基于机器视觉的大型拼接望远镜子镜装卸控制系统的研究与实现

发布时间：2018-03-27 23:12

本文选题：机器视觉　切入点：机械手　出处：《南京航空航天大学》2014年硕士论文

【摘要】：机械手系统是最早出现的工业机器人，它可代替人的繁重劳动以实现生产的机械化和自动化，能在恶劣环境下操作以保护人身安全。机器视觉主要用计算机来模拟人的视觉功能，从客观事物的图像中提取信息，进行处理并加以理解，最终用于实际检测、测量和控制。本课题的研究是利用机器视觉技术和分布式控制系统相结合的方案，设计一套高可靠性、高精度的机械手控制系统，完成LAMOST天文望远镜MB子镜的装卸工作。系统涉及多项关键技术，包括机器视觉技术、图像处理技术、分布式控制技术、液压驱动技术、电机驱动技术和无线通信技术等。本文对这些涉及到的技术进行了深入研究，完成了机械手控制系统的设计、安装和调试。机械手控制系统由上位机人机界面、机器视觉、下位机分布式控制和机械手四部分组成。机器视觉采用包括相机、镜头、光源、工控机等负责图像的采集；上位机通过人机交互界面完成图像的处理与计算，通过对下位机反馈信号的处理完成对下位机运行状态的控制；下位机采用分布式控制机制，通过无线模块从上位机接收控制指令，控制机械手运动，同时完成状态反馈等；机械手受下位机控制，通过各个自由度方向的运动，完成MB子镜的装卸工作。本文将整个系统分为机械手控制系统和机器视觉系统两个部分来分别设计。在机械手控制系统部分，，作者完成了机械手控制方案的设计，运动控制板卡的设计，控制元器件的选型，控制芯片程序的设计，上位机软件设计和数据协议的设计等；在机器视觉系统部分，作者完成了视觉元器件的选型、图像处理程序的设计、与机械手控制系统相结合的视觉定位程序的设计。最后，本文对整个系统的调试工作为了介绍，系统最终达到预期目标。
[Abstract]:Manipulator system is the earliest industrial robot, it can replace the heavy labor of human to realize the mechanization and automation of production. Machine vision is mainly used to simulate human visual function, extract information from the image of objective things, process and understand, and finally it is used for actual detection, measurement and control. The research of this subject is to design a set of high reliability and high precision manipulator control system based on the combination of machine vision technology and distributed control system. The system involves several key technologies, including machine vision technology, image processing technology, distributed control technology, hydraulic drive technology, etc. In this paper, the design, installation and debugging of the manipulator control system are completed. The manipulator control system is composed of four parts: upper computer interface, machine vision, lower computer distributed control and manipulator. Machine vision includes camera, lens, light source, industrial control computer and so on, which is responsible for image collection. The upper computer completes the image processing and calculation through the man-machine interaction interface, and controls the running state of the lower computer by processing the feedback signal of the lower computer, and the lower computer adopts the distributed control mechanism. Through the wireless module to receive control instructions from the upper computer, control the manipulator motion, at the same time complete the state feedback; the manipulator is controlled by the lower machine, through the movement of each direction of freedom to complete the loading and unloading of MB sub-mirror. The whole system is divided into two parts: manipulator control system and machine vision system. In the part of machine vision system, the author has completed the selection of visual components, the design of image processing program, the design of computer software, the design of image processing program, the selection of control components, the design of control chip program, the design of upper computer software and the design of data protocol, etc. The design of visual positioning program combined with manipulator control system. Finally, this paper introduces the debugging work of the whole system, and the system finally achieves the desired goal.
【学位授予单位】：南京航空航天大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TP391.41;TH751;TP242

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