Automatic calibration method of bacterium colony selector

[0026] see figure 1 , the automatic calibration method of the colony sorting instrument follows 1) CCD image acquisition, 2) image reading, 3) image processing, 4) centroid point extraction, 5) selection of reference points for calibration, and 6) coordinate space conversion. to calibrate the camera.

[0027] Embodiment 2: This embodiment is basically the same as Embodiment 1, and the special features are as follows:

[0028] The step 1) CCD image acquisition is to move the CCD image camera fixed on the mobile mechanical arm to the preset photographing position to take pictures of the calibration template in the culture dish, and the calibration template adopts black circle spot graphics For the background, the distance between the centers of the upper, lower, left, and right circles is 9mm.

[0029] The step 2) image reading is: use the colony sorting instrument's own software system to read the CCD image captured by the camera and display it on the operation interface, and save the pixel information of the image at the same time.

[0030] The step 3) image processing is: adding image processing technology to the CCD image captured by the camera to obtain a new image file after image processing.

[0031] The step 4) centroid point extraction is: the coordinates of the centroi

[0034] Embodiment three: the automatic calibration method of the colony selection instrument is as follows:

[0035] First the calibration template (see figure 2 ) is placed in an empty culture vessel, the culture vessel is placed on the selection platform of the colony picker, and then the software starts the colony picker, and starts to perform the camera calibration step after all self-tests are completed.

[0036] On the computer side, click on the interface of the colony picker (see image 3 ) button, the robotic arm will run to the designated position according to the preset motion path and take a photo of the calibration template. This position can completely capture the entire calibration template.

[0037] After taking pictures, the computer uses the software system of the colony picker to read the CCD image captured by the camera and display it on the operation interface (see Figure 4 ), while saving the pixel information of the image.

[0038] The computer will mark