本文選題：機(jī)器視覺(jué)　切入點(diǎn)：機(jī)械手　出處：《南京航空航天大學(xué)》2014年碩士論文

【摘要】：機(jī)械手系統(tǒng)是最早出現(xiàn)的工業(yè)機(jī)器人，它可代替人的繁重勞動(dòng)以實(shí)現(xiàn)生產(chǎn)的機(jī)械化和自動(dòng)化，能在惡劣環(huán)境下操作以保護(hù)人身安全。機(jī)器視覺(jué)主要用計(jì)算機(jī)來(lái)模擬人的視覺(jué)功能，從客觀事物的圖像中提取信息，進(jìn)行處理并加以理解，最終用于實(shí)際檢測(cè)、測(cè)量和控制。 本課題的研究是利用機(jī)器視覺(jué)技術(shù)和分布式控制系統(tǒng)相結(jié)合的方案，設(shè)計(jì)一套高可靠性、高精度的機(jī)械手控制系統(tǒng)，完成LAMOST天文望遠(yuǎn)鏡MB子鏡的裝卸工作。系統(tǒng)涉及多項(xiàng)關(guān)鍵技術(shù)，包括機(jī)器視覺(jué)技術(shù)、圖像處理技術(shù)、分布式控制技術(shù)、液壓驅(qū)動(dòng)技術(shù)、電機(jī)驅(qū)動(dòng)技術(shù)和無(wú)線通信技術(shù)等。本文對(duì)這些涉及到的技術(shù)進(jìn)行了深入研究，完成了機(jī)械手控制系統(tǒng)的設(shè)計(jì)、安裝和調(diào)試。 機(jī)械手控制系統(tǒng)由上位機(jī)人機(jī)界面、機(jī)器視覺(jué)、下位機(jī)分布式控制和機(jī)械手四部分組成。機(jī)器視覺(jué)采用包括相機(jī)、鏡頭、光源、工控機(jī)等負(fù)責(zé)圖像的采集；上位機(jī)通過(guò)人機(jī)交互界面完成圖像的處理與計(jì)算，通過(guò)對(duì)下位機(jī)反饋信號(hào)的處理完成對(duì)下位機(jī)運(yùn)行狀態(tài)的控制；下位機(jī)采用分布式控制機(jī)制，通過(guò)無(wú)線模塊從上位機(jī)接收控制指令，控制機(jī)械手運(yùn)動(dòng)，同時(shí)完成狀態(tài)反饋等；機(jī)械手受下位機(jī)控制，通過(guò)各個(gè)自由度方向的運(yùn)動(dòng)，完成MB子鏡的裝卸工作。 本文將整個(gè)系統(tǒng)分為機(jī)械手控制系統(tǒng)和機(jī)器視覺(jué)系統(tǒng)兩個(gè)部分來(lái)分別設(shè)計(jì)。在機(jī)械手控制系統(tǒng)部分，，作者完成了機(jī)械手控制方案的設(shè)計(jì)，運(yùn)動(dòng)控制板卡的設(shè)計(jì)，控制元器件的選型，控制芯片程序的設(shè)計(jì)，上位機(jī)軟件設(shè)計(jì)和數(shù)據(jù)協(xié)議的設(shè)計(jì)等；在機(jī)器視覺(jué)系統(tǒng)部分，作者完成了視覺(jué)元器件的選型、圖像處理程序的設(shè)計(jì)、與機(jī)械手控制系統(tǒng)相結(jié)合的視覺(jué)定位程序的設(shè)計(jì)。最后，本文對(duì)整個(gè)系統(tǒng)的調(diào)試工作為了介紹，系統(tǒng)最終達(dá)到預(yù)期目標(biāo)。
[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.
【學(xué)位授予單位】：南京航空航天大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類號(hào)】：TP391.41;TH751;TP242

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本文編號(hào)：1673680