微装配中零部件搜索方法

Method of component searching in micro-assembly

针对如何快速且准确地在微装配的显微视野中寻找到目标零部件,并获取目标零部件的全局视觉信息的问题,提出了一种基于显微视觉倍率切换的微装配零部件搜索机制。详细分析了如何确定自动搜索步长;论述了自动搜索策略的原理与过程:通过自动扫描目标平面,以准确识别出目标平面内的微零部件,有效地克服了大范围微装配中显微视觉范围远小于操作域的局限性,保证了微装配零部件目标始终呈现在不同显微倍率视野中,为微装配机器人的进一步操作奠定了视觉基础。实验结果表明:提出的搜索方法搜索成功率达到了95%,平均搜索时间为28 s。

Aiming at problem of how to find target components quickly and accurately in microscopic field in micro-assembly,and obtain global visual information of target components,micro-assembly component search mechanism based on micro-visual magnification switching is presented. Analyze on how to determine automatic search step size. Discuss on principle and process of automatic search strategy. By automatically scanning target plane,micro-components within target plane are accurately identified,effectively overcome limitation that the micro-visual range in a wide range of micro-assembly is much less than limitation of operating domain,guarantee that the micro-assembly components target has always been presented in different micro-magnification field of view,which lay a visual basis for further operation for the micro-assembly robot. The experimental results show that the searching successful rate of the search method is 95 % and the average search time is 28 s.