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ID:32477682
大小:5.19 MB
页数:70页
时间:2019-02-07
《面向批量目标微操作的全自动微操作平台研制》由会员上传分享,免费在线阅读,更多相关内容在学术论文-天天文库。
1、摘要随着微操作研究的不断发展和深入,多目标操作和批量目标操作己逐渐成为微操作的研究热点。本文以满足批量目标微操作研究的需求为目的,对原有MR04微操作机器人系统进行改造,包括硬件的改进和显微视觉系统的完善,从而建立了微操作机器人全自动微操作平台,为今后进行批量目标微操作研究奠定了基础。硬件改进主要是利用USB接口芯片FX2LP连接多轴控制板与上位机,通过FX2LP硬件、固件和上位机接口设计,实现了多轴控制板与上位机的USB总线数据通信,并在此基础上实现了多轴控制程序,提高了上、下位机数据传输的质量。显微视觉系统的完善主要实现了显微视野变换的两项
2、关键支撑技术——自动调焦和物镜自动转换。本文提出了改进的归一化方差测度,实现了在线的自动调焦功能。同时,通过大量实验测定,实现了物镜自动转换以及物镜归零功能,并利用物镜自动转换辅助自动调焦过程,提高了自动调焦的搜索效率。最后,通过基于全局视野的微操作工具画圆实验,验证了本文硬件改进的良好的可靠性和可重复性;通过构建具有分层递阶结构的全局视野实验,验证了本文显微视觉系统完善的可行性和有效性。关键词:全自动微操作平台USB自动调焦物镜自动转换AbstractWiththedevelopmentofthemicro—manipulationtechn
3、iques,multi—targetedoperationsandbatch-targetedoperationsbecomethefocusesinthisresearchfield.Tomeettherequirementsofthemicro-manipulationresearch,thisdissertationadaptstheoldMR04micro-manipulationsystem,includingthemodificationofitshardwaredevicesandtheimprovementofitsmicros
4、copicvisualsystem,establishesallauto-matedplatformformicro—manipulationandlaysasolidfoundationforthefurtherresearchonthebatch-targetedoperations.ThemodificationofthehardwaredeviceschieflyutilizestheUSBinterfacechipFX2LPtoimplementthecommunicationbetweenthemulti-axisboardandt
5、heuppercomputer,whichincludesthedesignoftheFX2LP’Shardware,firmware,andtheinterfaceoftheuppercomputer.Basedonthiswork,themulti—axiscontrolprogramisimplementedandthecommunicationqualitybetweentheupperandthelowercompmersisimproved.Theimprovementofthemicroscopicvisualsystemmain
6、lyaccomplishestwokeytechniquesabouttheexchangeofthemicroscopicfieldofview(FOV):theauto—focusingandtheauto—exchangingoftheobjectlens.Thisdissertationputsforwardtheimprovednormed-variancealgorithmandachievestheon-lineauto—focming.Meanwhile,bysufficientexperimentsitimplementsth
7、eauto—exchangingandhomingfunctionsoftheobjectlens,andemploysthemtoassisttheauto—focusingprocess,greatlyimprovingitsefficiency.Finally,bythecircle—drawingtestwiththemicro··manipulatorbasedontheglobalFOV,ittestifiesthereliabilityandtherepeatabilityofthehardwaremodification;byt
8、hetestthatconstructsthehierarchicalstructureoftheglobalFOV,itverifiesthefea
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