Multipath microscopic vision calibration system and method

Abstract

The invention discloses a multipath microscopic vision calibration system which comprises a three-path vision system, a motion platform and a computer. The three-path vision system is mounted at a position where feature information of parts can be seen clearly. Parts are mounted on the motion platform which comprises a plurality of motors allowing the motion platform and the parts to complete motion of multiple freedom degrees. The three-path vision system and the motion platform are connected to the computer which controls the motions of the motion platform. Microscopic vision images of the parts are obtained through the three-path vision system, the images are processed to obtain the coordinate information of the parts, and relative mapping relations of cameras in the three-path vision system and the motors in the motion platform are calibrated on the basis of the coordinate information and vision measuring models. The invention further discloses a corresponding calibration method and a motion planning method. The system and the method are convenient, simple, universally applicable and practical, online calibration of the multipath microscopic vision system can be achieved.

Description

technical field [0001] The invention belongs to microscopic vision measurement in the field of micro-operation technology, in particular to a multi-channel microscopic vision calibration system and method. Background technique [0002] Micro-manipulation and micro-assembly are the core content and hot topics of Micro-Electro-Mechanical Systems (MEMS) research. However, due to the use of microscopic vision to measure the pose of the operating object, micro-manipulation is often limited by the small depth of field and small field of view of the microscopic vision. This brings great limitations to the design and layout of the micro-operation platform. The calibration method of the present invention can aim at cameras and actuators placed arbitrarily, and plan the movement of the actuator according to the image information accordingly. [0003] The patent application No. 201310108195.7 of the Institute of Automation, Chinese Academy of Sciences discloses a monocular microscopi...

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Problems solved by technology

[0004] At present, there are few studies on calibration models and methods for micro-operations at home and abroad, especially for the calibration of multi-channel arbitrarily placed vision systems.

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