1.2 Abubuwan nuna alama

2 Aikin aiwatar da shirye-shiryen

2.1 Babban Shirin

Wannan aikin ya shafi matsalolin gwajin sarrafa kansa na aikin nuni, ya haɓaka tsarin gwajin sarrafa kansa na nuni tushen hangen nesa na inji, tsarin gaba ɗaya kamar yadda aka nuna a cikin Hoto na 1. Daga bangarori uku na ci gaban hannun mutum da kuma sarrafa kayan aiki, kayan aikin ganin inji, da ci gaban haɗin tsarin, manyan abubuwan da ke cikin binciken sun haɗa da bangarori masu zuwa:
(1) Haɗa tsarin dandamali na hardware da tsarin software don kammala tsarin tsarin motsi na robot mai daidaitaccen kusurwa; Ta hanyar fasahar sarrafa motsi mai yawa, gina tsarin sarrafa servo, kammala ƙirar software da ƙirar ƙirar ƙirar ƙirar ƙirar ƙirar ƙirar ƙirar ƙirar ƙirar ƙirar ƙirar ƙirar ƙirar ƙirar ƙirar ƙirar ƙirar ƙirar ƙirar ƙirar ƙirar ƙirar ƙirar
(2) Amfani da fasahar tattara hoto da sarrafawa ta hanyar daidaitawa ta kyamara, inganta hoto, kawar da amo, da cire gefen da sauransu, don samun da watsa bayanan yanayin aikin nuni bisa tsarin ci gaban aikace-aikacen OpenCV da QT, haɓaka kayan kula da yanayin aikin nuni bisa ga hangen nesa na inji.
(3) Amfani da aiki module zane da kuma hadewa fasahar, kammala daidai kusurwa daidaitawa robot motsi sarrafa tsarin da kuma image sarrafa kayan aiki sadarwa da kuma aiki daidaitawa zane, cimma atomatik gwaji na nuni aiki yanayin bisa ga inji gani.

Hoto na 1 Tsarin gwajin sarrafa kansa na nuni bisa ga hangen nesa na inji

2.2 Takaddun aiwatar da shirye-shiryen

Wannan aikin ya gudanar da bincike game da muhimmin fasahohin gwajin sarrafa kansa na nuni bisa ga hangen nesa na inji, bayan nuni ya kasance a cikin akwatin thermostat, an gyara shi ta hanyar kayan aiki na musamman, lokacin da hannun mutum ya yi aikin nuni maimakon hannun mutum, ana buƙatar amfani da hangen nesa na inji don saka idanu kan yanayin aikin nuni da kuma bayanan da aka rufe madaidaicin madaidaicin madaidaicin madaidaicin madaidaicin madaidaicin madaidaicin madaida Za a gudanar da takamaiman aiwatar da shirye-shiryen daga bangarori uku na ci gaban hannun mutum da kuma sarrafa kayan aiki, kayan aikin ganin inji, da ci gaban haɗin tsarin.

2.2.1 Ingantaccen Ingantaccen Ingantaccen Ingantaccen Ingantaccen Ingantaccen Ingantaccen Ingantaccen Ingantaccen Ingantaccen Ingantaccen Ingantaccen Ingantaccen Inganta

Injin ganiYana amfani da inji don maye gurbin idanun mutum don aunawa da hukunci.Machine gani tsarinYana ta hanyar inji gani kayayyakin (watau, da hoto sha na'urar, biyu CMOS da CCD) canza da sha manufa zuwa hoto siginar, watsawa zuwa keɓaɓɓunTsarin sarrafa hotoSamun bayanan fasali na burin da aka ɗauka, canzawa zuwa siginar dijital bisa ga rarraba pixel da haske, launi da sauran bayanai; Tsarin hoto yana gudanar da ayyuka daban-daban akan waɗannan siginar don cire halayen manufa, sannan sarrafa ayyukan na'urar a filin bisa ga sakamakon ƙididdiga.
(1) Nuni aiki yanayin image siginar tattara
Na'ura gani ganewa ga nuni na aiki yanayin, amfani da CCD ganewa, auna ka'idar akwatin zane kamar yadda aka nuna a Figure 3. Yi amfani da ruwan tabarau don yin hoton ƙarshen hoton nuni a kan CCD (kamar yadda aka nuna a Hoto na 2). CCD da ta drive kewaye zai tattara siginar fitarwa a gaba, sa'an nan kuma ta hanyar analog canzawa, samun bayanai ta hanyar kwamfuta sarrafawa, ta hanyar image sarrafawa da kuma ganewa, da image karshen fuska image sa'an nan kuma feedback zuwa kwamfuta sarrafawa tsarin, samar da tushe ga nuni na aiki yanayin nazarin.




Figure 3 Tsarin Ingantaccen Ingantaccen Ingantaccen Ingantaccen Ingantaccen Ingantaccen Ingantaccen Ingantaccen Ingantaccen Ingantaccen Ingantaccen Ingantaccen Ingantaccen Ingantaccen Ingantaccen Ingantaccen Inganta


Hoto na 4 Tsarin aunawa na gani


(2) Nuni aiki yanayin image sarrafawa
Hoton da aka samu da CCD yana buƙatar sarrafa hoto da ganewa don samun daidai hoton yanayin aiki na nuni. Da farko ta hanyar CCD da kuma ta drive kewaye canza kowane maki image model zuwa lantarki siginar, sa'an nan kuma ta hanyar shirye-shirye sarrafawa, da image don inganta, grey-scale sarrafawa, amo cirewa, ƙuduri rabawa, image gefen cirewa da sauransu sarrafawa, don haka inganta ganowa daidaito da daidaito, a ƙarshe za a tattara image don rarraba kididdiga, kafa nuni da matsala ganowa database. Kamara calibration da image binarization sarrafawa kamar yadda aka nuna a Figure 5 da Figure 6.



Hoto 5 Kamara daidaitawa
Hoto na 6 Image Binary Processing

2.2.2 Daidai kusurwa daidaitawa motsi robotic sarrafawa module ci gaba

Amfani da robotic hannu maimakon mutum hannu don nuni na atomatik gwaji, bukatar lokaci guda gudanar da madaidaicin kusurwa daidaitawa motsi na robotic motsi iko da gani servo tsarin iko, mai aiki ta hanyar mutum-injin hulda dubawa aika da aiki umarnin zuwa sarrafa tsarin, motsi sarrafa katin ya yi amfani da yanayin torque, da kuma canza dijital adadin bayanai zuwa pulse fitarwa, sarrafa madaidaicin kusurwa daidaitawa motsi na robotic kammala motsi da kuma yi daidai aiki. Encoder da na'urori masu auna firikwensin gano tsarin kammala matsayi da kuma karfin iko gano, da kuma gudanar da sarrafawa tsarin da kuma bayanai musayar da kuma gano tsarin, kammala sarrafawa tsarin kayan aiki da kuma robotic tsarin zane ci gaba, tabbatar da motsi daidaito da kuma nuni gwajin inganci.

Figure 7 Tsarin sarrafa motsi na robot don motsi na kusurwa mai daidai
An tsara robots na daidai kusurwa daidaitawa motsi tare da gargajiya multi-axis haɗin robots don kwatancen nazarin motsi sarrafawa tsari, sarrafawa tsari kamar yadda aka nuna a Figure 7. Ana amfani da kayan aikin sarrafa mutum-mutumi na motsi na kusurwar daidai don gwajin nuni na sarrafa mutum-mutumi maimakon hannun mutum, gano tsarin kammala gano wuri da ƙarfin ƙarfi da musayar bayanai tsakanin tsarin daban-daban.
(1) motsi tsarin sarrafawa
Sarrafa hannun mutum don motsi na digiri uku na 'yanci da gwajin nuni maimakon hannun mutum. Dangane da matsayi da kuma karfi moment bayanai gano da gano tsarin, sarrafa tsarin sarrafa robot yi motsi a sararin samaniya uku digiri na 'yanci shugabanci, da kuma maimakon mutum hannu kammala nuni taɓawa, danna da sauran ayyuka.

Hoto na 8 Taswirar haɗin tsarin direba
(2) Gano tsarin sarrafawa
Ana amfani da tsarin ganowa don gano matsayin motsi na robot da kuma karfin motsi. Kula da tsarin ganowa ya haɗa da gano matsayin motsi na robot mai daidaitaccen kusurwa na digiri uku na 'yanci, gano girman motsi na nunin lamba na ƙarshen aiki, da saurin motsi, nesa da sauran sigogin motsi.
(3) musayar bayanai
Tsarin ganowa ya ƙunshi na'urori kamar na'urori masu auna firikwensin da masu ƙididdiga a ƙarshen aikin aiki, yana watsa siginar analog da aka auna ta firikwensin zuwa kayan sarrafawa, kayan sarrafawa zai ba da siginar amsawa ta hanyar wasu dangantakar canji don sarrafa motsi na robot.
(4) Mutum-injin hulɗa
Ta hanyar mutum-injin hulɗa dubawa don sarrafa motsi na robot, rubuta software na tsarin motsi na atomatik, mai aiki yana zaɓar daidai menu don samun bayanan da ake so ko aiwatar da ayyukan da ake so don aiwatar da hulɗar mutum-injin. Wannan software tsarin zai iya aiwatar da ayyuka kamar motsi iko, matsayi da kuma karfi yanayin canzawa, matsayi, karfi siginar rufe madauki feedback, da kuma adana nuni gazawar bayanai. Ci gaban bayanan software ya dogara ne akan tsarin aiki na Windows 7, yanayin harshe na ci gaba ya zaɓi C ++, bayanan bayanai ya zaɓi Oracle Database. Motor sarrafa mutum-computer hulɗa dubawa kamar yadda aka nuna a Figure 8.

Hoto na 8 Mota mai sarrafa mutum-injin hulɗa

2.2.3 atomatik gwajin tsarin hadewa ci gaba

Tsarin gwajin sarrafa kansa na nuni wanda ya dogara da hangen nesa na inji yana buƙatar haɗin gwiwar daban-daban na aiki don kammala aikin gwajin sarrafa kansa na gwajin nuni tare. Binciken ya sa atomatik gwajin tsarin da hada mai hawa na kowane rukuni aiki, tsara tasiri gudanar da motsi aiwatar da jiki, cimma da hada-hada na nuni aiki yanayin ganowa, robotic hannu maimakon mutum aiki nuni da sauran iko, tabbatar da atomatik gwajin tsari tsari daidaita ingantaccen aiki. Dukkanin atomatik gwajin tsarin ya ƙunshi uku manyan kayan aiki: inji gani kayan aiki, robot hannu atomatik sarrafa kayan aiki, da kuma gano kayan aiki hadewa, da kuma cikakken hadewa tsarin da kuma tsakanin kayan aiki sadarwa tsarin kamar yadda aka nuna a Figure 9 da Figure 10.

Hoto na 9 Nuni mai sarrafa kansa gwajin tsarin haɗin kai bisa ga hangen nesa na inji
Dukkanin tsarin gwajin atomatik yana amfani da bas na filin don sadarwa. Ta hanyar sarrafa software na tushen dandamali na PC da tsarin aiki na Windows, a cikin masana'antar sarrafawa na masana'antu, an gina tsarin ainihin lokaci tare da ayyukan NC, ta hanyar aikin ma'ana na PLC, da kuma amfani da kayan aikin da aka daidaita na PC don aiwatar da ayyukan ma'ana (TwinCAT PLC), aikin sarrafa motsi (TwinCAT NC), aikin ma'ana mai tafiya, da ayyukan adanawa da sarrafa yawan bayanai. PLC shirin da farko aika da siginar zuwa NC axis, NC ta hanyar hanyar tsarawa, PID aiki da IO dubawa sarrafawa fitarwa zuwa drive don cimma iko a kan mota, yayin da mota jihar ta hanyar NC a kan lokaci feedback zuwa PLC shirin. A dukan tsarin CNC, daban-daban kayan aikin software (kamar shirye-shiryen PLC, NC, aikace-aikacen Windows, da dai sauransu) suna aiki kamar kayan aikin kayan aiki, suna iya aiki da kansu. Musayar bayanai tsakanin daban-daban kayan aikin software ta hanyar ADS mai sarrafa motsi, tare da haɗin tsarin sadarwar kayan aikin tsarin sarrafawa kamar yadda aka nuna a hoto na 10.

Figure 10 sarrafa kansa gwajin tsarin module sadarwa tsari