【作者】 张闯； 卢桂章； 赵新；

【Author】 Zhang Chuang Lu GuiZhang Zhao Xin Institute of Robotics and Automatic Information Systems In Nankai University,Tianjin 300071

【机构】 南开大学机器人与信息自动化研究所；

【摘要】 为了提高微操作机器人的自动化程度,本文提出了一套实时在线的方法,实现了自动寻针、自动调焦和自动识别针尖位置。在图像中选取一条扫描线,通过分析这条扫描线上的最小灰度值的变化,来实现微操作机器人的自动调焦和自动寻针;根据此类图像的特点,自动选取合适的阈值从而区分出背景和微针,从而大致确定微针的边缘和针尖所在的位置。本文最后用一个全自动的实验体现了所述的各种方法。大量实验证明这些方法简单有效,切实可行,速度快,计算量小,有很好的实时性。更多还原

【Abstract】 To improve the automatization degree of the micro-manipulation robot, a real-time and online method which can be used to accomplish needlepoint automated spotting, focusing and finding needle automatically is put forward. A scanning line is selected in the micro-image that has lots of noise. By analyzing the change of the minimal gray value of the pixels on the scanning line, the micro-manipulation robot can focus automatically and find needle automatically; according to the characteristic of this kind of images, needle is partitioned from the background by automatic selecting proper threshold, so that we can spot the position of the needlepoint. At last we present an automatic experiment to illustrate these approaches. Experiments show that these methods are simple and efficacious; the speed is fast and the compute cost is low, and it also has a good real-time feature.更多还原