CN103170823B - 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
- Publication number
- CN103170823B CN103170823B CN201310108798.7A CN201310108798A CN103170823B CN 103170823 B CN103170823 B CN 103170823B CN 201310108798 A CN201310108798 A CN 201310108798A CN 103170823 B CN103170823 B CN 103170823B
- Authority
- CN
- China
- Prior art keywords
- micro
- microtubule
- micropore
- delta
- vision system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000000007 visual effect Effects 0.000 title claims abstract description 25
- 238000000386 microscopy Methods 0.000 title abstract 11
- 238000013519 translation Methods 0.000 claims abstract description 3
- 102000029749 Microtubule Human genes 0.000 claims description 106
- 108091022875 Microtubule Proteins 0.000 claims description 106
- 210000004688 microtubule Anatomy 0.000 claims description 106
- 230000033001 locomotion Effects 0.000 claims description 19
- 238000000605 extraction Methods 0.000 claims description 10
- 238000011217 control strategy Methods 0.000 claims description 7
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 230000003287 optical effect Effects 0.000 claims description 6
- 238000011156 evaluation Methods 0.000 claims description 5
- 230000011218 segmentation Effects 0.000 claims description 4
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 239000011521 glass Substances 0.000 claims description 2
- 210000003141 lower extremity Anatomy 0.000 claims description 2
- 239000011159 matrix material Substances 0.000 claims description 2
- 230000010354 integration Effects 0.000 claims 2
- 238000002955 isolation Methods 0.000 abstract 1
- 238000003780 insertion Methods 0.000 description 4
- 230000037431 insertion Effects 0.000 description 4
- 238000003384 imaging method Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
Landscapes
- Image Processing (AREA)
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 the measurement based on micro-vision in micro assemby field and control, especially a kind of monocular vision guides lower microtubule to insert control device and the method for micropore.
Background technology
At present, usually utilize micro-vision measurement target in three-dimensional position and attitude in the operation of 3D micro assemby.Because the micro-vision depth of field is little, visual field is little; monocular micro-vision generally can only provide the positional information of two dimension; obtain the three dimensional local information of micro assemby part; usually can adopt the orthogonal micro-vision of two-way (can see 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.).The micro-vision of two-way or more multichannel can limit the operating space of micro assemby greatly, even cannot apply in some assembling.If use monocular micro-vision, then first its three-dimensional micro assemby guided can be aimed in x-y plane, and then carry out z-axis aligning in conjunction with the feature of concrete micro assemby (can see 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).The Measures compare that this substep carries out three-dimensional manipulating is consuming time, and the aligning restriction of z-axis is more, and precision is not easy to ensure.
Summary of the invention
Usually can only measure the shortcoming of two-dimensional position coordinate in order to solve the little and monocular vision in multipath micro-vision Dynamic System space, the object of the present invention is to provide a kind of monocular micro-vision to guide lower microtubule to insert control device and the method for micropore.
For achieving the above object, according to an aspect of the present invention, proposing a kind of monocular micro-vision guides lower microtubule to insert the control device of micropore, 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 adjustment platform 9, part with micropore 4, wherein:
Described micro-vision system 7 is installed in 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 adjustment 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;
Described position adjustment platform 9, operator 2 are arranged on described vibration-isolating platform 1;
Described attitude adjustment platform 3 is 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 a kind of monocular micro-vision and guide lower microtubule to insert the control method of micropore, the method comprises the following steps:
Step S1: drive micro-vision system 7 to move by adjustment position adjustment platform 9, change the position of micro-vision system 7, makes micropore 4 can in the visual field of micro-vision system 7;
Step S2: adjustment operation device 2 drives microtubule 6 to enter the visual field of micro-vision system 7, the coordinate of adjustment operator 2 makes micro-vision system 7 can collect the image of microtubule 6 end;
Step S3: by the image-region of Iamge Segmentation determination micropore 4 and the image-region of microtubule 6, then according to autofocus evaluation function, micro-vision system 7 is driven to seesaw to realize the focusing to micropore 4 along its optical axis by controlling translate stage 8, afterwards, the position of fixing micro-vision system 7 no longer adjusts, and adjustment operation device 2 drives microtubule 6 to carry out seesawing along micro-vision system optical axis and realize the focusing of microtubule 6 end;
Step S4: extraction micropore 4 being carried out to image characteristic point;
Step S5: extraction microtubule 6 being carried out to image characteristic point;
Step S6: the image distance of image characteristic point to the image characteristic point of micropore 4 calculating microtubule 6, the three dimensions relative position both calculating according to the demarcation information 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 is carried out to automatic focus and reorientates, equally according to the demarcation information of micro-vision system 7, determine the three dimensions relative position of the two, microtubule 6 is inserted micropore 4 by control operation device 2.
Feature of the present invention can control microtubule at x, y under monocular micro-vision guides, and z-axis aims at micropore simultaneously, thus enormously simplify assembling process.
Accompanying drawing explanation
Fig. 1 is that monocular micro-vision of the present invention guides lower microtubule to insert the control device structural representation of micropore.
Fig. 2 is that monocular micro-vision of the present invention guides lower microtubule to insert the control method flow chart of 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.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearly understand, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in more detail.
Fig. 1 is that monocular micro-vision of the present invention guides lower microtubule to insert the control device structural representation of micropore, as shown in Figure 1, the control device that described monocular micro-vision guides lower microtubule to insert micropore comprises: vibration-isolating platform 1, micro-vision system 7, translate stage 8, microtubule 6, operator 2, clamper 5, attitude adjustment platform 3, position adjustment platform 9, part with micropore 4, wherein:
Described micro-vision system 7 is installed in 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 adjustment platform 9, and in an embodiment of the present invention, the upper surface of described position adjustment platform 9 tilts, to make having inclination angle between described micro-vision system 7 and the plane of 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;
Described position adjustment platform 9, operator 2 are arranged on described vibration-isolating platform 1;
Described attitude adjustment platform 3 is 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, and 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.
During described device work, drive micro-vision system 7 to move by position adjustment platform 9, change the position of micro-vision system 7, the image of micropore 4 is appeared in the visual field of micro-vision system 7.Along with the motion of operator 2, operator 2 drives microtubule 6 to enter the visual field of micro-vision system 7.The region that Iamge Segmentation determines the two is carried out to the image simultaneously containing micropore 4 and microtubule 6, and automatic focus is carried out separately to it and accurately locates.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 end and the central point of micropore 4) and the demarcation information of micro-vision system, according to PI (PI, proportional-integral, proportional, integral) control strategy control operation device 2 drives microtubule 6 to move in blur-free imaging plane, is registered to the top of micropore 4.Again focus on the end of microtubule 6 and locate, calculate the three-dimensional relative distance of itself and micropore 4, control operation device 2 drives microtubule 6 to insert micropore 4.
In an embodiment of the present invention, described operator 2 adopts motion platform, has three translation freedoms, vertically laterally, longitudinally can carry out translational motion with horizontal plane respectively; Described translate stage 8 adopts single axial movement platform, can move along the axis direction of described translate stage 8; Micro-vision system 7 is made up of PointGrey video camera and Navitar camera lens; Computer 10 adopts Dell Inspiron545S; Microtubule 6 forms for hollow glass cylinder stretches, and end outer diameter is 10 μm.
Fig. 2 is that monocular micro-vision of the present invention guides lower microtubule to insert the control method flow chart of micropore, and as shown in Figure 2, the method comprises the following steps:
Step S1: drive micro-vision system 7 to move by adjustment position adjustment platform 9, change the position of micro-vision system 7, makes micropore 4 can in the visual field of micro-vision system 7;
Step S2: adjustment operation device 2 drives microtubule 6 to enter the visual field of micro-vision system 7, the coordinate of adjustment operator 2 makes micro-vision system 7 can collect the image of microtubule 6 end;
Step S3: by the image-region of Iamge Segmentation determination micropore 4 and the image-region of microtubule 6, 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), micro-vision system 7 is driven to seesaw to realize the focusing to micropore 4 along its optical axis by controlling translate stage 8, afterwards, the position of fixing micro-vision system 7 no longer adjusts, and adjustment operation device 2 drives microtubule 6 to carry out seesawing along micro-vision system optical axis and realize the focusing of microtubule 6 end;
Step S4: extraction micropore 4 being carried out to image characteristic point;
In this step, the extraction that micropore 4 carries out image characteristic point is comprised 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, OTSU (Da-Jin algorithm, a kind of automatic threshold binarization method of Japanese's name) is adopted to carry out described binary conversion treatment;
Step S42: scanning obtains marginal point;
Step S43: described marginal point is carried out the image characteristic point of ellipse fitting Qiu Qi center as micropore 4;
Step S5: extraction microtubule 6 being carried out to image characteristic point;
In this step, the extraction that microtubule 6 carries out image characteristic point is comprised the following steps:
Step S51: binary conversion treatment is carried out to the ROI of microtubule 6;
Described binary conversion treatment can be expressed as:
Wherein, g (i, j) is image pixel gray level value, g
hfor background gray levels, be the gray scale corresponding to the grey level histogram maximum of the ROI of microtubule 6, g
tfor selected threshold value, for distinguishing image and the background image of microtubule 6;
Step S52: scanning obtains left and right edges point;
Step S53: described left and right edges point is carried out fitting a straight line (in an embodiment of the present invention respectively, utilize RANSAC (Random Sample Concensus, RANSAC algorithm) carry out fitting a straight line), the lower limb intersection point of the angular bisector of the both sides straight line obtained and the ROI of microtubule 6 is taken as the image characteristic point of distal center point as microtubule 6 of microtubule 6;
Step S6: the image characteristic point calculating microtubule 6, namely microtubule 6 distal center point is to the image characteristic point of micropore 4, (described image distance refers to pixel increment to the image distance at i.e. micropore 4 center, namely, the number of pixels at interval), three dimensions relative shift both calculating according to the demarcation information of micro-vision system 7, and make it be registered to the top of micropore 4 based on the end that described relative shift uses PI control strategy to move microtubule 6;
The step that the end that described use PI control strategy moves microtubule 6 makes it be registered to the top of micropore 4 is further comprising the steps:
Step S61: utilize following formula to image characteristic point (i.e. micropore 4 central point) the initial relative shift on three dimensions of the image characteristic point (i.e. microtubule 6 distal center point) Yu micropore 4 that calculate microtubule 6:
Wherein, (Δ x
m, Δ y
m, Δ z
m) be microtubule 6 distal center point and the relative shift of micropore 4 central point on three dimensions, (Δ u, Δ v) is the increment of coordinate (i.e. image distance) of the picture rich in detail of microtubule 6 distal center point and micropore 4 central point, 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 proportionality coefficient of image coordinate and the micro-vision system coordinate demarcated, is also given value.
Step S62: mobile microtubule 6 one initial step length, and then utilize above formula to calculate microtubule 6 distal center point and the present relative displacement amount of micropore 4 central point on three dimensions;
Described initial step length can rule of thumb be determined.
Step S63: the step-length calculating next step movement according to the first two steps relative shift obtained;
In this step, utilize following formula to calculate the step-length of next step movement:
Wherein, K
p, K
ifor proportionality coefficient and the integral coefficient of PI control strategy, be given value, Δ x
t(n), Δ y
t(n), Δ z
tn () is respectively the step-length of microtubule 6 n-th step movement on x, y, z axle, Δ x
m(n), Δ y
m(n), Δ z
mn () is respectively microtubule 6 distal center point and the relative shift of micropore 4 central point n-th step on x, y, z axle, Δ x
m(n-1), Δ y
m(n-1), Δ z
m(n-1) microtubule 6 distal center point and the relative shift of micropore 4 central point (n-1)th step on x, y, z axle is respectively.
Step S64: move microtubule 6 according to the step-length calculated;
Step S65: repeating said steps S63 and step S64 until the end of microtubule 6 is registered to the top of micropore 4.
Step S7: again the end of microtubule 6 is carried out automatic focus and reorientated, similar to described step 6, according to the demarcation information of micro-vision system 7, determine the three dimensions relative shift of the two, based on described relative shift control operation device 2, microtubule 6 is inserted in micropore 4.
In practical operation, first, the visual field and the microtubule position of micro-vision system 1 is adjusted according to step S1 and S2; Then, according to step S3, automatic focus is carried out to microtubule and micropore, make the two be in the blur-free imaging plane of micro-vision system simultaneously; Then step S4 and S5 achieves the extraction of the image characteristic point to the two; Be registered to above micropore by Visual servoing control microtubule in step S6; Step S7 focuses on and location microtubule again, eliminates error, then its insertion micropore of opened loop control.In an embodiment of the present invention, step S6 has carried out 7 step servo motions, the microtubule image coordinate in the motion of the visual servo of acquisition and the operator coordinate of whole insertion process as follows:
Wherein, as shown in Figure 2, the image of whole process as shown in Figure 3 for the track of microtubule and micropore aligning and insertion process.
Microtubule under a kind of monocular vision that the present invention proposes guides inserts control device and the method for micropore, achieves the three-dimensional micro assemby process under the guiding of monocular micro-vision.Microtubule under a kind of monocular vision of the present invention guides inserts control device and the method for micropore, and movement locus is simple, and application is convenient, can realize adaptability and availability that monocular micro-vision guides lower three-dimensional microoperation.
Above-described specific embodiment; object of the present invention, technical scheme and beneficial effect are further described; be understood that; the foregoing 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 amendment made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. monocular micro-vision guides lower microtubule to insert a control method for micropore, and it is characterized in that, the method comprises the following steps:
Step S1: drive micro-vision system (7) motion by adjustment position adjustment platform (9), change the position of micro-vision system (7), make micropore (4) can in the visual field of micro-vision system (7);
Step S2: adjustment operation device (2) drives microtubule (6) to enter the visual field of micro-vision system (7), and the coordinate of adjustment operator (2) makes micro-vision system (7) can collect the image of microtubule (6) end;
Step S3: by the image-region of Iamge Segmentation determination micropore (4) and the image-region of microtubule (6), then according to autofocus evaluation function, micro-vision system (7) is driven to seesaw to realize the focusing to micropore (4) along its optical axis by controlling translate stage (8), afterwards, the position of fixing micro-vision system (7) no longer adjusts, and adjustment operation device (2) drive microtubule (6) carries out seesawing along micro-vision system optical axis and realizes the focusing of microtubule (6) end;
Step S4: extraction micropore (4) being carried out to image characteristic point;
Step S5: extraction microtubule (6) being carried out to image characteristic point;
Step S6: the image distance of image characteristic point to the image characteristic point of micropore (4) calculating microtubule (6), three dimensions relative shift both calculating according to the demarcation information of micro-vision system (7), and make it be registered to the top of micropore (4) based on the end that described relative shift usage ratio integration control strategy moves microtubule (6);
Step S7: again the end of microtubule (6) is carried out automatic focus and reorientated, similar to described step S6, according to the demarcation information of micro-vision system (7), determine the three dimensions displacement of the two, based on described relative shift control operation device (2), microtubule (6) is inserted in micropore (4).
2. method according to claim 1, is characterized in that, described autofocus evaluation function is the quadratic sum accumulated value of pixel sobel value.
3. method according to claim 1, is characterized in that, described step S4 is further comprising the steps:
Step S41: binary conversion treatment is carried out to the area-of-interest of micropore (4);
Step S42: scanning obtains marginal point;
Step S43: described marginal point is carried out the image characteristic point of ellipse fitting Qiu Qi center as micropore (4).
4. method according to claim 1, is characterized in that, described step S5 is further comprising the steps:
Step S51: binary conversion treatment is carried out to the area-of-interest of microtubule (6);
Step S52: scanning obtains left and right edges point;
Step S53: described left and right edges point is carried out fitting a straight line respectively, the lower limb intersection point of the angular bisector of the both sides straight line obtained and the area-of-interest of microtubule (6) is taken as the image characteristic point of distal center point as microtubule (6) of microtubule (6).
5. method according to claim 1, is characterized in that, the step that the end that described usage ratio integration control strategy moves microtubule (6) makes it be registered to the top of micropore (4) is further comprising the steps:
Step S61: utilize following formula to the initial relative shift of image characteristic point on three dimensions of the image characteristic point and micropore (4) that calculate microtubule (6):
Wherein, Δ x
m, Δ y
m, Δ z
mthe image characteristic point of microtubule (6) and the relative shift of image characteristic point on three dimensions of micropore (4), Δ u, Δ v is the increment of coordinate of the picture rich in detail of the image characteristic point of microtubule (6) and the image characteristic point of 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
yit is the proportionality coefficient of image coordinate and the micro-vision system coordinate demarcated;
Step S62: mobile microtubule (6) initial step length, and then utilize above formula to calculate the image characteristic point of microtubule (6) and the present relative displacement amount of image characteristic point on three dimensions of micropore (4);
Step S63: the step-length calculating next step movement according to the first two steps relative shift obtained;
In this step, utilize following formula to calculate the step-length of next step movement:
Wherein, K
p, K
ifor proportionality coefficient and the integral coefficient of proportional plus integral control strategy, Δ x
t(n), Δ y
t(n), Δ z
tn () is respectively the step-length of microtubule (6) n-th step movement on x, y, z axle, Δ x
m(n), Δ y
m(n), Δ z
mn () is respectively the image characteristic point of microtubule (6) and the relative shift of image characteristic point n-th step on x, y, z axle of micropore (4), Δ x
m(n-1), Δ y
m(n-1), Δ z
m(n-1) image characteristic point of microtubule (6) and the relative shift of image characteristic point (n-1)th step on x, y, z axle of micropore (4) is respectively;
Step S64: move microtubule (6) according to the step-length calculated;
Step S65: repeating said steps S63 and step S64 until the end of microtubule (6) is registered to the top of micropore (4).
6. the monocular micro-vision realizing method as claimed in claim 1 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 adjustment platform (9), part with micropore (4), wherein:
Described micro-vision system (7) is installed in 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 adjustment 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;
Described position adjustment platform (9), operator (2) are arranged on described vibration-isolating platform (1);
Described attitude adjustment platform (3) is 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).
7. device according to claim 6, it is characterized in that, the upper surface of described position adjustment platform (9) tilts, to make having inclination angle between the plane of described micro-vision system (7) and described vibration-isolating platform (1).
8. device according to claim 6, it is characterized in that, described device also comprises computer (10), 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).
9. device according to claim 6, is characterized in that, described operator (2) adopts motion platform, has three translation freedoms, vertically laterally, longitudinally can carry out translational motion with horizontal plane respectively; Described translate stage (8) adopts single axial movement platform, can move along the axis direction of described translate stage (8).
10. device according to claim 6, is characterized in that, described microtubule (6) forms for hollow glass cylinder stretches, and end outer diameter is 10 μm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310108798.7A CN103170823B (en) | 2013-03-29 | 2013-03-29 | Control device and method of inserting micro-pipe into micro-hole through monocular microscopy visual guidance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310108798.7A CN103170823B (en) | 2013-03-29 | 2013-03-29 | Control device and method of inserting micro-pipe into micro-hole through monocular microscopy visual guidance |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103170823A CN103170823A (en) | 2013-06-26 |
| CN103170823B true CN103170823B (en) | 2015-06-03 |
Family
ID=48631246
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310108798.7A Expired - Fee Related CN103170823B (en) | 2013-03-29 | 2013-03-29 | Control device and method of inserting micro-pipe into micro-hole through monocular microscopy visual guidance |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103170823B (en) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104589012B (en) * | 2013-10-30 | 2018-05-08 | 上海宝钢工业技术服务有限公司 | Attaching/detaching apparatus for live walking beam body guide rail |
| CN105096318A (en) * | 2015-07-06 | 2015-11-25 | 王跃宣 | Mobile mini-size object extracting machine and extracting method |
| CN105598694A (en) * | 2016-03-29 | 2016-05-25 | 中国工程物理研究院激光聚变研究中心 | Assembling device for micron-size axle and hole |
| CN106239086B (en) * | 2016-08-23 | 2019-03-15 | 中国科学院自动化研究所 | A kind of clamping device and method of micro-pipe part |
| CN106835299B (en) * | 2017-04-19 | 2018-11-09 | 南京航空航天大学 | Dirt removes system and method automatically in micropore based on machine vision guiding |
| CN108961419B (en) * | 2018-06-15 | 2023-06-06 | 重庆大学 | Microscopic visual field space digitizing method and system for microscopic visual system of micro assembly system |
| CN108544288A (en) * | 2018-06-22 | 2018-09-18 | 聊城大学 | A kind of prismatic bar work automatic alignment feeding system and its application based on machine vision |
| CN109570950A (en) * | 2019-01-14 | 2019-04-05 | 青岛理工大学 | Micro-nano assembly platform device based on machine vision |
| CN110488832B (en) * | 2019-08-27 | 2021-08-17 | 国以贤智能科技(上海)股份有限公司 | Visual hole finding method, device, equipment and storage medium |
| CN110721380B (en) * | 2019-11-18 | 2022-07-05 | 北京大学人民医院(北京大学第二临床医学院) | Device capable of automatically implementing trachea cannula |
| CN111085837B (en) * | 2019-12-28 | 2021-11-23 | 成都行必果光电科技有限公司 | Automatic assembly position attitude measurement method |
| CN111468939B (en) * | 2020-06-28 | 2020-10-16 | 苏州杰锐思智能科技股份有限公司 | Valve shaft mounting method and apparatus |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1348848A (en) * | 2001-11-18 | 2002-05-15 | 华中科技大学 | Microassembling robot system based on microvision |
| 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 |
| 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 |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2774316B2 (en) * | 1989-06-19 | 1998-07-09 | アイシン・エィ・ダブリュ株式会社 | Automatic component insertion device and method |
| DE10225430A1 (en) * | 2002-06-07 | 2003-12-24 | Siemens Ag | Assembly system and method for assembling substrates with components |
-
2013
- 2013-03-29 CN CN201310108798.7A patent/CN103170823B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1348848A (en) * | 2001-11-18 | 2002-05-15 | 华中科技大学 | Microassembling robot system based on microvision |
| 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 |
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103170823A (en) | 2013-06-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103170823B (en) | Control device and method of inserting micro-pipe into micro-hole through monocular microscopy visual guidance | |
| CN106338245B (en) | Non-contact movement measuring method for workpiece | |
| CN104864807B (en) | A kind of manipulator hand and eye calibrating method based on active binocular vision | |
| US8934721B2 (en) | Microscopic vision measurement method based on adaptive positioning of camera coordinate frame | |
| CN102744590B (en) | Assembling adhesive-dispensing device applied to micron order microtube and micropore | |
| CN105953771B (en) | A kind of active theodolite system and measuring method | |
| CN105744163A (en) | Video camera and video recording method performing tracking focusing based on depth information | |
| CN103158161B (en) | Microtubule microballoon based on monocular micro-vision is aimed at and assembling device and method | |
| CN108972557A (en) | Micro- part pose automatic alignment apparatus and its method | |
| CN108646353B (en) | Optical fiber-waveguide automatic alignment coupler based on image processing | |
| CN102445329B (en) | Rapid determining method for optical axis of continuous zoom lens | |
| Chen et al. | Precision alignment of optical fibers based on telecentric stereo microvision | |
| CN102042464B (en) | Three-strut parallel regulation mechanism with four DOF (Degree Of Freedom) locomotivity and method | |
| CN104181685A (en) | Automatic digital slide focusing device and method based on microscope | |
| CN106482640A (en) | A kind of apparatus and method of integrated machine core optical axis correction | |
| CN106272437A (en) | Device is asked in a kind of optimum visual field for parallel robot binocular visual positioning | |
| CN105598694A (en) | Assembling device for micron-size axle and hole | |
| CN107121070A (en) | A kind of glue needle head calibration system and scaling method | |
| CN103192399A (en) | Micro-vision hand-eye calibration method based on target motion | |
| CN202111787U (en) | Automatic multi-target tracking picture pick-up system | |
| Xu et al. | Characteristic of monocular microscope vision and its application on assembly of micro-pipe and micro-sphere | |
| CN106444774A (en) | Indoor lamp based mobile robot visual navigation method | |
| CN110197508B (en) | 2D and 3D co-fusion vision guiding movement method and device | |
| KR20170027000A (en) | Image analysis device included high speed and precision method | |
| CN114815211B (en) | Microscope automatic focusing method based on image processing |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150603 |