北京航空航天大学学报 ›› 2002, Vol. 28 ›› Issue (3): 249-252.

• 论文 •    下一篇

生物工程微操作机器人视觉系统的研究

李旭东, 宗光华, 毕树生, 赵玮   

  1. 北京航空航天大学 机械工程及自动化学院
  • 收稿日期:2000-07-06 出版日期:2002-03-31 发布日期:2010-09-26
  • 作者简介:李旭东(1974-),男,陕西蓝田人,博士生,100083,北京.
  • 基金资助:

    国家自然科学基金资助项目(59975002); 国家高技术研究发展计划(863512980426)

Research on Global Vision System for BioengineeringOrientedMicromanipulation Robot System

LI Xu-dong, ZONG Guang-hua, BI Shu-sheng, ZHAO Wei   

  1. Beijing University of Aeronautics and Astronautics, School of Mechanical Engineering and Automation
  • Received:2000-07-06 Online:2002-03-31 Published:2010-09-26

摘要: 针对生物工程领域显微操作的要求和特点,设计并实现了一个显微视觉系统.该系统采用基于相关系数的模板匹配算法和基于形态学运算的识别算法,能同时获得至少3个目标的二维位置信息.这两种算法均可由能够用硬件并行实现的离散卷积运算来实现,从而能够快速地计算目标的位置信息,实现了实时视觉伺服控制.实验结果表明视觉伺服控制能有效地提高系统的性能;视觉系统能够满足实时控制的要求.

Abstract: A micro-vision system was presented to meet the requirements of micromanipulation in the field of bioengineering. A correlation based pattern matching algorithm and a morphological method, which can be realized in the form of easy-fast-implemented discrete convolution, were employed to track at least 3 targets simultaneously and to calculate their image coordinates. The coordinates were used as feedback message to realize visual-servo control. Testing results proved that the vision-servo control could effectively improve the control quality. This implies that the vision system can meet the stringent needs of real time control.

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