基于显微视觉的毛细力动态检测方法

针对微操作进程中毛细力实时检测的需求，提出基于显微视觉的毛细力动态检测方法。通过Hough变换的微球对象定位和归一化的平方差相关性的操作工具跟踪方法获取实时位置信息，确定液桥兴趣区域。基于Shi-Tomasi角点检测的液桥端点识别方法提取液桥轮廓，并求解毛细力。搭建显微视觉测量装置，分析检测进程和检测精度。结果表明：平面-球面配置下的动态毛细力的平均检测精度为1.65 μN，且可实时获取接触角、液桥体积等参数。

A Dynamic Detection Method of Capillary Forces Based on Microscopic Vision

For the requirements of real-time detection of capillary forces during the  micromanipulation processes, a dynamic detection method of capillary forces was proposed based on microscopic vision. The positioning of microsphere based on Hough transform and the operation tool tracking method by means of  the normalized sum-of-squared difference  correlation were employed to obtain the real-time location informations. Then, the liquid bridge region of interest  was determined. The contour of liquid bridge was extracted by  using the terminal identification method of liquid bridge based on Shi-Tomasi corner detection. And, the capillary forces were solved. An experimental setup of capillary force measurement was established based on microscopic vision. The detection processes and detection precision of visual inspection method were discussed. Experimental results indicate that the average detection errors of the dynamic liquid bridge are less than 1.65 μN under a plane-sphere configuration. Parameters including the contact angle and liquid bridge volume may be obtained in real time.