Research on Global Vision System for BioengineeringOrientedMicromanipulation Robot System
-
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.
-
Key words:
- robot vision /
- computer vision /
- target tracking /
- visual-servo control
-
[1]Kallio P, Lind M, Zhou Q,et al. A 3 DOF piezohydraulic parallel micromanipulator. Proc of the 1998 IEEE Int Conf On Robotics & Automation. 1998. 1823~1828. [2]Carrozza M C, Dario P, Menciassi A,et al. Manipulation biological and mechanical micro-objects using LIGA-microfabircated end-effectors. Proc of the 1998 IEEE Int Conf On Robotics & Automation. 1998. 1811~1816. [3]卢桂章, 张建勋, 赵 新.面向生物工程实验的微操作机器人[J]. 南开大学学报(自然科学), 1999, 32(3):42~46. [4]Kasaya T, Miyazaki H, Saito S, et al. Micro object handling under SEM by vision-based automatic control. Proc of the 1999 IEEE Int Conf on Robotics & Automation. 1999. 2189~2196. [5]Fatikow S, Seyfried J, Fahlbusch S T, et al. Development of a microrobot-based microassembly station. Proc of the Ninth Int Conf on Advanced Robotics. 1999. 205~210. [6]Kass M, Within W, Tetzopoulos D. Snake:active contour model[J]. Int J of Computer Vision,1988,1(4):321~326. -
点击查看大图
计量
- 文章访问数: 4166
- HTML全文浏览量: 283
- PDF下载量: 1163
- 被引次数: 0
下载:
