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An Active Zooming Strategy for Variable Field of View and Depth of Field in Vision-Based Microassembly

机译:基于视觉的微组件中可变视场和景深的主动缩放策略

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摘要

Microassembly has become an important technique to fabricate micro devices with different materials, complex shapes, and incompatible processes. Vision-based microassembly is a promising technique for automated microassembly. However, conventional vision-based techniques in microassembly are limited by inherent problems such as a small depth-of-field (DOF) and a narrow field-of-view (FOV). Microassembly operations initially need to detect micro parts in a wide FOV and a large DOF yet also maintain high resolution for the final state. A tradeoff between the DOF (and/or FOV) and resolution prevents the conventional systems from satisfying the aforementioned microassembly requirements. This paper presents an active zooming control method that enables dynamic adjustment of the DOF (FOV) according to the position and the focus measure of micro objects. The proposed method is based on an artificial potential field method with the capability to combine different kinds of constraints such as the FOV, the focus measure, and the joint limits into the system. The stability and robustness of the proposed system are also investigated. The novelty of this method is that it can ensure the vision system maintains a wide FOV and a large DOF initially, and high resolution at the end. Simulations and microassembly experimental results are provided to verify the feasibility of the proposed approach.
机译:微型装配已成为制造具有不同材料,复杂形状和不兼容工艺的微型器件的重要技术。基于视觉的微型装配是一种有前途的自动化微型装配技术。但是,微型装配中的常规基于视觉的技术受到诸如小景深(DOF)和狭窄视场(FOV)等固有问题的限制。微型装配操作最初需要检测FOV和DOF较大的微型零件,但也要为最终状态保持高分辨率。 DOF(和/或FOV)与分辨率之间的权衡使常规系统无法满足上述微型装配要求。本文提出了一种主动缩放控制方法,该方法可以根据微对象的位置和聚焦度量动态调整景深(FOV)。所提出的方法是基于人工势场方法的,该方法具有将各种约束(例如FOV,聚焦度量和联合限制)组合到系统中的能力。还研究了所提出系统的稳定性和鲁棒性。该方法的新颖性在于它可以确保视觉系统最初保持较宽的FOV和较大的DOF,并最终保持高分辨率。仿真和微装配实验结果提供了验证该方法的可行性。

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