CN115437134A - A fully automatic intelligent microscope and image processing method - Google Patents

Abstract

A fully automated intelligent microscope, comprising a base and: the light adjusting module comprises a light adjusting driving piece, a phase changing driving piece, a light source, a phase changing plate and an aperture, wherein the light source, the phase changing plate and the aperture are sequentially arranged from top to bottom; the objective lens module comprises an objective lens table and a lens adjusting driving part, wherein the objective lens table is provided with a plurality of objective lenses, and the lens adjusting driving part is used for adjusting the position of the objective lens table so that any objective lens faces to the aperture; the object carrying module comprises an object carrying table and a sliding driving assembly, wherein the sliding driving assembly is used for driving the object carrying table to move between an aperture and an objective lens. The scheme effectively improves the observation effect of the cell sample and provides a clear observation image. An image processing method of a full-automatic intelligent microscope realizes the screening of clear images based on a sobel operator and a Tenengrad function.

Description

A fully automatic intelligent microscope and image processing method

technical field

The invention relates to the technical field of microscopes, in particular to a fully automatic intelligent microscope, and also to an image processing method for a fully automatic intelligent microscope.

Background technique

Microscopes, as basic equipment in industries such as medical treatment, biochemistry, education and testing, are widely used in fields such as biomedicine, pharmaceuticals, scientific research and testing. With the advancement of society and technology, traditional microscopes can no longer meet the application requirements in many fields, especially in the context of the wide application of network, image processing and artificial intelligence technologies, research and development of intelligent, Internet-based remote control and image processing functions The demand for an all-in-one micro-workstation is becoming more and more urgent.

Most of the existing smart microscopes can only automatically adjust the objective lens or the stage. However, in the field of biomedicine, samples such as cells often need to be observed accurately under specific light, which leads to the limited functions of the existing smart microscopes. Meet actual usage needs.

Contents of the invention

The purpose of the present invention is to provide a fully automatic intelligent microscope capable of precisely adjusting light conditions to achieve more accurate observation of samples such as cells.

In order to solve the above problems, the present invention provides a fully automatic intelligent microscope, including a base and:

The dimming module located on the upper part of the base includes a dimming driver, a phase-changing driver, and a light source, a phase-changing plate and an aperture arranged sequentially from top to bottom. The dimming driver is used to adjust the size of the aperture. The phase change plate is provided with several phase difference rings, and the phase change drive is used to drive the phase change plate so that any phase difference ring is opposite to the aperture;

The objective lens module located at the lower part of the base includes an objective lens stage and a mirror driver. The objective lens stage is provided with a number of objective lenses. The mirror driver is used to adjust the position of the objective lens stage so that any objective lens is facing the said aperture;

The object carrier module located in the middle of the base includes an object stage and a sliding drive assembly, and the slide drive assembly is used to drive the object stage to move between the aperture and the objective lens.

The above solution realizes the automatic adjustment of the sample position on the stage through the setting of the loading module, the automatic switching of the objective lens through the setting of the objective lens module, and then through the setting of the light adjustment module, the aperture can be adjusted Under the action of the light driver, it can be automatically adjusted to the required state, and at the same time, through the driving effect of the phase change driver on the phase change plate, the corresponding phase difference ring can enter between the light source and the aperture to realize the phase change of the light. Therefore, the observation effect on the cell sample is effectively improved, and a clear observation image is provided.

Preferably, a cover box is provided on the upper part of the base, the light source and the aperture are installed on the upper part and the lower part of the cover box respectively, and the phase changing plate is slidably connected to the middle part of the cover box along the transverse direction, so The phase changing drive part is used to drive the phase changing plate to slide. The setting of the cover box can support and protect the light source, the aperture and the phase changing plate.

As preferably, the phase change driving part includes a phase change gear and a phase change motor for driving the phase change gear to rotate, and a rack is arranged on the side of the phase change plate, and the rack is in phase with the phase change gear. Engagement, so that the precise control and adjustment of the position of the phase change plate can be realized under the drive of the phase change drive, and the operation is stable and the structure is compact.

Preferably, the lower side of the cover box is provided with a light-transmitting hole, the aperture is rotatably connected in the cover box, and the dimming driver is a motor and is used to drive the aperture to rotate, thereby realizing automatic adjustment of the size of the aperture .

Preferably, the dimming module further includes a photometric sensor and a phase sensor both installed on the cover box, the photometric sensor is used to detect the rotation angle of the aperture, and the phase sensor is used to detect the rotation angle of the aperture. The position of the phase changing plate is described, so as to realize the real-time monitoring of the state of the aperture and the phase changing plate according to the feedback signals of the light measuring sensor and the phase measuring sensor.

As preferably, both the objective lens stage and the mirror adjusting driver are arranged obliquely, and the upper side of the objective lens stage is provided with a number of objective lens slots distributed in a circumferential shape, and the mirror adjusting driver is a motor and is used to drive the objective lens The rotation of the stage, so as to realize the fast switching of different objective lenses.

Preferably, the objective lens module also includes a support frame and a lifting drive member, the mirror adjustment drive member is installed on the support frame, the objective lens stage is rotatably connected to the support frame, and the lift drive member is vertically connected to the support frame. It is installed on the lower part of the base and is used to drive the support frame up and down, so as to facilitate automatic focusing.

As preferably, the objective lens module also includes at least two height measuring sensors distributed vertically, the side of the support frame is provided with a trigger part, and the height measuring sensor is used to detect the position of the trigger part, thereby Avoid the position of the objective lens stage beyond the stroke and cause the objective lens to be bumped and damaged.

Preferably, the sliding drive assembly includes a first drive member, a second drive member, a first slide rail arranged in the middle of the base along the front-rear direction, a slide table slidably connected to the first slide rail, and The direction is arranged on the second slide rail on the slide table, the object table is slidably connected to the second slide rail, and the first driving member drives the sliding movement of the slide table relative to the first slide rail. The two driving parts drive the slide of the object stage relative to the second slide rail, so as to realize the stable and precise position adjustment of the object stage.

The present invention also provides an image processing method for a fully automatic intelligent microscope, using the above-mentioned fully automatic intelligent microscope, the upper part of the base is provided with a camera facing the stage, which specifically includes the following steps:

S1. Place the target object on the stage, and the sliding drive component drives the stage to translate for a certain distance. During the movement of the stage, the camera continuously shoots at a preset frequency to obtain multiple images;

S2. The camera transmits the multiple images obtained to the host computer, and the host computer analyzes each image. The specific analysis process for each image is as follows:

Let the Sobel convolution kernel be G _x , G _y , based on the sobel operator:

Gx=g(x-1, y+1)+2g(x, y+1)+g(x+1, y+1)-g(x-1, y-1)-2g(x, y- 1)-g(x+1, y-1)

Gy=g(x+1, y-1)+2g(x+1, y)+g(x+1, y+1)-g(x-1, y-1)-2g(x-1, y)-g(x-1, y+1)

The corresponding operator matrix:

Then the gray gradient of image I at point (x, y) is:

Define the Tenengrad value of image I as:

S3. Take the image with the largest Tenengrad value as the final image.

Description of drawings

Fig. 1 is a schematic diagram of the left side of a fully automatic intelligent microscope;

Fig. 2 is a schematic diagram of the right side of a fully automatic intelligent microscope;

Fig. 3 is a schematic diagram of a dimming module of a fully automatic intelligent microscope (the cover box is hidden);

Fig. 4 is a left view of a fully automatic intelligent microscope;

Fig. 5 is a schematic sectional view along the section line A-A in Fig. 4;

Fig. 6 is a schematic sectional view along the section line B-B in Fig. 4;

Fig. 7 is a schematic sectional view along the C-C section line in Fig. 4;

Fig. 8 is a right view of a fully automatic intelligent microscope;

FIG. 9 is a schematic cross-sectional view along line D-D in FIG. 8 .

Explanation of reference numerals,

110. Light source; 120. Phase change plate; 121. Phase difference ring; 122. Rack; 130. Aperture; 131. Gear teeth; 132. Magnetic trigger; 133. Lever; 140. Dimming driver; 141. Transmission gear; 150, phase changing drive; 151, phase changing gear; 160, light measuring sensor; 170, phase measuring sensor;

210, objective lens stage; 211, objective lens slot; 220, mirror adjustment driver; 230, support frame; 231, trigger part; 240, lifting driver; 250, height measuring sensor;

310, stage; 311, through groove; 312, groove; 321, first drive member; 322, second drive member; 323, first slide rail; 324, second slide rail; 325, slide table;

410, cover box; 411, light hole; 412, chute.

detailed description

In order to make the above objects, features and advantages of the present invention more comprehensible, specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention. In addition, it should be noted that all directional indications (such as up, down, left, right, front, back, inside, and outside) in the embodiments of the present invention are only used to explain the direction of movement in a certain posture (as shown in the figure). If the relative positional relationship, movement conditions, etc. among the components change, the directional indication will also change accordingly.

Example 1

Please refer to Fig. 1-Fig. 9, a fully automatic intelligent microscope provided by Embodiment 1 of the present invention, including a base and:

The dimming module located on the upper part of the base includes a dimming driver 140, a phase-changing driver 150, and a light source 110, a phase-changing plate 120, and an aperture 130 arranged in sequence from top to bottom. The dimming driver 140 is used to adjust the aperture 130 in size, the phase changing plate 120 is provided with several phase difference rings 121, and the phase changing driving member 150 is used to drive the phase changing plate 120 so that any phase difference ring 121 is opposite to the aperture 130;

The objective lens module located at the lower part of the base includes an objective lens stand 210 and a mirror driver 220. The objective lens stand 210 is provided with several objective lenses, and the mirror driver 220 is used to adjust the position of the objective lens stand 210 so that any objective lens faces the aperture 130 ;

The object module located in the middle of the base includes an object stage 310 and a sliding drive assembly, which is used to drive the object stage 310 to move between the aperture 130 and the objective lens.

Due to the setting of the loading module, the above solution realizes the automatic adjustment of the sample position on the stage 310 through the sliding drive assembly; due to the setting of the objective lens module, the automatic switching of the objective lens is realized through the mirror adjustment driver 220 , and then through the setting of the dimming module, the aperture 130 can be automatically adjusted to the required state under the action of the dimming driver 140, and at the same time, the driving effect of the phase changing driver 150 on the phase changing plate 120 makes the corresponding The phase difference annulus 121 can enter between the light source 110 and the aperture 130 to change the phase of the light, thereby effectively improving the observation effect on cell samples and providing a clear observation image.

In this embodiment, a cover box 410 is provided on the upper part of the base, and the light source 110 and the aperture 130 are mounted on the upper part and the lower part of the cover box 410 respectively. The lower side of the cover box 410 is provided with a light transmission hole 411 , the aperture 130 is rotatably connected in the cover box 410 , and the outer side of the aperture 130 is provided with gear teeth 131 arranged along the circumferential direction. The dimming driving part 140 is a motor, and the dimming driving part 140 is fixedly installed in the cover box 4. The output shaft of the dimming driving part 140 is provided with a transmission gear 141, and the transmission gear 141 meshes with the gear teeth 131 of the aperture 130 to drive the aperture. 130 rotates to realize the automatic adjustment of the aperture 130 size. It should be understood that the dimming driving member 140 may also drive the aperture 130 in other common forms, such as synchronous belt drive, which is not limited in this design.

Further, the side of the lower part of the cover box 410 is provided with an opening along the transverse direction, the side of the aperture 130 is connected with a lever 133, and one end of the lever 133 passes through the opening to the outside of the cover box 410, so that on the one hand, it is convenient for the user to press the lever 133 The lever 133 observes the rotation angle of the aperture 130 . On the other hand, when the dimming driver 140 is disabled, the user can directly manually move the lever 133 to adjust the size of the aperture 130 .

The side of the middle part of the cover box 410 is provided with a chute 412 arranged horizontally, and the phase changing plate 120 is slidably connected to the chute 412 along the lateral direction; a plurality of phase difference ring pieces 121 are arranged in a straight line, and the phase changing drive member 150 is used to drive the phase changing plate. The phase plate 120 slides so that any phase difference ring plate 121 can move to a position facing the aperture 130 . In this embodiment, the phase changing drive 150 includes a phase changing gear 151 and a phase changing motor for driving the phase changing gear 151 to rotate. The bar 122 and the rack 122 are meshed with the phase change gear 151, so that the precise control and adjustment of the position of the phase change plate 120 can be realized under the drive of the phase change drive 150, and the operation is stable and the structure is compact. It should be understood that the driving mode of the phase changing drive member 150 to the phase changing plate 120 can also be in other forms. Adjustment function; or the phase change driver 150 is a motor, and the phase difference ring 121 is distributed on the phase change plate 120 in a circumferential shape, and the phase change drive 150 drives the rotation of the phase change plate 120 through a synchronous belt so that any phase difference ring 121 It can be moved to a position facing the aperture 130 .

As a further optimization of the above-mentioned embodiment, the dimming module further includes a photometric sensor 160 and a phase sensor 170 both installed in the cover box 410. Both the photometric sensor 160 and the phase sensor 170 are Hall sensors. The side wall of 130 and the side wall of the phase changing plate 120 are all provided with a magnetic trigger 132, the photodetector 160 is arranged towards the side wall of the aperture 130 so as to be able to detect the rotation angle of the aperture 130, and the phase measuring sensor 170 faces the side wall of the phase changing plate 120. The side walls are arranged so as to be able to detect the position of the phase changer plate 120 , and then realize the real-time monitoring of the status of the aperture 130 and the phase changer plate 120 according to the feedback signals of the light sensor 160 and the phase sensor 170 .

In the present embodiment, the objective lens stand 210 and the mirror adjustment driver 220 are all inclinedly arranged, and the upper side of the objective lens stand 210 is provided with five objective lens slots 211 that are distributed in a circumferential shape, and the objective lens slots 211 are arranged vertically, and the mirror adjustment The driving member 220 is a motor and is used to drive the rotation of the objective lens stage 210. The obliquely arranged objective lens stage 210 can avoid the interference problem of the objective lens, thereby realizing fast switching of different objective lenses.

As an optimization to the above-mentioned embodiment, the objective lens module also includes a support frame 230 and a lift drive member 240, the mirror adjustment drive member 220 is installed on the support frame 230, the objective lens stage 210 is rotatably connected to the support frame 230, and the lift drive member 240 is preferably along the Vertically arranged electric cylinders, the cylinder body of the lifting driver 240 is fixedly installed on the lower part of the base, and the support frame 230 is connected to the end of the telescopic rod of the lifting driver 240, so that the support frame is realized under the drive of the lifting driver 240. 230 lift adjustment for easy auto focus. Further, the objective lens module also includes at least two height measuring sensors 250 distributed vertically, the height measuring sensors 250 are preferably photoelectric sensors, the side of the support frame 230 is provided with a trigger part 231, and the trigger part 231 is preferably a light-shielding sheet, light-shielding The sheet moves between the two height measuring sensors 250 driven by the supporting frame 230 . The height measuring sensor 250 is used to detect the position of the trigger part 231, so as to prevent the objective lens from being bumped and damaged due to the position of the objective lens stage 210 exceeding the stroke.

In this embodiment, the sliding drive assembly includes a first driving member 321, a second driving member 322, a first sliding rail 323 disposed in the middle of the base along the front-rear direction, and a sliding table 325 slidingly connected to the first sliding rail 323 and the second sliding rail 324 arranged on the sliding table 325 along the left and right direction, the object stage 310 is slidably connected to the second sliding rail 324, the first driving member 321 drives the sliding movement of the sliding table 325 relative to the first sliding rail 323, and the second The second driving member 322 drives the object stage 310 to slide relative to the second slide rail 324 , so as to realize stable and precise position adjustment of the object stage 310 . The specific types of the first driving member 321 and the second driving member 322 are not limited in this design, for example, they may be a lead screw motor pair, a cylinder, and the like.

In this embodiment, the middle part of the stage 310 is provided with a through groove 311 penetrating vertically, and the lower part of the groove wall on the opposite side of the through groove 311 is provided with a protrusion, so as to realize the support and fixation of the cell culture dish to be observed. The upper part of the groove wall on the opposite side of the through groove 311 is provided with a groove 312 that penetrates to the upper side of the stage 310, and the groove 312 can facilitate the operator to access the cell culture dish in the through groove 311.

Example 2

Embodiment 2 of the present invention provides an image processing method of a fully automatic intelligent microscope, which uses the above-mentioned fully automatic intelligent microscope, and also includes a camera (not shown in the figure) set towards the stage, specifically including the following steps:

S1. Place the target object on the stage, and the sliding drive component drives the stage to translate for a certain distance. During the movement of the stage, the camera continuously shoots at a preset frequency to obtain multiple images;

S2. The camera transmits the multiple images obtained to the host computer, and the host computer analyzes each image. The specific analysis process for each image is as follows:

Let the Sobel convolution kernel be G _x , G _y , based on the sobel operator:

Gx=g(x-1, y+1)+2g(x, y+1)+g(x+1, y+1)-g(x-1, y-1)-2g(x, y- 1)-g(x+1, y-1)

Gy=g(x+1, y-1)+2g(x+1, y)+g(x+1, y+1)-g(x-1, y-1)-2g(x-1, y)-g(x-1, y+1)

The corresponding operator matrix:

Then the gray gradient of image I at point (x, y) is:

Define the Tenengrad value of image I as:

S3. Take the image with the largest Tenengrad value as the final image.

Although the present disclosure is disclosed as above, the protection scope of the present disclosure is not limited thereto. For those skilled in the art, various changes and modifications can be made without departing from the spirit and scope of the present disclosure, and these changes and modifications will all fall within the protection scope of the invention.

Claims (10)

1. The utility model provides a full-automatic intelligent microscope which characterized in that, includes the base and:

the dimming module is positioned on the upper portion of the base and comprises a dimming driving piece (140), a phase change driving piece (150), a light source (110), a phase change plate (120) and an aperture (130), wherein the light source (110), the phase change plate (120) and the aperture (130) are sequentially arranged from top to bottom, the dimming driving piece (140) is used for adjusting the size of the aperture (130), the phase change plate (120) is provided with a plurality of phase difference ring pieces (121), and the phase change driving piece (150) is used for driving the phase change plate (120) to enable any phase difference ring piece (121) to be opposite to the aperture (130);

the objective lens module is positioned at the lower part of the base and comprises an objective lens table (210) and a lens adjusting driving part (220), wherein a plurality of objective lenses are arranged on the objective lens table (210), and the lens adjusting driving part (220) is used for adjusting the position of the objective lens table (210) so that any objective lens is over against the aperture (130);

the object carrying module positioned in the middle of the base comprises an object carrying platform (310) and a sliding driving assembly, wherein the sliding driving assembly is used for driving the object carrying platform (310) to move between the aperture (130) and the objective lens.

2. The full-automatic intelligent microscope of claim 1, wherein a cover box (410) is disposed on an upper portion of the base, the light source (110) and the aperture (130) are respectively mounted on an upper portion and a lower portion of the cover box (410), the phase-changing plate (120) is slidably connected to a middle portion of the cover box (410) in a transverse direction, and the phase-changing driving member (150) is configured to drive the phase-changing plate (120) to slide.

3. The full-automatic intelligent microscope of claim 2, wherein the phase-changing driving member (150) comprises a phase-changing gear (151) and a phase-changing motor for driving the phase-changing gear (151) to rotate, a rack (122) is arranged on a side surface of the phase-changing plate (120), and the rack (122) is meshed with the phase-changing gear (151).

4. A fully automatic intelligent microscope according to claim 2, wherein the lower side of the housing (410) is provided with a light-transmitting hole (411), the aperture (130) is rotatably connected in the housing (410), and the dimming driving member (140) is a motor and is used for driving the aperture (130) to rotate.

5. A fully automated intelligent microscope according to claim 4, wherein the dimming module further comprises an optical sensor (160) and a phase measurement sensor (170) both mounted to the housing (410), the optical sensor (160) being configured to detect the rotation angle of the aperture (130), and the phase measurement sensor (170) being configured to detect the position of the phase change plate (120).

6. The full-automatic intelligent microscope according to claim 1, wherein the objective table (210) and the lens adjusting driving member (220) are both disposed obliquely, a plurality of objective slots (211) distributed circumferentially are disposed on an upper side of the objective table (210), and the lens adjusting driving member (220) is a motor and is configured to drive the objective table (210) to rotate.

7. The full-automatic intelligent microscope according to claim 1 or 6, wherein the objective module further comprises a supporting frame (230) and a lifting driving member (240), the lens adjusting driving member (220) is mounted on the supporting frame (230), the objective table (210) is rotatably connected to the supporting frame (230), and the lifting driving member (240) is vertically mounted on the lower portion of the base and used for driving the supporting frame (230) to lift.

8. The full-automatic intelligent microscope according to claim 7, wherein the objective lens module further comprises at least two height measuring sensors (250) vertically distributed, a trigger part (231) is disposed on a side surface of the supporting frame (230), and the height measuring sensors (250) are used for detecting positions of the trigger part (231).

9. The full-automatic intelligent microscope of claim 1, wherein the sliding driving assembly comprises a first driving member (321), a second driving member (322), a first sliding rail (323) arranged at the middle part of the base along the front-back direction, a sliding table (325) connected to the first sliding rail (323) in a sliding manner, and a second sliding rail (324) arranged on the sliding table (325) along the left-right direction, the object stage (310) is connected to the second sliding rail (324) in a sliding manner, the first driving member (321) drives the sliding table (325) to slide relative to the first sliding rail (323), and the second driving member (322) drives the sliding table (310) to slide relative to the second sliding rail (324).

10. An image processing method of a fully automatic intelligent microscope, characterized in that the fully automatic intelligent microscope as claimed in any one of claims 1-9 is applied, and the upper part of the base is provided with a camera arranged towards the stage (310), comprising the following steps:

s1, placing a target object on an object stage (310), driving the object stage (310) to translate for a plurality of distances by a sliding driving assembly, and continuously shooting by a camera according to preset frequency in the moving process of the object stage (310) to obtain a plurality of images;

s2, the camera transmits the obtained multiple images to an upper computer, the upper computer analyzes each image, and the specific analysis process of each image is as follows:

let Sobel convolution kernel be G _x ，G _y And obtaining the following parameters based on the sobel operator:

Gx＝g(x-1，y+1)+2g(x，y+1)+g(x+1，y+1)-g(x-1，y-1)-2g(x，y-1)-g(x+1，γ-1)

Gy＝g(x+1，y-1)+2g(x+1，y)+g(x+1，y+1)-g(x-1，y-1)-2g(x-1，y)-g(x-1，y+1)

the corresponding operator matrix:

the gray scale gradient of image I at point (x, y) is then:

tenengrad values for image I are defined as:

and S3, taking the image with the maximum Tenengrad value as a final image.

Images