基于视觉伺服的细胞载玻片精确点胶方法研究  

Precise Dispensing Method of Cell Slide Based on Visual Servo

作　　者：李庆华[1] 马海龙 冯超 魏涛[1] 王喆 LI Qing-hua;MA Hai-long;Feng Chao;WEI Tao;WANG Zhe(School of Electrical Engineering and Automation,Qilu University of Technology(Shandong Academy of Sciences),Jinan 250353,China)

机构地区：[1]齐鲁工业大学(山东省科学院)电气工程与自动化学院,济南250353

出　　处：《齐鲁工业大学学报》2020年第2期50-56,共7页Journal of Qilu University of Technology

基　　金：国家自然科学基金项目(61701270)。

摘　　要：目前在机械臂与点胶机协同完成细胞载玻片点胶的过程中,由于点胶路径的固定造成系统的稳定性较差,主要表现为细胞在载玻片上的粘附位置一旦出现偏移则会导致点胶失败。为了解决这一问题,我们把视觉技术引入到点胶机的点胶位置测量过程中,根据细胞载玻片样本的图像特征,运用图像处理技术实现点胶位置的识别,与原点胶路径比对得到偏差,并根据此偏差大小判断是否需要改变点胶路径,从而实现对点胶位置实时监测与校正,提高工作效率,使系统的稳定性增强。实验结果表明,点胶准确率可以提高30%左右,满足样本制作的要求。At present,in the process of dispensing the cell slides by the dispenser,the fixed dispensing path will cause the stability of the system to deteriorate.The main reason is that if the cell's adhesion position on the slide is offset,it will cause inaccurate dispensing.In order to solve this problem,visual technology is added to the dispensing position measurement process of the dispenser.According to the image characteristics of the cell slide sample,the image processing technology is used to complete the position recognition of the dispensing sample.The new dispensing position is compared with the original dispensing path to obtain the position deviation,and then it is judged whether the dispensing path needs to be changed according to the deviation.In this way,the synchronous monitoring and correction of the dispensing position is completed,the work efficiency is improved,and the stability of the system is enhanced.The experimental results show that the accuracy of dispensing can be increased by more than 30%.

关 键 词：视觉伺服 点胶 细胞载玻片 机器臂 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]