基于显微视觉的毛细力动态检测方法

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.