微管与微球装配中的姿态检测与姿态对准  

Pose measuring and aligning of a microtube and a microsphere in their assembly

作　　者：李福东[1] 徐德[1] 史亚莉[1] 张正涛[1] 

机构地区：[1]中国科学院自动化研究所,北京100190

出　　处：《高技术通讯》2014年第4期401-406,共6页Chinese High Technology Letters

基　　金：国家自然科学基金(61227804;61105036)资助项目

摘　　要：研究了微装配中的微管与微球的姿态检测与对准,以精确获取其姿态,使微管高精度对准微球上的微孔,然后插入微孔,保证微管与微球的高质量装配。针对显微相机的景深小、视野小,传统的基于立体视觉的姿态测量方法不能实现微管与微孔的姿态测量,提出了一种基于运动的微孔与微管的姿态测量方法。该方法采用双目显微视觉,通过显微相机的聚焦运动,在每个显微相机中分别单独测量出微孔、微管的投影线,然后根据两条投影线与显微相机光轴信息分别计算出微孔、微管在微管操作手坐标系中的姿态向量。以微管姿态向量为基准,通过微球姿态调整平台分别绕x,y旋转调整微球上微孔的姿态向量,实现了微管与微球的对准。实验结果表明了所提姿态测量与对准方法的有效性。The pose measurement and alignment of microtubes and microspheres in microassembly were studied with the aim of obtaining their correct poses to make a microtube align precisely with the hole on a microsphere before it is inserted into the hole to ensure the high quality assembly.Considering that traditional pose measuring technologies based on stereo vision are not capable of pose measuring of microtubes and the holes on micro spheres because a microscope has small depth of field and small field of view,a novel pose measuring method for a microtube and the hole on a microsphere was developed.This method uses two microscopes,and each one acquires a projection vector of the measured object through focusing movement along the optical axis.The real pose vector of the measured object in the microtube manipulator coordinates is calculated from the two projections acquired by the two microscopes and the optical axis information.In the pose aligning process,the pose vector of the microtube is the referenced vector,and the pose vector of the hole is adjusted by rotation around x axis and y axis using the pose adjusting platform.The experiments were conducted to prove the feasibility of the proposed pose measuring and pose aligning method,and the results validated it.

关 键 词：显微视觉 微装配 姿态检测 姿态对准 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]