CN103273310B - A kind of micro-part automatic aligning method based on multipath micro-vision - Google Patents
A kind of micro-part automatic aligning method based on multipath micro-vision Download PDFInfo
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Abstract
The invention discloses a kind of micro-part automatic alignment apparatus based on multipath micro-vision and method.This device comprises the first micro-vision system, the second micro-vision system, the 3rd micro-vision system, the first motion platform, the second motion platform and computer.First, utilize the repeatedly relative motion of first micro-part in blur-free imaging plane, realize the demarcation between multipath micro-vision system and the first motion platform; Then, utilize the repeatedly relative motion of second micro-part in blur-free imaging plane, realize the demarcation between multipath micro-vision system and the second motion platform; Finally, based on the image turn demarcated, adopt the motion control that PD control law realizes first micro-part and second micro-part, thus realize first micro-part and aim at the pose of second micro-part.The present invention is easy to operate, installation time is short, assembly precision is high, achieves the auto-alignment of the micro-part of grade labyrinth, is with a wide range of applications and considerable economic results in society.
Description
Technical field
The micro-vision that the invention belongs in micro assemby technical field is measured and is controlled, especially a kind of micro-part three dimensions automatic aligning method based on multipath micro-vision.
Background technology
Along with the fast development of MEMS, usually relate to the Product Assembly of different processing technology, complex geometry profile and different rapidoprint, advanced micro part mounting technology has great importance for the aspect such as workmanship, shortening cycle, reduction product cost improving microminiature product, therefore, micro-vision is widely used in micro assemby field.But to have the depth of field little due to micro-vision system, and each road micro-vision does not almost have the public visual field, so be difficult to form traditional stereo visual system, micro-Assembly of the parts automation is faced the difficulty.
Current micro assemby flow process is often comparatively complicated, and automaticity is general not high.In conventional micro assemby technology, one class adopts the micro-vision system of different amplification to realize micro assemby, but assemble flow is complicated, to the requirement of system hardware is higher (can see document: S.J.Ralis, B.Vikramadiya, B.J.Nelson.Micropositioning of a weakly calibratedmicroassembly system using coarse-to-fine visual servoing strategies.IEEETransactions on Electronics Packaging Manufacturing, 2000,23 (2): 123-131); The assembly method that the thick essence of another kind of employing combines, (can see document: X.Tao but face the lower problem of efficiency of assembling equally, H.Cho, Y.Cho.Visually guided microassembly with activezooming.Robotics and Mechatronics, 2006,18 (6): 787-794).
Summary of the invention
Complicated in order to solve micro-Assembly of the parts flow process in prior art, the problem that efficiency of assembling is low, the object of the present invention is to provide a kind of micro-part three dimensions automatic aligning method based on multipath micro-vision, the requirement of the fast automatic aligning of micro-part three dimensions can be met.
Outstanding feature of the present invention is: the auto-alignment 1) achieving micro-part three dimensions pose; 2) automatic aligning method of the present invention is simple, efficiency of assembling is high and can arrive higher control accuracy.
According to an aspect of the present invention, a kind of micro-part automatic alignment apparatus based on multipath micro-vision is proposed, this device comprises: the first micro-vision system 1, second micro-vision system 2, the 3rd micro-vision system 3, first motion platform 4, second motion platform 5, computer 13, wherein:
The spatially nearly orthogonal arrangement of described first micro-vision system 1, second micro-vision system 2 and the 3rd micro-vision system 3, the wherein optical axis of a road micro-vision system and X-axis less parallel, the optical axis of one tunnel micro-vision system and Y-axis less parallel, the optical axis of one tunnel micro-vision system and Z axis less parallel, described first, second, and third micro-vision system all points to the first micro-part 6 and second micro-part 7 to be aimed at, for gathering the micro-vision image of first micro-part 6 and second micro-part 7;
Described first motion platform 4 is installed near described first, second, and third micro-vision system, and it is for carrying described first micro-part 6, and makes described first micro-part 6 be in described first, second, and third micro-vision system within sweep of the eye;
Described first micro-part 6 is installed on described first motion platform 4, and it moves together along with described first motion platform 4;
Described second motion platform 5 is installed on the underlying space of optical axis and the approximately parallel micro-vision system of Z axis, it is for carrying described second micro-part 7, and makes described second micro-part 7 be in described first, second, and third micro-vision system within sweep of the eye;
Described second micro-part 7 is installed on described second motion platform 5, and it moves together along with described second motion platform 5;
Described first micro-vision system 1 is connected to computer 13 by First look tie 8; Described second micro-vision system 2 is connected to computer 13 by the second vision tie 9; Described 3rd micro-vision system 3 is connected to computer 13 by the 3rd vision tie 10; Described first motion platform 4 is connected to computer 13 by the first control line 11; Described second motion platform 5 is connected to computer 13 by the second control line 12;
Described computer 13 is for the micro-vision image receiving described first micro-vision system 1, described second micro-vision system 2, described 3rd micro-vision system 3 collect, and according to received micro-vision image, motion control is carried out for the first motion platform 4 and the second motion platform 5, make first micro-part 6 and second micro-part 7 realize auto-alignment.
According to a further aspect in the invention, also propose a kind of micro-part automatic aligning method based on multipath micro-vision, the method comprises the following steps:
Step S1: drive first micro-part 6 to enter the field range of multipath micro-vision system by adjusting the first motion platform 4, and be positioned at the blur-free imaging plane of multipath micro-vision system, described multipath micro-vision system is included in the first micro-vision system 1, second micro-vision system 2 and the 3rd micro-vision system 3 of spatially nearly orthogonal arrangement, and described first, second, and third micro-vision system all points to described first micro-part 6 and second micro-part 7;
Step S2: drive described first micro-part 6 to carry out repeatedly relative motion in the blur-free imaging plane of described multipath micro-vision system by adjusting described first motion platform 4, calculate the first image features variable quantity before and after each motion of described first micro-part 6 respectively, according to the corresponding relative shift of described image features variable quantity and described first motion platform 4, utilize least square method to calculate the image turn of described first micro-part 6 motion control, namely obtain J
11~ J
63parameter;
Step S3: drive described second micro-part 7 to enter the field range of described multipath micro-vision system by adjusting described second motion platform 5, and be positioned at the blur-free imaging plane of described multipath micro-vision system;
Step S4: drive described second micro-part 7 to carry out repeatedly relative motion in the blur-free imaging plane of described first micro-vision system 1 and described second micro-vision system 2 by adjusting described second motion platform 5, calculate the second image features variable quantity before and after each motion respectively, according to the corresponding relative shift of described second image features variable quantity and described second motion platform 5, utilize least square method to calculate the image turn of described second micro-part 7 motion control, namely obtain J
11~ J
22parameter;
Step S5: extract described first micro-part 6 and three characteristics of image of described second micro-part 7 in described multipath micro-vision system, calculate described first micro-part 6 and the attitude misalignment of described second micro-part 7 at image space, then, by realizing the pose pose adjustment of described second micro-part 7 based on the Visual servoing control method of image turn, the pose attitude misalignment of itself and described first micro-part 6 is made to be less than given range;
Step S6: extract described first micro-part 6 and four characteristics of image of described second micro-part 7 in described multipath micro-vision system, calculate described first micro-part 6 and the position deviation of described second micro-part 7 at image space, by realizing the position adjustment of described first micro-part 6 based on the Visual servoing control method of image turn, make the position deviation of itself and described second micro-part 7 be less than given range, complete the auto-alignment of described first micro-part 6 and described second micro-part 7.
The present invention is based on the Motion Controlling Model of multipath micro-vision, utilize the increment of coordinate of part picture rich in detail to achieve part and measure at three-dimensional relative pose.Micro-part automatic aligning method based on multipath micro-vision of the present invention, has simple, the feature that efficiency of assembling is high, can convenience and high-efficiency realize the three-dimensional automatic assembling of micro-part.Along with the fast development of MEMS (Micro-electro-mechanicalsystems), application prospect of the present invention and economic results in society are considerable.
Accompanying drawing explanation
Fig. 1 is the micro-part automatic alignment apparatus structural representation that the present invention is based on multipath micro-vision.
Fig. 2 is the micro-part automatic aligning method flow chart that the present invention is based on multipath micro-vision.
Fig. 3 is the visual servo motion control method flow chart that the present invention is based on image turn.
Fig. 4 is second micro-part movement departure result schematic diagram according to an embodiment of the invention.
Fig. 5 is first micro-part movement departure result schematic diagram according to an embodiment of the invention.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearly understand, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in more detail.
Fig. 1 is the micro-part automatic alignment apparatus structural representation that the present invention is based on multipath micro-vision, as shown in Figure 1, described micro-part automatic alignment apparatus comprises: the first micro-vision system 1, second micro-vision system 2, the 3rd micro-vision system 3, first motion platform 4, second motion platform 5, computer 13, wherein:
The spatially nearly orthogonal arrangement of described first micro-vision system 1, second micro-vision system 2 and the 3rd micro-vision system 3, the wherein optical axis of a road micro-vision system and X-axis less parallel, the optical axis of one tunnel micro-vision system and Y-axis less parallel, the optical axis of one tunnel micro-vision system and Z axis less parallel, described first, second, and third micro-vision system all points to the first micro-part 6 and second micro-part 7 to be aimed at, for gathering the micro-vision image of first micro-part 6 and second micro-part 7;
Described first motion platform 4 is installed near described first, second, and third micro-vision system, it is for carrying described first micro-part 6, and make described first micro-part 6 be in described first, second, and third micro-vision system within sweep of the eye, preferably, the installation site of described first motion platform 4 makes top surface plane and the Z axis near normal of described first micro-part 6;
Described first micro-part 6 is installed on described first motion platform 4, and it moves together along with described first motion platform 4;
Described second motion platform 5 is installed on the underlying space of optical axis and the approximately parallel micro-vision system of Z axis, it is for carrying described second micro-part 7, and make described second micro-part 7 be in described first, second, and third micro-vision system within sweep of the eye, preferably, the installation site of described second motion platform 5 makes top surface plane and the Z axis near normal of described second micro-part 7;
Described second micro-part 7 is installed on described second motion platform 5, and it moves together along with described second motion platform 5;
Described first micro-vision system 1 is connected to computer 13 by First look tie 8; Described second micro-vision system 2 is connected to computer 13 by the second vision tie 9; Described 3rd micro-vision system 3 is connected to computer 13 by the 3rd vision tie 10; Described first motion platform 4 is connected to computer 13 by the first control line 11; Described second motion platform 5 is connected to computer 13 by the second control line 12;
Described computer 13 is for the micro-vision image receiving described first micro-vision system 1, described second micro-vision system 2, described 3rd micro-vision system 3 collect, and according to received micro-vision image, motion control is carried out for the first motion platform 4 and the second motion platform 5, make first micro-part 6 and second micro-part 7 realize auto-alignment.
In an embodiment of the present invention, described first motion platform 4 has 3 electric translation frees degree; Described second motion platform 5 has the electronic rotation free degree around X-axis, Y-axis, and along the electric translation free degree of Z-direction; Described first, second, and third micro-vision system 1,2,3 is formed by GC2450 video camera and Navitar microlens; Computer 13 adopts Dell Inspiron 545S; Described first micro-part 6 end is thin slice loop configuration, and be highly about 1mm, external diameter is about 10mm; Described second micro-part 7 is the column construction of inner hollow, and be highly about 6mm, external diameter is about 7mm.
Fig. 2 is the micro-part automatic aligning method flow chart that the present invention is based on multipath micro-vision, and the method according to the Motion Controlling Model based on multipath micro-vision, can realize the auto-alignment of described first micro-part 6 and described second micro-part 7.As shown in Figure 2, described automatic aligning method comprises the following steps:
Step S1: drive first micro-part 6 to enter the field range of multipath micro-vision system by adjusting the first motion platform 4, and be positioned at the blur-free imaging plane of described multipath micro-vision system;
Wherein, described multipath micro-vision system is included in the first micro-vision system 1, second micro-vision system 2 and the 3rd micro-vision system 3 of spatially nearly orthogonal arrangement, and described first, second, and third micro-vision system all points to described first micro-part 6 and second micro-part 7;
Step S2: drive described first micro-part 6 to carry out repeatedly relative motion in the blur-free imaging plane of described multipath micro-vision system by adjusting described first motion platform 4, calculate the first image features variable quantity before and after each motion of described first micro-part 6 respectively, according to the corresponding relative shift of described image features variable quantity and described first motion platform 4, utilize least square method to calculate the image turn of described first micro-part 6 motion control, namely obtain J
11~ J
63parameter;
Wherein, first image features of described first micro-part 6 in described first micro-vision system 1 and described second micro-vision system 2 is the coordinate of described first micro-part 6 vertical edge line and horizontal edge line intersection point, and the first image features in described 3rd micro-vision system 3 is the coordinate in described first micro-part 6 upper surface center of circle.
Step S3: drive described second micro-part 7 to enter the field range of described multipath micro-vision system by adjusting described second motion platform 5, and be positioned at the blur-free imaging plane of described multipath micro-vision system;
Carry out in the process of pose adjustment at described step S1 and S3 to described first micro-part 6 and described second micro-part 7, by the automatic focus of multipath micro-vision system, ensure that described first micro-part 6 first image characteristics extraction region and described second micro-part 7 second image characteristics extraction region keep clear.Described first micro-part 6 first image characteristics extraction region is vertical edge line and horizontal edge line intersection area in described first micro-vision system 1 and described second micro-vision system 2, is surface area in described 3rd micro-vision system 3; Second image characteristics extraction region of described second micro-part 7 is vertical edge line region in described first micro-vision system 1 and described second micro-vision system 2.
Step S4: drive described second micro-part 7 to carry out repeatedly relative motion in the blur-free imaging plane of described first micro-vision system 1 and described second micro-vision system 2 by adjusting described second motion platform 5, calculate the second image features variable quantity before and after each motion respectively, according to the corresponding relative shift of described second image features variable quantity and described second motion platform 5, utilize least square method to calculate the image turn of described second micro-part 7 motion control, namely obtain J
11~ J
22parameter;
Wherein, carry out in the process of relative motion at motion platform band moving-target, part end view picture keeps clear in multipath micro-vision system.
Second image features of described second micro-part 7 in described first micro-vision system 1 and described second micro-vision system 2 is the angle of vertical edge line.
Step S5: extract described first micro-part 6 and three characteristics of image of described second micro-part 7 in described multipath micro-vision system, calculate described first micro-part 6 and the attitude misalignment of described second micro-part 7 at image space, then, by realizing the pose pose adjustment of described second micro-part 7 based on the Visual servoing control mode of image turn, the pose attitude misalignment of itself and described first micro-part 6 is made to be less than given range;
Wherein, 3rd characteristics of image of described first micro-part 6 is the vertical edge line in described first micro-vision system 1 and described second micro-vision system 2, and the 3rd characteristics of image of described second micro-part 7 is the vertical edge line in described first micro-vision system 1 and described second micro-vision system 2.
The computing formula of described attitude misalignment is shown below:
Wherein, e
ang1, e
ang2refer to that described first micro-part 6 is poor with the image angle of described second micro-part 7 in the described first, second micro-vision system respectively, k
1and k
2be respectively the vertical edge line slope of described first micro-part 6 in first, second micro-vision system described, β and α is respectively the vertical edge line angle degree of described second micro-part 7 in first, second micro-vision system described.
Step S6: extract described first micro-part 6 and four characteristics of image of described second micro-part 7 in described multipath micro-vision system, calculate described first micro-part 6 and the position deviation of described second micro-part 7 at image space, by realizing the position adjustment of described first micro-part 6 based on the Visual servoing control mode of image turn, make the position deviation of itself and described second micro-part 7 be less than given range, complete the auto-alignment of described first micro-part 6 and described second micro-part 7.
Wherein, 4th characteristics of image of described first micro-part 6 is vertical edge line in described first micro-vision system 1 and described second micro-vision system 2 and horizontal edge line, the upper surface center of circle in described 3rd micro-vision system 3,4th characteristics of image of described second micro-part 7 is at described first micro-vision system 1 and the vertical and horizontal edge line in described second micro-vision system 2, the upper surface center of circle in described 3rd micro-vision system 3.
Described position deviation is obtained with the 4th characteristics of image coordinate subtraction calculations of described second micro-part 7 by described first micro-part 6.
In described step S5 and S6, Visual servoing control mode based on image turn can be expressed as following Motion Controlling Model for the position of micro-part or pose adjustment, and this model utilizes the image features variable quantity of part picture rich in detail in multipath micro-vision system to control part at three-dimensional relative pose variable quantity:
Wherein, Δ T
x, Δ T
y, Δ T
zbe respectively part at three dimensions along X, Y, the relative position variable quantity of Z axis, Δ θ
x, Δ θ
y, Δ θ
zbe respectively part at three dimensions around X, Y, the relative attitude variable quantity of Z axis, Δ p
ithe image features variable quantity of part picture rich in detail in the i-th tunnel micro-vision system, i=1,2 ... n, J
11~ J
mnit is the element of the image turn controlling part movement.
Fig. 3 is the visual servo motion control flow chart that the present invention is based on image turn, and for the visual servo motion control of described first micro-part 6, described motion control method comprises the following steps:
1) four characteristics of image of described first micro-part 6 in multipath micro-vision system is extracted respectively, described 4th characteristics of image refers to the vertical edge line of described first micro-part 6 in described first micro-vision system 1 and described second micro-vision system 2 and horizontal edge line, the upper surface center of circle in described 3rd micro-vision system 3;
2) four image characteristic region of described first micro-part 6 in multipath micro-vision system is marked off;
3) in the 4th image characteristic region, extract the 4th image features of described first micro-part 6, described 4th image features is the vertical edge line of described first micro-part 6 in described first micro-vision system 1 and described second micro-vision system 2 and the coordinate of horizontal edge line intersection point, the coordinate in the upper surface center of circle in described 3rd micro-vision system 3;
4) the 4th image features calculating described first micro-part 6 and described second micro-part 7 is poor, based on the image turn demarcated, is converted into three-dimensional position and attitude error;
5) judge whether described position and attitude error is less than given error range, if so, finishing control process, if not, PD (Proportion derivative) control law is adopted to control the pose of the described first micro-part 6 of adjustment, repetitive process 3) ~ 5).
To sum up, in the methods of the invention, first, the position of first micro-part 6 is adjusted according to step S1; Secondly, the demarcation to the image turn of first micro-part 6 motion control is realized according to step S2; Again, the position of second micro-part 7 is adjusted according to step S3; Then, the demarcation to the image turn of second micro-part 7 motion control is realized according to step S4.In an embodiment of the present invention, step S2 has carried out 3 relative translation motion, step S4 has carried out 2 relative rotary motion, the image turn of first micro-part 6 motion control of demarcation and the image turn of second micro-part 7 motion control as follows:
Wherein, J
tthe image turn of second micro-part 7 motion control, J
git is the image turn of first micro-part 6 motion control.
Based on image turn calibration result, first, control the pose adjustment of second micro-part 7 according to step S5, then, control the position adjustment of first micro-part 6 according to step S6.In step s 5, the parameter of PD controller elects 0.5 and 0.1 respectively as, and assigned error is set as 0.2 degree, and its motion control error result as shown in Figure 4.In step s 6, the parameter of PD controller is respectively 0.7 and 0.12, and assigned error is 5 μm, and its motion control error result as shown in Figure 5.
As can be seen from Fig. 4 and Fig. 5, the position and attitude error of first micro-part 6 and second micro-part 7 can rapidly converge within the scope of assigned error, has good control effects, reaches micro assemby application requirement.
The present invention is based on three tunnel micro-vision system, achieve the auto-alignment of micro-part three dimensions pose, and automatic aligning method is simple, efficiency of assembling is high, can arrive higher control accuracy.
Above-described specific embodiment; object of the present invention, technical scheme and beneficial effect are further described; be understood that; the foregoing is only specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (6)
1., based on a micro-part automatic aligning method for multipath micro-vision, it is characterized in that, the method comprises the following steps:
Step S1: drive first micro-part (6) to enter the field range of multipath micro-vision system by adjusting the first motion platform (4), and be positioned at the blur-free imaging plane of multipath micro-vision system, described multipath micro-vision system is included in the first micro-vision system (1), the second micro-vision system (2) and the 3rd micro-vision system (3) that spatially nearly orthogonal is arranged, and described first, second, and third micro-vision system all points to described first micro-part (6) and second micro-part (7);
Step S2: drive described first micro-part (6) to carry out repeatedly relative motion in the blur-free imaging plane of described multipath micro-vision system by adjusting described first motion platform (4), calculate the first image features variable quantity before and after each motion of described first micro-part (6) respectively, according to the corresponding relative shift of described image features variable quantity and described first motion platform (4), least square method is utilized to calculate the image turn of described first micro-part (6) motion control, namely the element J of image turn is obtained
11~ J
63,
Step S3: drive described second micro-part (7) to enter the field range of described multipath micro-vision system by adjusting the second motion platform (5), and be positioned at the blur-free imaging plane of described multipath micro-vision system;
Step S4: drive described second micro-part (7) to carry out repeatedly relative motion in the blur-free imaging plane of described first micro-vision system (1) and described second micro-vision system (2) by adjusting described second motion platform (5), calculate the second image features variable quantity before and after each motion respectively, according to the corresponding relative shift of described second image features variable quantity and described second motion platform (5), least square method is utilized to calculate the image turn of described second micro-part (7) motion control, namely the element J of image turn is obtained
11~ J
22,
Step S5: extract described first micro-part (6) and three characteristics of image of described second micro-part (7) in described multipath micro-vision system, calculate described first micro-part (6) and the attitude misalignment of described second micro-part (7) at image space, then, by realizing the pose pose adjustment of described second micro-part (7) based on the Visual servoing control method of image turn, the pose attitude misalignment of itself and described first micro-part (6) is made to be less than given range;
Step S6: extract described first micro-part (6) and four characteristics of image of described second micro-part (7) in described multipath micro-vision system, calculate described first micro-part (6) and the position deviation of described second micro-part (7) at image space, by realizing the position adjustment of described first micro-part (6) based on the Visual servoing control method of image turn, the position deviation of itself and described second micro-part (7) is made to be less than given range, complete the auto-alignment of described first micro-part (6) and described second micro-part (7).
2. method according to claim 1, it is characterized in that, first image features of described first micro-part (6) in described first micro-vision system (1) and described second micro-vision system (2) is the coordinate of described first micro-part (6) vertical edge line and horizontal edge line intersection point, and the first image features in described 3rd micro-vision system (3) is the coordinate in described first micro-part (6) the upper surface center of circle;
Second image features of described second micro-part (7) in described first micro-vision system (1) and described second micro-vision system (2) is the angle of vertical edge line;
3rd characteristics of image of described first micro-part (6) is the vertical edge line in described first micro-vision system (1) and described second micro-vision system (2), and the 3rd characteristics of image of described second micro-part (7) is the vertical edge line in described first micro-vision system (1) and described second micro-vision system (2);
4th characteristics of image of described first micro-part (6) is vertical edge line in described first micro-vision system (1) and described second micro-vision system (2) and horizontal edge line, the upper surface center of circle in described 3rd micro-vision system (3), 4th characteristics of image of described second micro-part (7) is at described first micro-vision system (1) and the vertical and horizontal edge line in described second micro-vision system (2), the upper surface center of circle in described 3rd micro-vision system (3).
3. method according to claim 1, is characterized in that, utilizes following formula to calculate described attitude misalignment:
Wherein, e
ang1, e
ang2refer to that described first micro-part (6) and the image angle of described second micro-part (7) in the described first, second micro-vision system are poor respectively, k
1and k
2be respectively the vertical edge line slope of described first micro-part (6) in first, second micro-vision system described, β and α is respectively the vertical edge line angle degree of described second micro-part (7) in first, second micro-vision system described.
4. method according to claim 1, is characterized in that, described position deviation is obtained by the 4th characteristics of image coordinate subtraction calculations of described first micro-part (6) with described second micro-part (7).
5. method according to claim 1, is characterized in that, the described Visual servoing control method based on image turn can be expressed as following Motion Controlling Model for the position of micro-part or pose adjustment:
Wherein, Δ T
x, Δ T
y, Δ T
zbe respectively part at three dimensions along X, Y, the relative position variable quantity of Z axis, Δ θ
x, Δ θ
y, Δ θ
zbe respectively part at three dimensions around X, Y, the relative attitude variable quantity of Z axis, Δ p
ithe image features variable quantity of part picture rich in detail in the i-th tunnel micro-vision system, i=1,2 ... n, J
11~ J
mnit is the element of the image turn controlling part movement.
6. method according to claim 1, is characterized in that, the visual servo motion control method based on image turn comprises the following steps:
1) four characteristics of image of a micro-part in multipath micro-vision system is extracted respectively;
2) four image characteristic region of described micro-part in multipath micro-vision system is marked off;
3) in the 4th image characteristic region, extract the 4th image features of described micro-part;
4) the 4th image features calculating described micro-part and another micro-part is poor, based on the image turn demarcated, is converted into three-dimensional position and attitude error;
5) judge whether described position and attitude error is less than given error range, if so, finishing control process, if not, controls the pose of the described micro-part of adjustment, and repeats step 3) ~ 5).
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| CN103544701B (en) * | 2013-10-15 | 2016-03-02 | 中国科学院自动化研究所 | A kind of multipath microscopic vision calibration system and method |
| JP6643072B2 (en) * | 2015-12-10 | 2020-02-12 | キヤノン株式会社 | Microscope system and control method thereof |
| CN106405859B (en) * | 2016-11-08 | 2018-08-24 | 南通大学 | The caliberating device and scaling method of compound eye type spherical vision system |
| US10377021B2 (en) * | 2016-12-12 | 2019-08-13 | Wipro Limited | Smart power tool |
| CN107363504B (en) * | 2017-08-24 | 2023-04-18 | 金石机器人银川有限公司 | Piston positioning and grabbing mechanism |
| CN109307585A (en) * | 2018-04-26 | 2019-02-05 | 东南大学 | A kind of intelligent test system of nearly mesh formula display performance |
| CN108972557B (en) * | 2018-08-16 | 2020-09-01 | 中国科学院自动化研究所 | Micro-part pose automatic alignment device and method |
| CN111612794B (en) * | 2020-04-15 | 2024-07-19 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | High-precision three-dimensional pose estimation method and system for parts based on multi-2D vision |
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