WO2021227189A1 - 一种基于机器视觉的显微操作平台误差自主矫正算法 - Google Patents
一种基于机器视觉的显微操作平台误差自主矫正算法 Download PDFInfo
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- WO2021227189A1 WO2021227189A1 PCT/CN2020/096364 CN2020096364W WO2021227189A1 WO 2021227189 A1 WO2021227189 A1 WO 2021227189A1 CN 2020096364 W CN2020096364 W CN 2020096364W WO 2021227189 A1 WO2021227189 A1 WO 2021227189A1
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- error
- platform
- micromanipulation
- machine vision
- images
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- 238000012937 correction Methods 0.000 title claims abstract description 29
- 238000006073 displacement reaction Methods 0.000 claims description 19
- 230000009897 systematic effect Effects 0.000 claims description 16
- 238000004364 calculation method Methods 0.000 claims description 12
- 238000000034 method Methods 0.000 abstract description 6
- 238000000520 microinjection Methods 0.000 abstract description 4
- 238000006243 chemical reaction Methods 0.000 abstract description 3
- 238000009434 installation Methods 0.000 description 5
- 238000013480 data collection Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000002347 injection Methods 0.000 description 2
- 239000007924 injection Substances 0.000 description 2
- 238000000386 microscopy Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000011218 segmentation Effects 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
- G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformation in the plane of the image
- G06T3/40—Scaling the whole image or part thereof
- G06T3/4038—Scaling the whole image or part thereof for image mosaicing, i.e. plane images composed of plane sub-images
Definitions
- the invention relates to the technical field of limit operation calculations, in particular to an algorithm for self-correcting errors of a micromanipulation platform based on machine vision.
- Micromanipulation technology is an important technical means of modern bioengineering in the field of biological sciences. With the development of modern medical technology, microinjection technology is widely used in cell injection, cell segmentation, assisted reproduction, etc.
- the purpose of the present invention is to provide a machine vision-based micromanipulation platform error self-correction algorithm that has wide applicability, can efficiently and accurately compensate for errors, and improve the precision of the micromanipulation system. It adopts the following technical solutions:
- a machine vision-based micro-manipulation platform error self-correction algorithm which includes:
- the system error in this direction is compensated autonomously, and the system error in this direction is corrected.
- the all directions include X-axis positive, X-axis negative, Y-axis positive, and Y-axis negative.
- the calculation of the systematic error of the micromanipulation platform in this direction specifically includes:
- the calculating the pixel pitch specifically includes:
- the calculation of the actual displacement distance of the two images before and after in the direction according to the pixel pitch specifically includes:
- AA 1 S * AA 1 actually calculate the actual displacement distance; wherein, AA 1 is actually the actual displacement distance, the number of pixels for the longitudinal direction AA 1 relative displacement of the two images.
- the obtaining the systematic error in this direction according to the actual displacement distance specifically includes:
- ⁇ is the deflection angle between the image coordinate system and the coordinate system of the microscope operating platform.
- the autonomous compensation for the system error in the direction to correct the system error in the direction specifically includes:
- Compensation calculation is carried out through computer closed-loop feedback, and the system error of this direction is compensated autonomously, and the system error of this direction is corrected.
- it also includes: taking multiple sets of images, and performing multiple calculations to obtain the average value of the systematic error of the micromanipulation platform in the direction.
- the scale is a two-dimensional plane scale.
- the self-correction algorithm of micromanipulation platform error based on machine vision of the present invention abandons the traditional manual data collection and calibration of each possible error factor (such as: translational motion part, rotation motion part, rolling motion part), and manual compensation
- each possible error factor such as: translational motion part, rotation motion part, rolling motion part
- the present invention integrates and unifies the current mechanical errors, CCD installation errors, and pixel/micron conversion errors that affect the accuracy of microinjection based on the image stitching technology, without manual assistance, and can realize independent compensation and correction, and the errors can be corrected. Control at the pixel level.
- system error self-compensation algorithm proposed by the present invention is not only suitable for the microscopic operating system, but also for error correction of other mobile platforms. It is not only simple to operate, but also has the characteristics of high efficiency and high precision.
- Figure 1 is a flowchart of an algorithm for autonomous correction of errors of a micromanipulation platform based on machine vision in an embodiment of the present invention
- Figure 2 is a schematic diagram of a scale in an embodiment of the present invention.
- Fig. 3 is a schematic diagram of two images before and after in an embodiment of the present invention.
- FIG. 4 is a schematic view of stitching of two images before and after in an embodiment of the present invention.
- Fig. 5 is a schematic view of the stitching of two images forward and backward on the X axis in an embodiment of the present invention.
- the machine vision-based micromanipulation platform error autonomous correction algorithm in the embodiment of the present invention includes the following steps:
- Step S10 Place the ruler on the micromanipulation platform, and move the micromanipulation platform in a fixed direction at a fixed step to obtain the ruler image, and ensure that the front and back images are partially overlapped.
- the scale is a two-dimensional planar scale, as shown in FIG. 2.
- the two images obtained before and after are shown in Figure 3, namely the front frame and the back frame.
- Step S20 stitching the two images before and after in the direction.
- the spliced image is shown in Figure 4.
- Step S30 Calculate the systematic error of the micromanipulation platform in this direction. Specifically:
- Step S31 Calculate the pixel pitch; specifically including:
- Step S32 Calculate the actual displacement distance of the two images before and after in the direction according to the pixel pitch; specifically including:
- AA 1 S * AA 1 actually calculate the actual displacement distance; wherein, AA 1 is actually the actual displacement distance, the number of pixels for the longitudinal direction AA 1 relative displacement of the two images.
- Step S33 Obtain the systematic error of the direction according to the actual displacement distance. Specifically:
- ⁇ is the deflection angle between the image coordinate system and the coordinate system of the microscope operating platform.
- +X ⁇ X and +X ⁇ y are the compensation values that need to be compensated when the X axis moves in the positive direction. In the same way, the compensation value when moving in other directions can be obtained.
- Step S40 Perform autonomous compensation for the system error in the direction, and correct the system error in the direction. Specifically:
- Compensation calculation is carried out through computer closed-loop feedback, and the system error of this direction is compensated autonomously, and the system error of this direction is corrected.
- the algorithm also includes: using a fixed step to move the micromanipulation platform in other directions and obtain images respectively, calculate the system error of the micromanipulation platform in other directions, and measure the errors in other directions.
- the system error is compensated autonomously, and the system error correction in all directions is completed.
- all directions include X-axis positive, X-axis negative, Y-axis positive, and Y-axis negative.
- the algorithm further includes: taking multiple sets of images and performing multiple calculations to obtain the average value of the systematic error of the micromanipulation platform in the direction. It can improve the accuracy of system error calculation, and finally improve the accuracy of error correction.
- the self-correction algorithm of micromanipulation platform error based on machine vision of the present invention abandons the traditional manual data collection and calibration of each possible error factor (such as: translational motion part, rotation motion part, rolling motion part), and manual compensation
- each possible error factor such as: translational motion part, rotation motion part, rolling motion part
- the present invention integrates and unifies the current mechanical errors, CCD installation errors, and pixel/micron conversion errors that affect the accuracy of microinjection based on the image stitching technology, without manual assistance, and can realize independent compensation and correction, and the errors can be corrected. Control at the pixel level.
- system error self-compensation algorithm proposed by the present invention is not only suitable for the microscopic operating system, but also for error correction of other mobile platforms. It is not only simple to operate, but also has the characteristics of high efficiency and high precision.
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Manipulator (AREA)
- Microscoopes, Condenser (AREA)
Abstract
Description
Claims (10)
- 一种基于机器视觉的显微操作平台误差自主矫正算法,其特征在于,包括:将标尺放置在显微操作平台上,以固定步进分别让显微操作平台沿固定方向移动并获取标尺图像,并保证前后两张图像有部分重叠;将该方向的前后两张图像进行拼接;计算显微操作平台在该方向的系统误差;对该方向的系统误差进行自主补偿,矫正该方向系统误差。
- 如权利要求1所述的一种基于机器视觉的显微操作平台误差自主矫正算法,其特征在于,还包括:以固定步进分别让显微操作平台沿其他方向移动并分别获取图像,计算显微操作平台在其他各个方向上的系统误差,并对其他各个方向的系统误差进行自主补偿,完成所有方向的系统误差矫正。
- 如权利要求2所述的一种基于机器视觉的显微操作平台误差自主矫正算法,其特征在于,所述所有方向包括X轴正向、X轴负向、Y轴正向、Y轴负向。
- 如权利要求1所述的一种基于机器视觉的显微操作平台误差自主矫正算法,其特征在于,所述计算显微操作平台在该方向的系统误差,具体包括:计算像素间距;根据像素间距计算该方向上前后两张图像的实际位移距离;根据实际位移距离得到该方向的系统误差。
- 如权利要求4所述的一种基于机器视觉的显微操作平台误差自主矫正算法,其特征在于,所述计算像素间距,具体包括:采用公式S=M/N计算像素间距;其中,S为像素间距,M为标尺长度,N为M长度内的像素个数。
- 如权利要求5所述的一种基于机器视觉的显微操作平台误差自主矫正算法,其特征在于,所述根据像素间距计算该方向上前后两张图像的实际位移 距离,具体包括:采用公式AA 1实际=S*AA 1计算实际位移距离;其中,AA 1实际为实际位移距离,AA 1为该方向的前后两张图像相对位移的像素个数。
- 如权利要求6所述的一种基于机器视觉的显微操作平台误差自主矫正算法,其特征在于,所述根据实际位移距离得到该方向的系统误差,具体包括:根据公式AA 1实际*cos(θ)和AA 1实际*sin(θ)得到该方向的系统误差的两个分量;其中,θ为图像坐标系与显微操作平台坐标系的偏角。
- 如权利要求1所述的一种基于机器视觉的显微操作平台误差自主矫正算法,其特征在于,所述对该方向的系统误差进行自主补偿,矫正该方向系统误差,具体包括:通过计算机闭环反馈进行补偿计算,对该方向的系统误差进行自主补偿,矫正该方向系统误差。
- 如权利要求1所述的一种基于机器视觉的显微操作平台误差自主矫正算法,其特征在于,还包括:拍摄多组图像,并进行多次计算得到显微操作平台在该方向系统误差的平均值。
- 如权利要求1所述的一种基于机器视觉的显微操作平台误差自主矫正算法,其特征在于,所述标尺为二维平面标尺。
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US20040044431A1 (en) * | 2002-08-28 | 2004-03-04 | Joseph Pellegrini | Methods and systems for controlling reticle-induced errors |
CN102842117A (zh) * | 2012-07-13 | 2012-12-26 | 浙江工业大学 | 显微视觉系统中运动误差矫正方法 |
CN105444699A (zh) * | 2015-11-11 | 2016-03-30 | 苏州大学附属儿童医院 | 一种显微操作系统坐标与位移误差检测和补偿的方法 |
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US20040044431A1 (en) * | 2002-08-28 | 2004-03-04 | Joseph Pellegrini | Methods and systems for controlling reticle-induced errors |
CN102842117A (zh) * | 2012-07-13 | 2012-12-26 | 浙江工业大学 | 显微视觉系统中运动误差矫正方法 |
CN105444699A (zh) * | 2015-11-11 | 2016-03-30 | 苏州大学附属儿童医院 | 一种显微操作系统坐标与位移误差检测和补偿的方法 |
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