【摘要】：自動(dòng)化技術(shù)在制造業(yè)中的廣泛應(yīng)用,提高了產(chǎn)品質(zhì)量,改善了勞動(dòng)條件,減少了原料和能源的浪費(fèi),三軸機(jī)械裝置在其中發(fā)揮了重要作用。而傳統(tǒng)三軸機(jī)械裝置只能根據(jù)規(guī)劃的運(yùn)動(dòng)模式重復(fù)性的工作,這對于現(xiàn)在小批量多品種的加工方式變得尤為不便。為了使三軸機(jī)械裝置對不同環(huán)境有更高的適應(yīng)性,近些年基于視覺伺服的運(yùn)動(dòng)控制成為了研究熱點(diǎn)。本文主要針對電子消費(fèi)產(chǎn)品裝配線的視覺檢測,分析目前市場上三軸機(jī)械裝置存在的不足,設(shè)計(jì)了基于視覺伺服的三軸機(jī)械裝置運(yùn)動(dòng)控制方案。本文的主要內(nèi)容包含三個(gè)模塊:三軸機(jī)械裝置運(yùn)動(dòng)控制方案總體設(shè)計(jì)、視覺定位和運(yùn)動(dòng)控制。在三軸機(jī)械裝置運(yùn)動(dòng)控制方案總體設(shè)計(jì)模塊,三軸機(jī)械裝置采用龍門架式的框架設(shè)計(jì)方案,使用運(yùn)動(dòng)控制卡和電機(jī)驅(qū)動(dòng)器結(jié)合的運(yùn)動(dòng)控制方式。同時(shí)使用一臺(tái)攝像機(jī)位于機(jī)械裝置頂部,用于待檢測目標(biāo)的定位,另一臺(tái)攝像機(jī)安裝在Z軸上,用于視覺掃描和視覺反饋。通過兩臺(tái)攝像機(jī)配合,實(shí)現(xiàn)對待檢測目標(biāo)的精確定位和掃描識(shí)別。在視覺定位模塊,為了根據(jù)圖像信息得到待檢測目標(biāo)在運(yùn)動(dòng)機(jī)構(gòu)坐標(biāo)系中的坐標(biāo)。首先對視覺系統(tǒng)標(biāo)定,獲取圖像坐標(biāo)系到運(yùn)動(dòng)機(jī)構(gòu)坐標(biāo)系的變換關(guān)系。在獲取待檢測目標(biāo)在圖像中的坐標(biāo)時(shí),首先使用ORB(oriented FAST and rotated BRIEF)匹配算法在全局圖像中定位模板圖像的坐標(biāo)和旋轉(zhuǎn)角度,然后根據(jù)示教獲取的模板圖像與待檢測點(diǎn)位之間的相對坐標(biāo)計(jì)算出各點(diǎn)位在全局圖像中的坐標(biāo)。在運(yùn)動(dòng)控制模塊,本文首先介紹了運(yùn)動(dòng)控制卡和電機(jī)驅(qū)動(dòng)器的參數(shù)配置,然后介紹了電機(jī)速度設(shè)置和運(yùn)動(dòng)脈沖計(jì)算。然后介紹了基于爬山法的自動(dòng)對焦技術(shù)和基于遺傳算法的路徑規(guī)劃。最后,根據(jù)待檢測目標(biāo)在掃描相機(jī)視野中的坐標(biāo)作為視覺反饋,調(diào)整運(yùn)動(dòng)機(jī)構(gòu),確保待檢測目標(biāo)在掃描相機(jī)視野中。由于需要獲取模板圖像及其與待檢測點(diǎn)位之間的相對坐標(biāo)等先驗(yàn)信息,本文還設(shè)計(jì)了示教軟件。實(shí)驗(yàn)結(jié)果表明,本文設(shè)計(jì)的基于視覺伺服的三軸機(jī)械裝置,能實(shí)現(xiàn)對不同高度、多點(diǎn)位待檢測目標(biāo)的精確定位。
[Abstract]:The wide application of automation technology in manufacturing improves the quality of products, improves the working conditions and reduces the waste of raw materials and energy, in which triaxial machinery plays an important role. But the traditional three-axis mechanical device can only work repeatedly according to the planned motion mode, which is especially inconvenient for the small batch and many kinds of processing methods. In order to improve the adaptability of triaxial mechanical devices to different environments, the motion control based on visual servo has become a research hotspot in recent years. This paper mainly aims at the visual inspection of the assembly line of electronic consumer products, analyzes the shortcomings of the three-axis mechanical device in the market at present, and designs a motion control scheme of the three-axis mechanical device based on visual servo. The main contents of this paper include three modules: the overall design of motion control scheme of three-axis mechanical device, visual positioning and motion control. In the overall design module of three-axis mechanical device motion control scheme, the three-axis mechanical device adopts the frame design scheme of gantry frame, and the motion control mode which combines motion control card and motor driver. At the same time, one camera is located at the top of the mechanical device, which is used to locate the target to be detected, and the other camera is mounted on the Z axis for visual scanning and visual feedback. Through the cooperation of two cameras, the accurate location and scanning recognition of the detection target are realized. In the visual positioning module, in order to get the coordinates of the target to be detected in the moving mechanism coordinate system according to the image information. First, the vision system is calibrated to obtain the transformation relationship between the image coordinate system and the kinematic mechanism coordinate system. In order to obtain the coordinates of the target to be detected in the image, the ORB (oriented FAST and rotated BRIEF) matching algorithm is used to locate the coordinates and rotation angles of the template image in the global image. Then the coordinates of each point in the global image are calculated according to the relative coordinates between the template images and the points to be detected. In the motion control module, this paper first introduces the parameter configuration of the motion control card and motor driver, then introduces the speed setting of the motor and the calculation of the motion pulse. Then the automatic focusing technology based on mountain climbing and the path planning based on genetic algorithm are introduced. Finally, according to the coordinates of the target to be detected in the scan camera field as visual feedback, the motion mechanism is adjusted to ensure that the target to be detected in the scan camera field of vision. Due to the need to obtain the prior information such as the template image and the relative coordinates between the template image and the point to be detected, the teaching software is also designed in this paper. The experimental results show that the three-axis mechanical device designed in this paper based on visual servo can accurately locate the target with different heights and multiple points to be detected.
【學(xué)位授予單位】：電子科技大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TH16;TP391.41

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本文編號(hào)：2365691