus signal and the real-time relative displacement signal, including: adjusting the driving signal of the driver based on the expected target position signal, the real-time relative displacement signal, The driving signal is adjusted based on a displacement signal and a displacement error signal processed by filtering, wherein the displacement error signal includes a difference signal between a focus displacement signal corresponding to the real-time focus signal and the real-time relative displacement signal.

16. The gene sequencer according to claim 15, wherein: The sample to be detected includes a nucleic acid sequencing library.

17. A biological sample detection device, comprising: a sample stage comprising a surface configured to support a sample to be tested; an optical assembly, the optical assembly and the sample stage being movably disposed relative to each other, the optical assembly comprising an objective lens and a focus sensor optically connected to the objective lens, the focus sensor outputting a real-time focus signal acquired by the objective lens on the sample stage; an actuator coupled to at least one of the sample stage and the optical component, the actuator being configured to drive relative motion between the optical component and the sample stage, the actuator comprising a driver and an encoder, the encoder outputting a real-time relative displacement signal between the optical component and the sample stage; as well as, A control circuit is configured to adjust the drive signal of the driver based on the real-time focus signal and the real-time relative displacement signal, including: adjusting the drive signal based on an expected target position signal, the real-time relative displacement signal, and a filtered displacement error signal, wherein the displacement error signal includes a difference signal between a focus displacement signal corresponding to the real-time focus signal and the real-time relative displacement signal.

18. The biological sample detection device according to claim 17, wherein: The sample to be detected includes a tissue sample or a nucleic acid sequencing library.

19. A computer-readable storage medium comprising a stored computer program, wherein: When the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the control method of the gene sequencer according to any one of claims 7 to 10, or the control method of the biological sample detection device according to any one of claims 11 to 14.

20. An electronic device comprising one or more processors and a memory, wherein the memory is used to store one or more programs, wherein: When the one or more programs are executed by the one or more processors, the one or more processors implement the control method of the gene sequencer described in any one of claims 7 to 10, or the control method of the biological sample detection device described in any one of claims 11 to 14.

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