Research On Probe Attitude Detection And Alignment For Microsphere Operation

With the rapid development of modern manufacturing technology in the field of micro operation,like target ball and micro injection of micro scale object is also more and more,all areas and requirements for measuring small size precision is high,the traditional manual measurement method is time-consuming and laborious,and the measurement accuracy can't be guaranteed.Machine vision based measurement technology has been playing an increasingly important role in various fields due to its unique advantages such as non-contact,high accuracy,high sensitivity and high resolution.When the microspheres are operated by the probe,the position and position of the probe need to be positioned so as to realize automatic and intelligent control.In this paper,some methods of 3D space point reconstruction based on binocular vision are studied,and the position and posture of the probe are obtained by using binocular stereo vision technology.In general,the research content of this article includes three aspects:First,the calibration of the binocular stereo vision system is calibrated to obtain the mapping relationship between the three-dimensional spatial point and its two-dimensional image points,and a world coordinate system is established for subsequent 3D reconstruction and restoration.Compared with the traditional method of visual calibration,this paper adopts a stereo vision system calibration method with strong adaptability,simple convenience and high precision.Second,from the image feature points is not clear about the two probes in the image feature extraction and matching,the two camera location,two probe image feature point is not corresponding to each other,so we need to find the characteristics of the probe does not follow the camera swing position change.Therefore,in this paper,affine basic matrix and probe geometry feature are applied.The method successfully extracts the feature points of the left and right probe images and completes the matching.Third,the 3D reconstruction and measurement of the probe is carried out.According to the computational model of 3D space reconstruction,the pose of the probe is measured,and the alignment of the probe is planned according to the measurement results.In order to improve the accuracy and reduce the error of visual measurement,the error analysis is made in this paper.It is pointed out that errors arise mainly from the process of image processing,system calibration and feature point matching.