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Bi-linear CCD-based dilutor spatial vision positioning deviation correction method

A technology of visual positioning and deviation correction, which is applied in the direction of instruments, photo interpretation, measuring devices, etc. It can solve the problems of unpredictable global distribution of sample bottles, ineffective improvement of liquid dispensing efficiency, and affecting positioning accuracy.

Active Publication Date: 2019-10-15
哈尔滨博觉科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, the syringe pump of some diluter systems is attached with a micro-vision sensor and scanned, and then positioned by image comparison. The disadvantage of this method is that due to image distortion and the influence of environmental noise, the pixel deviation of image positioning will be affected. In addition, in order to ensure the imaging quality of the vision sensor, it is necessary to limit the limited scanning area, which makes it impossible to predict the global distribution of the sample bottle, so the moving device where the probe is located can only Continuously scan forward at a constant speed until the task bottle appears, which in turn causes the motion device to not move forward at a faster speed, resulting in the ineffective improvement of the dosing efficiency
After searching the existing literature, patents and other databases, it is found that the visual three-dimensional positioning technology has not been used in the diluter at present, but our product has introduced the visual three-dimensional positioning technology to obtain the spatial position coordinates of the sample bottle

Method used

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  • Bi-linear CCD-based dilutor spatial vision positioning deviation correction method
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  • Bi-linear CCD-based dilutor spatial vision positioning deviation correction method

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specific Embodiment 1

[0066] according to figure 1 As shown in the flow chart, the present invention provides a method for correcting the spatial visual positioning deviation of a diluter based on a dual linear array CCD, comprising the following steps:

[0067] Step 1: Determine the angle λ between the optical axis of the dual linear array CCD and the line connecting the optical center l and lambda r Influence on the visual positioning accuracy of the system, set the space point p, p(x, y, z), and determine the angle λ between the optical axis and the optical center of the dual linear array CCD l and lambda r Positioning deviation caused by changes, dual linear array CCD includes linear array CCD1 and linear array CCD2;

[0068] Step 2: Determine the relationship between the angle between the dual linear array CCDs and the positioning deviation, construct a vector synthesis function, and perform partial derivatives on the influence factors in the constructed vector synthesis function to obtain ...

specific Embodiment 2

[0100] Step 1: The spatial distribution and imaging model of two linear array CCDs in stereo vision positioning are as follows: figure 2 Shown, O l -X l Y l with O r -X r Y r are the scanning imaging surface coordinate system of linear array CCD1 and linear array CCD2 respectively; o l and o r is the optical center of the linear array CCD, and the distance between the optical centers can be regarded as the physical distance of the linear array CCD; f l ,f r are the focal lengths of the two linear array CCDs respectively; the vertical distance between the sample bottle and the two linear array CCDs is Ξ; according to the principle of small hole imaging, the center point P (x, y, z) of the sample bottle cap is along the optical axis O l o l and O r o r The projection coordinates on the image plane of linear array CCD1 and linear array CCD2 are respectively p l (U l ,V l ), p r (U r ,V r ). Make the system measurement coordinate system coincide with the left li...

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Abstract

The invention discloses a bi-linear CCD-based dilutor spatial vision positioning deviation correction method. In view of the problems existing in the current dilutor, in order to improve the dilutor liquid dispensing accuracy and the efficiency, enhance the stability and the output value of the product in actual use and reduce or even eliminate instrument damages and accidents caused by positioning errors, a bi-linear CCD measurement mode is adopted to position a sample bottle on a dilutor platform. Through the method, high-precision positioning on the spatial position distribution of all sample bottles on a dilutor table by the linear CCD with common performance can be realized, and the position distribution information of the sample bottles is transmitted to a motion control unit of thedilutor, and thus, the system can accurately, quickly and flexibly complete a corresponding dilution task. The rapid effect achieved in the invention is embodied in the positioning system, the globalspatial distribution of the sample bottles is provided, and an execution unit can accelerate to directly reach the position of a task bottle rather than the traditional uniform progression while detection.

Description

technical field [0001] The invention relates to the technical field of spatial visual positioning of a diluter, and relates to a method for correcting deviations in spatial visual positioning of a diluter based on a double-line array CCD. Background technique [0002] Compared with the traditional manual liquid dosing, the liquid medicine diluter has higher precision, and at the same time avoids the repetitive work of the operator. During the working process of the diluter, the needle on the syringe pump needs to be precisely aligned with the sample vial on the platform. If the system has a large positioning deviation or even a wrong positioning, the needle will pierce the non-target sample vial, causing the needle to Bending, damaged vials or even stalled drive motors, damaged stages, etc. [0003] At present, there are two main methods for positioning the syringe pump needle of the diluter. The first one is to use position sensors, such as grating rulers, encoders, angle ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C11/02G01C11/04G01C25/00
CPCG01C11/02G01C11/04G01C25/00
Inventor 张贵阳李东博
Owner 哈尔滨博觉科技有限公司
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