CN114326412B - Coordinate debugging method, debugging system and storage medium - Google Patents
Coordinate debugging method, debugging system and storage medium Download PDFInfo
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Abstract
The application relates to a coordinate debugging method, a debugging system and a storage medium, wherein the coordinate debugging method comprises the following steps: transmitting a reading signal to obtain one or more home position parameters of the motor; sending a reset signal to control the action of each motor and adjust the reset of the assembly to an initial coordinate; transmitting a test signal to adjust the movement of the assembly to preset coordinates; judging whether to send a fine tuning signal to adjust the component to move to a target coordinate; and updating the position parameters of each motor according to the position parameters of each motor when the assembly reaches the target coordinates to obtain new position parameters of each motor. The technical scheme of the application has a humanized interactive operation mode, and a user can finish the coordinate debugging of a certain component only by simple operation on a debugging interface, so that the operation steps are simplified and the debugging efficiency of a lower computer is improved; in addition, the method has strong universality and can realize the method transplanting among different test projects, thereby reducing the equipment debugging cost of the medical detection equipment before leaving the factory.
Description
Technical Field
The invention relates to the technical field of medical detection equipment, in particular to a coordinate debugging method, a coordinate debugging system and a storage medium.
Background
The existing medical detection equipment often comprises a plurality of execution components which are matched with each other to realize the functions of sample feeding, sampling, inspection feeding, sample discarding and the like, and because each execution component needs to be driven by a motor and corresponding components (such as a sampling needle, a test strip, a gripper and the like) are moved to a designated position, the debugging work of the motor and the components in the equipment before the equipment leaves a factory is particularly important, which is a necessary process for ensuring that each execution mechanism in the equipment can normally operate.
In the debugging process of the medical detection device, the module is generally divided by taking the motion board and the motor as units, for example, the step number is input in a box corresponding to the test button, the test button is clicked, the motor moves according to the set step number, the step number of the position is recorded after the motor moves to the corresponding position, and then the motor is filled in the corresponding input column. When a plurality of motors are needed to act cooperatively for debugging a coordinate, a debugging engineer is needed to turn pages back and forth on a debugging interface, the operation is complex, and if the plurality of motors are arranged on different boards, the more complex operation is caused. If the corresponding station parameters of each motor and the action sequence of each motor are required to be accurately set, debugging engineers are required to know the equipment and the debugging software very well to check, otherwise, various unexpected error conditions are easy to cause, and even the phenomenon of collision of the machine is caused when incorrect action data are input.
Disclosure of Invention
The application mainly solves the technical problem of how to efficiently and accurately debug the coordinates of the medical detection equipment before delivery. In order to solve the technical problems, the application provides a coordinate debugging method, a debugging control method, a debugging system and a storage medium.
According to a first aspect, in one embodiment, there is provided a coordinate debugging method, including: transmitting a reading signal to obtain home position parameters of one or more motors; the one or more motors are used to cooperatively adjust the movement state of a component; sending a reset signal, controlling each motor to act and adjusting the components to reset to initial coordinates; sending test signals, controlling the action of each motor and adjusting the movement of the assembly to preset coordinates; judging whether a fine adjustment signal is sent or not, controlling each motor to act respectively, and adjusting the assembly to move from the preset coordinates to target coordinates; and updating the home position parameters of each motor according to the position parameters of each motor when the assembly reaches the target coordinates, so as to obtain new position parameters of each motor.
The read signal, the reset signal, the test signal, and the trimming signal are generated by being triggered by a plurality of trigger keys.
The preset coordinates and the fine adjustment step distance are input through a plurality of input boxes.
The method further comprises, before transmitting the read signal: and adaptively generating a debugging interface aiming at the component according to a preset configuration file, and configuring the plurality of trigger keys and the plurality of input boxes on the debugging interface.
Before sending the reset signal, the coordinate debugging method comprises the following steps: acquiring reset time sequences of one or more motors; sending a reset signal, controlling the action of each motor and adjusting the reset of the assembly to the initial coordinates comprises: determining the reset action priority of each motor according to the reset time sequence; sending a reset signal corresponding to a motor with higher reset action priority, and after receiving a reset action completion signal, sending a reset signal corresponding to a motor with lower reset action priority, wherein each motor acts sequentially until the assembly is regulated to reset to an initial coordinate; the reset signal includes a coordinate component of the initial coordinate in any direction.
Before sending the test signal, the coordinate debugging method comprises the following steps: acquiring execution time sequences of one or more motors; sending test signals, controlling the action of each motor and adjusting the movement of the assembly to preset coordinates comprises: determining the execution action priority of each motor according to the execution time sequence; sending a test signal corresponding to a motor with higher execution action priority, and after receiving a test action completion signal, sending a test signal corresponding to a motor with lower execution action priority, wherein each motor acts sequentially until the assembly is regulated to move to a preset coordinate; the test signal includes a coordinate component of the preset coordinates in any direction.
The determining whether to transmit the trimming signal includes: judging whether the trigger key is triggered or not, and generating the fine adjustment signal if the trigger key is triggered; or receiving a test feedback signal sent by a sensor, and judging whether the assembly moves to the target coordinate according to the test feedback signal; and if the component does not move to the target coordinates, generating the fine tuning signal.
The step of obtaining new position parameters of each motor further comprises the following steps: the reset signal is sent again and after receipt of the reset action complete signal, the completion of the debug is confirmed.
According to a second aspect, in one embodiment, a debug system is provided, which includes a host computer and a lower computer communicatively connected; the lower computer comprises one or more motors, and the one or more motors are used for cooperatively adjusting the moving state of a component; the upper computer is used for communicating with the lower computer through the coordinate debugging method in the first aspect, and issuing new position parameters to the lower computer; the lower computer is used for receiving the new position parameters and replacing the original position parameters of each motor.
According to a third aspect, there is provided in an embodiment a computer readable storage medium comprising a program executable by a processor to implement the coordinate debugging method in the first aspect described above.
The beneficial effects of the application are as follows:
According to the above embodiment, a coordinate debugging method, a debugging system and a storage medium are provided, wherein the coordinate debugging method comprises the following steps: transmitting a reading signal to obtain home position parameters of one or more motors; one or more motors for cooperatively adjusting a movement state of a component; sending a reset signal, controlling each motor to act and adjusting the assembly to reset to an initial coordinate; sending test signals, controlling each motor to act and adjusting the assembly to move to preset coordinates; judging whether a fine adjustment signal is sent or not, controlling each motor to act respectively, and moving the adjusting component from a preset coordinate to a target coordinate; and updating the home position parameters of each motor according to the position parameters of each motor when the assembly reaches the target coordinates to obtain new position parameters of each motor. According to the first aspect, as the reset signal is sent to the lower computer according to the reset time sequence, each motor in the lower computer is reset in sequence, so that the reset assembly is ensured not to collide with the machine; in the second aspect, as the fine adjustment signals are sent to the lower computer, each motor in the lower computer realizes accurate action, and the adjustment component can quickly reach the target coordinates, so that the coordinate adjustment of a certain station of the component is completed; in the third aspect, the obtained new position parameters can be issued to the lower computer, so that the lower computer can execute actions according to the new position parameters of each motor, and the assembly can be accurately moved to the target position in the future use process; in the fourth aspect, since the debug interface for a certain component can be adaptively generated according to various parameters in the preset configuration file, the user is facilitated to send a read signal, a reset signal, a test signal, a trimming signal and a save signal to the lower computer so as to control the related motors in a targeted manner; in a fifth aspect, the technical scheme of the application has a humanized interactive operation mode, and a user can complete the coordinate debugging of a certain component only by simple operation on a debugging interface, so that the operation steps are simplified and the debugging efficiency of a lower computer is improved; in the sixth aspect, the technical scheme of the application effectively combines the coarse adjustment and fine adjustment modes, can solve the problem of inconsistent motor travel caused by mechanical errors in a lower computer, is beneficial to debugging personnel to rapidly and accurately complete debugging work, and reduces error rate of users as much as possible; in a seventh aspect, the technical scheme of the application has strong universality, the upper computer software is not required to be changed at all, and the method transplanting among different test projects is convenient to realize, so that the equipment debugging cost of the medical detection equipment before leaving the factory is reduced.
Drawings
FIG. 1 is a schematic diagram of a debugging system according to a first embodiment;
FIG. 2 is a schematic illustration of a debugging process for slide loading coordinates;
FIG. 3 is a schematic illustration of a debug interface for slide loading coordinates
FIG. 4 is a flowchart of a coordinate debugging method in the second embodiment;
FIG. 5 is a flow chart of the upper computer sending a reset signal;
FIG. 6 is a flow chart of the upper computer sending test signals;
fig. 7 is a flowchart of a debug control method for a lower computer in the third embodiment;
FIG. 8 is a timing diagram illustrating the operation of the debug system according to the fourth embodiment;
Fig. 9 is a schematic structural diagram of an upper computer/lower computer in a fifth embodiment.
Detailed Description
The application will be described in further detail below with reference to the drawings by means of specific embodiments. Wherein like elements in different embodiments are numbered alike in association. In the following embodiments, numerous specific details are set forth in order to provide a better understanding of the present application. However, one skilled in the art will readily recognize that some of the features may be omitted, or replaced by other elements, materials, or methods in different situations. In some instances, related operations of the present application have not been shown or described in the specification in order to avoid obscuring the core portions of the present application, and may be unnecessary to persons skilled in the art from a detailed description of the related operations, which may be presented in the description and general knowledge of one skilled in the art.
Furthermore, the described features, operations, or characteristics of the description may be combined in any suitable manner in various embodiments. Also, various steps or acts in the method descriptions may be interchanged or modified in a manner apparent to those of ordinary skill in the art. Thus, the various orders in the description and drawings are for clarity of description of only certain embodiments, and are not meant to be required orders unless otherwise indicated.
The numbering of the components itself, e.g. "first", "second", etc., is used herein merely to distinguish between the described objects and does not have any sequential or technical meaning. The term "coupled" as used herein includes both direct and indirect coupling (coupling), unless otherwise indicated.
Embodiment 1,
Referring to fig. 1, the present embodiment discloses a debug system, which includes an upper computer 11 and a lower computer 12 connected in communication, and is described below.
In this embodiment, the upper computer 11 may be a processing device such as a computer, a tablet, a workstation, or the like, which is to be displayed, and may be installed with debugging software for the lower computer 12. The user can develop the debugging work for the lower computer 12 by only performing an input operation and a trigger operation on the upper computer 11.
In this embodiment, the lower computer 12 may be a medical testing device for testing samples, such as a blood analyzer, urine analyzer, excreta analyzer, human tissue analyzer, sperm morphology analyzer, gynecological endocrine analyzer, etc. The inside of such medical treatment check out test set often has operation links such as scanning, sample, application of sample, washing, send a sample, mirror examine, abandon the appearance, and every link all needs one or more motor control relevant subassembly to remove, for example the scanning link just needs control sample cup to remove to scanning position, at sample, application of sample, washing link just need adjust sampling needle and remove sample position, application of sample position and washing position respectively, just need control tongs at the send a sample link and grab the test strip, mirror examine the link just needs control test strip along with the conveyer belt reaches the testing position, just need control test strip to reach at abandon a sample link and abandon a sample position. Then, the lower computer 12 may include one or more motors therein for cooperatively adjusting the movement of a component (e.g., sample needle, test strip, grip, etc.). The scanning position, the sampling position, the sample adding position, the cleaning position, the detection position and the sample discarding position are all the working positions or the target positions which the assembly needs to actually reach.
In this embodiment, the upper computer 11 and the lower computer 12 are connected in communication, and can exchange signals therebetween. The upper computer 11 may send the new position parameters to the lower computer 12 by using a preset coordinate debugging method, so that the lower computer 12 can update the home position parameters of each motor, and the coordinate debugging method used may refer to the following embodiment two specifically. The lower computer 12 can then receive the new position parameters and replace the home position parameters of each motor so that each motor will then act on the new position parameters and accurately move the assembly to the target coordinates (i.e., the coordinates where the station is located).
In a specific embodiment, referring to a schematic diagram of a debugging process of slide loading coordinates illustrated in fig. 2, where a0 represents a sampling needle required for loading a slide b1, a1 represents a motor for adjusting movement of the sampling needle a0 on an X axis, a2 represents a motor for adjusting movement of the sampling needle a0 on a Y axis, and a3 represents a motor for adjusting movement of the sampling needle a0 on a Z axis, then the three-dimensional movement of the sampling needle a0 can be adjusted by the motors a1, a2 and a3, so as to reach a target coordinate corresponding to any working position; for example, the sampling needle a0 can reach the target coordinates corresponding to the cleaning position, the slide sample adding position, the test paper sample adding position, the common sample sucking position and the emergency sample sucking position respectively.
In a specific embodiment, referring to the schematic view of the debugging interface of the slide sample loading coordinate illustrated in fig. 3, several working areas may be disposed on the debugging interface, which are working areas 101, 102, 103, 105, respectively, where the working area 101 may include a plurality of trigger buttons for starting the triggering operations of debugging, data saving, action resetting, and action execution, the working area 102 may include a plurality of input boxes for the input operations of the current X-axis coordinate, the current Y-axis coordinate, and the current Z-axis coordinate, the working area 103 may include a plurality of trigger buttons for the triggering operations of the left-hand fine adjustment of the sample loading needle, the right-hand fine adjustment of the sample loading needle, the front fine adjustment of the sample loading needle, the back fine adjustment of the sample loading needle, the on-hand fine adjustment, and the fine adjustment of the sample loading needle (the left-hand and right-hand motions represent the X-hand motions, the front-and-back motions represent the Y-hand motions, and the up-and-down motions represent the Z-hand motions), the working area 104 may include a plurality of input boxes for the input operations of the left-hand fine adjustment step distance, the front-and back fine adjustment step distance, and the up-and down fine adjustment step distance, and the display area 105 includes a plurality of display areas for the current X-axis position and the current position of the Z-axis.
It can be understood by those skilled in the art that the technical scheme disclosed in the embodiment has a humanized interactive operation mode, and a user can complete the coordinate debugging of a certain component only by simple operation on a debugging interface, so that the operation steps are simplified and the debugging efficiency of a lower computer is improved.
Embodiment II,
In this embodiment, a coordinate debugging method is disclosed, which is mainly applied to the upper computer 11 shown in fig. 1, and implements a corresponding coordinate debugging function.
In this embodiment, please refer to fig. 4, the disclosed coordinate debugging method includes steps S210-S250, which are respectively described below.
In step S210, the upper computer sends a read signal to the lower computer to obtain the home position parameters of one or more motors in the lower computer. One or more motors provided in the lower computer are used to cooperatively adjust the movement state of a component.
In this embodiment, referring to fig. 1, the upper computer 11 may determine, through a preset configuration file, which motors' original configuration parameters need to be obtained from the lower computer 12. The configuration file can be stored in the lower computer 12, and then the upper computer 11 can directly read from the lower computer 12; in another case, the configuration file may be stored in the host computer 11 and selected directly by the user. Referring to fig. 2, if the sampling needle a0 needs to be adjusted, the motors a1, a2 and a3 need to be adjusted cooperatively in different directions respectively, and the configuration file can include the identification, destination position, fine adjustment step pitch, reset time sequence and execution time sequence of the motors a1, a2 and a 3. The motors may be stepping motors, servo motors, etc., without limitation.
It should be noted that the home position parameter may be a rotation step number or travel data of the motor adjusting assembly reaching a certain target position. Since the home position parameters are default settings for the motor's motion plate, there may be a deviation from the desired position, so that the next steps are needed for debugging and updating.
In step S220, the upper computer sends a reset signal to the lower computer. The reset signal is used for controlling each motor in the lower computer to sequentially act and adjusting the component to reset to the initial coordinate.
It should be noted that, for the situation that a plurality of motors cooperatively regulate a certain component, the sequence of the actions of each motor is strictly required, otherwise the component collides with other structures in the lower computer, so that the situation of collision of the machine occurs. For example, in fig. 2, in order to reset the sampling needle a0 to an initial coordinate (such as the origin of the coordinate system), the motor a2 is required to adjust the sampling needle a0 to reset on the Y axis, and then the motors a1 and a3 are required to adjust the sampling needle a0 to reset on the X axis and the Z axis respectively. In order to avoid the occurrence of the collision of the machine, the upper computer can send a reset signal to the lower computer according to the reset time sequence in the configuration file.
In step S230, the upper computer sends a test signal to the lower computer. The test signals are used for controlling each motor in the lower computer to sequentially act and adjusting the assembly to move to preset coordinates.
It should be noted that, for the case that a plurality of motors cooperatively regulate a certain component, the sequence of the actions of each motor is strictly required, so as to avoid the occurrence of the collision of the machine. For example, in fig. 2, in order to achieve the movement of the sampling needle a0 to the preset configuration coordinates, the motors a1 and a3 are required to adjust the movement of the sampling needle a0 on the X axis and the Z axis respectively, and then the motor a2 is required to adjust the movement of the sampling needle a0 on the Y axis. In order to avoid the occurrence of the collision, the upper computer can send a test signal to the lower computer according to the execution time sequence in the configuration file.
It should be noted that, the preset coordinates may be input by the user through the working area 102 in fig. 3, where the preset coordinates may be three-dimensional coordinates that are preliminarily identified by the user and not necessarily accurate, such as coordinates that may correspond to a slide loading position, coordinates that may correspond to a sampling needle cleaning position, and so on.
In step S240, the upper computer determines whether to send a trimming signal to the lower computer. The fine tuning signals are used for controlling each motor in the lower computer to act respectively, and the adjusting component continues to move from the preset coordinates to the target coordinates.
It should be noted that, the preset coordinates are not necessarily the target coordinates (i.e. the coordinates of the target position) that the component should actually reach, so that the user needs to check in real time at this time, and when the component does not accurately reach the target coordinates, the direction and the corresponding motor that need to be fine-tuned are determined, so as to trigger to generate the fine-tuning signal. Or judging whether the component moves to the target coordinates by arranging a sensor, and generating a fine adjustment signal when the sensor does not detect that the component moves to the target coordinates.
For example, the fine adjustment step distance can be set through the working area 104 in fig. 3, and the corresponding fine adjustment signal is generated through triggering of 103, so that the fine adjustment signal is sent to a lower computer to control a corresponding motor to act, and finally the component is adjusted to the target coordinate.
Step S250, the upper computer updates the home position parameters of each motor according to the position parameters of each motor when the assembly reaches the target coordinates, and obtains new position parameters of each motor. At this time, the upper computer can send a save signal to the lower computer to send the new position parameter to the lower computer.
In this embodiment, a plurality of trigger keys may be provided, which when triggered respectively generate a read signal, a reset signal, a test signal, a trimming signal and a save signal. In addition, a plurality of input boxes for inputting preset coordinates and fine-tuning steps, respectively, may be provided.
Further, the method further includes an interface generating step before step S210: the upper computer adaptively generates a debugging interface aiming at the component according to various parameters included in the configuration file, and configures a plurality of trigger keys and a plurality of input boxes on the debugging interface. For example, for the debugging process of the sampling needle a0 in fig. 2, the upper computer may generate a debugging interface as illustrated in fig. 3, so as to debug the slide loading coordinates of the sampling needle.
Referring to fig. 1, 2 and 3, for a plurality of trigger keys in the working area 101, when a user triggers "start debug", the upper computer 11 generates a read signal, when the user triggers "action reset", the upper computer 11 generates a reset signal, when the user triggers "action execute", the upper computer 11 generates a test signal, and when the user triggers "data save", the upper computer 11 generates a save signal; for the plurality of trigger buttons in the working area 103, when the user triggers "the sample feeding needle to perform left fine adjustment", the upper computer 11 generates a fine adjustment signal for the sample feeding needle a0 to move left along the X axis, and the fine adjustment step distance defaults to the setting data in the working area 104, and so on.
In this embodiment, referring to fig. 5, the above step S220 mainly involves a process of transmitting a reset signal, and the process may specifically include steps S221 to S224, which are respectively described below.
Step S221, before sending the reset signal, the upper computer obtains the reset time sequence of one or more motors from the configuration file, so that the reset action priority of each motor is determined according to the reset time sequence. For example, in fig. 2 and fig. 3, since the reset sequences are the motor a2, the motor a1 and the motor a3, the upper computer can determine that the motor a2 is at a higher reset action priority, and the motors a1 and a3 are at a lower reset action priority at the same time.
Step S222, sending a reset signal corresponding to the motor with higher priority of the reset operation to the lower computer. For example, in fig. 2 and fig. 3, the upper computer sends a reset signal corresponding to the motor a2 to the lower computer, so that the motor a2 adjusts the sampling needle a0 to reset on the Y axis.
Step S223, after receiving the reset action completion signal fed back by the lower computer, the reset signal corresponding to the motor with lower reset action priority is sent to the lower computer. For example, in fig. 2 and fig. 3, if the upper computer receives the reset action completion signal fed back by the lower computer, it can be confirmed that the motor a2 has adjusted the sampling needle a0 to reset on the Y axis, and then the upper computer sends reset signals corresponding to the motors a1 and a3 to the lower computer, so that the motors a1 and a3 adjust the sampling needle a0 to reset on the X axis and the Z axis respectively.
In step S224, each motor is sequentially operated until the adjustment assembly is reset to the initial coordinates. It can be understood that the reset signal includes coordinate components of the initial coordinates in any direction, for example, coordinate components corresponding to each other on X, Y, Z, so that the lower computer can control the motor in the corresponding direction to act according to the coordinate components, without occurrence of control error.
In this embodiment, referring to fig. 6, the above step S230 mainly refers to a process of transmitting a test signal, and the process may specifically include steps S231 to S234, which are respectively described below.
In step S231, before sending the test signal, the upper computer obtains the execution time sequence of one or more motors from the configuration file, so as to determine the execution action priority of each motor according to the execution time sequence. For example, in fig. 2 and 3, since the execution sequences are motor a1, motor a3, and motor a2, the upper computer can determine that the motors a1 and a3 are at the higher execution priority and that the motor a2 is at the lower execution priority.
Step S232, sending a test signal corresponding to the motor with higher priority of executing action to the lower computer. For example, in fig. 2 and fig. 3, the upper computer sends test signals corresponding to the motors a1 and a3 to the lower computer, so that the motors a1 and a3 adjust the sampling needle a0 to move on the X axis and the Z axis respectively.
Step S233, after receiving the test action completion signal fed back by the lower computer, the lower computer is sent a test signal corresponding to the motor with lower execution action priority. For example, in fig. 2 and fig. 3, if the upper computer receives the test action completion signal fed back by the lower computer, it can be confirmed that the motors a1 and a3 both regulate the sampling needle a0 to move on the X axis and the Z axis respectively, and then the upper computer sends a test signal corresponding to the motor a2 to the lower computer, so that the motor a2 regulates the sampling needle a0 to move on the Y axis.
In step S234, each motor is sequentially operated until the adjustment assembly is moved to the preset coordinates. The test signal includes coordinate components of preset coordinates in any direction, for example, coordinate components corresponding to each other on X, Y, Z, so that the lower computer can control the motor in the corresponding direction to act according to the coordinate components, and the problem of control error can not occur.
In this embodiment, the process of sending the trimming signal in step S240 may be specifically expressed as: the upper computer judges whether the trigger key is triggered or not, and generates a fine adjustment signal if the trigger key is triggered; or the upper computer receives the test feedback signal sent by the sensor, judges whether the component moves to the target coordinate according to the test feedback signal, and generates a fine adjustment signal if the component does not move to the target coordinate.
In the first case, the fine adjustment direction of the component and the corresponding motor are judged through the user's checking, so that the upper computer generates a fine adjustment signal corresponding to the motor when the corresponding trigger key is triggered and transmits the fine adjustment signal to the lower computer. It should be noted that, the trimming signal may include a coordinate component of the destination coordinate in any direction and a trimming step distance corresponding to the motor.
In the second case, a sensor is provided and is arranged at the destination coordinate, the sensor is used for being triggered when the component is detected to move to the destination coordinate, and the upper computer judges whether the component needs fine adjustment and the required fine adjustment direction according to the triggering result. For example, in fig. 2, an optical coupler sensor is disposed at the sample loading position of the slide, the optical coupler sensor is used to detect whether the sampling needle a0 reaches the destination coordinate corresponding to the sample loading position of the slide, if so, the indicator light of the optical coupler sensor turns green, otherwise, turns red, so that a user can conveniently check the color of the bright light to determine whether the sampling needle a0 is accurately regulated, and the upper computer can also determine whether the component is accurately regulated according to the signal of the optical coupler sensor, if not accurately regulated, the upper computer needs to automatically send a fine adjustment signal to carry out fine regulation on the component.
Further, a reset step may be further included after step S250: the upper computer sends a reset signal to the lower computer again according to the reset time sequence, and confirms that the debugging is finished after receiving a reset action completion signal fed back by the lower computer. It can be understood that the resetting step can not only check the debugging state of the lower computer, but also ensure that the components of the lower computer are in a uniform position after the debugging is completed.
It can be appreciated by those skilled in the art that the technical scheme disclosed in the embodiment effectively combines the coarse adjustment and the fine adjustment, can solve the problem of inconsistent motor travel caused by mechanical errors in a lower computer, is beneficial to debugging personnel to rapidly and accurately complete debugging work, and reduces error rate of users as much as possible.
Third embodiment,
In this embodiment, a debug control method for a lower computer is disclosed, and the debug control method is mainly applied to the lower computer 12 shown in fig. 1, and realizes a corresponding debug control function.
In this embodiment, referring to fig. 7, the disclosed debug control method may include steps S310-S350, which are respectively described below.
In step S310, the lower computer responds to the read signal sent by the upper computer, collects the home position parameters of one or more motors and sends the home position parameters to the upper computer. The one or more motors herein are used to cooperatively adjust the movement state of a component.
In a specific embodiment, referring to fig. 1, the lower computer 12 reads the motion board data of each motor according to the read signal from the upper computer 11, where the motion board data exists on the motion board (control circuit board) corresponding to the motor and includes the home position parameters of the motor; the lower computer 12 reads the motion board data from the Flash unit to the RAM unit, and forms read data in the RAM unit and feeds back to the upper computer.
It should be noted that, when the board card of the lower computer is powered on and runs for the first time, the board card software will write the data preset by the program into Flash, and simultaneously, all the stored data are subjected to CRC (cyclic redundancy check) and the check values are written into Flash together; after the lower computer is powered on and started each time, the lower computer reads data from the Flash and sends the data to the RAM, and then checks the data to ensure that the data are normal.
It should be noted that the home position parameter may be a rotation step number or travel data of the motor adjusting assembly reaching a certain target position. For example, in fig. 2, the home position parameter of the motor a1 is the number of rotation steps or travel data required by the motor a1 to adjust the sampling needle a0 to reach the slide sampling position along the X-axis direction.
In step S320, the lower computer responds to the reset signal sent by the upper computer, and controls each motor to sequentially act so as to adjust the component to reset to the initial coordinate.
It should be noted that, for the situation that a plurality of motors cooperatively regulate a certain component, the sequence of the actions of each motor is strictly required, otherwise the component collides with other structures in the lower computer, so that the situation of collision of the machine occurs. For example, in fig. 1 and 2, in order to reset the sampling needle a0 to an initial coordinate (for example, the origin of the coordinate system), the lower computer 12 is first required to receive a reset signal from the upper computer 11, so that the lower computer 12 controls the motor a2 to operate to adjust the sampling needle a0 to reset on the Y axis, and then the lower computer 12 controls the motors a1 and a3 to adjust the sampling needle a0 to reset on the X axis and the Z axis respectively.
In step S330, the lower computer responds to the test signal sent by the upper computer, and controls each motor to act sequentially so as to adjust the component to move to the preset coordinates.
It should be noted that, for the case that a plurality of motors cooperatively regulate a certain component, the sequence of the actions of each motor is strictly required, so as to avoid the occurrence of the collision of the machine. For example, in fig. 1 and 2, in order to achieve movement of the sampling needle a0 to the preset configuration coordinates, the lower computer 12 is first required to receive the test signal from the upper computer 11, so that the lower computer 12 controls the motors a1 and a3 to adjust the movement of the sampling needle a0 on the X axis and the Z axis, respectively, and then the lower computer 12 controls the motor a2 to adjust the movement of the sampling needle a0 on the Y axis.
In step S340, the lower computer responds to the fine adjustment signal sent by the upper computer, and controls each motor to act respectively so as to adjust the assembly to move continuously from the preset coordinates to the target coordinates.
It should be noted that, the preset coordinates are not necessarily the target coordinates that the component should actually reach, so that the user needs to check in real time at this time, and when the component does not accurately reach the target coordinates, the direction and the corresponding motor that need to be finely tuned are judged, so that the upper computer triggers to generate a fine tuning signal, after the fine tuning signal is sent to the lower computer, the lower computer controls the corresponding motor to perform fine tuning action, and after one or more fine tuning, the lower computer can adjust the component to continuously move from the preset coordinates to the target coordinates.
Step S350, the lower computer receives the new position parameters sent by the upper computer and replaces the original position parameters of each motor according to the new position parameters. The new position parameters are obtained by updating the original position parameters by the upper computer according to the position parameters of each motor when the assembly reaches the target coordinates.
In a specific embodiment, referring to fig. 1, the lower computer 12 replaces the motion board data stored in the RAM unit according to the new location parameter, and rewrites the updated motion board data into the Flash unit. In this way, the lower computer 12 can act according to the new position parameters of each motor, so as to cooperatively adjust the assembly to reach the target coordinates.
It should be noted that the new position parameter may be a number of rotation steps or travel data of the motor adjusting assembly to reach a certain target position. For example, in fig. 2, the new position parameter of the motor a1 is the rotation step number or the stroke data required by the motor a1 to adjust the sampling needle a0 to reach the slide sampling position along the X-axis direction, the new position parameter of the motor a2 is the rotation step number or the stroke data required by the motor a2 to adjust the sampling needle a0 to reach the slide sampling position along the Y-axis direction, and the new position parameter of the motor a3 is the rotation step number or the stroke data required by the motor a3 to adjust the sampling needle a0 to reach the slide sampling position along the Z-axis direction.
As will be appreciated by those skilled in the art, the lower computer receives the new position parameters from the upper computer, so that the lower computer can perform actions according to the new position parameters of each motor, thereby accurately moving the assembly to the target position during future use.
Fourth embodiment,
In order to clearly understand the cooperation process between the upper computer 11 and the lower computer 12 in fig. 1, a specific explanation will be given for the signal interaction process between the two in this embodiment.
Referring to fig. 8, for a certain component in the lower computer 12, one or more motors are required to cooperatively adjust the moving state of the component, so that a configuration file formed by the identification, the destination position, the fine-tuning step pitch, the reset time sequence and the execution time sequence of each motor can be stored in the lower computer 12, and when the upper computer 11 needs to debug the coordinates of the component, the lower computer 12 sends the configuration file to the upper computer 11.
Because the configuration file comprises the identification of each motor, the upper computer 11 can send a reading signal to the lower computer according to the configuration file to acquire the home position parameters of the motors; the lower computer 12 responds to the reading signals sent by the upper computer, collects the original position parameters of each motor and feeds back the original position parameters to the upper computer.
Because the configuration file includes the reset time sequence of each motor, the upper computer 11 can send a reset signal to the lower computer according to the reset time sequence; the lower computer 12 responds to the reset signal sent by the upper computer 11, controls each motor to sequentially act and adjusts the components to reset to the initial coordinates, and at the same time, the lower computer 12 feeds back a reset action completion signal to the upper computer.
Because the configuration file includes the execution time sequence of each motor, the upper computer 11 can send a test signal to the lower computer 12 according to the execution time sequence; the lower computer 12 responds to the test signals sent by the upper computer, controls each motor to sequentially act and adjusts the components to move to preset coordinates, and meanwhile, the lower computer 12 feeds back test action completion signals to the upper computer.
Since the preset coordinates are not necessarily the destination coordinates (i.e., the coordinates of the destination position) that the component should actually reach, the user needs to check in real time at this time, and when the component does not accurately reach the destination coordinates, the direction and the corresponding motor that need fine adjustment are determined. The upper computer 11 sends a fine adjustment signal to the lower computer 12 according to the fine adjustment step distance; the lower computer 12 responds to the fine adjustment signals sent by the upper computer 11, controls each motor to act respectively to adjust the assembly to move continuously from the preset coordinates to the target coordinates, and at the same time, the lower computer 12 feeds back fine adjustment action completion signals to the upper computer 11.
After the upper computer 11 receives the fine adjustment action completion signal, confirming the target coordinates of the component, the upper computer 11 updates the home position parameters of each motor according to the position parameters of each motor when the component reaches the target coordinates, so as to obtain new position parameters of each motor, and the upper computer 11 sends a storage signal to the lower computer 12 to send the new position parameters to the lower computer 12; the lower computer 12 receives the new position parameters sent by the upper computer 11 and replaces the original position parameters of each motor according to the new position parameters.
Thereafter, the upper computer 11 may transmit the reset signal to the lower computer again according to the reset timing; the lower computer 12 responds to the reset signal sent by the upper computer 11, controls each motor to sequentially act and adjusts the components to reset to the initial coordinates, and meanwhile, the lower computer 12 feeds back a reset action completion signal to the upper computer; after the upper computer 11 receives the reset action completion signal, it is confirmed that the coordinate debugging of the component is completed, and then the upper computer 11 may end and exit the coordinate debugging for the component.
It can be understood by those skilled in the art that the technical scheme provided in this embodiment is strong in universality, and the upper computer software does not need to be changed at all, so that the method transplanting between different test projects can be realized conveniently, and the equipment debugging cost of the medical detection equipment before leaving the factory is reduced.
Fifth embodiment (V),
Referring to fig. 9, the embodiment discloses an apparatus, where the apparatus 4 may be an upper computer or a lower computer, and is not limited herein.
If the device 4 is an upper computer, it may be a processing device with a display screen, such as a computer, tablet, workstation, etc., which may be installed with debugging software for the lower computer 12. If the device 4 is a lower computer, it may be a medical detection device for detecting a sample, such as a blood analyzer, urine analyzer, excrement analyzer, human tissue analyzer, sperm morphology analyzer, gynecological endocrine analyzer, etc.
In this embodiment, the device 4 may include a memory 41 and a processor 42, which are described below, respectively.
The memory 41 is used to store programs. Since the memory 41 may be regarded as a computer-readable storage medium, the stored program may be the program code corresponding to steps S210 to S250 in the second embodiment or the program code corresponding to steps S310 to S350 in the third embodiment.
The processor 42 is connected to the memory 41, and is configured to execute a related program to implement a coordinate debugging method of the upper computer in the second embodiment, or implement a debugging control method of the lower computer in the third embodiment.
Those skilled in the art will appreciate that all or part of the functions of the various methods in the above embodiments may be implemented by hardware, or may be implemented by a computer program. When all or part of the functions in the above embodiments are implemented by means of a computer program, the program may be stored in a computer readable storage medium, and the storage medium may include: read-only memory, random access memory, magnetic disk, optical disk, hard disk, etc., and the program is executed by a computer to realize the above-mentioned functions. For example, the program is stored in the memory of the device, and when the program in the memory is executed by the processor, all or part of the functions described above can be realized. In addition, when all or part of the functions in the above embodiments are implemented by means of a computer program, the program may be stored in a storage medium such as a server, another computer, a magnetic disk, an optical disk, a flash disk, or a removable hard disk, and the program in the above embodiments may be implemented by downloading or copying the program into a memory of a local device or updating a version of a system of the local device, and when the program in the memory is executed by a processor.
The foregoing description of the invention has been presented for purposes of illustration and description, and is not intended to be limiting. Several simple deductions, modifications or substitutions may also be made by a person skilled in the art to which the invention pertains, based on the idea of the invention.
Claims (5)
1. A coordinate debugging method, comprising:
Generating a debugging interface for a component in a self-adaptive mode according to a preset configuration file, and configuring a plurality of trigger keys and a plurality of input boxes on the debugging interface;
transmitting a reading signal to obtain home position parameters of one or more motors; the one or more motors are used to cooperatively adjust the movement state of the assembly;
acquiring reset time sequences of the one or more motors;
Transmitting a reset signal, and determining the reset action priority of each motor according to the reset time sequence; sending a reset signal corresponding to a motor with higher reset action priority, and after receiving a reset action completion signal, sending a reset signal corresponding to a motor with lower reset action priority, wherein each motor acts sequentially until the assembly is regulated to reset to an initial coordinate; the reset signal comprises a coordinate component of the initial coordinate in any direction;
acquiring execution time sequences of the one or more motors;
Sending a test signal, and determining the execution action priority of each motor according to the execution time sequence; sending a test signal corresponding to a motor with higher execution action priority, and after receiving a test action completion signal, sending a test signal corresponding to a motor with lower execution action priority, wherein each motor acts sequentially until the assembly is regulated to move to a preset coordinate; the test signal comprises a coordinate component of the preset coordinate in any direction;
judging whether a fine adjustment signal is sent or not, controlling each motor to act respectively, and adjusting the assembly to move from the preset coordinates to target coordinates;
Updating the home position parameters of each motor according to the position parameters of each motor when the assembly reaches the target coordinates to obtain new position parameters of each motor;
Wherein the read signal, the reset signal, the test signal, and the trimming signal are generated by being triggered by the plurality of trigger keys; the preset coordinates and the fine adjustment step distance are input through the plurality of input boxes.
2. The coordinate debugging method of claim 1, wherein the determining whether to send the trimming signal comprises: judging whether the trigger key is triggered or not, and generating the fine adjustment signal if the trigger key is triggered;
Or receiving a test feedback signal sent by a sensor, judging whether the component moves to the target coordinate according to the test feedback signal, and if the component does not move to the target coordinate, generating the fine adjustment signal.
3. The coordinate debugging method of claim 1, wherein said obtaining new position parameters for each of said motors further comprises: the reset signal is sent again and after receipt of the reset action complete signal, the completion of the debug is confirmed.
4. The debugging system is characterized by comprising an upper computer and a lower computer which are in communication connection; the lower computer comprises one or more motors, and the one or more motors are used for cooperatively adjusting the moving state of a component;
the upper computer is used for communicating with the lower computer through the coordinate debugging method according to any one of claims 1-3, and issuing new position parameters to the lower computer;
the lower computer is used for receiving the new position parameters and replacing the original position parameters of each motor.
5. A computer-readable storage medium comprising a program executable by a processor to implement the coordinate debugging method of any of claims 1-3.
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| EP3304120B8 (en) * | 2015-05-29 | 2023-10-04 | Verity AG | Methods and systems for scheduling the transmission of localization signals and operating self-localizing apparatus |
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| CN208060745U (en) * | 2018-04-26 | 2018-11-06 | 闻泰通讯股份有限公司 | A kind of gravity sensor test platform |
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| CN110702282B (en) * | 2019-10-28 | 2021-05-04 | 上海宝协新能源科技有限公司 | Servo motor test bench |
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| CN103591968A (en) * | 2013-10-31 | 2014-02-19 | 中国运载火箭技术研究院 | Real target scene simulation system based on visible light target simulator |
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