本文選題：機器視覺　切入點：機械手　出處：《南京航空航天大學》2014年碩士論文

【摘要】：機械手系統(tǒng)是最早出現(xiàn)的工業(yè)機器人，它可代替人的繁重勞動以實現(xiàn)生產(chǎn)的機械化和自動化，能在惡劣環(huán)境下操作以保護人身安全。機器視覺主要用計算機來模擬人的視覺功能，從客觀事物的圖像中提取信息，進行處理并加以理解，最終用于實際檢測、測量和控制。 本課題的研究是利用機器視覺技術(shù)和分布式控制系統(tǒng)相結(jié)合的方案，設(shè)計一套高可靠性、高精度的機械手控制系統(tǒng)，完成LAMOST天文望遠鏡MB子鏡的裝卸工作。系統(tǒng)涉及多項關(guān)鍵技術(shù)，包括機器視覺技術(shù)、圖像處理技術(shù)、分布式控制技術(shù)、液壓驅(qū)動技術(shù)、電機驅(qū)動技術(shù)和無線通信技術(shù)等。本文對這些涉及到的技術(shù)進行了深入研究，完成了機械手控制系統(tǒng)的設(shè)計、安裝和調(diào)試。 機械手控制系統(tǒng)由上位機人機界面、機器視覺、下位機分布式控制和機械手四部分組成。機器視覺采用包括相機、鏡頭、光源、工控機等負責圖像的采集；上位機通過人機交互界面完成圖像的處理與計算，通過對下位機反饋信號的處理完成對下位機運行狀態(tài)的控制；下位機采用分布式控制機制，通過無線模塊從上位機接收控制指令，控制機械手運動，同時完成狀態(tài)反饋等；機械手受下位機控制，通過各個自由度方向的運動，完成MB子鏡的裝卸工作。 本文將整個系統(tǒng)分為機械手控制系統(tǒng)和機器視覺系統(tǒng)兩個部分來分別設(shè)計。在機械手控制系統(tǒng)部分，，作者完成了機械手控制方案的設(shè)計，運動控制板卡的設(shè)計，控制元器件的選型，控制芯片程序的設(shè)計，上位機軟件設(shè)計和數(shù)據(jù)協(xié)議的設(shè)計等；在機器視覺系統(tǒng)部分，作者完成了視覺元器件的選型、圖像處理程序的設(shè)計、與機械手控制系統(tǒng)相結(jié)合的視覺定位程序的設(shè)計。最后，本文對整個系統(tǒng)的調(diào)試工作為了介紹，系統(tǒng)最終達到預期目標。
[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.
【學位授予單位】：南京航空航天大學
【學位級別】：碩士
【學位授予年份】：2014
【分類號】：TP391.41;TH751;TP242

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本文編號：1673680