Study On Multiscale Positinging Based On Global Microscopic Image

Robot technology gets widely development in the micro-manipulation areas,.The micro-manipulation robot system is produced,which makes the micro-manipulation areas automatically.With the development of the technology and research of micro-manipulation, microscopic vision system plays the more and more important role,which becomes hot spot in many countries. In the microscopic vision system, obtaining the global micro image and the detail at the same time is contradictory. At high magnification object lens,the targent image’s detail information can be obtained,but the vision field become smaller.The targent’s global vision field is difficult to acgure..At low magnification object lens,the targent image’s global information can be obtained easily, but a certain target’s detail information is difficult to acgure. Therefore, it is important that realizing the automatic transfer in the different micro vision field and orientate the targent in the different resolution.The research background of micro robot and the experiment platform----NKTY MR06series micro-manipulation robot system are introduced firstly in this paper. The multi-scale microscopic image orientation strategy is determined. First of all, in low magnification object lens,scanning and tracing micro image through the operation platform, and stitching micro image can get global micro vision image Secondly,transfering object lens to interested region,and stitching image.The local image can be got. Finally, the global micro image and local micro image can be orientated in different scale.Finally, pulp cells in tomato are subjects, orientation of global micro image and local micro image is obtained.The experiment results demonstrate that all the methods in this paper are effective.