CN1243270C - Microscope automatic operation system - Google Patents
Microscope automatic operation system Download PDFInfo
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- CN1243270C CN1243270C CN 200310106631 CN200310106631A CN1243270C CN 1243270 C CN1243270 C CN 1243270C CN 200310106631 CN200310106631 CN 200310106631 CN 200310106631 A CN200310106631 A CN 200310106631A CN 1243270 C CN1243270 C CN 1243270C
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Abstract
The present invention relates to a microscopic operation mode, particularly to microscopic automatic operation. Microscopic hand operation is converted into the automatic operation. The automatic operation system of a microscope is composed of an electrical driving objective table, an electrical driving object lens converter, an electrical driving focus adjusting mechanism and a control box. The hand operation is converted into the automatic operation for observation under the microscope by the automatic operation system through the reformation of the objective table, the object lens converter and the focus adjusting mechanism of the microscope. The system is characterized in that the freedom degree of the components is driven by a stepping motor to achieve accurate control. The system has the main advantage that the automatic intelligence operation of the microscope is realized and has the characteristics of high speed, accuracy, intelligentization, efficiency enhancement of the observation under the microscope, simple structure, reliability and high product forming level.
Description
Technical field
The present invention relates to a kind of microscopical mode of operation, particularly microscopical automation mechanized operation becomes microscopical manual operations into automation mechanized operation.
Background technology
Microscopical a lot of application scenario needs operating personnel's repeated multiple times to carry out the operation that stylizes with a kind of, comprising: adjust microscopical objective table and make it to arrive successively a series of prepositions, object lens and field luminance are adjusted to predetermined user mode.This operation that repeats for a long time, uninteresting and make people's fatigue easily, also make the result of observation artificial deviation occur easily.
Summary of the invention
It is the problem to be solved in the present invention that microscopical manual operations is become automation mechanized operation, also is purpose of the present invention.The present invention utilizes Computer Control Technology and Robotics, can realize the robotization of aforesaid operations by custom-designed mechanism.This invention is applicable to the automatic improving to traditional inverted microscope, also can be used for having the novel microscope of automatic control function.
Technical scheme of the present invention is:
On existing microscope, increase motorized subject table (25), electronic Nosepiece (26), electronic focus adjusting mechanism (27), control desk (28); Motorized subject table is to be fastened on the microscope stage (20) by the fixed mount on it (3), fixed support (7), connection support (6); Electronic Nosepiece (26) is fastened on the microscope by connecting support (12) and support (17); Electronic focus adjusting mechanism (27) is fastened on the former focus adjusting mechanism of the microscope left and right sides by axle sleeve (11,8) with its coarse adjustment and fine adjustment mechanism respectively; Control enclosure (28) is connected with each stepper motor (18) with cable; Microscope CCD interface (36) is gone up video camera (2) is installed, and is connected with computing machine with cable (1).
Motorized subject table is fastened on the microscopical platform (28), precision surface plate (4) drive fixed mount (3) is done the motion on the directions X, precision surface plate (5) drive precision surface plate (4) is done the motion on the Y direction, thereby realizes the X of fixed mount (3), the motion on the Y direction.
Electronic Nosepiece (26) adopts stepper motor (18) to drive worm screw (14) and drives a non-standard special-shaped worm gear (15) rotation, and special-shaped worm gear (15) is enclosed within on the Nosepiece, and the Nosepiece inclined position will move up and down when focusing.
Electronic focus adjusting mechanism (27) adopts stepper motor (18) to drive, and drives focusing knob and rotates, and finishes the function of focusing.
There are button, power switch (32), control enclosure pilot lamp (33), control enclosure display (19) in the control enclosure surface, and electric control part is placed in the control enclosure: comprise microprocessor I4 (40), memory I 2 (41), display R4, R8～R11 (19), motor driver (42), keypad (39), power supply (32); Microprocessor is the core devices of electric-controlled box, wherein storer is used to store teaching and scan-data, display circuit are used to show current location and speed, and control enclosure can break away from PC and independently finish switching between a teaching, scanning and this two kinds of working methods.
Beneficial effect of the present invention:
Control device-control enclosure of the present invention comprises a special purpose computer and power amplifier, and its effect is a control command of accepting the operator by keyboard, and the storage training data also drives electric actuator (as stepper motor etc.) and realizes the control to motion.Controller also can be accepted the control of other outer computer by computer interface, and substituting for key is finished whole operations of teaching and scanning, and sends to outer computer and to reflect the various information of motion state (position, speed, object lens etc.) at that time.This structure makes this automaton to combine with computer image recognition technology, thereby obtains to use widely.Precision surface plate makes manual objective table free from manual operations.Adopt correct grinding processing and use special purpose spring to eliminate the gap because leading screw, screw are paid, the synthesis precision that makes precision surface plate is 2 microns, meets and exceeds original manually accuracy requirement of article carrying platform fully.Motorized subject table has the incomparable advantage of manual article carrying platform.Motorized subject table frees operating personnel from manual operations, can operate stage movement by the image of observing monitor screen with the control enclosure button; Traditional in addition manual objective table can only next direction move, and motorized subject table can be done compound motion at X, Y both direction, and can realize intellectualized operations such as point-to-point and multiple spot motion.
Electronic Nosepiece (26) makes the original automatic accurate location of object lens device (38).Automatic focusing mechanism (27) adopts step motor drive, allows focusing knob rotate, and finishes the function of focusing automatically.
Description of drawings:
Fig. 1, the structural representation of existing inverted microscope
Fig. 2, microscopical structural representation of the present invention
Fig. 3, microscope each several part assembly relation synoptic diagram of the present invention
Fig. 4, the structural representation of motorized subject table
Fig. 5, the structural representation of electronic Nosepiece
Fig. 6, focus adjusting mechanism (coarse adjustment)
Fig. 7, focusing structure (fine tuning)
Fig. 8, the precision surface plate structural drawing
Fig. 9, control enclosure
Figure 10, microscope automatic operation system control circuit structured flowchart
Figure 11 (a) microscope automatic operation system control circuit schematic diagram
Figure 11 (b) microscope automatic operation system control circuit schematic diagram
Figure 11 (c) microprocessor (40) circuit diagram
Figure 11 (d) storer (41) circuit diagram
Figure 11 (e) keyboard interface
Figure 11 (f) driver interface
Figure 11 (g) display driver circuit figure
Figure 11 (h) computer interface circuit diagram
Figure 11 (i) power circuit diagram
Figure 12, the control enclosure structural representation
Figure 13, control enclosure panel feature synoptic diagram
Figure 14, the teaching FB(flow block)
Figure 15, microslide figure
Figure 16, a big trrellis diagram in the microslide
Wherein
1. 2. 3. 4. 5. 6.7. 8. 9. 10. 11. 12. 13. 14. 15. 16. 17. 18. 19. 20. 21. 22. 23.24. 25. 26. 27. 28. 29. 30. ( ) 31. ( ) 32. 33. 34. 35. 36.CCD 37. 38. 39. 40. 41. 42. 43.44.LED 45. 46. 47.
Embodiment
Below in conjunction with accompanying drawing the present invention is explained:
Fig. 1 is existing inverted microscope structural representation, all wants manual operation.
Fig. 2 is the microscope that automatic operation system is installed of the present invention.
Fig. 3 is the assembling synoptic diagram of Fig. 2, on existing microscope, increase motorized subject table (25, Fig. 4), electronic Nosepiece (26, Fig. 5), electronic focus adjusting mechanism (27, Fig. 6, Fig. 7) and control enclosure (28, Fig. 9) four major parts.Go up installation video camera (2) at microscope CCD interface (36), be connected with computing machine with cable (1).Control enclosure with cable be connected with focus adjusting mechanism (27) (left side be coarse adjustment, axle sleeve 11 is enclosed within on the focusing knob 30; The right is fine tuning, and axle sleeve 8 is enclosed within on the focusing knob 31).
Motorized subject table (25) is made up of fixed support (3), two precision surface plates (4,5), connection support (6,7) fixed support, stepper motor (18).Also can be described as by X, Y-axis two dimension miniature precision surface plate (4,5) horizontal vertical and build composition.Be fastened on the microscopical platform (28) by the fixed mount on it (3), fixed support (7), connection support (6).Miniature precision surface plate is made up of moving rail (22), quiet rail (21), leading screw (23), screw (24).Miniature precision surface plate is driven by small type stepping motor (18), by the rotating band movable wire main line motion of leading screw (23), and drives moving rail along the to-and-fro movement of quiet rail direction.The motion of precision surface plate (4) driving objective table directions X, the motion of precision surface plate (5) driving objective table Y direction, thus realize the X of fixed mount (3), the motion on the Y direction.Motorized subject table can also can be done the compound motion of X, Y direction along X, Y unidirectional motion.
Electronic Nosepiece (26) position tilts, and focusing need move up and down when poly-, so the kind of drive of the standard of use drives very difficulty.Electronic Nosepiece (26) adopts stepper motor (18) to drive worm screw (14) and drives a non-standard special-shaped worm gear (15) rotation, and special-shaped worm gear set drives Nosepiece and rotates on Nosepiece, reach the function of object lens conversion.As shown in the figure: special-shaped worm gear (15) is enclosed within on the Nosepiece, stepper motor (18) is connected with worm screw (14) wringing fit and is fixed on the support (13), support (13) is fixed on and connects on the support (12), and connection support (12) props up support integral and fixes with microscope stage.Optoelectronic switch (16) is connected with support (17), and support (17) is fixed on the microscope.Will move up and down owing to the Nosepiece inclined position and when focusing, so require when Nosepiece moves up and down, worm screw and special-shaped worm gear must mesh always.
Automatic focusing mechanism (27) adopts step motor drive (18), links to each other by the focusing knob (30,31) on elasticity shaft joint (9), axle sleeve (8) and the microscope, drives focusing knob and rotates, and finishes the function of focusing.Focus adjusting mechanism on cover on the left side focusing knob (30) is coarse adjustment, and the focus adjusting mechanism that overlaps on the focusing knob (31) on the right is fine tuning.Support (10) support motor.
Electric control part is placed in the control enclosure, and specific button and display device are arranged above.There are power switch (32), control enclosure pilot lamp (33), control enclosure display (19) in the control enclosure surface.The electric control part branch comprises microprocessor I4 (40), storer (41) I2, display (19) R4, R8～R11, motor driver (42), keypad (39), power supply (32) keyboard scanning circuit.Wherein storer is used to store training data, display circuit is used to show current location and speed.Control enclosure can break away from PC and independently finish switching between a teaching, scanning and this two kinds of working methods.
Microprocessor is the core devices of electric control box, passes through I
2C bus connected storage E
2PROM; Microprocessor is by LED display driver chip I3 drive controlling box display; Keypad links to each other with microprocessor by keyboard interface J2; Microprocessor is connected with motor driver by the JM1 mouth.Control enclosure couples together by the motor on cable and the microscope.
There are two kinds of working methods in system: teach mode and scan mode.
Teach mode: teach mode is microscopical learning process.The operator is by the button on the controller, wish according to oneself selects to be provided with movement velocity, changeable object lens magnification, and the objective table of guiding microscope arrives the desired destination position successively, the operator also will be according to the needs of oneself on each location point, select object lens and focal length by button, controller can be remembered these positions automatically, the speed that adopts and corresponding object lens and focal length, store position coordinates at that time and give serial number, finished the teaching process of a point thus, constitute training data by them, unless teaching again, these data will be preserved forever automatically, can recycle later on, and outage can not lost yet.
Detailed process comprises the steps:
(1) " teaching " button of pressing keypad is determined working method
(2) select the translational speed of objective table by " speedup " " deceleration " button on the keypad
(3) select object lens magnification by " high power " " low power " button on the keypad
(4) " ↑ ", " ↓ ", " ← ", " → " button control objective table of crossing on the keypad all around moves
(5) by " program 1 " " program 2 " button on the keypad position is at that time composed to shown sequence number
Scan mode: under the scan mode, once startup, microscope will automatically reappear motion (time and selected object lens and the focal length that comprise the position of objective table, the speed that arrives each impact point, stop) in the teaching process according to the training data of being preserved, until last point, pilot process need not manual intervention.This process also can be carried out in the mode of single step, and the operator whenever presses one-touch, and microscope just moves to next position in order, to the last.After selecting a cover program, random time will make objective table get back to initial 0000# position automatically by reset key, whenever press once " next lattice " key later on, objective table just moves to serial number and adds one position, and adjusts object lens by the appearance of teaching, until last position.Whenever press once " last lattice ", objective table just moves to serial number and subtracts one position, and adjusts object lens by the appearance of teaching, until initial 0000# position.Press " scanning " button of keypad and determine working method.Detailed process comprises the steps:
(1) automatically restores to initial position (0#) by " resetting " key objective table
(2) " program 1 " " program 2 " key is used for selecting at two cover motor programs
(3) " last lattice " " next lattice " are used to control the motion of objective table, and " last lattice " " back one lattice " key one will make stage movement arrive the reference position of last big lattice or back one big lattice
Figure 10 is a microscope automatic operation system control circuit structured flowchart.The annexation of each several part as shown in figure 11.One-chip computer I4 passes through I among the figure
2The C bus connects E
2Prom memory I2 and LED display driver chip I3.10 each switch two I/O interface of one-chip computer I4 are used for the control of button, and they link to each other with keyboard by J2; Also have 15 each I/O interface to be used for three Stepping Motor Control in addition, they link to each other with motor by the JM1 connector.Single-chip microcomputer RA0, RA1, three interfaces of RA2 are used for the data acquisition of optoelectronic switch, and they link to each other with optoelectronic switch by electric connector JL.Serial ports TXD, the RXD of single-chip microcomputer are connected to connector JRS1 by interface chip I1, it be used for and PC between communication.
The explanation of keypad panel feature:
1) scanning key, teaching key---be used for working mode selection.The mode indicator light of lighting is expressed the current working method of choosing.
2) charactron shows---most significant digit shows selected speed threshold, at most fourth gear; Inferior high two demonstrations big lattice sequence number (two decimal numbers) at that time; Minimum two demonstrations little lattice sequence number (two decimal numbers) at that time.0 speed is that 3 speed are lowest speeds the most at a high speed.
3) reset key---make system motion to shown in teach 0000# position and object lens low power position, reset speed is defaulted as top speed.
4) high power, low power key---under the teach mode, be used for the selection of object lens magnification.The high power key is invalid under scan mode, and the low power key can be realized the fast browsing of whole big lattice under scan mode.
5) speedup, deceleration key---under the teach mode, be used to be provided with the translational speed of objective table, speed is fourth gear altogether, and whenever by speedup or deceleration key, speed just improves or reduce by one grade.The speed class of choosing shows with lowest order in the LED viewing area.Speedup, deceleration key are invalid under scan mode.
6) ↑, ↓, ←, → key---under the teach mode, be used to control objective table and all around move.Stage movement when pressing key, lift the back motion and stop.These keys are invalid under scan mode.
7) last one little lattice, next little lattice key---under the scan mode, press once " next little lattice " key, to make stage movement increase one position to current little lattice sequence number, if current big lattice data are full, then adjusting to next big case automatically puts, little lattice put 0, and the Gao Siwei of LED viewing area changes when the motion beginning thereupon; Whenever by " last one little lattice " key once, objective table just returns to the current location sequence number and subtracts near one the position, and the position number of demonstration changes thereupon.Under the teach mode, press " next little lattice " key, will increase one to the little lattice sequence number that shows, if surpass 16, then big lattice number increases 1, and little lattice put 0; " last one little lattice " key subtracts 1 with little lattice sequence number, if less than 0, then big lattice number subtracts 1, and little lattice put 0.
8) last big lattice, back one big lattice key---under the scan mode, press one of last big lattice, back one big lattice key, with the reference position (little lattice sequence number is zero position) that makes stage movement to last big lattice or back one big lattice, the position number of demonstration changes thereupon; Under the teach mode, press " back one big lattice " key, will increase one to the big lattice sequence number that shows, and to make little lattice sequence number be zero; " last big lattice " key will subtract 1 to the big lattice sequence number that shows, and make little lattice sequence number put 0.See Figure 15.
Motion sequence when selecting motor program 1
9) program 1, program 2 keys---control enclosure can be preserved two cover motor programs, divides another name " program 1 " and " program 2 ".The big lattice sequence number that LED shows belongs to motor program 1 in 1～49 scope; In 50～99 scopes, belong to motor program 2.The function of current procedure 2 does not realize.Under the scan mode, program 1 key does not respond.Under the teach mode, press program 1 key, then position at that time is saved in (attention: in each position, do not press two secondary programs, 1 key, do like this and valid data can be washed away) among the E2PROM.
Embodiment
1. system power-up, objective table is got back to the 0000# position, and " the big little lattice of lattice " show that 0000#, speed are 0 (the most at a high speed), are defaulted as " scanning " state this moment, and it is bright to scan pilot lamp.
2. want to scan demonstration, press " next big lattice " key so, " the big little lattice of lattice " show 0100#, and objective table correspondingly moves to the 0100# position of storage.Velocity amplitude and high low power value when at this moment, velocity amplitude, the high low power value of microscope correspondingly revert to storage.After this press " next big lattice " successively, then objective table moves to place, corresponding big lattice memory location successively.In each big lattice reference position, press " low power " key, can travel through fast and browse whole big lattice.
If think to check in detail the situation in the big lattice, can be by " next little lattice " key, then objective table enters corresponding little lattice position.
3. will carry out " teaching ", by " teaching " key, then the teaching pilot lamp is bright earlier.At this moment, can press directionkeys, make objective table move to suitable position, press " big lattice " " little lattice " key then, adjust the displayed value of " the big little lattice of lattice ", by " program 1 " key, then current state is saved in the storer again.In each position, " program 1 " can only be pressed once, if repeatedly press, Cun Chu data are incorrect so.
(" program 1 " key is not responded) cannot be stored in the 0000# position, and data can both be stored in other position that can show.
If revise the data of front, then modification place data are backward washed away.
4. after " teaching " finished, by " scanning " key, then total system resetted once more.Following operation can be with reference to step 2 or step 3.
Attention: when " teaching ", the reference position of each big lattice please be arranged on following (1.5,1.5) and locate (this function for fast browsing is convenient to realize requiring).See Figure 16.
Claims (2)
1. a microscope automatic operation system increases motorized subject table (25), electronic Nosepiece (26), electronic focus adjusting mechanism (27), control enclosure (28) on existing microscope; Motorized subject table is to be fastened on the microscope stage (20) by the fixed mount on it (3), fixed support (7), connection support (6); Electronic Nosepiece (26) is fastened on the microscope by connecting support (12) and support (17); Electronic focus adjusting mechanism (27) is fastened on the former focus adjusting mechanism of the microscope left and right sides by axle sleeve (11,8) with its coarse adjustment and fine adjustment mechanism respectively; Control enclosure (28) is connected with each stepper motor (18) with cable; Microscope CCD interface (36) is gone up video camera (2) is installed, and is connected with computing machine with cable (1);
Motorized subject table (25), form by fixed mount (3), precision surface plate (4,5), connection support (6), fixed support (7), stepper motor (18), be fastened on the microscopical platform (20) by the fixed mount on it (3), fixed support (7), connection support (6), the moving rail of precision surface plate (5) is connected with fixed support (7), maintain static, precision surface plate (4) is connected with precision surface plate (5) by connecting support (6); Miniature precision surface plate is made up of the moving rail (22) of precision surface plate, the quiet rail of precision surface plate (21), precision surface plate leading screw (23), screw (24), drive by small type stepping motor (18), rotation by precision surface plate leading screw (23) drives precision surface plate screw rectilinear motion, and drives the moving rail of precision surface plate along the to-and-fro movement of the quiet rail direction of precision surface plate; The moving rail slide block of precision surface plate (4) is connected with fixed mount (3) and drives fixed mount (3) does motion on the directions X, and precision surface plate (5) drives precision surface plate (4) and does motion on the Y direction, thereby realizes the X of fixed mount (3), the motion on the Y direction;
Electronic focus adjusting mechanism (27) adopts stepper motor (18) to drive, and links to each other by the focusing knob (30,31) on elasticity shaft joint (9), axle sleeve (8) and the microscope, drives focusing knob and rotates, and finishes the function of focusing; Focus adjusting mechanism on cover on the left side focusing knob (30) is coarse adjustment, and the focus adjusting mechanism that overlaps on the focusing knob (31) on the right is fine tuning; Support (10) support motor;
Electronic Nosepiece (26) adopts stepper motor (18) to drive worm screw (14) and drives a non-standard special-shaped worm gear (15) rotation, special-shaped worm gear (15) is enclosed within on the Nosepiece, stepper motor (18) is connected with worm screw (14) wringing fit and is fixed on the support (13), support (13) is fixed on and connects on the support (12), connection support (12) props up support integral and fixes with microscope stage, optoelectronic switch (16) is connected with support (17), support (17) is fixed on the microscope, special-shaped worm gear drives Nosepiece rotates, to move up and down owing to the Nosepiece inclined position and when focusing, it is characterized in that: in special-shaped turbine and scroll bar engagement place, special-shaped turbine flute profile direction direction of motion of micro objective when focusing is parallel, when Nosepiece moves up and down, worm screw and special-shaped worm gear mesh always, have guaranteed that thus focusing and object lens change these two kinds of motions and do not disturb mutually.
2. microscope automatic operation system according to claim 1, there are button, power supply (32), control enclosure pilot lamp (33), control enclosure display (19) in the control enclosure surface, electric control part is placed in the control enclosure, and it is characterized in that: the electric control part branch comprises microprocessor I
4(40), memory I
2(41), display R
4, R8～R11 (19), motor driver (42), keypad (39), power supply (32); Microprocessor is the core devices of electric-controlled box, and microprocessor passes through I
2C bus connected storage E
2PROM; Microprocessor is by LED display driver chip I3 drive controlling box display; Keypad links to each other with microprocessor by keyboard interface J2; Microprocessor is connected with motor driver by the JM1 mouth, and control enclosure couples together by the stepper motor on cable and the microscope (18); Wherein storer is used to store teaching and scan-data, display circuit are used to show current location and speed, and control enclosure can break away from PC and independently finish switching between a teaching, scanning and this two kinds of working methods.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200310106631 CN1243270C (en) | 2003-10-14 | 2003-10-14 | Microscope automatic operation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200310106631 CN1243270C (en) | 2003-10-14 | 2003-10-14 | Microscope automatic operation system |
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| CN1529194A CN1529194A (en) | 2004-09-15 |
| CN1243270C true CN1243270C (en) | 2006-02-22 |
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| CN 200310106631 Expired - Fee Related CN1243270C (en) | 2003-10-14 | 2003-10-14 | Microscope automatic operation system |
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| CN (1) | CN1243270C (en) |
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| CN101975987A (en) * | 2010-09-27 | 2011-02-16 | 江苏大学 | Microscope automatic control platform based on portable bypass structure |
| CN102067007B (en) * | 2008-03-13 | 2014-04-23 | 马克斯曼赛尔吉克有限公司 | Method and apparatus for microscopy |
| CN108572440A (en) * | 2018-03-22 | 2018-09-25 | 天津大学 | A kind of microscopical objective table numerical control driving device of machinery and its control method |
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| Publication number | Publication date |
|---|---|
| CN1529194A (en) | 2004-09-15 |
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