發(fā)布時(shí)間：2018-10-24 13:16

【摘要】：傳統(tǒng)的運(yùn)動(dòng)控制主要應(yīng)用于數(shù)控領(lǐng)域,通用性和開(kāi)放性較差,多數(shù)只能夠應(yīng)用于特定的場(chǎng)合。為此,本論文基于一款開(kāi)放式運(yùn)動(dòng)控制平臺(tái),設(shè)計(jì)視覺(jué)檢測(cè)模塊組成閉環(huán)控制系統(tǒng),增加平臺(tái)的智能性和準(zhǔn)確性。整個(gè)運(yùn)動(dòng)控制系統(tǒng)通過(guò)視覺(jué)檢測(cè)模塊對(duì)移動(dòng)目標(biāo)的運(yùn)動(dòng)信息進(jìn)行實(shí)時(shí)反饋,并控制四軸運(yùn)動(dòng)控制平臺(tái)和機(jī)械手對(duì)移動(dòng)目標(biāo)進(jìn)行追蹤和抓取,以此實(shí)現(xiàn)智能控制。本論文中四軸運(yùn)動(dòng)控制平臺(tái)的運(yùn)動(dòng)控制器部分是ARM+PCL6045B的雙CPU結(jié)構(gòu)。ARM作為主控CPU,不但具有高速的運(yùn)行頻率,還具有豐富的外設(shè),便于整個(gè)平臺(tái)功能的擴(kuò)展和裁剪。PCL6045B是一款專業(yè)的運(yùn)動(dòng)控制DSP,是運(yùn)動(dòng)控制器的從CPU,能夠?qū)崿F(xiàn)單軸定位、直線/S型曲線加減速、直線/圓弧插補(bǔ)以及限位和回原點(diǎn)等功能。為了能夠?qū)δ繕?biāo)進(jìn)行抓取,在四軸運(yùn)動(dòng)控制平臺(tái)的基礎(chǔ)上,擴(kuò)充了機(jī)械手來(lái)實(shí)現(xiàn)抓取動(dòng)作。另外,為了便于對(duì)四軸運(yùn)動(dòng)控制平臺(tái)進(jìn)行二次開(kāi)發(fā),提高四軸運(yùn)動(dòng)控制平臺(tái)的開(kāi)放性,整個(gè)平臺(tái)的軟件體系結(jié)構(gòu)中對(duì)相應(yīng)的運(yùn)動(dòng)控制功能進(jìn)行了API封裝。為了能夠?qū)崿F(xiàn)對(duì)移動(dòng)目標(biāo)的準(zhǔn)確追蹤,首先需要實(shí)現(xiàn)對(duì)靜止目標(biāo)的定位和抓取,完成由像素模型坐標(biāo)系到平臺(tái)模型坐標(biāo)系之間的轉(zhuǎn)換,然后利用得到的平臺(tái)坐標(biāo)控制四軸運(yùn)動(dòng)控制平臺(tái)的各個(gè)軸和機(jī)械手進(jìn)行相關(guān)動(dòng)作,實(shí)現(xiàn)對(duì)移動(dòng)目標(biāo)的追蹤和抓取。在視覺(jué)檢測(cè)部分,本論文中利用TLD算法來(lái)對(duì)移動(dòng)目標(biāo)進(jìn)行檢測(cè)。TLD算法將傳統(tǒng)的移動(dòng)目標(biāo)檢測(cè)算法和傳統(tǒng)的移動(dòng)目標(biāo)跟蹤算法相結(jié)合,能夠在目標(biāo)發(fā)生遮擋的情況下對(duì)目標(biāo)進(jìn)行重新檢測(cè),具有較高的穩(wěn)定性。該算法由跟蹤器、檢測(cè)器、整合器以及學(xué)習(xí)器四大模塊組成。最后,為了能夠使運(yùn)動(dòng)控制平臺(tái)更加平滑地實(shí)現(xiàn)對(duì)移動(dòng)目標(biāo)的追蹤,增加整個(gè)運(yùn)動(dòng)控制系統(tǒng)的實(shí)用性,本論文根據(jù)運(yùn)動(dòng)控制平臺(tái)單軸、直線插補(bǔ)以及圓弧插補(bǔ)三種運(yùn)動(dòng)控制方式的性能,提出具體的運(yùn)動(dòng)控制方案,并在此基礎(chǔ)上,針對(duì)典型的運(yùn)動(dòng)控制場(chǎng)景,設(shè)計(jì)了一系列實(shí)驗(yàn)來(lái)驗(yàn)證整個(gè)系統(tǒng)在不同場(chǎng)景下對(duì)移動(dòng)目標(biāo)跟蹤抓取的準(zhǔn)確性、實(shí)時(shí)性和穩(wěn)定性。
[Abstract]:The traditional motion control is mainly used in the field of numerical control. Therefore, based on an open motion control platform, this paper designs a closed loop control system based on visual detection module to increase the intelligence and accuracy of the platform. The whole motion control system can realize intelligent control by real-time feedback of moving target information through visual detection module, and control four-axis motion control platform and manipulator to track and grab moving target. In this paper, the motion controller of the four-axis motion control platform is the dual CPU structure of ARM PCL6045B. As the main control CPU, ARM not only has high speed running frequency, but also has abundant peripheral equipments. PCL6045B is a professional motion control DSP, which can realize uniaxial positioning, linear / S curve acceleration and deceleration, linear / circular arc interpolation, limit and return to origin and so on. In order to grasp the target, the manipulator is extended on the basis of the four-axis motion control platform. In addition, in order to further develop the four-axis motion control platform and improve the openness of the four-axis motion control platform, the corresponding motion control function is encapsulated by API in the software architecture of the whole platform. In order to realize the accurate tracking of moving target, it is necessary to locate and grab the static target first, and complete the transformation from pixel model coordinate system to platform model coordinate system. Then the platform coordinates are used to control each axis and manipulator of the four-axis motion control platform to track and grab the moving target. In the part of vision detection, TLD algorithm is used to detect moving target. TLD algorithm combines the traditional moving target detection algorithm with the traditional moving target tracking algorithm. It can re-detect the target in the case of occlusion, so it has high stability. The algorithm consists of four modules: tracker, detector, integrator and learner. Finally, in order to make the motion control platform realize the tracking of moving objects more smoothly, and increase the practicability of the whole motion control system, this paper according to the single axis of motion control platform, The performance of three motion control methods, linear interpolation and arc interpolation, is presented. Based on this, a typical motion control scene is proposed. A series of experiments are designed to verify the accuracy, real-time and stability of the system in different scenes.
【學(xué)位授予單位】：電子科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP273

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本文編號(hào)：2291519