CN116755370A - A manual-automatic integrated platform control system and control method - Google Patents

Abstract

The invention relates to a manual-automatic platform control system and a control method, wherein the manual-automatic platform control system comprises an upper computer, a main control unit, an execution mechanism and at least one signal conversion device, and the signal conversion device sends an input signal to the main control unit; the upper computer sends an automatic control signal to the main control unit; the main control unit controls the executing mechanism according to the automatic control signal or the input signal, and when the main control unit receives the automatic control signal and the input signal at the same time, the executing mechanism is controlled to execute the automatic control signal only. The invention does not influence the operation habit of the existing user, is more in line with the actual application condition, can automatically control and manually control the real-time switching without complex mechanical structure, has smooth switching process without blocking, short delay and abnormal sound, and is more suitable for a microscope platform and a scanning platform.

Description

A manual-automatic integrated platform control system and control method

Technical field

The invention relates to the technical field of industrial motion control, and in particular to a manual-automatic integrated platform control system and a control method.

Background technique

In the field of industrial motion control technology, there are two commonly used automatic operation methods. One is image recognition, which moves the object to a designated position (contour or center recognition, etc.) based on the image recognition results. The other is to set a course of action. , the object moves according to the action route (the movement trajectory is fixed), and in terms of manual movement, mechanical movement adjustment is often used, which is less efficient.

In the medical testing industry, microscopes are commonly used to detect specimens, and in different hospitals, some slides have a large observation volume. Pure manual operation requires high human physical strength and vision, and there is a need for automation. However, due to different manufacturing processes, different glass slides have highly specialized targets and ranges of identification. Simple electric operation requires different software parameter adjustments according to different specimens, making it more difficult to implement. Moreover, for some special The slide cannot be identified, and manual operation is more efficient at this time. Therefore, if the current industry encounters this situation, it will be replaced by another manual microscope for observation.

In the existing technology, conventionally produced manual microscopes (low scanning efficiency) and fully automatic microscopes after automated transformation (cannot stop in real time and easily move to the target object to be measured), both have some defects and cannot meet the usage scenarios. all needs. In addition, in the existing technology, the combination of manual control and automatic control is mostly a simple combination. The different forms of manual control and conventional control require operators to adapt, so the operation is inconvenient, and the mechanical device of the manual control configuration is entirely exposed, which is harmful to The dust-proof effect of the optical components is poor, and the exposure of the electronic control circuit makes the safety hazard greater than usual. When manually controlled, the position and method of placing the slide are quite different from those of conventional microscopes, making it less convenient.

Contents of the invention

The purpose of the present invention is to provide a manual-automatic integrated platform control system and a control method, which realize manual-automatic integrated control and have better applicability and convenience.

In order to achieve the above-mentioned object of the invention, the present invention provides a manual-automatic integrated platform control system, which includes a host computer, a main control unit and an actuator, and also includes:

At least one signal conversion device, the signal conversion device sends an input signal to the main control unit;

The host computer sends automatic control signals to the main control unit;

The main control unit controls the actuator according to the automatic control signal or the input signal. When the main control unit receives the automatic control signal and the input signal at the same time, it controls the actuator to only execute the automatic control signal.

According to one aspect of the present invention, the actuator generates a feedback signal when operating based on the automatic control signal or the input signal, and sends the feedback signal to the main control unit.

According to one aspect of the present invention, the signal conversion device is used to convert the user's manual adjustment amount into the input signal.

According to one aspect of the present invention, the signal conversion device is a photoelectric sensor, a manual input device, or a variation generating component composed of a sensor and a variation generating device.

According to one aspect of the present invention, when the number of the signal conversion devices is one, the signal conversion device is one of a change amount generating component, a photoelectric sensor or a manual input device;

When the number of the signal conversion devices is two or more, the signal conversion device is one or more of a change generating component, a photoelectric sensor, and a manual input device.

According to one aspect of the present invention, the variation generating device is a grating of a linear motor or an encoder of a stepper and servo motor.

According to one aspect of the present invention, the manual adjustment amount is a manually input value, a change amount of the encoder disk conversion, a grating, and a photoelectric sensor position change amount.

According to one aspect of the present invention, the actuator is an XYZ three-axis motion mechanism with automatic movement function.

According to one aspect of the invention, it also includes:

Special position sensor, the main control unit determines whether the position of the actuator is correct based on the feedback signal of the special position sensor,

The special position includes the initial position, limit position of the actuator or other positions that affect the operation of the actuator.

According to one aspect of the present invention, a control method based on the manual-automatic platform control system described in any of the above technical solutions is proposed,

The main control unit continuously receives and analyzes the automatic control signal and/or the input signal;

When the main control unit receives the automatic control signal and the input signal at the same time, only the automatic control signal is executed.

According to one aspect of the present invention, when receiving the input signal from the signal conversion device, the main control unit performs regular sampling and counting. The counting period is ms level. After the counting is completed, the main control unit performs sampling and counting according to the input signal. The quantity determines whether it is an interference signal.

According to an aspect of the present invention, when the main control unit receives multiple input signals of the same type, the execution mechanism is controlled to execute the input signals in the order in which the input signals are received,

Types of the input signals of the same type include the input signals converted by the same encoder, the input signals converted by the same grating, or the input signals converted by the same photoelectric sensor.

According to an aspect of the present invention, when the main control unit receives a plurality of input signals of different types, the main control unit calculates the displacement changes of all the input signals, and controls the actuator according to the displacement The input signal corresponding to the execution with the largest change,

Wherein, the input signals of different types are input signals from different signal conversion devices.

According to one aspect of the present invention, when the speed regulation of different types of input signals is different, the operating speed of the actuator is different.

Compared with the prior art, the present invention has the following beneficial effects:

According to a solution of the present invention, different from the traditional combination of manual control and automatic control, the manual-automatic integrated platform control system can keep the existing automatic control method unchanged, and convert the manual control content into input signals based on the signal conversion device and send them to The main control unit, and then the main control unit controls the actuator to complete the corresponding actions, does not affect the operating habits of existing users at all, and is more in line with actual application conditions. It can switch between automatic control and manual control in real time without the need for complex mechanical structures. The switching process Smooth, no lag, short delay, no abnormal noise, more suitable for microscope platforms and scanning platforms.

According to a solution of the present invention, excessive mechanical mechanisms can be avoided, which is conducive to dustproofing optical components. At the same time, there is no need to configure too many additional electrical control lines, thereby improving safety.

It is efficient for scanning object shapes on slides of medical devices. The manual mode is more conducive to dealing with complex conditions with multiple slides, multiple scenes, and multiple requirements. The position and method of placing the slides are the same as those of conventional microscopes, providing greater convenience. ; It can be transformed into a manual microscope, high-speed single-axis automatic microscope, and high-speed dual-axis automatic microscope scanning with little overall change, making it more adaptable.

Description of the drawings

Figure 1 schematically shows the structural diagram of a manual-automatic platform control system according to an embodiment of the present invention;

Figure 2 schematically shows a schematic diagram of the operation process of the automatic control system in the prior art;

Figure 3 schematically shows a schematic diagram of the operation process of the manual-automatic platform control system according to an embodiment of the present invention;

Figure 4 schematically shows the composition of an input signal according to an embodiment of the present invention;

Figure 5 schematically shows a schematic structural diagram of a coding disk according to an embodiment of the present invention;

Figure 6 schematically shows a structural diagram of a grating as a signal conversion device according to an embodiment of the present invention;

Figure 7 schematically shows a schematic structural diagram of a photoelectric sensor according to an embodiment of the present invention;

Figure 8 schematically shows a schematic diagram of the position of a photoelectric sensor according to an embodiment of the present invention;

Figure 9 schematically shows a schematic diagram of an input box according to an embodiment of the present invention;

Figure 10 schematically shows a schematic diagram of signal transmission of different types of input signals input to the main control unit according to an embodiment of the present invention;

Figure 11 schematically shows the composition of a signal conversion device according to an embodiment of the present invention.

Detailed ways

In order to more clearly explain the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting creative efforts.

When describing embodiments of the present invention, the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", " The orientation or positional relationship expressed by "horizontal", "top", "bottom", "inner", and "outside" is based on the orientation or positional relationship shown in the relevant drawings. It is only for the convenience of describing the present invention and simplifying the description. It is not intended to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and therefore the above terminology is not to be construed as limiting the invention.

The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. The embodiments cannot be described in detail here, but the embodiments of the present invention are not limited to the following embodiments.

As shown in Figures 1 to 11, according to an embodiment of the present invention, a manual-automatic platform control system of the present invention includes a host computer, a main control unit and an actuator, and also includes:

A signal conversion device installed in parallel with the host computer, which sends the input signal to the main control unit;

The host computer sends automatic control signals to the main control unit;

The main control unit controls the actuator according to the automatic control signal or the input signal. When the main control unit receives the automatic control signal and the input signal at the same time, the actuator is controlled to only execute the automatic control signal.

In this embodiment, different from the traditional combination of manual control and automatic control, the manual-automatic platform control system can keep the existing automatic control method unchanged, and convert the manual control content into an input signal based on the signal conversion device and send it to the host. The control unit, and then the main control unit controls the actuator to complete the corresponding actions, does not affect the operating habits of existing users at all, and is more in line with actual application conditions. It can switch between automatic control and manual control in real time without the need for complex mechanical structures, and the switching process is smooth. No lagging, short delay, and no abnormal noise. It is more suitable for microscope platforms and scanning platforms.

Furthermore, it can also avoid the installation of too many mechanical mechanisms, which is conducive to dustproofing optical components. At the same time, there is no need to configure too many additional electrical control lines, which improves safety.

It is efficient for scanning object shapes on slides of medical devices. The manual mode is more conducive to dealing with complex conditions with multiple slides, multiple scenes, and multiple requirements. The position and method of placing the slides are the same as those of conventional microscopes, providing greater convenience. ; It can be transformed into a manual microscope, high-speed single-axis automatic microscope, and high-speed dual-axis automatic microscope scanning with little overall change, making it more adaptable.

Specifically, as shown in Figure 2, the conventional automatic control process usually includes: inputting the demand signal through the host computer instruction, and then converting it into the required pulse signal through the main control unit. The actuator operates according to the received pulse signal, and executes The feedback signal of the mechanism realizes feedback adjustment. As shown in Figure 3, the automatic control process of the manual-automatic platform control system does not change. The design of manual control that is different from automatic control is that the signal originally transmitted by the host computer is changed to The required pulse signal is input from another input signal (usually sent by a signal conversion device), the actuator operates according to the received pulse signal, and feedback adjustment is realized based on the feedback signal of the actuator.

Among them, when the automatic control signal is being executed and the input signal is received, the input signal is also ignored.

In one embodiment of the present invention, preferably, the actuator generates a feedback signal when operating based on an automatic control signal or an input signal, and sends the feedback signal to the main control unit, and feedback adjustment is implemented according to the feedback signal of the actuator. The feedback signal is usually It is a signal in place and is used to improve the operation accuracy of the manual-automatic platform control system.

In this embodiment, during the movement of the actuator, the grating feedback signal (if any) and the status signal are used to determine whether the movement is abnormal and provide feedback, such as blockage, loss of steps, loss of enable, etc., and return to the normal/abnormal state after the movement stops. .

In one embodiment of the present invention, preferably, the main control unit converts the automatic control signal or input signal into a pulse signal for acting on the actuator.

In one embodiment of the present invention, preferably, the signal conversion device is used to convert the user's manual adjustment amount into an input signal.

As shown in Figures 4 to 8 and 11, in one embodiment of the present invention, preferably, the signal conversion device is a photoelectric sensor, a manual input device, or a change generating component composed of a sensor and a change generating device. .

In this embodiment, as shown in Figure 5, for stepper and servo motor encoders, the encoding disk can be equally spaced to subdivide 360° into many grids, and the change of each grid is counted once. Changes in the data can correspond to certain angles and values. For example, if it is divided into 360 grids, each change in one grid is counted as the amount of movement required to move 1°. According to the change in the grid, it is moved by different distances, and then According to the counterclockwise and clockwise changes of the grid, the movement direction changes.

As shown in Figure 6, for linear motor gratings, the grating method is similar to the conversion of the encoding disk. The distance required to move is also calculated by sensing changes in the grid. Different from the mechanical induction of the encoding disk, the grating uses photoelectricity. The built-in photosensitive element in the effect part senses changes in the grid on the grating scale (smearing photosensitive materials at equal intervals), and in this way, if there are impurities in the middle, it can be accurately sensed. The accuracy is better, the calculation is more accurate, and the built-in origin signal is Finally, the moving direction of the platform can be calculated based on the running direction.

As shown in Figure 7 and Figure 8, for the photoelectric sensor, it moves according to the on and off of the photoelectric sensor and the set position that needs to be moved. Multiple sensing means multiple movements, which is equivalent to running to the designated position in sections. The direction is sensed based on multiple sensors. When the left sensor is detected, it moves backward, and when the right sensor is detected, it moves forward.

In short, the change generating device is a device that generates a numerical change obtained directly or through induction.

As shown in Figure 4 and Figure 9, in addition, the automatic control interface has an input data position, and converts it into a pulse signal of the actuator according to the input data. Then the actuator converts the displacement distance according to the obtained pulse signal to reach the specified position. , and depending on whether the position is suitable, continue to input the distance that needs to be adjusted, and finally reach the ideal position.

In one embodiment of the present invention, preferably, when the number of signal conversion devices is one, the signal conversion device is one of a variation generating component, a photoelectric sensor, or a manual input device;

When the number of signal conversion devices is two or more, the signal conversion device is one or more of a change generating component, a photoelectric sensor, and a manual input device.

In one embodiment of the present invention, preferably, the actuator is an XYZ three-axis motion mechanism with automatic movement function. For a microscope or scanning platform, it is beneficial to achieve full-film observation or scanning of the object under test.

In one embodiment of the present invention, preferably, it further includes:

Special position sensor, the main control unit determines whether the position of the actuator is correct based on the feedback signal of the special position sensor. The special position includes the initial position, limit position of the actuator or other positions that affect the operation of the actuator.

In one embodiment of the present invention, preferably, the main control unit is configured with a storage module, and the storage module is used to store automatic control signals and input signals.

According to one aspect of the present invention, a control method based on a manual-automatic platform control system as in any one of the above embodiments is proposed,

The main control unit continuously receives and analyzes automatic control signals and/or input signals;

When the main control unit receives the automatic control signal and the input signal at the same time, only the automatic control signal is executed.

In this embodiment, before the host computer sends an instruction, it will first send an instruction to check whether the manual-automatic platform control system is currently in an idle state. If it is in an idle state, it can send control instructions downward; when there are automatic control signals and input signals at the same time, , only execute automatic control signals to avoid accidental touches by operators.

In one embodiment of the present invention, preferably, when receiving the input signal from the signal conversion device, the main control unit performs regular sampling and counting. The counting period is ms level. After the counting is completed, it is judged according to the number of input signals whether It's an interference signal.

In one embodiment of the present invention, preferably, when the main control unit receives multiple input signals of the same type, the control execution mechanism executes the input signals in the order in which the input signals are received,

Types of input signals of the same type include input signals converted by the same encoder or input signals converted by the same grating or input signals converted by the same photoelectric sensor.

In this embodiment, the signals A2, A1, and A3 converted from the same encoder, the same grating, or the same photoelectric sensor are received in sequence. When the actuator is in operation, the A2 signal is executed first, then the A1 signal, and finally A3. Signal.

As shown in Figure 10, in one embodiment of the present invention, preferably, when the main control unit receives multiple input signals of different types, the main control unit calculates the displacement changes of all input signals, and controls the actuator according to The input signal corresponding to the execution with the largest displacement change,

The different types of input signals are input signals from different signal conversion devices.

In this embodiment, different types of input signals are input signals from different signal conversion devices, including between different gratings, different encoders or different photoelectric sensors, or between gratings, encoders or photoelectric sensors, for example , there are two different encoders. The signal channel A collects the data and sets the electronic gear ratio of the actuator to a (1:10) through the instruction. The movement speed is calculated based on the number of A signals and the sampling period, and the number of A signals is Convert to displacement information to control the movement of the actuator; the signal B channel collects data and passes the instruction to set the electronic gear ratio of the actuator to b (1:100), calculate the movement speed based on the number of B signals and the sampling period, and convert the number of B signals In order to control the movement of the actuator with displacement information, when the A signal and the B signal are received at the same time, the values of the A signal and the B signal within the sampling period are converted into angles (the ratio of the subdivision of the encoding disk to the value), and the angle changes greatly. The signal is the main signal. For example, if the angle of the A signal changes greatly, the movement of the actuator is controlled based on the A signal.

The A signal and the B signal above are both input signals generated by the encoding disk. They can be compared in an angular manner, which can reduce the amount of calculation in the next step and increase the running speed. When the A signal and the B signal are both input signals generated by the encoding disk, The input signal, and the other is the input signal generated by the grating, is compared using the displacement change (the values of the A signal and the B signal within the sampling period are converted into angles).

In one embodiment of the present invention, preferably, when the speed regulation of different types of input signals is different, the operating speed of the actuator is different. For example, when operating two different encoding disks, when the speed regulation is different, the execution speed is different. The operating speed of the mechanism is different, which can be expressed as fast or slow movement speed.

The present invention provides a manual-automatic integrated platform control system and a control method. The manual-automatic integrated platform control system includes a host computer, a main control unit and an actuator, and a signal conversion device arranged in parallel with the host computer. The signal conversion device sends an input signal to Main control unit; the host computer sends automatic control signals to the main control unit; the main control unit controls the actuator according to the automatic control signal or input signal. When the main control unit receives the automatic control signal and the input signal at the same time, the control actuator only executes automatic The control signal does not affect the operating habits of existing users at all, and is more in line with actual application conditions. It can switch between automatic control and manual control in real time without the need for complex mechanical structures. The switching process is smooth without lag, short delay, and no abnormal noise. More suitable for microscope platforms and scanning platforms.

The above contents are only examples of specific solutions of the present invention. For equipment and structures that are not described in detail, it should be understood that general equipment and general methods existing in the art are used for implementation.

The above is only one solution of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims (14)

1. A manual-automatic integrated platform control system, including a host computer, a main control unit and an actuator, and is characterized in that it also includes: At least one signal conversion device, the signal conversion device sends an input signal to the main control unit; The host computer sends automatic control signals to the main control unit; The main control unit controls the actuator according to the automatic control signal or the input signal. When the main control unit receives the automatic control signal and the input signal at the same time, it controls the actuator to only execute the automatic control signal. 2. The manual-automatic platform control system according to claim 1, characterized in that the actuator generates a feedback signal when operating based on the automatic control signal or the input signal, and sends the feedback signal to the Describe the main control unit. 3. The manual-automatic platform control system according to claim 1, wherein the signal conversion device is used to convert the user's manual adjustment amount into the input signal. 4. The manual-automatic platform control system according to claim 3, characterized in that the signal conversion device is a photoelectric sensor, a manual input device or a variation generating component composed of a sensor and a variation generating device. 5. The manual-automatic platform control system according to claim 4, characterized in that when the number of the signal conversion device is one, the signal conversion device is a variation generating component, a photoelectric sensor or a manual input device. A sort of; When the number of the signal conversion devices is two or more, the signal conversion device is one or more of a change generating component, a photoelectric sensor, and a manual input device. 6. The manual-automatic platform control system according to claim 4, characterized in that the variation generating device is a grating of a linear motor or an encoder of a stepper and servo motor. 7. The manual-automatic integrated platform control system according to claim 4, characterized in that the manual adjustment amount is a manually input value, a change amount of the encoding disk conversion, a grating, and a photoelectric sensor position change amount. 8. The manual-automatic platform control system according to claim 1, characterized in that the actuator is an XYZ three-axis motion mechanism with automatic movement function. 9. The manual-automatic platform control system according to claim 1, further comprising: Special position sensor, the main control unit determines whether the position of the actuator is correct based on the feedback signal of the special position sensor, The special position includes the initial position, limit position of the actuator or other positions that affect the operation of the actuator. 10. A control method based on the manual-automatic platform control system according to any one of claims 1 to 9, characterized in that: The main control unit continuously receives and analyzes the automatic control signal and/or the input signal; When the main control unit receives the automatic control signal and the input signal at the same time, only the automatic control signal is executed. 11. The control method according to claim 10, characterized in that when receiving the input signal from the signal conversion device, the main control unit performs regular sampling and counting, and after the counting is completed, the main control unit performs sampling according to the The number of input signals determines whether it is an interference signal. 12. The control method according to claim 10, characterized in that when the main control unit receives multiple input signals of the same type, the execution mechanism is controlled to execute all the input signals in the order in which the input signals are received. The input signal is Types of the input signals of the same type include the input signals converted by the same encoder, the input signals converted by the same grating, or the input signals converted by the same photoelectric sensor. 13. The control method according to claim 10, characterized in that when the main control unit receives a plurality of input signals of different types, the main control unit calculates the displacement changes of all the input signals. quantity, control the actuator to execute the corresponding input signal according to the maximum displacement change, Wherein, the input signals of different types are input signals from different signal conversion devices. 14. The control method according to claim 13, characterized in that when the speed regulation of different types of input signals is different, the operating speed of the actuator is different.