轨道摄像机器人控制系统设计

发布时间：2018-02-13 17:57

本文关键词： 轨道摄像机器人 PLC 控制系统　出处：《南京理工大学》2017年硕士论文　论文类型：学位论文

【摘要】：轨道移动拍摄是影视行业中一种特殊的拍摄手段,由于其能够提供连续的移动拍摄画面,因而可以显著增强一些节目的视觉效果。早期的轨道移动拍摄依靠人力推动轨道车,并由摄像师坐在车上进行人工拍摄,其缺点是对摄像师的操控要求高,且难以提供高稳定性的精准拍摄,尤其是对一些需要重复拍摄的画面,无法保证多次拍摄的一致性。为了满足轨道移动拍摄的特殊需要,近年来诞生了轨道摄像机器人,其通过采用大量的自动化技术,在保证高质量拍摄的同时,能够极大降低对摄像师的操控要求。针对目前市场现有设备的一些应用局限性,本文研究了一种轨道摄像机器人系统,其主要由仿生三脚架、控制柜、轨道车、伸缩柱以及云台等部分组成,操控人员通过仿生三脚架操控轨道车、伸缩柱以及云台的同步运动,从而能够轻易实现各种高质量的拍摄应用。本文主要研究了该轨道摄像机器人控制系统的设计方法,所完成的主要工作如下:(1)在分析轨道摄像机器人应用需求的基础上,给出了其总体结构组成和工作原理,介绍了仿生三脚架、控制柜、轨道车、伸缩柱以及云台等主要部件的内部结构,并对各主要部件的工作模式以及部件之间的协同工作方式进行了说明。(2)给出了轨道摄像机器人控制系统的硬件设计方法,以欧姆龙的NJ301运动控制器为主控模块,利用EtherCAT网络实现各个模块间的信号传输,针对应用需求对各个硬件模块进行了具体选型,并设计了视频同步等特殊应用电路。(3)详细分析了基于SysmacStudio开发环境的控制系统软件设计方法,给出了软件的总体架构以及其中各模块之间的协同工作方式,重点介绍了同步运动控制、预置功能、轨迹设计、坐标计算等模块的梯形图和ST语言设计方法。(4)阐述了基于NB_Designer开发环境的触摸屏界面设计方法,给出了人机交互界面的总体架构以及各个界面之间的切换方式,分析了部分界面的具体设计方法以及其与控制系统之间的信息传输模式。(5)介绍了轨道摄像机器人的调试情况,并针对调试过程中出现的一些问题,给出了控制系统的改进方法。最后,对本文进行了总结,并提出了一些后期的改进意见。
[Abstract]:Track mobile shooting is a special shooting method in the film and television industry. Because it can provide continuous mobile shooting pictures, it can significantly enhance the visual effect of some programs. And the cameraman sits in the car for manual shooting. The disadvantage is that the control of the cameraman is very demanding, and it is difficult to provide accurate shooting with high stability, especially for some images that need to be shot repeatedly. In order to meet the special needs of orbit moving shooting, orbit camera robot has been born in recent years. By using a large number of automation technology, it can guarantee high quality shooting at the same time. This paper studies a kind of orbit camera robot system, which mainly consists of bionic tripod, control cabinet, rail car. Telescopic columns and other parts of the cloud head, the operator through the bionic tripod to control the rail car, telescopic column and the synchronous movement of the cloud head, In this paper, the design method of the control system of the orbital camera robot is mainly studied. The main work accomplished is as follows: 1) on the basis of analyzing the requirements of the application of the orbital camera robot, The general structure and working principle are given. The internal structure of bionic tripods, control cabinets, rail cars, telescopic columns and cloud heads are introduced. The hardware design method of the control system of the orbit camera robot is given. The NJ301 motion controller of OMRON is used as the main control module. The EtherCAT network is used to realize the signal transmission between the various modules, and the specific selection of each hardware module is carried out according to the application requirements. The software design method of control system based on SysmacStudio development environment is analyzed in detail, and the overall structure of the software and the cooperative working mode among each module are given. The trapezoidal diagram and St language design method of synchronous motion control, preset function, trajectory design, coordinate calculation and so on are emphatically introduced. The design method of touch screen interface based on NB_Designer development environment is expounded. The overall structure of man-machine interface and the switching mode between each interface are given. The specific design method of some interfaces and the mode of information transmission between the interface and the control system are analyzed. The debugging of the orbital camera robot is introduced. Aiming at some problems in the debugging process, the improvement methods of the control system are given. Finally, the paper summarizes the paper and puts forward some suggestions for improvement in the later stage.
【学位授予单位】：南京理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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