本文關(guān)鍵詞： 軌道攝像機器人 PLC 控制系統(tǒng)　出處：《南京理工大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

【摘要】：軌道移動拍攝是影視行業(yè)中一種特殊的拍攝手段,由于其能夠提供連續(xù)的移動拍攝畫面,因而可以顯著增強一些節(jié)目的視覺效果。早期的軌道移動拍攝依靠人力推動軌道車,并由攝像師坐在車上進行人工拍攝,其缺點是對攝像師的操控要求高,且難以提供高穩(wěn)定性的精準拍攝,尤其是對一些需要重復(fù)拍攝的畫面,無法保證多次拍攝的一致性。為了滿足軌道移動拍攝的特殊需要,近年來誕生了軌道攝像機器人,其通過采用大量的自動化技術(shù),在保證高質(zhì)量拍攝的同時,能夠極大降低對攝像師的操控要求。針對目前市場現(xiàn)有設(shè)備的一些應(yīng)用局限性,本文研究了一種軌道攝像機器人系統(tǒng),其主要由仿生三腳架、控制柜、軌道車、伸縮柱以及云臺等部分組成,操控人員通過仿生三腳架操控軌道車、伸縮柱以及云臺的同步運動,從而能夠輕易實現(xiàn)各種高質(zhì)量的拍攝應(yīng)用。本文主要研究了該軌道攝像機器人控制系統(tǒng)的設(shè)計方法,所完成的主要工作如下:(1)在分析軌道攝像機器人應(yīng)用需求的基礎(chǔ)上,給出了其總體結(jié)構(gòu)組成和工作原理,介紹了仿生三腳架、控制柜、軌道車、伸縮柱以及云臺等主要部件的內(nèi)部結(jié)構(gòu),并對各主要部件的工作模式以及部件之間的協(xié)同工作方式進行了說明。(2)給出了軌道攝像機器人控制系統(tǒng)的硬件設(shè)計方法,以歐姆龍的NJ301運動控制器為主控模塊,利用EtherCAT網(wǎng)絡(luò)實現(xiàn)各個模塊間的信號傳輸,針對應(yīng)用需求對各個硬件模塊進行了具體選型,并設(shè)計了視頻同步等特殊應(yīng)用電路。(3)詳細分析了基于SysmacStudio開發(fā)環(huán)境的控制系統(tǒng)軟件設(shè)計方法,給出了軟件的總體架構(gòu)以及其中各模塊之間的協(xié)同工作方式,重點介紹了同步運動控制、預(yù)置功能、軌跡設(shè)計、坐標計算等模塊的梯形圖和ST語言設(shè)計方法。(4)闡述了基于NB_Designer開發(fā)環(huán)境的觸摸屏界面設(shè)計方法,給出了人機交互界面的總體架構(gòu)以及各個界面之間的切換方式,分析了部分界面的具體設(shè)計方法以及其與控制系統(tǒng)之間的信息傳輸模式。(5)介紹了軌道攝像機器人的調(diào)試情況,并針對調(diào)試過程中出現(xiàn)的一些問題,給出了控制系統(tǒng)的改進方法。最后,對本文進行了總結(jié),并提出了一些后期的改進意見。
[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.
【學(xué)位授予單位】：南京理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

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