Research On Accurate Dispensing And Cover Slipping Of Cell Slides Based On Visual Servo

With the rapid development of automation control technology and computer technology,a variety of automation equipment has been applied to the actual production of various industries.Development So far,in addition to conventional industrial automation applications,automation control technology has also penetrated into more popular areas,such as education,service,and medical.Especially in the field of medical image detection,machine vision-based automated detection equipment gradually replaces manual tasks to complete some repetitive and highly standardized tasks,realizing the upgrade of medical image detection from traditional manual detection to modern automatic detection.Based on the needs of industrial upgrading of the DNA ploidy screening project,this article systematically studies the automatic dispensing and packaging process of cytological observation sample production.According to the characteristics in the process of industrial automation transformation,a method for precise dispensing and mounting of cell slides based on visual servoing was proposed.According to the sequence in the system development process,based on the system's application environment and the requirements of the cell slide sample production process,this paper has formulated the overall design scheme of the dispensing packaging system and the vision servo control scheme.The system hardware and software development environment were selected and designed for system operation and control.Especially in the motion control unit,the corresponding system operation stage,mechanical actuator and functional devices for dispensing and sealing are designed.Then based on the actual characteristics of the operating objects in the sample,a visual positioning algorithm was developed.That is,the position of the adhesive seal sheet is obtained by using a circular detection method for the deeper stained area,and the target position is obtained indirectly by positioning the center point of the two-dimensional code for the lightly stained area.Secondly,because the coordinate system of the robot arm movement coordinates and the positioning image coordinates are different,the robot arm cannot directly use the positioning image coordinates for movement.Therefore,in this paper,a nine-point calibration method is designed by referring to the direct linear method to obtain the mapping matrix between the image coordinate system and the robot arm coordinate system,and the coordinates in the two coordinate systems can be freely transformed through this matrix.Finally,in conjunction with the previous research work on system development,we study the specific implementation process of dispensing seals based on visual servo systems,which is divided into two stages.One is to obtain the initial motionof the system by establishing a visual feedback controller for the image feature error,and the other is to obtain the motion path of the robotic arm according to the image positioning algorithm.The system was tested with actual sample operations,and system performance parameters were obtained,such as dispensing accuracy,sealing success rate,and system failure rate.