Increase visibility for observation of micro objects in microassembly by an active imaging system

Vision technique used in automatic microassembly limits its application, due to several inherent problems such as occlusions and small field of view. However the microassembly often needs to detect micro parts with complex shape inside the wide field of view. To avoid this criticism, we proposed a view steering method using an active imaging system that enables adjustment of the view to keep targets inside field of view and to avoid occlusion automatically for microassmebly. The system integrates a telecentric scanner and a double wedge prisms system which can supply a flexible view with adjustable zenith and azimuth angles. A best view is generated with a high resolution without occlusion by artificial potential field method. The microassembly experiments show the advantages of the proposed method over the conventional vision system.