CN103170823A - Control device and method of inserting micro-pipe into micro-hole through monocular microscopy visual guidance - Google Patents

Abstract

Translated fromChinese

本发明公开了一种单目视觉引导下微管插入微孔的控制装置及方法，该装置包括：隔振平台、显微视觉系统、平移平台、微管、操作器、夹持器、姿态调整平台、位置调整平台、带微孔的零件。该方法包括：调节显微视觉系统位置、姿态调节平台和操作器，使微孔和微管末端在显微视觉系统成像；对微孔和微管进行聚焦，使其同时处于显微视觉系统的聚焦平面上；对微孔进行椭圆拟合求其中心点，对微管进行边缘直线拟合求取微管末端中心点；结合显微视觉系统的标定信息，控制微管末端对准到微孔上方；对微管末端进行聚焦和定位，控制微管插入微孔。本发明实施简单，可实现在单目视觉引导下的三维空间中微管和微孔的插入装配，能够大幅度提高微装配的自动化程度。

The invention discloses a control device and method for inserting a microtube into a microhole under the guidance of monocular vision. The device includes: a vibration isolation platform, a microscopic vision system, a translation platform, a microtube, a manipulator, a holder, and an attitude adjustment Platforms, position adjustment platforms, parts with micro-holes. The method includes: adjusting the position of the microscopic vision system, adjusting the attitude of the platform and the manipulator, so that the microhole and the end of the microtube are imaged in the microvision system; On the focusing plane; perform ellipse fitting on the microwell to obtain its center point, and perform linear fitting on the edge of the microtube to obtain the center point of the end of the microtube; combine the calibration information of the microscopic vision system to control the alignment of the end of the microtube to the microhole Above; focusing and positioning of microtubule ends, controlling insertion of microtubules into microwells. The invention is simple to implement, can realize the insertion and assembly of microtubes and microholes in three-dimensional space under the guidance of monocular vision, and can greatly improve the automation degree of microassembly.

Description

The lower microtubule of a kind of monocular micro-vision guiding inserts control device and the method for micropore

Technical field

The invention belongs to measurement and control based on micro-vision in little assembling field, the lower microtubule of especially a kind of monocular vision guiding inserts control device and the method for micropore.

Background technology

At present, usually utilize the micro-vision measurement target in three-dimensional position and attitude in the little assembly manipulation of 3D.Little due to the micro-vision depth of field, the visual field is little; the monocular micro-vision generally can only provide the positional information of two dimension; obtain the three dimensional local information of little Assembly part; usually can adopt the orthogonal micro-vision of two-way (can be referring to document: X.Zeng; X.Huang; M.Wang; Micro-assembly of micro parts using uncalibrated microscopes visual servoing method; Information Technology Journal; 7 (3): 497-503,2008.).Two-way or the micro-vision of the multichannel operating space that can greatly limit little assembling more even can't be used in some assembling.If use the monocular micro-vision, three-dimensional little assembling of its guiding at first can be in the x-y planar alignment, and then carry out in conjunction with the characteristics of concrete little assembling that the z axle aims at (can be referring to document: Lidai Wang, James K.Mills, William L.Cleghorn.Automatic Microassembly Using Visual Servo Control.IEEE Transactions on Electronics Packaging Manufacturing, 2008,31 (4): 316-325).It is more consuming time that this substep carries out the method for three-dimensional manipulating, and z shaft alignement restriction is more, and precision is not easy to guarantee.

Summary of the invention

Multichannel micro-vision system operating space is little can only measure the shortcoming of two-dimensional position coordinate usually with monocular vision in order to solve, and the object of the present invention is to provide the lower microtubule of a kind of monocular micro-vision guiding to insert control device and the method for micropore.

For achieving the above object, according to an aspect of the present invention, the control device that the lower microtubule of a kind of monocular micro-vision guiding inserts micropore is proposed, this device comprises: vibration-isolating platform 1, micro-vision system 7, translate stage 8, microtubule 6, operator 2, clamper 5, attitude adjustment platform 3, position adjust platform 9, with the part of micropore 4, wherein:

Described micro-vision system 7 is installed on described translate stage 8, and described micro-vision system 7 points to described microtubule 6 and micropores 4;

Described translate stage 8 is arranged on described position and adjusts on platform 9;

Described clamper 5 is arranged on the end of described operator 2;

Described microtubule 6 is installed on the end of described clamper 5, along with operator 2 moves together;

Platform 9 is adjusted in described position, operator 2 is arranged on described vibration-isolating platform 1;

Described attitude adjustment platform 3 is used for placing the part with micropore 4, and described operator 2 and described micro-vision system 7 are positioned at the both sides of described attitude adjustment platform 3.

According to a further aspect in the invention, propose the control method that the lower microtubule of a kind of monocular micro-vision guiding inserts micropore, the method comprises the following steps:

Step S1: adjust platform 9 and drive 7 motions of micro-vision system by adjusting the position, change the position of micro-vision system 7, make the micropore 4 can be in the visual field of micro-vision system 7;

Step S2: adjustment operation device 2 drives the visual field that microtubules 6 enter micro-vision system 7, and the coordinate of adjusting operation device 2 makes micro-vision system 7 can collect the image of microtubule 6 ends;

Step S3: determine the image-region of micropore 4 and the image-region of microtubule 6 by image segmentation, then according to autofocus evaluation function, drive micro-vision system 7 and seesaw to realize focusing to micropore 4 along its optical axis by controlling translate stage 8, afterwards, fixedly the position of micro-vision system 7 is no longer adjusted, and adjustment operation device 2 drives microtubules 6 and seesaws along the micro-vision systematic optical axis and realize the focusing of microtubule 6 ends;

Step S4: micropore 4 is carried out the extraction of image characteristic point;

Step S5: microtubule 6 is carried out the extraction of image characteristic point;

Step S6: calculate the image characteristic point of microtubule 6 to the image distance of the image characteristic point of micropore 4, according to the demarcation information calculating three dimensions relative position both of micro-vision system 7, and the end of microtubule 6 is registered to the top of micropore 4;

Step S7: again the end of microtubule 6 carried out automatic focus and reorientate, equally according to the demarcation information of micro-vision system 7, determining three dimensions relative position both, control operation device 2 inserts micropores 4 with microtubule 6.

Characteristics of the present invention are to control microtubule at x under the guiding of monocular micro-vision, y, and the z axle is aimed at micropore simultaneously, thereby has greatly simplified assembling process.

Description of drawings

Fig. 1 is the control device structural representation that the lower microtubule of monocular micro-vision guiding of the present invention inserts micropore.

Fig. 2 is the control method flow chart that the lower microtubule of monocular micro-vision guiding of the present invention inserts micropore.

Fig. 3 is the trajectory diagram of microtubule and micropore aligning and insertion process.

Fig. 4 is the procedural image that microtubule and micropore are aimed at and inserted.

The specific embodiment

For making the purpose, technical solutions and advantages of the present invention clearer, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in more detail.

Fig. 1 is the control device structural representation that the lower microtubule of monocular micro-vision guiding of the present invention inserts micropore, as shown in Figure 1, the control device that the lower microtubule of described monocular micro-vision guiding inserts micropore comprises: vibration-isolating platform 1, micro-vision system 7, translate stage 8, microtubule 6, operator 2, clamper 5, attitude adjustment platform 3, position adjust platform 9, with the part of micropore 4, wherein:

Described micro-vision system 7 is installed on described translate stage 8, and described micro-vision system 7 points to described microtubule 6 and micropores 4;

Described translate stage 8 is arranged on described position and adjusts on platform 9, and in an embodiment of the present invention, the upper surface that platform 9 is adjusted in described position tilts, so that have the inclination angle between the plane of described micro-vision system 7 and described vibration-isolating platform 1;

Described clamper 5 is arranged on the end of described operator 2;

Described microtubule 6 is installed on the end of described clamper 5, along with operator 2 moves together;

Platform 9 is adjusted in described position, operator 2 is arranged on described vibration-isolating platform 1;

Described attitude adjustment platform 3 is used for placing the part with micropore 4, and described operator 2 and described micro-vision system 7 are positioned at the both sides of described attitude adjustment platform 3;

Described device also comprises computer 10, is used for controlling the motion of described translate stage 8 and described operator 2, and described micro-vision system 7 is connected to computer 10 by vision connecting line 11; Described translate stage 8 is connected to computer 10 by control connection line 12; Described operator 2 is connected to computer 10 by control line 13.

During described device work, adjust platform 9 by the position and drive 7 motions of micro-vision system, change the position of micro-vision system 7, make the image of micropore 4 appear in the visual field of micro-vision system 7.Along with the motion of operator 2, operator 2 drives the visual field that microtubules 6 enter micro-vision system 7.The image that contains simultaneously micropore 4 and microtubule 6 is carried out image segmentation determine both zone, and it is carried out automatic focus and accurate location separately.According to the feature extraction of microtubule 6 and micropore 4 (in an embodiment of the present invention, described feature refers to the central point of microtubule 6 ends and the central point of micropore 4) and the demarcation information of micro-vision system, according to PI (PI, proportional-integral, ratio-integration) control strategy control operation device 2 drives microtubules 6 and moves on the blur-free imaging plane, is registered to the top of micropore 4.Again the end of microtubule 6 focused on and locate, calculate the three-dimensional relative distance of itself and micropore 4, the control operation device 2 drives microtubules 6 and inserts micropores 4.

In an embodiment of the present invention, described operator 2 adopts motion platform, has three translation freedoms, can vertically laterally, vertically carry out translational motion with horizontal plane respectively; Described translate stage 8 adopts the single shaft motion platform, can move along the axis direction of described translate stage 8; Micro-vision system 7 is made of PointGrey video camera and Navitar camera lens; Computer 10 adopts Dell Inspiron545S; Microtubule 6 forms for the hollow glass cylinder stretches, and the end outside diameter is 10 μ m.

Fig. 2 is the control method flow chart that the lower microtubule of monocular micro-vision guiding of the present invention inserts micropore, and as shown in Figure 2, the method comprises the following steps:

Step S1: adjust platform 9 and drive 7 motions of micro-vision system by adjusting the position, change the position of micro-vision system 7, make the micropore 4 can be in the visual field of micro-vision system 7;

Step S2: adjustment operation device 2 drives the visual field that microtubules 6 enter micro-vision system 7, and the coordinate of adjusting operation device 2 makes micro-vision system 7 can collect the image of microtubule 6 ends;

Step S3: determine the image-region of micropore 4 and the image-region of microtubule 6 by image segmentation, then according to certain autofocus evaluation function (in an embodiment of the present invention, described autofocus evaluation function is the quadratic sum accumulated value of pixel sobel value), drive micro-vision system 7 and seesaw to realize focusing to micropore 4 along its optical axis by controlling translate stage 8, afterwards, fixedly the position of micro-vision system 7 is no longer adjusted, and adjustment operation device 2 drives microtubules 6 and seesaws along the micro-vision systematic optical axis and realize the focusing of microtubule 6 ends;

Step S4: micropore 4 is carried out the extraction of image characteristic point;

The extraction of in this step, micropore 4 being carried out image characteristic point comprises the following steps:

Step S41: to ROI (the region of interest of micropore 4, area-of-interest) carry out binary conversion treatment, in an embodiment of the present invention, adopt OTSU (large Tianjin method, a kind of automatic threshold binarization method of Japanese's name) to carry out described binary conversion treatment;

Step S42: scanning obtains marginal point;

Step S43: described marginal point is carried out ellipse fitting ask its center as the image characteristic point of micropore 4;

Step S5: microtubule 6 is carried out the extraction of image characteristic point;

The extraction of in this step, microtubule 6 being carried out image characteristic point comprises the following steps:

Step S51: the ROI to microtubule 6 carries out binary conversion treatment;

Described binary conversion treatment can be expressed as:

Wherein, g (i, j) is the image pixel gray value, g_hBe background gray levels, be the corresponding gray scale of grey level histogram maximum of the ROI of microtubule 6, g_tBe selected threshold value, be used for distinguishing image and the background image of microtubule 6;

Step S52: scanning obtains the left and right edges point;

Step S53: described left and right edges point is carried out respectively fitting a straight line (in an embodiment of the present invention, utilize RANSAC (Random Sample Concensus, the random sampling consistency algorithm) carry out fitting a straight line), the lower limb intersection point of the angular bisector of the both sides straight line that obtains and the ROI of microtubule 6 is taken as the end central point of microtubule 6 as the image characteristic point of microtubule 6;

Step S6: the image characteristic point that calculates microtubule 6, be that microtubule 6 end central points are to the image characteristic point of micropore 4, be that (described image distance refers to pixel increment for the image distance at micropore 4 centers, namely, the number of pixels at interval), calculate both three dimensions relative shift according to the demarcation information of micro-vision system 7, and the end that uses the PI control strategy to move microtubule 6 based on described relative shift makes it be registered to the top of micropore 4;

The end that described use PI control strategy moves microtubule 6 makes the step of its top that is registered to micropore 4 further comprising the steps:

Step S61: utilize following formula to calculate the image characteristic point (being microtubule 6 end central points) of microtubule 6 and the initial relative shift of image characteristic point (being micropore 4 central points) on three dimensions of micropore 4:

$\{\begin{array}{c}\mathrm{\Δ}{x}_m=n_x{k}_x\mathrm{\Δu}+o_x{k}_y\mathrm{\Δv}\\ \mathrm{\Δ}{y}_m=n_y{k}_x\mathrm{\Δu}+o_y{k}_y\mathrm{\Δv}\\ \mathrm{\Δ}{z}_m=n_z{k}_x\mathrm{\Δu}+o_z{k}_y\mathrm{\Δv}\end{array}---\left(2\right)$

Wherein, (Δ x_m, Δ y_m, Δ z_m) be microtubule 6 end central points and the relative shift of micropore 4 central points on three dimensions, (Δ u, Δ v) is the increment of coordinate (being image distance) of the picture rich in detail of microtubule 6 end central points and micropore 4 central points, n_x, n_y, n_zAnd o_x, o_y, o_zIt is the spin matrix of the micro-vision system of demarcating

Element, be given value, k_x, k_yBeing the image coordinate of demarcation and the proportionality coefficient of micro-vision system coordinates, is also given value.

Step S62: mobile microtubule 6 one initial step lengths, and then utilize following formula to calculate microtubule 6 end central points and the current relative shift of micropore 4 central points on three dimensions;

Described initial step length can rule of thumb come to determine.

Step S63: calculate the step-length that next step moves according to the first two steps relative shift that obtains;

In this step, utilize following formula to calculate the step-length that next step moves:

$\{\begin{array}{c}\mathrm{\Δ}{x}_t\left(n\right)=K_p(\mathrm{\Δ}{x}_m\left(n\right)-\mathrm{\Δ}{x}_m(n-1)))+K_i\mathrm{\Δ}{x}_m\left(n\right)\\ \mathrm{\Δ}{y}_t\left(n\right)=K_p(\mathrm{\Δ}{y}_m\left(n\right)-\mathrm{\Δ}{y}_m(n-1)))+K_i\mathrm{\Δ}{y}_m\left(n\right)\\ \mathrm{\Δ}{z}_t\left(n\right)=K_p(\mathrm{\Δ}{z}_m\left(n\right)-\mathrm{\Δ}{z}_m(n-1)))+K_i\mathrm{\Δ}{z}_m\left(n\right)\end{array}---\left(3\right)$

Wherein, K_p, K_iProportionality coefficient and integral coefficient for the PI control strategy are given value, Δ x_t(n), Δ y_t(n), Δ z_t(n) be respectively microtubule 6 n and go on foot step-length mobile on x, y, z axle, Δ x_m(n), Δ y_m(n), Δ z_m(n) be respectively microtubule 6 end central points and the micropore 4 central point n relative shifts of step on x, y, z axle, Δ x_m(n-1), Δ y_m(n-1), Δ z_m(n-1) be respectively microtubule 6 end central points and the micropore 4 central point n-1 relative shifts of step on x, y, z axle.

Step S64: move microtubule 6 according to the step-length that calculates;

Step S65: repeating said steps S63 and step S64 are until the end of microtubule 6 is registered to the top of micropore 4.

Step S7: again the end of microtubule 6 carried out automatic focus and reorientated, similar to described step 6, according to the demarcation information of micro-vision system 7, determine three dimensions relative shift both, based on described relative shift control operation device 2, microtubule 6 is inserted in micropores 4.

In practical operation, at first, adjust the visual field and the microtubule position of micro-vision system 1 according to step S1 and S2; Then, according to step S3, microtubule and micropore are carried out automatic focus, make the blur-free imaging plane that both is in simultaneously the micro-vision system; Then step S4 and S5 have realized the extraction to both image characteristic point; Control microtubule by visual servo in step S6 and be registered to micropore top; Step S7 focuses on and the location microtubule again, eliminates error, and then open loop is controlled it and inserted micropore.In an embodiment of the present invention, step S6 has carried out 7 step servo motions, and the microtubule image coordinate in the visual servo motion of acquisition and the operator coordinate of whole insertion process are as follows:

Wherein, microtubule and micropore aim at and the track of insertion process as shown in Figure 2, the image of whole process is as shown in Figure 3.

Control device and method that microtubule under a kind of monocular vision guiding that the present invention proposes inserts micropore have realized the three-dimensional little assembling process under the guiding of monocular micro-vision.Microtubule under a kind of monocular vision guiding of the present invention inserts control device and the method for micropore, and movement locus is simple, and it is convenient to use, and can realize adaptability and the availability of the lower three-dimensional microoperation of monocular micro-vision guiding.

Above-described specific embodiment; purpose of the present invention, technical scheme and beneficial effect are further described; institute is understood that; the above 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 modification of making, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.

Claims (10)

Translated fromChinese

1.一种单目显微视觉引导下微管插入微孔的控制装置，其特征在于，该装置包括：隔振平台(1)、显微视觉系统(7)、平移平台(8)、微管(6)、操作器(2)、夹持器(5)、姿态调整平台(3)、位置调整平台(9)、带有微孔(4)的零件，其中：1. A control device for inserting a micropipe into a microhole under the guidance of a monocular microscopic vision, characterized in that the device comprises: a vibration isolation platform (1), a microscopic vision system (7), a translation platform (8), a microscopic Tube (6), manipulator (2), gripper (5), attitude adjustment platform (3), position adjustment platform (9), parts with microholes (4), wherein:所述显微视觉系统(7)安装于所述平移平台(8)上，所述显微视觉系统(7)指向所述微管(6)和微孔(4)；The micro vision system (7) is installed on the translation platform (8), and the micro vision system (7) points to the micropipe (6) and the microhole (4);所述平移平台(8)安装在所述位置调整平台(9)上；The translation platform (8) is installed on the position adjustment platform (9);所述夹持器(5)安装在所述操作器(2)的末端；The holder (5) is installed at the end of the manipulator (2);所述微管(6)安装于所述夹持器(5)的末端，随着操作器(2)一起运动；The microtube (6) is installed at the end of the holder (5) and moves together with the manipulator (2);所述位置调整平台(9)、操作器(2)安装在所述隔振平台(1)上；The position adjustment platform (9) and the manipulator (2) are installed on the vibration isolation platform (1);所述姿态调整平台(3)用于放置带有微孔(4)的零件，所述操作器(2)和所述显微视觉系统(7)位于所述姿态调整平台(3)的两侧。The attitude adjustment platform (3) is used to place parts with microholes (4), and the manipulator (2) and the micro vision system (7) are located on both sides of the attitude adjustment platform (3) .2.根据权利要求1所述的装置，其特征在于，所述位置调整平台(9)的上表面是倾斜的，以使所述显微视觉系统(7)与所述隔振平台(1)的平面之间具有倾角。2. The device according to claim 1, characterized in that, the upper surface of the position adjustment platform (9) is inclined so that the microscopic vision system (7) and the vibration isolation platform (1) There is an inclination between the planes.3.根据权利要求1所述的装置，其特征在于，所述装置还包括计算机(10)，用于控制所述平移平台(8)和所述操作器(2)的运动，所述显微视觉系统(7)通过视觉连接线(11)连接至计算机(10)；所述平移平台(8)通过控制连接线(12)连接至计算机(10)；所述操作器(2)通过控制线(13)连接至计算机(10)。3. The device according to claim 1, characterized in that the device further comprises a computer (10) for controlling the movement of the translation platform (8) and the manipulator (2), the microscope The visual system (7) is connected to the computer (10) through the visual connection line (11); the translation platform (8) is connected to the computer (10) through the control connection line (12); the manipulator (2) is connected to the computer (10) through the control line (13) Connect to computer (10).4.根据权利要求1所述的装置，其特征在于，所述操作器(2)采用运动平台，具有三个平移自由度，可分别沿垂直方向和水平面横向、纵向进行平移运动；所述平移平台(8)采用单轴运动平台，可沿所述平移平台(8)的轴线方向运动。4. The device according to claim 1, characterized in that the manipulator (2) adopts a motion platform with three degrees of translational freedom, which can be translated horizontally and vertically along the vertical direction and the horizontal plane respectively; The platform (8) adopts a single-axis motion platform, which can move along the axial direction of the translation platform (8).5.根据权利要求1所述的装置，其特征在于，所述微管(6)为空心玻璃圆柱体拉伸而成，末端外圆直径为10μm。5 . The device according to claim 1 , characterized in that the microtube ( 6 ) is stretched from a hollow glass cylinder, and the diameter of the outer circle at the end is 10 μm. 6 .6.一种单目显微视觉引导下微管插入微孔的控制方法，其特征在于，该方法包括以下步骤：6. A control method for inserting a micropipe into a microhole under the guidance of a monocular microscopic vision, characterized in that the method comprises the following steps:步骤S1：通过调整位置调整平台(9)带动显微视觉系统(7)运动，改变显微视觉系统(7)的位置，使得微孔(4)能够在显微视觉系统(7)的视野内；Step S1: Adjust the position of the platform (9) to drive the movement of the microscopic vision system (7), and change the position of the microscopic vision system (7), so that the microhole (4) can be within the field of view of the microscopic vision system (7) ;步骤S2：调节操作器(2)带动微管(6)进入显微视觉系统(7)的视野，调整操作器(2)的坐标使得显微视觉系统(7)能够采集到微管(6)末端的图像；Step S2: Adjust the manipulator (2) to drive the microtube (6) into the field of view of the microscopic vision system (7), adjust the coordinates of the manipulator (2) so that the microscopic vision system (7) can collect the microtube (6) image of the end;步骤S3：通过图像分割确定微孔(4)的图像区域和微管(6)的图像区域，然后根据聚焦评价函数，通过控制平移平台(8)带动显微视觉系统(7)沿其光轴前后运动以实现对微孔(4)的聚焦，之后，固定显微视觉系统(7)的位置不再调整，调节操作器(2)带动微管(6)沿显微视觉系统光轴进行前后运动实现微管(6)末端的聚焦；Step S3: Determine the image area of the microwell (4) and the image area of the microtube (6) through image segmentation, and then drive the microscopic vision system (7) along its optical axis by controlling the translation platform (8) according to the focus evaluation function Move back and forth to realize the focus on the microhole (4), after that, the position of the fixed microscopic vision system (7) is no longer adjusted, and the adjustment operator (2) drives the microtube (6) to move forward and backward along the optical axis of the microscopic vision system The movement achieves the focusing of the ends of the microtubules (6);步骤S4：对微孔(4)进行图像特征点的提取；Step S4: extracting the image feature points of the micropore (4);步骤S5：对微管(6)进行图像特征点的提取；Step S5: extracting the image feature points of the microtubules (6);步骤S6：计算微管(6)的图像特征点到微孔(4)的图像特征点的图像距离，根据显微视觉系统(7)的标定信息计算二者的三维空间相对位移量，并基于所述相对位移量使用PI控制策略移动微管(6)的末端使其对准到微孔(4)的上方；Step S6: Calculate the image distance from the image feature point of the microtube (6) to the image feature point of the microhole (4), calculate the three-dimensional relative displacement of the two according to the calibration information of the microscopic vision system (7), and based on The relative displacement uses the PI control strategy to move the end of the micropipe (6) so that it is aligned to the top of the microhole (4);步骤S7：再次对微管(6)的末端进行自动聚焦并重新定位，与所述步骤6相似，根据显微视觉系统(7)的标定信息，确定二者的三维空间位移量，基于所述相对位移量控制操作器(2)将微管(6)插入微孔(4)中。Step S7: Carry out automatic focusing and repositioning on the end of the microtube (6) again, similar to the step 6, determine the three-dimensional spatial displacement of the two according to the calibration information of the microscopic vision system (7), based on the The relative displacement control manipulator (2) inserts the microtube (6) into the microhole (4).7.根据权利要求6所述的方法，其特征在于，所述聚焦评价函数为像素sobel值的平方和累加值。7. The method according to claim 6, wherein the focus evaluation function is the sum of squares and cumulative values of pixel sobel values.8.根据权利要求6所述的方法，其特征在于，所述步骤4进一步包括以下步骤：8. The method according to claim 6, wherein said step 4 further comprises the following steps:步骤S41：对微孔(4)的感兴趣区域ROI进行二值化处理；Step S41: Binarize the region of interest ROI of the microwell (4);步骤S42：扫描得到边缘点；Step S42: scan to obtain edge points;步骤S43：将所述边缘点进行椭圆拟合求其中心作为微孔(4)的图像特征点。Step S43: Perform ellipse fitting on the edge points to obtain the center as the image feature point of the microhole (4).9.根据权利要求6所述的方法，其特征在于，所述步骤5进一步包括以下步骤：9. The method according to claim 6, wherein said step 5 further comprises the following steps:步骤S51：对微管(6)的感兴趣区域ROI进行二值化处理；Step S51: Binarize the region of interest ROI of the microtubules (6);步骤S52：扫描得到左右边缘点；Step S52: scan to obtain the left and right edge points;步骤S53：将所述左右边缘点分别进行直线拟合，得到的两侧直线的角平分线与微管(6)的ROI的下边缘交点取为微管(6)的末端中心点作为微管(6)的图像特征点。Step S53: Carry out straight line fitting on the left and right edge points respectively, and the intersection point of the angle bisector of the obtained straight lines on both sides and the lower edge of the ROI of the microtube (6) is taken as the end center point of the microtube (6) as the microtube (6) Image feature points.10.根据权利要求6所述的方法，其特征在于，所述使用PI控制策略移动微管(6)的末端使其对准到微孔(4)的上方的步骤进一步包括以下步骤：10. The method according to claim 6, characterized in that the step of using the PI control strategy to move the end of the micropipe (6) to align it to the top of the micropore (4) further comprises the following steps:步骤S61：利用下式来计算微管(6)的图像特征点与微孔(4)的图像特征点在三维空间上的初始相对位移量：Step S61: Use the following formula to calculate the initial relative displacement of the image feature points of the microtube (6) and the image feature points of the microhole (4) in three-dimensional space:$<span><span>\{</span>\{</span>\begin{array}{c}\mathrm{<span><span>\&Delta;</span>\&Delta;</span>}{\mathrm{<span><span>x</span>x</span>}}_{\mathrm{<span><span>m</span>m</span>}}<span><span>=</span>=</span>{\mathrm{<span><span>n</span>no</span>}}_{\mathrm{<span><span>x</span>x</span>}}{\mathrm{<span><span>k</span>k</span>}}_{\mathrm{<span><span>x</span>x</span>}}\mathrm{<span><span>\&Delta;u</span>\&Delta;\; u</span>}<span><span>+</span>+</span>{\mathrm{<span><span>o</span>o</span>}}_{\mathrm{<span><span>x</span>x</span>}}{\mathrm{<span><span>k</span>k</span>}}_{\mathrm{<span><span>y</span>the\; y</span>}}\mathrm{<span><span>\&Delta;v</span>\&Delta;v</span>}\\ \mathrm{<span><span>\&Delta;</span>\&Delta;</span>}{\mathrm{<span><span>y</span>the\; y</span>}}_{\mathrm{<span><span>m</span>m</span>}}<span><span>=</span>=</span>{\mathrm{<span><span>n</span>no</span>}}_{\mathrm{<span><span>y</span>the\; y</span>}}{\mathrm{<span><span>k</span>k</span>}}_{\mathrm{<span><span>x</span>x</span>}}\mathrm{<span><span>\&Delta;u</span>\&Delta;u</span>}<span><span>+</span>+</span>{\mathrm{<span><span>o</span>o</span>}}_{\mathrm{<span><span>y</span>the\; y</span>}}{\mathrm{<span><span>k</span>k</span>}}_{\mathrm{<span><span>y</span>the\; y</span>}}\mathrm{<span><span>\&Delta;v</span>\&Delta;v</span>}\\ \mathrm{<span><span>\&Delta;</span>\&Delta;</span>}{\mathrm{<span><span>z</span>z</span>}}_{\mathrm{<span><span>m</span>m</span>}}<span><span>=</span>=</span>{\mathrm{<span><span>n</span>no</span>}}_{\mathrm{<span><span>z</span>z</span>}}{\mathrm{<span><span>k</span>k</span>}}_{\mathrm{<span><span>x</span>x</span>}}\mathrm{<span><span>\&Delta;u</span>\&Delta;\; u</span>}<span><span>+</span>+</span>{\mathrm{<span><span>o</span>o</span>}}_{\mathrm{<span><span>z</span>z</span>}}{\mathrm{<span><span>k</span>k</span>}}_{\mathrm{<span><span>y</span>the\; y</span>}}\mathrm{<span><span>\&Delta;v</span>\&Delta;v</span>}\end{array}<span><span>,</span>,</span>$其中，(Δx_m，Δy_m，Δz_m)是微管(6)的图像特征点与微孔(4)的图像特征点在三维空间上的相对位移量，(Δu，Δv)是微管(6)的图像特征点与微孔(4)的图像特征点的清晰图像的坐标增量，n_x，n_y，n_z和o_x，o_y，o_z是标定的显微视觉系统的旋转矩阵

的元素，k_x，k_y是标定的图像坐标与显微视觉系统坐标的比例系数；Among them, (Δx_m , Δy_m , Δz_m ) is the relative displacement between the image feature points of the microtubules (6) and the image feature points of the micropores (4) in three-dimensional space, (Δu, Δv) is the microtubules ( 6) The coordinate increment of the clear image of the image feature point and the image feature point of the microhole (4), n_x , n_y , n_z and o_x , o_y , o_z are the rotations of the calibrated microscopic vision system matrix

The elements of , k_x ,_ky are the proportional coefficients between the calibrated image coordinates and the coordinates of the microscopic vision system;步骤S62：移动微管(6)一初始步长，然后再利用上式计算微管(6)的图像特征点与微孔(4)的图像特征点在三维空间上的当前相对位移量；Step S62: move the microtube (6) by an initial step, and then use the above formula to calculate the current relative displacement of the image feature points of the microtube (6) and the image feature points of the microhole (4) in three-dimensional space;步骤S63：根据得到的前两步相对位移量计算下一步移动的步长；Step S63: Calculate the step size of the next step according to the obtained relative displacement of the first two steps;该步骤中，利用下式来计算下一步移动的步长：In this step, the following formula is used to calculate the step size of the next move:$<span><span>\{</span>\{</span>\begin{array}{c}\mathrm{<span><span>\&Delta;</span>\&Delta;</span>}{\mathrm{<span><span>x</span>x</span>}}_{\mathrm{<span><span>t</span>t</span>}}<span><span>(</span>(</span>\mathrm{<span><span>n</span>no</span>}<span><span>)</span>)</span><span><span>=</span>=</span>{\mathrm{<span><span>K</span>K</span>}}_{\mathrm{<span><span>p</span>p</span>}}<span><span>(</span>(</span>\mathrm{<span><span>\&Delta;</span>\&Delta;</span>}{\mathrm{<span><span>x</span>x</span>}}_{\mathrm{<span><span>m</span>m</span>}}<span><span>(</span>(</span>\mathrm{<span><span>n</span>no</span>}<span><span>)</span>)</span><span><span>-</span>-</span>\mathrm{<span><span>\&Delta;</span>\&Delta;</span>}{\mathrm{<span><span>x</span>x</span>}}_{\mathrm{<span><span>m</span>m</span>}}<span><span>(</span>(</span>\mathrm{<span><span>n</span>no</span>}<span><span>-</span>-</span>\mathrm{<span><span>1</span>1</span>}<span><span>)</span>)</span><span><span>)</span>)</span><span><span>)</span>)</span><span><span>+</span>+</span>{\mathrm{<span><span>K</span>K</span>}}_{\mathrm{<span><span>i</span>i</span>}}\mathrm{<span><span>\&Delta;</span>\&Delta;</span>}{\mathrm{<span><span>x</span>x</span>}}_{\mathrm{<span><span>m</span>m</span>}}<span><span>(</span>(</span>\mathrm{<span><span>n</span>no</span>}<span><span>)</span>)</span>\\ \mathrm{<span><span>\&Delta;</span>\&Delta;</span>}{\mathrm{<span><span>y</span>the\; y</span>}}_{\mathrm{<span><span>t</span>t</span>}}<span><span>(</span>(</span>\mathrm{<span><span>n</span>no</span>}<span><span>)</span>)</span><span><span>=</span>=</span>{\mathrm{<span><span>K</span>K</span>}}_{\mathrm{<span><span>p</span>p</span>}}<span><span>(</span>(</span>\mathrm{<span><span>\&Delta;</span>\&Delta;</span>}{\mathrm{<span><span>y</span>the\; y</span>}}_{\mathrm{<span><span>m</span>m</span>}}<span><span>(</span>(</span>\mathrm{<span><span>n</span>no</span>}<span><span>)</span>)</span><span><span>-</span>-</span>\mathrm{<span><span>\&Delta;</span>\&Delta;</span>}{\mathrm{<span><span>y</span>the\; y</span>}}_{\mathrm{<span><span>m</span>m</span>}}<span><span>(</span>(</span>\mathrm{<span><span>n</span>no</span>}<span><span>-</span>-</span>\mathrm{<span><span>1</span>1</span>}<span><span>)</span>)</span><span><span>)</span>)</span><span><span>)</span>)</span><span><span>+</span>+</span>{\mathrm{<span><span>K</span>K</span>}}_{\mathrm{<span><span>i</span>i</span>}}\mathrm{<span><span>\&Delta;</span>\&Delta;</span>}{\mathrm{<span><span>y</span>the\; y</span>}}_{\mathrm{<span><span>m</span>m</span>}}<span><span>(</span>(</span>\mathrm{<span><span>n</span>no</span>}<span><span>)</span>)</span>\\ \mathrm{<span><span>\&Delta;</span>\&Delta;</span>}{\mathrm{<span><span>z</span>z</span>}}_{\mathrm{<span><span>t</span>t</span>}}<span><span>(</span>(</span>\mathrm{<span><span>n</span>no</span>}<span><span>)</span>)</span><span><span>=</span>=</span>{\mathrm{<span><span>K</span>K</span>}}_{\mathrm{<span><span>p</span>p</span>}}<span><span>(</span>(</span>\mathrm{<span><span>\&Delta;</span>\&Delta;</span>}{\mathrm{<span><span>z</span>z</span>}}_{\mathrm{<span><span>m</span>m</span>}}<span><span>(</span>(</span>\mathrm{<span><span>n</span>no</span>}<span><span>)</span>)</span><span><span>-</span>-</span>\mathrm{<span><span>\&Delta;</span>\&Delta;</span>}{\mathrm{<span><span>z</span>z</span>}}_{\mathrm{<span><span>m</span>m</span>}}<span><span>(</span>(</span>\mathrm{<span><span>n</span>no</span>}<span><span>-</span>-</span>\mathrm{<span><span>1</span>1</span>}<span><span>)</span>)</span><span><span>)</span>)</span><span><span>)</span>)</span><span><span>+</span>+</span>{\mathrm{<span><span>K</span>K</span>}}_{\mathrm{<span><span>i</span>i</span>}}\mathrm{<span><span>\&Delta;</span>\&Delta;</span>}{\mathrm{<span><span>z</span>z</span>}}_{\mathrm{<span><span>m</span>m</span>}}<span><span>(</span>(</span>\mathrm{<span><span>n</span>no</span>}<span><span>)</span>)</span>\end{array}<span><span>,</span>,</span>$其中，K_p，K_i为PI控制策略的比例系数和积分系数，Δx_t(n)、Δy_t(n)、Δz_t(n)分别为微管(6)第n步在x、y、z轴上移动的步长，Δx_m(n)、Δy_m(n)、Δz_m(n)分别为微管(6)的图像特征点与微孔(4)的图像特征点第n步在x、y、z轴上的相对位移量，Δx_m(n-1)、Δy_m(n-1)、Δz_m(n-1)分别为微管(6)的图像特征点与微孔(4)的图像特征点第n-1步在x、y、z轴上的相对位移量；Among them, K_p and K_i are the proportional coefficient and integral coefficient of the PI control strategy, and Δx_t (n), Δy_t (n), and Δz_t (n) are microtube (6) step n at x, y, The step size of the movement on the z axis, Δx_m (n), Δy_m (n), and Δz_m (n) are the image feature points of the microtube (6) and the image feature point of the micropore (4) at the nth step The relative displacements on the x, y, and z axes, Δx_m (n-1), Δy_m (n-1), and Δz_m (n-1) are the image feature points of the microtubules (6) and the micropores ( 4) The relative displacement of the n-1th step of the image feature point on the x, y, z axes;步骤S64：根据计算得到的步长移动微管(6)；Step S64: move the microtube (6) according to the calculated step size;步骤S65：重复所述步骤S63和步骤S64直至微管(6)的末端对准到微孔(4)的上方。Step S65: repeating the steps S63 and S64 until the end of the microtube (6) is aligned above the microhole (4).

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