CN103170823A - Control device and method of inserting micro-pipe into micro-hole through monocular microscopy visual guidance - Google Patents
Control device and method of inserting micro-pipe into micro-hole through monocular microscopy visual guidance Download PDFInfo
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Abstract
The invention discloses a control device and a method of inserting a micro-pipe into a micro-hole through monocular microscopy visual guidance. The control device of inserting the micro-pipe into the micro-hole through the monocular microscopy visual guidance comprises a vibration isolation platform, a microscopy visual system, a translation platform, the micro-pipe, a manipulator, a clamp holder, a gesture adjusting platform, a position adjusting platform and a part with the micro-hole. The method of inserting the micro-pipe into the micro-hole through the monocular microscopy visual guidance comprises adjusting the position of the microscopy visual system, the gesture adjusting platform and the manipulator, and enabling the micro-hole and the tail end of the micro-pipe to image on the microscopy visual system; carrying out focusing on the micro-hole and the micro-pipe, and enabling the micro-hole and the micro-pipe to be on a focusing plane of the microscopy visual system at the same time; carrying out ellipse fitting on the micro-hole to get the central point of the micro-hole, and carrying out edge straight line fitting on the micro-pipe to get the central point of the tail end of the micro-pipe; combining calibration information of the microscopy visual system, and controlling the tail end of the micro-pipe to aim at above the micro-hole; carrying out focusing and locating on the tail end of the micro-pipe, and controlling the micro-pipe to insert into the micro-hole. The control device and the method of inserting the micro-pipe into the micro-hole through the monocular microscopy visual guidance are simple in implementation, can achieve inserting assembly of the micro-pipe and the micro-hole in three-dimensional space under the monocular microscopy visual guidance, and can greatly improve the degree of automation of micro-assembly.
Description
Technical field
The invention belongs to measurement and control based on micro-vision in little assembling field, the lower microtubule of especially a kind of monocular vision guiding inserts control device and the method for micropore.
Background technology
At present, usually utilize the micro-vision measurement target in three-dimensional position and attitude in the little assembly manipulation of 3D.Little due to the micro-vision depth of field, the visual field is little; the monocular micro-vision generally can only provide the positional information of two dimension; obtain the three dimensional local information of little Assembly part; usually can adopt the orthogonal micro-vision of two-way (can be referring to document: X.Zeng; X.Huang; M.Wang; Micro-assembly of micro parts using uncalibrated microscopes visual servoing method; Information Technology Journal; 7 (3): 497-503,2008.).Two-way or the micro-vision of the multichannel operating space that can greatly limit little assembling more even can't be used in some assembling.If use the monocular micro-vision, three-dimensional little assembling of its guiding at first can be in the x-y planar alignment, and then carry out in conjunction with the characteristics of concrete little assembling that the z axle aims at (can be referring to document: Lidai Wang, James K.Mills, William L.Cleghorn.Automatic Microassembly Using Visual Servo Control.IEEE Transactions on Electronics Packaging Manufacturing, 2008,31 (4): 316-325).It is more consuming time that this substep carries out the method for three-dimensional manipulating, and z shaft alignement restriction is more, and precision is not easy to guarantee.
Summary of the invention
Multichannel micro-vision system operating space is little can only measure the shortcoming of two-dimensional position coordinate usually with monocular vision in order to solve, and the object of the present invention is to provide the lower microtubule of a kind of monocular micro-vision guiding to insert control device and the method for micropore.
For achieving the above object, according to an aspect of the present invention, the control device that the lower microtubule of a kind of monocular micro-vision guiding inserts micropore is proposed, this device comprises: vibration-isolating platform 1, micro-vision system 7, translate stage 8, microtubule 6, operator 2, clamper 5, attitude adjustment platform 3, position adjust platform 9, with the part of micropore 4, wherein:
Described micro-vision system 7 is installed on described translate stage 8, and described micro-vision system 7 points to described microtubule 6 and micropores 4;
Described translate stage 8 is arranged on described position and adjusts on platform 9;
Described clamper 5 is arranged on the end of described operator 2;
Described microtubule 6 is installed on the end of described clamper 5, along with operator 2 moves together;
Platform 9 is adjusted in described position, operator 2 is arranged on described vibration-isolating platform 1;
Described attitude adjustment platform 3 is used for placing the part with micropore 4, and described operator 2 and described micro-vision system 7 are positioned at the both sides of described attitude adjustment platform 3.
According to a further aspect in the invention, propose the control method that the lower microtubule of a kind of monocular micro-vision guiding inserts micropore, the method comprises the following steps:
Step S1: adjust platform 9 and drive 7 motions of micro-vision system by adjusting the position, change the position of micro-vision system 7, make the micropore 4 can be in the visual field of micro-vision system 7;
Step S2: adjustment operation device 2 drives the visual field that microtubules 6 enter micro-vision system 7, and the coordinate of adjusting operation device 2 makes micro-vision system 7 can collect the image of microtubule 6 ends;
Step S3: determine the image-region of micropore 4 and the image-region of microtubule 6 by image segmentation, then according to autofocus evaluation function, drive micro-vision system 7 and seesaw to realize focusing to micropore 4 along its optical axis by controlling translate stage 8, afterwards, fixedly the position of micro-vision system 7 is no longer adjusted, and adjustment operation device 2 drives microtubules 6 and seesaws along the micro-vision systematic optical axis and realize the focusing of microtubule 6 ends;
Step S4: micropore 4 is carried out the extraction of image characteristic point;
Step S5: microtubule 6 is carried out the extraction of image characteristic point;
Step S6: calculate the image characteristic point of microtubule 6 to the image distance of the image characteristic point of micropore 4, according to the demarcation information calculating three dimensions relative position both of micro-vision system 7, and the end of microtubule 6 is registered to the top of micropore 4;
Step S7: again the end of microtubule 6 carried out automatic focus and reorientate, equally according to the demarcation information of micro-vision system 7, determining three dimensions relative position both, control operation device 2 inserts micropores 4 with microtubule 6.
Characteristics of the present invention are to control microtubule at x under the guiding of monocular micro-vision, y, and the z axle is aimed at micropore simultaneously, thereby has greatly simplified assembling process.
Description of drawings
Fig. 1 is the control device structural representation that the lower microtubule of monocular micro-vision guiding of the present invention inserts micropore.
Fig. 2 is the control method flow chart that the lower microtubule of monocular micro-vision guiding of the present invention inserts micropore.
Fig. 3 is the trajectory diagram of microtubule and micropore aligning and insertion process.
Fig. 4 is the procedural image that microtubule and micropore are aimed at and inserted.
The specific embodiment
For making the purpose, technical solutions and advantages of the present invention clearer, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in more detail.
Fig. 1 is the control device structural representation that the lower microtubule of monocular micro-vision guiding of the present invention inserts micropore, as shown in Figure 1, the control device that the lower microtubule of described monocular micro-vision guiding inserts micropore comprises: vibration-isolating platform 1, micro-vision system 7, translate stage 8, microtubule 6, operator 2, clamper 5, attitude adjustment platform 3, position adjust platform 9, with the part of micropore 4, wherein:
Described micro-vision system 7 is installed on described translate stage 8, and described micro-vision system 7 points to described microtubule 6 and micropores 4;
Described translate stage 8 is arranged on described position and adjusts on platform 9, and in an embodiment of the present invention, the upper surface that platform 9 is adjusted in described position tilts, so that have the inclination angle between the plane of described micro-vision system 7 and described vibration-isolating platform 1;
Described clamper 5 is arranged on the end of described operator 2;
Described microtubule 6 is installed on the end of described clamper 5, along with operator 2 moves together;
Platform 9 is adjusted in described position, operator 2 is arranged on described vibration-isolating platform 1;
Described attitude adjustment platform 3 is used for placing the part with micropore 4, and described operator 2 and described micro-vision system 7 are positioned at the both sides of described attitude adjustment platform 3;
Described device also comprises computer 10, is used for controlling the motion of described translate stage 8 and described operator 2, and described micro-vision system 7 is connected to computer 10 by vision connecting line 11; Described translate stage 8 is connected to computer 10 by control connection line 12; Described operator 2 is connected to computer 10 by control line 13.
During described device work, adjust platform 9 by the position and drive 7 motions of micro-vision system, change the position of micro-vision system 7, make the image of micropore 4 appear in the visual field of micro-vision system 7.Along with the motion of operator 2, operator 2 drives the visual field that microtubules 6 enter micro-vision system 7.The image that contains simultaneously micropore 4 and microtubule 6 is carried out image segmentation determine both zone, and it is carried out automatic focus and accurate location separately.According to the feature extraction of microtubule 6 and micropore 4 (in an embodiment of the present invention, described feature refers to the central point of microtubule 6 ends and the central point of micropore 4) and the demarcation information of micro-vision system, according to PI (PI, proportional-integral, ratio-integration) control strategy control operation device 2 drives microtubules 6 and moves on the blur-free imaging plane, is registered to the top of micropore 4.Again the end of microtubule 6 focused on and locate, calculate the three-dimensional relative distance of itself and micropore 4, the control operation device 2 drives microtubules 6 and inserts micropores 4.
In an embodiment of the present invention, described operator 2 adopts motion platform, has three translation freedoms, can vertically laterally, vertically carry out translational motion with horizontal plane respectively; Described translate stage 8 adopts the single shaft motion platform, can move along the axis direction of described translate stage 8; Micro-vision system 7 is made of PointGrey video camera and Navitar camera lens; Computer 10 adopts Dell Inspiron545S; Microtubule 6 forms for the hollow glass cylinder stretches, and the end outside diameter is 10 μ m.
Fig. 2 is the control method flow chart that the lower microtubule of monocular micro-vision guiding of the present invention inserts micropore, and as shown in Figure 2, the method comprises the following steps:
Step S1: adjust platform 9 and drive 7 motions of micro-vision system by adjusting the position, change the position of micro-vision system 7, make the micropore 4 can be in the visual field of micro-vision system 7;
Step S2: adjustment operation device 2 drives the visual field that microtubules 6 enter micro-vision system 7, and the coordinate of adjusting operation device 2 makes micro-vision system 7 can collect the image of microtubule 6 ends;
Step S3: determine the image-region of micropore 4 and the image-region of microtubule 6 by image segmentation, then according to certain autofocus evaluation function (in an embodiment of the present invention, described autofocus evaluation function is the quadratic sum accumulated value of pixel sobel value), drive micro-vision system 7 and seesaw to realize focusing to micropore 4 along its optical axis by controlling translate stage 8, afterwards, fixedly the position of micro-vision system 7 is no longer adjusted, and adjustment operation device 2 drives microtubules 6 and seesaws along the micro-vision systematic optical axis and realize the focusing of microtubule 6 ends;
Step S4: micropore 4 is carried out the extraction of image characteristic point;
The extraction of in this step, micropore 4 being carried out image characteristic point comprises the following steps:
Step S41: to ROI (the region of interest of micropore 4, area-of-interest) carry out binary conversion treatment, in an embodiment of the present invention, adopt OTSU (large Tianjin method, a kind of automatic threshold binarization method of Japanese's name) to carry out described binary conversion treatment;
Step S42: scanning obtains marginal point;
Step S43: described marginal point is carried out ellipse fitting ask its center as the image characteristic point of micropore 4;
Step S5: microtubule 6 is carried out the extraction of image characteristic point;
The extraction of in this step, microtubule 6 being carried out image characteristic point comprises the following steps:
Step S51: the ROI to microtubule 6 carries out binary conversion treatment;
Described binary conversion treatment can be expressed as:
Wherein, g (i, j) is the image pixel gray value, g
hBe background gray levels, be the corresponding gray scale of grey level histogram maximum of the ROI of microtubule 6, g
tBe selected threshold value, be used for distinguishing image and the background image of microtubule 6;
Step S52: scanning obtains the left and right edges point;
Step S53: described left and right edges point is carried out respectively fitting a straight line (in an embodiment of the present invention, utilize RANSAC (Random Sample Concensus, the random sampling consistency algorithm) carry out fitting a straight line), the lower limb intersection point of the angular bisector of the both sides straight line that obtains and the ROI of microtubule 6 is taken as the end central point of microtubule 6 as the image characteristic point of microtubule 6;
Step S6: the image characteristic point that calculates microtubule 6, be that microtubule 6 end central points are to the image characteristic point of micropore 4, be that (described image distance refers to pixel increment for the image distance at micropore 4 centers, namely, the number of pixels at interval), calculate both three dimensions relative shift according to the demarcation information of micro-vision system 7, and the end that uses the PI control strategy to move microtubule 6 based on described relative shift makes it be registered to the top of micropore 4;
The end that described use PI control strategy moves microtubule 6 makes the step of its top that is registered to micropore 4 further comprising the steps:
Step S61: utilize following formula to calculate the image characteristic point (being microtubule 6 end central points) of microtubule 6 and the initial relative shift of image characteristic point (being micropore 4 central points) on three dimensions of micropore 4:
Wherein, (Δ x
m, Δ y
m, Δ z
m) be microtubule 6 end central points and the relative shift of micropore 4 central points on three dimensions, (Δ u, Δ v) is the increment of coordinate (being image distance) of the picture rich in detail of microtubule 6 end central points and micropore 4 central points, n
x, n
y, n
zAnd o
x, o
y, o
zIt is the spin matrix of the micro-vision system of demarcating
Element, be given value, k
x, k
yBeing the image coordinate of demarcation and the proportionality coefficient of micro-vision system coordinates, is also given value.
Step S62: mobile microtubule 6 one initial step lengths, and then utilize following formula to calculate microtubule 6 end central points and the current relative shift of micropore 4 central points on three dimensions;
Described initial step length can rule of thumb come to determine.
Step S63: calculate the step-length that next step moves according to the first two steps relative shift that obtains;
In this step, utilize following formula to calculate the step-length that next step moves:
Wherein, K
p, K
iProportionality coefficient and integral coefficient for the PI control strategy are given value, Δ x
t(n), Δ y
t(n), Δ z
t(n) be respectively microtubule 6 n and go on foot step-length mobile on x, y, z axle, Δ x
m(n), Δ y
m(n), Δ z
m(n) be respectively microtubule 6 end central points and the micropore 4 central point n relative shifts of step on x, y, z axle, Δ x
m(n-1), Δ y
m(n-1), Δ z
m(n-1) be respectively microtubule 6 end central points and the micropore 4 central point n-1 relative shifts of step on x, y, z axle.
Step S64: move microtubule 6 according to the step-length that calculates;
Step S65: repeating said steps S63 and step S64 are until the end of microtubule 6 is registered to the top of micropore 4.
Step S7: again the end of microtubule 6 carried out automatic focus and reorientated, similar to described step 6, according to the demarcation information of micro-vision system 7, determine three dimensions relative shift both, based on described relative shift control operation device 2, microtubule 6 is inserted in micropores 4.
In practical operation, at first, adjust the visual field and the microtubule position of micro-vision system 1 according to step S1 and S2; Then, according to step S3, microtubule and micropore are carried out automatic focus, make the blur-free imaging plane that both is in simultaneously the micro-vision system; Then step S4 and S5 have realized the extraction to both image characteristic point; Control microtubule by visual servo in step S6 and be registered to micropore top; Step S7 focuses on and the location microtubule again, eliminates error, and then open loop is controlled it and inserted micropore.In an embodiment of the present invention, step S6 has carried out 7 step servo motions, and the microtubule image coordinate in the visual servo motion of acquisition and the operator coordinate of whole insertion process are as follows:
Wherein, microtubule and micropore aim at and the track of insertion process as shown in Figure 2, the image of whole process is as shown in Figure 3.
Control device and method that microtubule under a kind of monocular vision guiding that the present invention proposes inserts micropore have realized the three-dimensional little assembling process under the guiding of monocular micro-vision.Microtubule under a kind of monocular vision guiding of the present invention inserts control device and the method for micropore, and movement locus is simple, and it is convenient to use, and can realize adaptability and the availability of the lower three-dimensional microoperation of monocular micro-vision guiding.
Above-described specific embodiment; purpose of the present invention, technical scheme and beneficial effect are further described; institute is understood that; the above is only specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any modification of making, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (10)
1. a monocular micro-vision guides lower microtubule to insert the control device of micropore, it is characterized in that, this device comprises: vibration-isolating platform (1), micro-vision system (7), translate stage (8), microtubule (6), operator (2), clamper (5), attitude adjustment platform (3), position adjust platform (9), with the part of micropore (4), wherein:
Described micro-vision system (7) is installed on described translate stage (8), and described micro-vision system (7) points to described microtubule (6) and micropore (4);
Described translate stage (8) is arranged on described position and adjusts on platform (9);
Described clamper (5) is arranged on the end of described operator (2);
Described microtubule (6) is installed on the end of described clamper (5), along with operator (2) moves together;
Platform (9) is adjusted in described position, operator (2) is arranged on described vibration-isolating platform (1);
Described attitude adjustment platform (3) is used for placing the part with micropore (4), and described operator (2) and described micro-vision system (7) are positioned at the both sides of described attitude adjustment platform (3).
2. device according to claim 1, is characterized in that, the upper surface that platform (9) is adjusted in described position tilts, so that have the inclination angle between the plane of described micro-vision system (7) and described vibration-isolating platform (1).
3. device according to claim 1, it is characterized in that, described device also comprises computer (10), be used for controlling the motion of described translate stage (8) and described operator (2), described micro-vision system (7) is connected to computer (10) by vision connecting line (11); Described translate stage (8) is connected to computer (10) by control connection line (12); Described operator (2) is connected to computer (10) by control line (13).
4. device according to claim 1, is characterized in that, described operator (2) adopts motion platform, has three translation freedoms, can vertically laterally, vertically carry out translational motion with horizontal plane respectively; Described translate stage (8) adopts the single shaft motion platform, can be along the axis direction motion of described translate stage (8).
5. device according to claim 1, is characterized in that, described microtubule (6) forms for the hollow glass cylinder stretches, and the end outside diameter is 10 μ m.
6. the control method of the lower microtubule insertion of a monocular micro-vision guiding micropore, is characterized in that, the method comprises the following steps:
Step S1: adjust platform (9) and drive micro-vision system (7) motion by adjusting the position, change the position of micro-vision system (7), make the micropore (4) can be in the visual field of micro-vision system (7);
Step S2: adjustment operation device (2) drives the visual field that microtubule (6) enters micro-vision system (7), and the coordinate of adjusting operation device (2) makes micro-vision system (7) can collect the image of microtubule (6) end;
Step S3: determine the image-region of micropore (4) and the image-region of microtubule (6) by image segmentation, then according to autofocus evaluation function, drive micro-vision system (7) and seesaw to realize focusing to micropore (4) along its optical axis by controlling translate stage (8), afterwards, fixedly the position of micro-vision system (7) is no longer adjusted, and adjustment operation device (2) drive microtubule (6) seesaws along the micro-vision systematic optical axis and realizes the focusing of microtubule (6) end;
Step S4: micropore (4) is carried out the extraction of image characteristic point;
Step S5: microtubule (6) is carried out the extraction of image characteristic point;
Step S6: calculate the image characteristic point of microtubule (6) to the image distance of the image characteristic point of micropore (4), according to the demarcation information calculating three dimensions relative shift both of micro-vision system (7), and the end that uses the PI control strategy to move microtubule (6) based on described relative shift makes it be registered to the top of micropore (4);
Step S7: again the end of microtubule (6) carried out automatic focus and reorientated, similar to described step 6, demarcation information according to micro-vision system (7), determine three dimensions displacement both, based on described relative shift control operation device (2), microtubule (6) is inserted in micropore (4).
7. method according to claim 6, is characterized in that, described autofocus evaluation function is the quadratic sum accumulated value of pixel sobel value.
8. method according to claim 6, is characterized in that, described step 4 is further comprising the steps:
Step S41: the region of interest ROI to micropore (4) is carried out binary conversion treatment;
Step S42: scanning obtains marginal point;
Step S43: described marginal point is carried out ellipse fitting ask its center as the image characteristic point of micropore (4).
9. method according to claim 6, is characterized in that, described step 5 is further comprising the steps:
Step S51: the region of interest ROI to microtubule (6) is carried out binary conversion treatment;
Step S52: scanning obtains the left and right edges point;
Step S53: described left and right edges point is carried out respectively fitting a straight line, and the lower limb intersection point of the ROI of the angular bisector of the both sides straight line that obtains and microtubule (6) is taken as the end central point of microtubule (6) as the image characteristic point of microtubule (6).
10. method according to claim 6, is characterized in that, the end that described use PI control strategy moves microtubule (6) makes the step of its top that is registered to micropore (4) further comprising the steps:
Step S61: utilize following formula to calculate the image characteristic point of microtubule (6) and the initial relative shift of image characteristic point on three dimensions of micropore (4):
Wherein, (Δ x
m, Δ y
m, Δ z
m) be the image characteristic point of microtubule (6) and the relative shift of image characteristic point on three dimensions of micropore (4), (Δ u, Δ v) be the increment of coordinate of picture rich in detail of the image characteristic point of the image characteristic point of microtubule (6) and micropore (4), n
x, n
y, n
zAnd o
x, o
y, o
zIt is the spin matrix of the micro-vision system of demarcating
Element, k
x, k
yThe image coordinate of demarcation and the proportionality coefficient of micro-vision system coordinates;
Step S62: mobile microtubule (6) one initial step lengths, and then utilize following formula to calculate the image characteristic point of microtubule (6) and the current relative shift of image characteristic point on three dimensions of micropore (4);
Step S63: calculate the step-length that next step moves according to the first two steps relative shift that obtains;
In this step, utilize following formula to calculate the step-length that next step moves:
Wherein, K
p, K
iBe proportionality coefficient and the integral coefficient of PI control strategy, Δ x
t(n), Δ y
t(n), Δ z
t(n) be respectively microtubule (6) n and go on foot step-length mobile on x, y, z axle, Δ x
m(n), Δ y
m(n), Δ z
m(n) be respectively the image characteristic point of microtubule (6) and the image characteristic point n relative shift of step on x, y, z axle of micropore (4), Δ x
m(n-1), Δ y
m(n-1), Δ z
m(n-1) be respectively the image characteristic point of microtubule (6) and the image characteristic point n-1 relative shift of step on x, y, z axle of micropore (4);
Step S64: move microtubule (6) according to the step-length that calculates;
Step S65: repeating said steps S63 and step S64 are until the end of microtubule (6) is registered to the top of micropore (4).
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| CN102873523A (en) * | 2012-09-13 | 2013-01-16 | 中国科学院自动化研究所 | Device for detecting micro-devices on line during assembly based on micro-vision |
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| US20030226251A1 (en) * | 2002-06-07 | 2003-12-11 | Mohammad Mehdianpour | Fitting system and method of fitting substrates with components |
| CN102744590A (en) * | 2012-07-25 | 2012-10-24 | 中国科学院自动化研究所 | Assembling adhesive-dispensing device applied to micron order microtube and micropore |
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