基于显微视觉的毛细力动态检测方法  

A Dynamic Detection Method of Capillary Forces Based on Microscopic Vision

作　　者：范增华[1] 荣伟彬[2] 刘紫潇 田业冰 FAN Zenghua;RONG Weibin;LIU Zixiao;TIAN Yebing(School of Mechanical Engineering, Shandong University of Technology, Zibo, Shandong, 255049;State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150080)

机构地区：[1]山东理工大学机械工程学院,淄博255049 [2]哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨150080

出　　处：《中国机械工程》2020年第19期2290-2294,2303,共6页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(51905323);山东省高等学校“青创科技计划”创新团队资助项目(2019KJB030)。

摘　　要：针对微操作进程中毛细力实时检测的需求,提出基于显微视觉的毛细力动态检测方法。通过Hough变换的微球对象定位和归一化的平方差相关性的操作工具跟踪方法获取实时位置信息,确定液桥兴趣区域。基于Shi-Tomasi角点检测的液桥端点识别方法提取液桥轮廓,并求解毛细力。搭建显微视觉测量装置,分析检测进程和检测精度。结果表明:平面-球面配置下的动态毛细力的平均检测精度为1.65μN,且可实时获取接触角、液桥体积等参数。For the requirements of real-time detection of capillary forces during the micromanipulation processes,a dynamic detection method of capillary forces was proposed based on microscopic vision.The positioning of microsphere based on Hough transform and the operation tool tracking method by means of the normalized sum-of-squared difference correlation were employed to obtain the real-time location informations.Then,the liquid bridge region of interest was determined.The contour of liquid bridge was extracted by using the terminal identification method of liquid bridge based on Shi-Tomasi corner detection.And,the capillary forces were solved.An experimental setup of capillary force measurement was established based on microscopic vision.The detection processes and detection precision of visual inspection method were discussed.Experimental results indicate that the average detection errors of the dynamic liquid bridge are less than 1.65μN under a plane-sphere configuration.Parameters including the contact angle and liquid bridge volume may be obtained in real time.

关 键 词：微操作 显微视觉 毛细力 液桥 检测 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]