CN103092346B - A kind of Virtual force field based on scanning electron microscope is distant receives operating platform and realize the method for virtual dynamic sensing interexchanging - Google Patents
A kind of Virtual force field based on scanning electron microscope is distant receives operating platform and realize the method for virtual dynamic sensing interexchanging Download PDFInfo
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Abstract
Virtual force field based on scanning electron microscope is distant receives operating platform and realize the method for virtual dynamic sensing interexchanging, relates to a kind of based on distant operating platform and the method received of microscopical Virtual force field.It solve the nanometer operating system generally adopted at present both at home and abroad to carry out operating the real-time image information of shortage operating process to nano particle or component, the operating efficiency of system is low, the problem of very flexible.This platform comprises scanning electron microscope, nanopositioner, operation probe, sample stage, the main hand Omega.3 of sense of touch, nanometer positioning controller, host computer and sample cavity; Under VC++2008 environment, development of virtual three-dimensional manometer operating environment; Collision detection is carried out by collision detection algorithm; Host computer carries out force rendering to obtained feedback force, and feeds back to the main hand Omega.3 of sense of touch, realizes virtual dynamic sensing interexchanging.The present invention is applicable to distant operative technique field of receiving.
Description
Technical field
The present invention relates to a kind of based on distant operating platform and the method received of microscopical Virtual force field, belong to distant operative technique field of receiving.
Background technology
In recent decades, the continuous demand of the fast development along with micro-/ nano technology and structure formed, the function i ntegration to micro-system product, efficient, sensitive, adaptable nanometer operating system has broad application prospects.But traditional mode of operation makes traditional operation mode be difficult to adapt to the growth requirement of nanoscale features operative technique due to the impact being subject to the factors such as the size effect of nanoscale, distant the receiving with virtual reality function operates to walk to go on the stage gradually.
The domestic and international research to nano-manipulation at present, the operating system based on atomic force microscope (AFM) is the most ripe, but owing to lacking the real-time image information of the operating process shortcomings such as operating efficiency is low, very flexible that make system have; Operating system based on SEM has real-time application drawing as feedback information, and operand is not by advantages such as sample stage affect, and the nanometer operating system therefore based on SEM is the system that function is comparatively perfect, is a rising technology.But the research in this just starts, and is also in the exploratory stage at present.Up to the present, also do not find in the operation of nanoscale the effective method of operating taking into account the combination properties such as efficiency, dirigibility, accuracy and success ratio.
Summary of the invention
The object of the invention is to carry out operating the real-time image information of shortage operating process to nano particle or component for the nanometer operating system generally adopted both at home and abroad at present, the operating efficiency of system is low, the problem of very flexible, provides a kind of Virtual force field based on scanning electron microscope the distant operating platform and realize the method for virtual dynamic sensing interexchanging received.
The distant operating platform of receiving of Virtual force field based on scanning electron microscope, it comprises scanning electron microscope, nanopositioner, operation probe, sample stage, the main hand of sense of touch, nanometer positioning controller, host computer and sample cavity,
Be provided with nanopositioner in described sample cavity, nanopositioner is positioned at the bottom of sample cavity;
Described nanopositioner is provided with operation probe, the operation end of probe contacts with the table top of sample stage; Described sample stage is fixedly mounted on the madial wall of sample cavity; This sample stage is for placing nano wire;
Described scanning electron microscope is fixedly mounted on position placed in the middle above sample cavity, and the camera lens of this scanning electron microscope is towards in sample cavity, and this scanning electron microscope is used for the image of acquisition operations probe tip region;
The main hand of described sense of touch is connected with host computer by USB interface, and host computer is connected with nanometer positioning controller by serial ports; Nanometer positioning controller is connected with the nanopositioner in sample cavity by connection;
The image information output terminal of scanning electron microscope connects the image information input end of host computer;
Host computer will send position and power control information to the main hand of sense of touch after Image Information Processing;
The main hand position information signal output terminal of the main hand of sense of touch connects the main hand position information signal input of host computer;
The position control command signal output terminal of host computer connects the position control command signal input end of nanometer positioning controller;
The position signalling output terminal of nanometer positioning controller connects the position signalling input end of nanopositioner.
Virtual force field based on scanning electron microscope is distant to be received operating platform and realizes the method for virtual dynamic sensing interexchanging, and this control method is:
Step one, on host computer, under VC++2008 environment, utilize the supporting secondary development software Chia3d of the main hand of sense of touch, associating 3DsMAX and OpenGL development of virtual three-dimensional manometer operating environment;
Step 2, nano wire is placed on sample stage, then by collision detection algorithm, collision detection is carried out to the position of the operation probe in virtual environment and the virtual environment at its place:
First application level bounding box method arranges bounding box outside operation probe, if the bounding box of operation probe does not collide with nano wire and sample stage, does not make a decision;
If the bounding box of operation probe collides, then start to enter in the middle of collision detection cyclic sequence:
Collision detection cyclic sequence nano-manipulation collision detection is divided into: the nano-manipulation collision detection between operation probe and sample stage, the nano-manipulation collision detection between nano wire and sample stage and nano-manipulation collision detection three part operated between probe and nano wire;
Nano-manipulation collision detection between operation probe and sample stage is: whether the bounding box and the sample stage that first judge to operate probe collide, and if not, then do not do any action;
If so, then continue to judge whether operation probe and sample stage collide, and if not, then do not do any action;
If so, then will detect that the feedback force of collision feeds back to host computer;
Nano-manipulation collision detection between nano wire and sample stage is: application level surrounds ball and arrange encircle sphere outside nano wire;
First judge whether level encircle sphere and the sample stage of nano wire collide, and if not, then do not do any action;
If so, then continue to judge whether nano wire and sample stage collide, if not, then do not do any action;
If so, then will detect that the feedback force of collision feeds back to host computer;
Nano-manipulation collision detection between operation probe and nano wire is:
The geometric parameter of the operation probe first obtained by scanning electron microscope by host computer collection, set up the cone model of operation probe, the encircle sphere structure being applicable to cone is filled according to available data, collision detection between the encircle sphere structure of executable operations probe and the encircle sphere structure of nano wire: whether the bounding box and the nano wire that first judge to operate probe collide, if not, then any action is not done;
If so, then, adopt the method for prestack centre of sphere arrangement to carry out the filling of bone ball, the collision detection between the bone ball of executable operations probe and the bone spherical structure of nano wire to operation probe and nano wire, if not, then do not do any action;
If then will detect that the feedback force of collision feeds back to host computer;
Step 3, host computer by force rendering algorithm and Chia3d force rendering engine implementation to the nano-manipulation collision detection between the operation probe of step 2 and sample stage, nano-manipulation collision detection between nano wire and sample stage and the force rendering operating the feedback force that the nano-manipulation collision detection between probe and nano wire obtains, and by the data feedback of the feedback force after playing up to the main hand of sense of touch, realize virtual dynamic sensing interexchanging.
Advantage of the present invention is:
The object of the invention is under the operating environment of SEM, virtual reality technology, haptic apparatus are combined with nanometer operating system, make operator can experience the real-time force feel feedback of nano-manipulation process by host computer, and the virtual operating environment utilizing related software to develop realizes the three-dimensional visualization of nano-manipulation process, thus guarantee the real-time of nano-manipulation, dirigibility and accuracy.
Beneficial effect:
1. the present invention is based on the virtual nano-manipulation environment of exploitation, by virtual nano-manipulation, realize the prediction of actual nano-manipulation process, the basis predicted the outcome controls actual nano-manipulation platform and carries out the motion of single step servo-actuated or off-line, add the real-time force feel feedback that haptic feedback devices provides nano-manipulation process simultaneously, enhance the perception of behaviour person;
2. the virtual nano-manipulation environment that the present invention develops is three-dimensional, the real-time three-dimensional that can be realized the operating environment of nano-manipulation process by the virtual operating environment of software development is visual, overcome the shortcoming that SEM image is two dimension, thus ensure that the accuracy of three-dimensional manometer operating process and visual;
3. first the present invention handles the main hand of virtual reality haptic apparatus to control the motion of virtual nano-manipulation from hand, controlled the motion of actual nano-manipulation probe again by serial ports after successful operation, thus greatly increase the success ratio of nano-manipulation, ensure that the safety of operating platform, under SEM environment, carry out nano-manipulation, realize the Real-time Feedback of actual nano-manipulation procedural image;
4. the present invention's application has the novel distant operating system of receiving of force teleprence, nano-manipulation in virtual environment controls actual nano-manipulation process by serial ports after realizing, realize the far distance controlled of nano-manipulation, i.e. remote operating, long-range nano-manipulation, stressed information feed back, experiment correction can be completed, simple to operate, improve the success ratio of operation while reducing platform cost.
Accompanying drawing explanation
Fig. 1 is the distant structural representation receiving operating platform of a kind of Virtual force field based on scanning electron microscope;
Fig. 2 is that the distant operating platform of receiving of a kind of Virtual force field based on scanning electron microscope realizes fictitious force and feels the method flow diagram of exchange method
Embodiment
Embodiment one: present embodiment is described below in conjunction with Fig. 1, the distant operating platform of receiving of a kind of Virtual force field based on scanning electron microscope described in present embodiment, it comprises scanning electron microscope 1, nanopositioner 2, operation probe 3, sample stage 4, the main hand Omega.35 of sense of touch, nanometer positioning controller 6, host computer 7 and sample cavity 8
Be provided with nanopositioner 2 in described sample cavity 8, nanopositioner 2 is positioned at the bottom of sample cavity 8;
Described nanopositioner 2 is provided with operation probe 3, the end of operation probe 3 contacts with the table top of sample stage 4; Described sample stage 4 is fixedly mounted on the madial wall of sample cavity 8; This sample stage 4 is for placing nano wire;
Described scanning electron microscope 1 is fixedly mounted on position placed in the middle above sample cavity 8, and the camera lens of this scanning electron microscope 1 is towards in sample cavity 8, and this scanning electron microscope 1 is for the image of acquisition operations probe 3 needle point region;
The main hand Omega.35 of described sense of touch is connected with host computer 7 by USB interface, and host computer 7 is connected with nanometer positioning controller 6 by serial ports; Nanometer positioning controller 6 is connected with the nanopositioner 2 in sample cavity 8 by connection;
The image information output terminal of scanning electron microscope 1 connects the image information input end of host computer 7;
Host computer 7 will send position and power control information to the main hand Omega.35 of sense of touch after Image Information Processing;
The main hand position information signal output terminal of sense of touch main hand Omega.35 connects the main hand position information signal input of host computer 7;
The position control command signal output terminal of host computer 7 connects the position control command signal input end of nanometer positioning controller 6;
The position signalling output terminal of nanometer positioning controller 6 connects the position signalling input end of nanopositioner 2.
Embodiment two: present embodiment is described below in conjunction with Fig. 1, present embodiment is further illustrating embodiment one, and the nanopositioner 2 described in present embodiment adopts Attocube to realize.
Embodiment three: present embodiment is described below in conjunction with Fig. 1, present embodiment is further illustrating embodiment one, and the described nanometer positioning controller 6 described in present embodiment adopts ANC150 to realize.
Embodiment four: present embodiment is described below in conjunction with Fig. 1, a kind of Virtual force field based on scanning electron microscope described in present embodiment is distant to be received operating platform and realizes the method for virtual dynamic sensing interexchanging, it is characterized in that: this control method is:
Step one, on host computer 7, under VC++2008 environment, utilize the supporting secondary development software Chia3d of sense of touch main hand Omega.35, associating 3DsMAX and OpenGL development of virtual three-dimensional manometer operating environment;
Step 2, nano wire is placed on sample stage 4, then by collision detection algorithm, collision detection is carried out to the position of the operation probe 3 in virtual environment and the virtual environment at its place:
First application level bounding box method arranges bounding box outside operation probe 3, if the bounding box of operation probe 3 does not collide with nano wire and sample stage 4, does not make a decision;
If the bounding box of operation probe 3 collides, then start to enter in the middle of collision detection cyclic sequence:
Collision detection cyclic sequence nano-manipulation collision detection is divided into: the nano-manipulation collision detection between nano-manipulation collision detection, nano wire and the sample stage 4 between operation probe 3 and sample stage 4 and nano-manipulation collision detection three part operated between probe 3 and nano wire;
Nano-manipulation collision detection between operation probe 3 and sample stage 4 is: whether the bounding box and the sample stage 4 that first judge to operate probe 3 collide, and if not, then do not do any action;
If so, then continue to judge whether operation probe 3 collides with sample stage 4, if not, does not then do any action;
If so, then will detect that the feedback force of collision feeds back to host computer 7;
Nano-manipulation collision detection between nano wire and sample stage 4 is: application level surrounds ball and arrange encircle sphere outside nano wire;
First judge whether encircle sphere and the sample stage 4 of nano wire collide, and if not, then do not do any action;
If so, then continue to judge whether nano wire and sample stage 4 collide, and if not, then do not do any action;
If so, then will detect that the feedback force of collision feeds back to host computer 7;
Nano-manipulation collision detection between operation probe 3 and nano wire is:
The geometric parameter of the operation probe 3 obtained by scanning electron microscope 1 is first gathered by host computer 7, set up the cone model of operation probe 3, the encircle sphere structure being applicable to cone is filled according to available data, collision detection between the encircle sphere structure of executable operations probe 3 and the encircle sphere structure of nano wire: whether the bounding box and the nano wire that first judge to operate probe 3 collide, if not, then any action is not done;
If so, then, adopt the method for prestack centre of sphere arrangement to carry out the filling of bone ball, the collision detection between the bone ball of executable operations probe 3 and the bone spherical structure of nano wire to operation probe 3 and nano wire, if not, then do not do any action;
If then will detect that the feedback force of collision feeds back to host computer 7;
Step 3, host computer 7 by force rendering algorithm and Chia3d force rendering engine implementation to the nano-manipulation collision detection between nano-manipulation collision detection, nano wire and the sample stage 4 between the operation probe 3 of step 2 and sample stage 4 and the force rendering operating the feedback force that the nano-manipulation collision detection between probe 3 and nano wire obtains, and by the data feedback of the feedback force after playing up to the main hand Omega.35 of sense of touch, realize virtual dynamic sensing interexchanging.
Embodiment five: present embodiment is described below in conjunction with Fig. 1, present embodiment is further illustrating embodiment four, a kind of Virtual force field based on scanning electron microscope described in present embodiment is distant to be received operating platform and realizes the method for virtual dynamic sensing interexchanging, in step, on host computer 7, under VC++2008 environment, utilize the supporting secondary development software Chia3d of sense of touch main hand Omega.3, the concrete methods of realizing of associating 3DsMAX and OpenGL development of virtual three-dimensional manometer operating environment is:
By cast instrument drawing three-dimensional cast model in 3DsMax, the 3ds file of being derived this cast model by software export function treats that Chai3d calls; The 3ds file of Chai3d routine call cast model, and be skeleton model by its setup of attribute; Grid is formed with the summit that OpenGL function is directly drawn in the 3ds file of derivation, and generating mesh model, the deformation realizing geometry by editor, obtains virtual three-dimensional nano-manipulation environment.
Embodiment six: present embodiment is described below in conjunction with Fig. 1, present embodiment is further illustrating embodiment four, a kind of Virtual force field based on scanning electron microscope described in present embodiment is distant to be received operating platform and realizes the method for virtual dynamic sensing interexchanging, force rendering algorithm in step 3 is: using the bone ball of the operation bone ball of probe 3 and nano wire as atom, sample stage 4 is regarded as an infinitely-great plane, carry out force rendering by calculating atom and the acting force between infinity plane and atom.
Principle of work of the present invention:
The present invention is based on scanning electron microscope SEM and nanopositioner, operation in the three-dimensional nano-manipulation environment developed by the main hand control of power feel feedback is from hand-nanopositioner, the fictitious force provided according to platform feels that feedback information and three micro-virtual and two-dimentional actual visual informations carry out virtual nano-manipulation, after pseudo operation success, control actual nano-manipulation platform by serial ports and carry out corresponding action, improve the success ratio of nano-manipulation.This platform avoids high cost, difficulty is processed, the use of the nanometer force sensor of bad adaptability, reduces running cost.Efficient, flexible, stable visualization of 3 d nano-manipulation can be realized by the nano-manipulation method with force teleprence, be conducive to the practical of nano-manipulation.
The present invention is achieved through the following technical solutions:
Under VC++2008 environment, utilize the supporting secondary development software Chia3d of haptic apparatus Omega.3, associating 3DsMAX and OpenGL realizes development of virtual nano-manipulation environment.Virtual nano-manipulation object (taking nano wire as representative) and operation probe 3 adopt 3DsMax and bone fill method to carry out modeling.By cast instrument drawing three-dimensional cast model in 3DsMax, the 3ds file of being derived this cast model by software export function treats that Chai3d calls.The cast 3ds model built up by Chai3d routine call, and be skeleton model by its setup of attribute.The effect of bone is the collision detection facilitating calculating operation point and object various piece, and produces deformation by the effect of power key between bone ball, for the virtual loading receiving sight power is provided convenience condition.Form grid and generating mesh model with the summit that OpenGL function is directly drawn in the 3ds file of derivation, realized the deformation of geometry by editor.Thus realize the dynamic interaction of virtual three-dimensional vision.3D vision dynamic interaction model as shown in Figure 2.
By collision detection algorithm, collision detection being carried out to the position of the operation probe 3 (corresponding with the sense of touch of actual platform main hand Omega.3) in virtual environment and virtual environment, then realizing virtual dynamic sensing interexchanging by feeding back to haptic apparatus Omega.3 after force rendering algorithm and Chia3d force rendering engine implementation force rendering.In nano-manipulation process, add the man-machine interactive operation method of force teleprence, increase the controllability of nano-manipulation process, reduce the running cost of platform.
For the single model of the nano wire in this control system, collision detection algorithm, based on virtual bone spherical model, adopts hierarchical bounding boxes to realize.With the collision detection of nano wire, operation probe 3 judges that being generally dynamic model detects, its judgement is more complicated, and judgement difficulty is increased greatly.Therefore the collision detection of nano-manipulation be divided into operation probe 3 and sample stage 4, nano wire and sample stage 4 and operate three parts between probe 3 and nano wire, carrying out collision detection respectively and then integrate.Integrate process flow diagram as shown in Figure 3.First operation probe 3 is added bounding box to judge, if the bounding box of operation probe 3 does not collide, deeply judge without any; Collide with sample stage 4 (plane) or nano wire (oriented bounding box) if judge, then start to enter in the middle of collision detection cyclic sequence.Sample stage 4 if at this moment detect, the collision detection algorithm of executable operations probe 3 and sample stage 4; Be nano wire if detect, at this moment operate probe 3 and come to carry out collision detection with the encircle sphere structure of nano wire by being divided into encircle sphere structure.Due to the bounding box of nano wire and the collision detection algorithm of sample stage 4, to account for system resource less, they judge in the collision detection of carrying out bounding box and plane all the time, but do not do any action, only when operation probe 3 there occurs the level encircle sphere of the just more deep detection nano wire of collision and the collision detection of plane with nano wire.The geometric parameter of operation probe 3 by obtaining under SEM, and has built up cone model, and the encircle sphere structure being applicable to cone according to existing data stuffing can realize operation probe 3 and the crossing detection between nano wire.The present invention is according to the concrete condition of operation probe 3 and test comparative result, and finally adopt the method for prestack centre of sphere arrangement to carry out the filling of bone ball to operation probe 3, this method both unlike pressing diameter arrangement, omitted a lot of packing space; Also unlike the arrangement of the poststack centre of sphere, there is comparatively troublesome putting in order and larger operand.
Force rendering algorithm regards the bone ball of operation probe 3 and nano wire as atom, operation sample stage 4 is regarded as an infinitely-great plane, carries out force rendering by calculating atom and the acting force between infinity plane and atom.The power key table of nano wire deformation reaches by regarding the power key of nano wire inside as spring, and the value of power key is just equivalent to the elasticity coefficient of spring and the product of stretching relation.When power key balance changes, power key produces the energy of the state that restores balance, and spheroid will be subject to the reacting force of power key.Because other outer force key will reach balance again, produce deformation effects.
After virtual nano-manipulation success, then the nano-manipulation platform controlling reality carries out corresponding action, realizes the prediction preview of nano-manipulation process.Virtual prognostication preview system can control the servo-actuated or off-line motion of the single step of actual nano-manipulation process.Under the vacuum drying operating environment of SEM, carry out nano-manipulation, the Real-time Feedback of actual nano-manipulation procedural image can be realized.
Nano-manipulation in virtual environment controls actual nano-manipulation process by serial ports, realizes the far distance controlled of nano-manipulation, i.e. remote operating after realizing.
The present invention is not limited to above-mentioned embodiment, can also be the reasonable combination of technical characteristic described in the respective embodiments described above.
Claims (5)
1. the distant operating platform of receiving of the Virtual force field based on scanning electron microscope, it is characterized in that: it comprises scanning electron microscope (1), nanopositioner (2), operation probe (3), sample stage (4), the main hand Omega.3 (5) of sense of touch, nanometer positioning controller (6), host computer (7) and sample cavity (8)
Be provided with nanopositioner (2) in described sample cavity (8), nanopositioner (2) is positioned at the bottom of sample cavity (8);
Described nanopositioner (2) is provided with operation probe (3), the end of operation probe (3) contacts with the table top of sample stage (4); Described sample stage (4) is fixedly mounted on the madial wall of sample cavity (8); This sample stage (4) is for placing nano wire;
Described scanning electron microscope (1) is fixedly mounted on position placed in the middle, sample cavity (8) top, the camera lens of this scanning electron microscope (1) is towards in sample cavity (8), and this scanning electron microscope (1) is for the image of acquisition operations probe (3) needle point region;
The main hand Omega.3 (5) of described sense of touch is connected with host computer (7) by USB interface, and host computer (7) is connected with nanometer positioning controller (6) by serial ports; Nanometer positioning controller (6) is connected with the nanopositioner (2) in sample cavity (8) by connection;
The image information output terminal of scanning electron microscope (1) connects the image information input end of host computer (7);
Host computer (7) will send position and power control information to the main hand Omega.3 (5) of sense of touch after Image Information Processing;
The main hand position information signal output terminal of sense of touch main hand Omega.3 (5) connects the main hand position information signal input of host computer (7);
The position control command signal output terminal of host computer (7) connects the position control command signal input end of nanometer positioning controller (6);
The position signalling output terminal of nanometer positioning controller (6) connects the position signalling input end of nanopositioner (2).
2. the distant operating platform of receiving of a kind of Virtual force field based on scanning electron microscope according to claim 1, is characterized in that: described nanopositioner (2) adopts Attocube to realize.
3. the distant operating platform of receiving of a kind of Virtual force field based on scanning electron microscope according to claim 1, is characterized in that: described nanometer positioning controller (6) adopts ANC150 to realize.
4. realize the method for virtual dynamic sensing interexchanging based on the distant operating platform of receiving of a kind of Virtual force field based on scanning electron microscope according to claim 1, it is characterized in that: this control method is:
Step one, on host computer (7), under VC++2008 environment, utilize the supporting secondary development software Chia3d of sense of touch main hand Omega.3 (5), associating 3DsMAX and OpenGL development of virtual three-dimensional manometer operating environment;
Step 2, nano wire is placed on sample stage (4), then by collision detection algorithm, collision detection is carried out to the position of operation probe (3) in virtual environment and the virtual environment at its place:
First application level bounding box method arranges bounding box outside operation probe (3), if the bounding box of operation probe (3) does not collide with nano wire and sample stage (4), does not make a decision;
If the bounding box of operation probe (3) collides, then start to enter collision detection:
Collision detection is divided into: the nano-manipulation collision detection between operation probe (3) and sample stage (4), the nano-manipulation collision detection between nano wire and sample stage (4) and nano-manipulation collision detection three part operated between probe (3) and nano wire;
Nano-manipulation collision detection between operation probe (3) and sample stage (4) is: whether the bounding box and the sample stage (4) that first judge to operate probe (3) collide, and if not, then do not do any action;
If so, then continue to judge whether operation probe (3) and sample stage (4) collide, and if not, then do not do any action;
If so, then will detect that the feedback force of collision feeds back to host computer (7);
Nano-manipulation collision detection between nano wire and sample stage (4) is: application level surrounds ball at nano wire arranged outside encircle sphere;
First judge whether encircle sphere and the sample stage (4) of nano wire collide, and if not, then do not do any action;
If so, then continue to judge whether nano wire and sample stage (4) collide, and if not, then do not do any action;
If so, then will detect that the feedback force of collision feeds back to host computer (7);
Nano-manipulation collision detection between operation probe (3) and nano wire is:
The geometric parameter of the operation probe (3) obtained by scanning electron microscope (1) is first gathered by host computer (7), set up the cone model of operation probe (3), the encircle sphere structure being applicable to cone is filled according to available data, collision detection between the encircle sphere structure of executable operations probe (3) and the encircle sphere structure of nano wire: whether the bounding box and the nano wire that first judge to operate probe (3) collide, if not, then any action is not done;
If, then, the method for prestack centre of sphere arrangement is adopted to carry out the filling of bone ball, the collision detection between the bone ball of executable operations probe (3) and the bone spherical structure of nano wire to operation probe (3) and nano wire, if not, then any action is not done;
If then will detect that the feedback force of collision feeds back to host computer (7);
Step 3, host computer (7) by force rendering algorithm and Chia3d force rendering engine implementation to the nano-manipulation collision detection between the operation probe (3) of step 2 and sample stage (4), nano-manipulation collision detection between nano wire and sample stage (4) and the force rendering operating the feedback force that the nano-manipulation collision detection between probe (3) and nano wire obtains, and by the data feedback of the feedback force after playing up to the main hand Omega.3 (5) of sense of touch, realize virtual dynamic sensing interexchanging;
Force rendering algorithm in step 3 is: the bone ball of the bone ball and nano wire that will operate probe (3) is as atom, regard sample stage (4) as an infinitely-great plane, carry out force rendering by calculating atom and the acting force between infinity plane and atom.
5. the distant operating platform of receiving of a kind of Virtual force field based on scanning electron microscope according to claim 4 realizes the method for virtual dynamic sensing interexchanging, it is characterized in that, in step, on host computer (7), under VC++2008 environment, utilize the supporting secondary development software Chia3d of sense of touch main hand Omega.3, the concrete methods of realizing of associating 3DsMAX and OpenGL development of virtual three-dimensional manometer operating environment is:
By cast instrument drawing three-dimensional cast model in 3DsMax, the 3ds file of being derived this cast model by software export function treats that Chai3d calls; The 3ds file of Chai3d routine call cast model, and be skeleton model by its setup of attribute; Grid is formed with the summit that OpenGL function is directly drawn in the 3ds file of derivation, and generating mesh model, the deformation realizing geometry by editor, obtains virtual three-dimensional nano-manipulation environment.
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