基于全局视野的微操作复杂作业研究

项目名称： 基于全局视野的微操作复杂作业研究

项目编号： No.60875059

项目类型： 面上项目

立项/批准年度： 2009

项目学科： 生物科学

项目作者： 赵新

作者单位： 南开大学

项目金额： 30万元

中文摘要： 本项目以全局视野为主线，贯穿微操作复杂作业各关键技术，包括：全局视野生成与目标定位、全局视野重构与目标重定位、全局视野的标志与目标序列及基于全局视野的微操作复杂作业研究四项研究内容。全局视野生成解决复杂作业的视觉反馈；在此基础上，可以完成微操作复杂作业的目标定位。全局视野重构为复杂作业提供一种简单、高效的全局视野显示方式；目标重定位是大批量复杂作业特有的关键技术。最优的目标序列解决复杂作业的任务规划及路径规划；全局视野的标志是复杂作业规划结果为全局视野带来的意外收获。基于全局视野的微操作复杂作业研究，是前三项研究内容意义的集中体现：首先，揭示了基于全局视野的微操作复杂作业在目标定位、重定位、与目标操作序列规划等方面的特点与优势；其次，建立了全自动显微视觉系统，作为基于全局视野的微操作复杂作业得以实现的硬件基础；最终用大批量目标生物试验，验证基于全局视野的微操作复杂作业方法的有效性。

中文关键词： 微操作机器人；全局视野；目标定位与重定位；多分辨率重构；操作序列规划

英文摘要： Base on global field of view(FOV), several key technologies of complex task in micromanipulation are studied in this project. The main research contents include global FOV creation and target localization, global FOV reconstruction and target re-localization, sign of the global FOV and operation sequence plan, complex task in micromanipulation based on global FOV. In the research contents, global FOV solves the problem of visual feedback of complex task in micromanipulation, then the target localization can be achieved. Global FOV reconstruction provides a simple and high-efficient display mode of complex task, and target re-localization is the key technology of mass operation. Optimal operation sequence solves the problems of task plan and path plan in complex task, and the sign of the global FOV is the result of complex task plan. To the end, complex task in micromanipulation based on global FOV concludes the first three research contents. For firstly, it shows the properties and advantages of complex task in target localization, re-localization and operation sequence plan; secondly, it establishes automatic micro-vision system, which is the hardware foundation of complex task; at last, biology experiments of mass target are taken to validate the efficiency of this method.

英文关键词： Micro-manipulation system; Global field of view; target localization and re-localization; multi-resolution reconstruction; Operation sequence plan