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AutoFocusTool


			
				
					
						
						
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<h1>自动对焦标定流程图</h1>
<div class="sub">AutoFoczool · CalibrationEngine.CalibrateWell · 生成于 2026-06-16 · 所有参数取自当前代码真实默认值</div>

<h2>一、整体流程（一键全自动初始化）</h2>
<div class="flow">

  <div class="step start"><div class="t">开始：一键全自动初始化</div><div class="d">扫描设备 → 连接舱室(相机+串口) → 勾选 well → 点击启动</div>
    <div class="p">相机分辨率 2592×1944 · 串口 9600 8N1 · 移动读超时 12000ms / 查询读超时 3000ms</div></div>
  <div class="arrow"></div>

  <div class="step phase"><div class="t">开灯 + 准备</div><div class="d">OpenLED() → 等待 200ms → 创建 CalibrationEngine</div></div>
  <div class="arrow"></div>

  <div class="loop">
    <div class="loop-title">↓↓↓ 对每个勾选的 well 循环执行 ↓↓↓</div>

    <div class="flow">
      <div class="step"><div class="t">读取该 well 的 EEPROM 参数</div>
        <div class="d">ReadWellHorizontalPos(well) → 水平位置；ReadWellFocusZero(well) → Z零点(仅记录,粗对焦不依赖它)</div></div>
      <div class="arrow"></div>

      <div class="step"><div class="t">移到 EEPROM 水平位置 + 设中低曝光</div>
        <div class="d">HorizontalMoveTo(钳位后位置)，失败重试最多 3 次；SetExposure(60)</div>
        <div class="p">水平钳位范围 [0, 220000] · 中低曝光 CenterScanExposure=60 (×100µs)</div></div>
      <div class="arrow"></div>
      <div class="arrow-label">① 粗对焦</div>

      <div class="step phase"><div class="t">① 粗对焦（找大致焦面）</div>
        <div class="d">先移到扫描起点并额外停稳，再固定中心大窗口逐层扫描，中央40%ROI算清晰度(Tenengrad÷mean)，取最高分层；每层分数落盘便于排查伪峰</div>
        <div class="p">中心 90000 · 半幅 ±30000 → 区间 [60000,120000] · 步距 2000 → 31层 · 每层等 350ms + 丢1帧 · 开扫前额外停稳 CoarseSettleMs=2000ms</div></div>
      <div class="arrow"></div>
      <div class="arrow-label">② 水平居中</div>

      <div class="step phase"><div class="t">② 水平微调居中（优化Y偏移）</div>
        <div class="d">以EEPROM水平位为中心小范围扫描，检测well圆，选|Y偏移|最小且完整的位置</div>
        <div class="p">半幅 ±2000 (远小于well间距9000的一半) · 9步 → 步距≈500 · 每步等800ms · 居中容差 |Y|<12%</div></div>
      <div class="arrow"></div>
      <div class="arrow-label">③ 曝光</div>

      <div class="step phase"><div class="t">③ 曝光二分（well内ROI测光）</div>
        <div class="d">二分搜索曝光值，使well盘面亮度适中(不过曝/不死黑)，按 Over/Good/Under 判定</div>
        <div class="p">曝光范围 [10, 800] (×100µs) · 每次设曝光后等 max(200, e/5)ms + 丢1帧</div></div>
      <div class="arrow"></div>
      <div class="arrow-label">④ 精对焦</div>

      <div class="step phase"><div class="t">④ 精对焦（围绕粗焦点细扫 + 平滑插值）</div>
        <div class="d">围绕粗对焦Z小范围密扫，well圆内0.95r ROI(未检出降级中央40%)，3点平滑+抛物线插值求峰顶</div>
        <div class="p">半幅 ±6000 · 步距 500 → 25层 · 中心=粗对焦Z · 每层等350ms+丢1帧 · Z钳位[0,125000]</div></div>
      <div class="arrow"></div>

      <div class="step"><div class="t">移到最清晰Z + 存图 + 记录结果</div>
        <div class="d">VerticalMoveTo(focusZ)；存标定后BMP；记录 水平/Y偏/曝光/focusZ/峰比</div>
        <div class="p">合格判定：|Y偏|<12% 且 检出圆 且 峰比(max/mean)>1.2</div></div>
    </div>
  </div>
  <div class="arrow"></div>
  <div class="arrow-label">所有 well 完成</div>

  <div class="step done"><div class="t">关灯 + 存档</div><div class="d">CloseLED()；写 calibration.json；刷新缓存(转well立即用新结果)</div></div>

</div>

<h2>二、四个对焦阶段参数详表</h2>
<table>
  <tr><th>阶段</th><th>电机轴</th><th>中心</th><th>范围/半幅</th><th>步距(脉冲)</th><th>层数/步数</th><th>每步延时</th><th>ROI</th></tr>
  <tr><td>①粗对焦</td><td>垂直Z</td><td class="val">90000(固定)</td><td class="val">±30000</td><td class="val">2000</td><td class="val">31</td><td class="val">350ms<br>(开扫前额外停稳2000ms)</td><td>中央40%</td></tr>
  <tr><td>②水平居中</td><td>水平</td><td class="val">EEPROM水平位</td><td class="val">±2000</td><td class="val">≈500</td><td class="val">9</td><td class="val">800ms</td><td>well圆检测</td></tr>
  <tr><td>③曝光二分</td><td>—</td><td>—</td><td class="val">[10,800]</td><td>二分</td><td class="val">~log₂</td><td class="val">max(200,e/5)ms</td><td>well内</td></tr>
  <tr><td>④精对焦</td><td>垂直Z</td><td class="val">粗对焦Z</td><td class="val">±6000</td><td class="val">500</td><td class="val">25</td><td class="val">350ms</td><td>well圆0.95r</td></tr>
</table>

<h2>三、电机行程限位（安全钳位）</h2>
<table>
  <tr><th>轴</th><th>下限</th><th>上限</th><th>说明</th></tr>
  <tr><td>水平(皿孔旋转)</td><td class="val">0</td><td class="val">220000</td><td>实测16个well EEPROM位置 70800~205800，间距约9000</td></tr>
  <tr><td>垂直Z(对焦)</td><td class="val">0</td><td class="val">125000</td><td>旧工程软上限；实测焦面集中在 86000~92000</td></tr>
</table>
<div class="note">所有 HorizontalMoveTo / VerticalMoveTo 调用前都经 ClampH / ClampZ 钳位，越界写日志并截断到边界，防止撞机械限位。</div>

<h2>四、清晰度算法（Sharpness.Compute）</h2>
<table>
  <tr><th>项</th><th>值/说明</th></tr>
  <tr><td>主指标</td><td class="val">Tenengrad（Sobel梯度幅值平方和）</td></tr>
  <tr><td>归一化</td><td class="val">sumSq / 像素数 / mean（除以亮度均值一次方）</td></tr>
  <tr><td>峰值精修</td><td>3点滑动平均平滑 + 抛物线插值峰顶</td></tr>
  <tr><td>对焦质量</td><td>峰比 max/mean，&lt;1.2 判定弱峰(可能空well/对焦失败)并告警</td></tr>
</table>
<div class="note">注：归一化用 ÷mean 而非 ÷mean²。早期用 ÷mean² 会因 Z 增大时画面变亮而把清晰帧压垮，导致选错最暗最糊层。改 ÷mean 后峰值正确落在真实焦面。</div>

<h2>五、串口协议关键参数</h2>
<table>
  <tr><th>项</th><th>值</th></tr>
  <tr><td>波特率</td><td class="val">9600 8N1</td></tr>
  <tr><td>移动类命令读超时(CMD_MOTOR=0x05)</td><td class="val">12000ms（覆盖大行程移动到位耗时）</td></tr>
  <tr><td>查询类命令读超时(握手/读EEPROM/读位置)</td><td class="val">3000ms</td></tr>
  <tr><td>电机到位延时 MotorDelayMs</td><td class="val">默认1500ms（扫描时用更短的350/800ms提速）</td></tr>
</table>
<div class="note">移动命令是开环+固定延时：下位机回复只代表"收到指令"，机械到位靠延时保证。大行程移动耗时随距离增长，故移动类读超时给到12秒。</div>

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