Test tube positioning correction method on centrifugal machine

Abstract

The invention discloses a test tube positioning correction method on a centrifugal machine, which comprises the following steps: firstly, calibrating a system, dedistorting a monocular camera, and calibrating a camera coordinate system and a mechanical arm tool coordinate system; putting all numbered test tubes into a centrifugal machine, and effectively separating different liquid phases by virtue of the centrifugal machine; after the centrifugal machine stops, roughly positioning the position of the No.1 test tube; moving the camera to the coarse positioning position of the No.1 test tube, and accurately positioning the center of the test tube by using an image processing algorithm; converting the obtained test tube center image coordinate into a mechanical arm tool coordinate system, and finely adjusting the tail end position of the mechanical arm by utilizing a correction compensation method, so as to achieving the grabbing of the test tube 1. By means of the mode, dangerous and heavy manual operation can be replaced, the automatic unmanned continuous experiment process is achieved, and the safety is high for radioactive or corrosive media.

Description

technical field [0001] The invention relates to the technical field of computer vision, in particular to a test tube positioning correction method on a centrifuge. Background technique [0002] In the chemical industry, it is often necessary to use toxic, corrosive, and radioactive organic solvents. The two-phase separation and extraction process of this liquid is complicated, repeatable, and lasts for a long time. If the operator completes these continuous operations , On the one hand, it will cause greater harm to the human body, on the other hand, repeated labor for a long time will increase the misoperation, so it is imminent to realize the automated unattended test process. [0003] In the automated process, each test tube is numbered, and multiple test tubes are operated in parallel, which can reduce the operating cycle and operating time. Centrifugation is a key step before liquid-liquid two-phase extraction. Using a centrifuge can make the liquid-liquid The two-phas...

AI Technical Summary

Problems solved by technology

[0002] In the chemical industry, it is often necessary to use toxic, corrosive, and radioactive organic solvents. The two-phase separation and extraction process of this liquid is complicated, repeatable, and lasts for a long time. If the operator completes these continuous operations , on the one hand, it will cause greater harm to the human body, and on the other hand, repeated labor for a long time will increase the misoperation, so it is imminent to realize the automated unattended test process

[0003] In the automated process, each test tube is numbered, and multiple test tubes are operated in parallel, which can reduce the operating cycle and operating time. Centrifugation is a key step before liquid-liquid two-phase extraction. Using a centrifuge can make the liquid-liquid The two-phase rapid automatic separation, after the separation, the mechanical arm is used to perform subsequent operations on the test tubes. However, after the centrifuge is centrifuged, the test tubes of each number cannot be determined. Therefore, it is necessary to identify and position the centrifuged test tubes and correct the position of the mechanical arm. Facilitate the precise grasping of each test tube by the robotic arm

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