CN110888360A - Magnetic fluid liquid drop motion control system based on visual servo - Google Patents
Magnetic fluid liquid drop motion control system based on visual servo Download PDFInfo
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- CN110888360A CN110888360A CN201911173429.XA CN201911173429A CN110888360A CN 110888360 A CN110888360 A CN 110888360A CN 201911173429 A CN201911173429 A CN 201911173429A CN 110888360 A CN110888360 A CN 110888360A
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- magnet array
- magnetic fluid
- motion control
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- magnetofluid
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
Abstract
The invention discloses a magnetofluid liquid drop motion control system based on visual servo, which comprises a support platform, a visual sensing measuring device and a magnetofluid liquid drop motion control platform, wherein the magnetofluid liquid drop motion control platform is arranged at the upper end of the support platform, the visual sensing measuring device comprises a high-resolution camera and a PC (personal computer), the high-resolution camera is arranged above the magnetofluid liquid drop motion control platform, the magnetofluid liquid drop motion control platform comprises a super-hydrophobic glass sheet, and a magnet array platform which is arranged below the super-hydrophobic glass sheet and inside the support platform, the magnet array platform is connected with the PC through a data line, and the magnet array platform comprises a magnet array, a magnet array driving circuit and a control circuit, wherein the magnet array, the magnet array driving circuit and the. The invention can control a plurality of magnetic fluid liquid drops to move simultaneously and can realize the control of the fusion and separation movement of the magnetic fluid liquid drops on a plane.
Description
Technical Field
The invention relates to the technical field of magnetofluid control, in particular to a magnetofluid droplet motion control system based on visual servo.
Background
The magnetic fluid is a uniform and stable colloidal solution formed by uniformly dispersing a layer of long-chain surfactant wrapped by magnetic particles with nanometer magnitude (about 10 nanometers) in a base solution. The fluid has no magnetic attraction in a static state, and shows magnetism when an external magnetic field acts. The magnetic fluid as a novel nano functional material has been widely applied in the biomedical fields of magnetic target administration, magnetic liquid intracellular thermotherapy, gene therapy and the like. Aiming at controlling the accurate movement position of the magnetic fluid liquid drop, an experiment system with complete functions and high visualization degree is needed at the present stage. According to the relevant data, the existing magnetofluid liquid drop motion control at home and abroad is greatly developed, but the following defects still exist:
(1) there has been less research on the independent control of single or multiple magnetic fluid droplets.
(2) The existing experimental equipment is simple, the motion precision is poor, and the precise motion control is difficult to realize.
(3) The existing manipulation method for manipulating the magnetic fluid liquid drop is not flexible enough, and the control range is small.
Disclosure of Invention
The invention aims to provide a magnetofluid droplet motion control system based on visual servo aiming at the technical defects in the prior art, so as to overcome the defects of poor motion precision, inflexible operation mode and small control range in magnetofluid motion control equipment in the prior art.
The technical scheme adopted for realizing the purpose of the invention is as follows:
a magnetic fluid droplet motion control system based on visual servoing, comprising:
the device comprises a support platform, a visual sensing measuring device and a magnetofluid droplet motion control platform, wherein the magnetofluid droplet motion control platform is arranged at the upper end of the support platform, the visual sensing measuring device comprises a high-resolution camera and a PC (personal computer), the high-resolution camera is arranged above the magnetofluid droplet motion control platform, the magnetofluid droplet motion control platform comprises a super-hydrophobic glass sheet and a magnet array platform arranged below the super-hydrophobic glass sheet and inside the support platform, the magnet array platform is connected with the PC through a data line, and the magnet array platform comprises a magnet array, a magnet array driving circuit and a control circuit, wherein the magnet array, the magnet array driving circuit and the control circuit are formed by disc; the magnet array driving circuit and the control circuit control the working state of each electromagnet through the on-off of the power supplies of the rows and the columns of the magnet array; the PC is provided with upper computer software, the upper computer software processes the image transmitted back by the camera, obtains liquid drop position information through template matching, receives processing instruction information and transmits the processing instruction information to the magnet array driving circuit and the control circuit; the distance of single movement of the magnetic fluid liquid drop is the center distance between the two disc electromagnets, and the projection area of the magnetic fluid liquid drop is the size of the cross section area of one disc electromagnet.
Preferably, a leveling mechanism is arranged at the lower part of the support platform so as to level the magnetic fluid droplet motion control platform.
Preferably, the area of the super-hydrophobic glass sheet is 144 x 144, the thickness of the super-hydrophobic glass sheet ranges from 0.1 mm to 1mm, the surface of the super-hydrophobic glass sheet is subjected to hydrophobic treatment, and the contact angle of the magnetic fluid liquid drop on the surface of the super-hydrophobic glass sheet reaches a super-hydrophobic critical state.
Preferably, the magnet array is composed of 256 disc electromagnets with 8mm diameter arranged in 16 × 16 rows and columns.
Preferably, the rated voltage of the disc electromagnet is 24V.
Preferably, the collecting area of the high-resolution camera is 144 × 144mm of the whole plane area of the glass plate, the number of the image-taking pixels is 256, and the size of the minimum pixel point is 8 × 8 mm.
The device further comprises a handle which is connected with a PC through wireless communication and is provided with a cross direction button and ABXY keys, wherein the cross direction button controls the movement direction of the magnetic fluid droplets, and the ABXY keys are respectively used for controlling the specific working mode of the droplets.
Preferably, a magnet driver in the magnet array driving circuit is a solid-state relay, and a controller in the control circuit is a single chip microcomputer with a Cotex-M3 inner core.
Furthermore, for modular design, the number of the magnet arrays can be increased and expanded through the interconnection and communication among the modules, and the cooperative control among the expanded arrays can be realized through software.
The invention can make the magnetic fluid liquid drop move under the action of an external magnetic field in a super-hydrophobic state, can feed back the moving position of the magnetic fluid liquid drop in real time under a visual servo system, and makes corresponding movement direction control according to the position, thereby realizing the effect of accurately controlling the movement of the magnetic fluid liquid drop.
In addition, the invention can send a movement direction control instruction to the magnet array control platform by using the game handle, the magnet array control platform controls the movement of the magnetic fluid liquid drops, meanwhile, the visual sensing measuring device positions the positions of the magnetic fluid liquid drops, the visual sensing measuring device detects the change of the positions of the magnetic fluid liquid drops, and the handle control instruction is updated and read in real time, so that the magnetic fluid movement achieves the continuous fluidity control effect, and the liquid drops can be accurately controlled to reach the designated positions
Drawings
FIG. 1 is an isometric view of the overall system architecture of a magnetofluid droplet motion control system based on visual servoing;
FIG. 2 is a left side view of the overall structure of the magnetofluid droplet motion control system based on visual servoing;
FIG. 3 is a top view of the overall structure of a magnetofluid droplet motion control system based on visual servoing;
FIG. 4 is a schematic diagram of a magnetofluid droplet motion control platform of a magnetofluid droplet motion control system based on visual servoing;
FIG. 5 is a schematic diagram of a magnet array drive circuit and control circuit board of a magnetofluid droplet motion control system based on visual servoing;
FIG. 6 is a schematic view of the pixel distribution of the observation plane of the present invention;
in the figure: 1-a vision sensing measuring device; 2-magnetofluid droplet motion control platform; 3-support platform.
101-high resolution camera; 102-adjusting knob; 103-a support bar; 104-fastening screws; 105-a superhydrophobic glass sheet; 106-leveling structure;
201-a support table; 202-magnet array; 203-magnet array driving circuit; 204-magnet array control circuit;
301-solid state relay; 302-a controller; 303 — power interface; 304-USB communication interface.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, the magnetic fluid droplet motion control system based on visual servo of the present invention comprises:
the device comprises a support platform 3, a vision sensing measuring device 1 and a magnetofluid liquid droplet motion control platform 2, wherein the magnetofluid liquid droplet motion control platform 2 is installed at the upper end of the support platform, the vision sensing measuring device comprises a high-resolution camera 101 and a PC (personal computer) (not shown), the high-resolution camera is installed above the magnetofluid liquid droplet motion control platform 2, the magnetofluid liquid droplet motion control platform 2 comprises a support platform 210, a super-hydrophobic glass sheet 105 and a magnet array platform which is arranged below the super-hydrophobic glass sheet 105 and inside the support platform 3, the magnet array platform is installed on the support platform 201, the magnet array platform is connected with the PC (not shown) through a data line (not shown), and the magnet array platform comprises a magnet array 202 consisting of disc electromagnets, a magnet array driving circuit 203 and a magnet array control circuit 204; the magnet array driving circuit and the magnet array control circuit control the working state of each electromagnet through the on-off of power supplies of rows and columns of the magnet array; the PC is provided with upper computer software, the upper computer software processes the image transmitted back by the camera, obtains liquid drop position information through template matching, receives processing instruction information and transmits the processing instruction information to the magnet array driving circuit and the control circuit; the distance of single movement of the magnetic fluid liquid drop is the center distance between the two disc electromagnets, and the projection area of the magnetic fluid liquid drop is the size of the cross section area of one disc electromagnet.
When the device is used, the high-resolution camera firstly shoots a plane to be detected to obtain an image, and the image of the magnetic fluid liquid drop in a static state is intercepted to be used as a template. And starting image detection after the template selection is finished, matching the magnetic fluid liquid drop positions in the shot image area through an image processing method of template matching, and when the matching degree exceeds 80%, determining that the magnetic fluid liquid drop on the current visual field plane is found, then positioning the position of the current magnetic fluid liquid drop in the image, and acquiring the position of the current magnetic fluid liquid drop.
Specifically, the high-resolution camera 101 is mounted on a support rod 103, the support rod 103 is fixed on a mounting sleeve fixed on one side of the support platform through a fastening screw 104, the high-resolution camera 101 is fixed on the support rod 103, and the height position can be adjusted through an adjusting knob 102.
Preferably, a leveling mechanism 106 is arranged at the lower part of the support platform to level the magnetic fluid droplet motion control platform, and the leveling mechanism can be a leveling bolt or other mechanisms, and is not limited in particular.
Preferably, the super-hydrophobic glass sheet 105 has an area of 144 × 144 and a thickness ranging from 0.1 mm to 1mm, the surface of the super-hydrophobic glass sheet is subjected to hydrophobic treatment, and the contact angle of the magnetic fluid liquid drops reaches a super-hydrophobic critical state on the surface of the super-hydrophobic glass sheet.
Preferably, the magnet array 202 is composed of 256 disc electromagnets with a diameter of 8mm arranged in 16 × 16 rows and columns, and preferably, the disc electromagnets have a rated voltage of 24V.
Preferably, the collecting area of the high resolution camera 101 is 144 × 144mm of the whole glass plate plane area, the number of the image pixels is 256, and the minimum pixel size is 8 × 8 mm.
Further, the device also comprises a handle (not shown), the handle is connected with the PC through wireless communication and is provided with a cross direction button and ABXY keys, the cross direction button controls the movement direction of the magnetic fluid droplets, and the ABXY keys are respectively used for controlling the specific working mode of the droplets. The handle is connected with the PC through wireless equipment, the high-resolution camera is connected with the PC through a data line, and the PC is connected with the magnet array platform through the data line.
Preferably, the magnet driver in the magnet array driving circuit is a solid-state relay 301, and the controller 302 in the magnet array control circuit is a single chip microcomputer with a Cotex-M3 kernel, and communicates with the PC in a serial communication manner, receives a control instruction sent by the PC, and further controls the output of high and low levels of a port of the single chip microcomputer to control the operation of the relay of the driving circuit.
In the invention, a power interface 303 is arranged and adopts a 24V direct current power supply for power supply. A communication interface 304 is provided which communicates with the PC via a data line.
It should be noted that the present invention is a modular design, and can realize the increase and expansion of the number of magnet arrays through the interconnection and communication among the modules, and realize the cooperative control among the expanded arrays through software. Specifically, the magnet array platform in the support platform 3 is of a modular structure, so that expanded connection can be realized, interconnection and communication among modules can be realized after the expanded connection, and cooperative control among expanded arrays can be realized through software, so that the requirements of various different working conditions are met.
When the super-hydrophobic glass sheet leveling device is used, firstly, the magnet array platform is leveled through the leveling structure of the base, and the plane where the super-hydrophobic glass sheet is located is kept horizontal. And adding magnetic fluid liquid drops on the plane of the super-hydrophobic glass sheet. And adjusting the high-resolution camera support structure until the camera completely takes in the plane of the glass sheet.
Secondly, initializing the system, starting to acquire image information by the high-resolution camera and sending the image information to the PC, reading the image information by the PC and intercepting the magnetofluid droplet image as an image matching template, selecting the template and then entering a template matching working mode, and starting to find out the position of the magnetofluid droplet in the plane through template matching.
The PC then reads whether the handle sends a motion control command. After the handle sends a motion control instruction, the PC processes information sent by the handle and sends the information to the magnet array control platform, the magnet array platform controls the electromagnets near the planar pixel point position of the magnetofluid liquid drop to work, if the magnetofluid liquid drop is controlled to move rightwards, the electromagnets on the right side of the magnetofluid liquid drop are controlled to be opened, a new magnetic field is established, and the magnetofluid liquid drop moves rightwards under the action of the magnetic field. The camera reads the position of the magnetofluid liquid drop, if the position of the magnetofluid liquid drop changes by one pixel point, the PC reads the operation control instruction of the handle again, the PC processes the information sent by the handle and then sends the information to the magnet array control platform, the magnet array control platform controls the magnetofluid liquid drop to move, and the operation is executed in a circulating mode.
Finally, when the handle no longer sends control information, the magnetic fluid stops moving.
The system can use the handle to control the liquid drop to move, utilizes the camera to collect images and realize the feedback of the position information of the liquid drop, automatically reads the control instruction information of the handle when the actual position of the liquid drop is changed, and adjusts the moving direction of the liquid drop until the liquid drop is accurately controlled to reach the designated position by the handle.
Since the movement of the liquid drop requires time and the command can be given quickly, it is difficult to control the liquid drop to a designated position only by the handle. By image detection and feedback of position information, when the position information of the liquid drop is changed, the running direction state of the micro-fluid liquid drop can be effectively updated in time by reading the control instruction again, so that the movement direction of the liquid drop is adjusted.
The system can control the liquid drop to move in all directions, is provided with a working mode of a specific movement path, and can automatically control the liquid drop to move in the specific path.
The system can control the simultaneous movement of a plurality of magnetic fluid droplets and can realize the control of the fusion and separation movement of the magnetic fluid droplets on a plane.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (9)
1. A magnetic fluid droplet motion control system based on visual servoing, comprising:
the device comprises a support platform, a visual sensing measuring device and a magnetofluid droplet motion control platform, wherein the magnetofluid droplet motion control platform is arranged at the upper end of the support platform, the visual sensing measuring device comprises a high-resolution camera and a PC (personal computer), the high-resolution camera is arranged above the magnetofluid droplet motion control platform, the magnetofluid droplet motion control platform comprises a super-hydrophobic glass sheet and a magnet array platform arranged below the super-hydrophobic glass sheet and inside the support platform, the magnet array platform is connected with the PC through a data line, and the magnet array platform comprises a magnet array, a magnet array driving circuit and a control circuit, wherein the magnet array, the magnet array driving circuit and the control circuit are formed by disc; the magnet array driving circuit and the control circuit control the working state of each electromagnet through the on-off of the power supplies of the rows and the columns of the magnet array; the PC is provided with upper computer software, the upper computer software processes the image transmitted back by the camera, obtains liquid drop position information through template matching, receives processing instruction information and transmits the processing instruction information to the magnet array driving circuit and the control circuit; the distance of single movement of the magnetic fluid liquid drop is the center distance between the two disc electromagnets, and the projection area of the magnetic fluid liquid drop is the size of the cross section area of one disc electromagnet.
2. The visual servo-based magnetofluid droplet motion control system of claim 1, wherein a leveling mechanism is provided below the support platform to level the magnetofluid droplet motion control platform.
3. A magnetic fluid droplet motion control system based on visual servo as claimed in claim 1 wherein the super-hydrophobic glass sheet area is 144 x 144, thickness is in the range of 0.1-1mm, the surface is hydrophobic treated, and the contact angle of the magnetic fluid droplet reaches super-hydrophobic critical state on the surface.
4. A magnetic fluid droplet movement control system based on visual servo as claimed in claim 1 where the magnet array is composed of 256 disc electromagnets 8mm in diameter arranged in 16 x 16 rows and columns.
5. A magnetic fluid droplet motion control system based on visual servoing according to claim 1 where the disc electromagnet is rated at 24V.
6. A magnetic fluid droplet motion control system based on visual servo as claimed in claim 1 where the high resolution camera has a collection area of 144 x 144mm over the whole glass plate area, 256 pixel points and a minimum pixel size of 8 x 8 mm.
7. The magnetic fluid droplet motion control system based on visual servo of claim 1, further comprising a handle connected with a PC by wireless communication and having a cross direction button and ABXY keys, wherein the cross direction button controls the moving direction of the magnetic fluid droplets, and the ABXY keys are respectively used for controlling the specific working mode of the droplets.
8. A magnetic fluid droplet motion control system based on visual servo as claimed in claim 1 wherein the magnet driver in the magnet array driving circuit is a solid state relay and the controller in the control circuit is a single chip microcomputer with Cotex-M3 kernel.
9. A magnetic fluid droplet movement control system based on visual servo as claimed in claim 1 wherein for modular design, the number of magnet arrays can be increased and expanded by the interconnection and communication between the modules, and the cooperative control between the expanded arrays can be realized by software.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113406071A (en) * | 2021-05-19 | 2021-09-17 | 杭州电子科技大学 | Magnetic drive liquid drop motion testing device and testing method thereof |
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Application publication date: 20200317 |