【作者】 刘蕾蕾；

【导师】 陈坚；

【作者基本信息】 上海交通大学 ， 控制理论与控制工程， 2008， 硕士

【摘要】 本文在研究了视觉跟踪系统的相关理论基础上,建立了一个基于计算机视觉的跟踪系统,该系统主要由计算机视觉模块、伺服控制系统模块和OPC通讯模块组成。提出了基于USB摄像头的视觉实现方案和基于可编程逻辑控制器的伺服控制系统实现方案。在系统通讯方面,采用了工业界应用广泛的OPC通讯技术。计算机视觉模块软件是采用USB摄像头,基于Windows平台和VC++6.0开发。USB摄像头的图像输入接口编程主要使用微软Video for Windows库(vfw.lib),软件中的图像识别算法首先将图像进行灰度变换,之后利用Laplcian边缘检测算子检测有效边缘并进行图像的二值变换,最后通过对有效边缘点进行Hough变换得出圆位置。伺服控制系统是整个跟踪系统的核心部分,硬件采用Cotrollogix5550 PLC、1756-M08SE多轴伺服控制器、Ultra3000-SE伺服驱动器、Y-1002-2-H型伺服电机构建成一个2维的小球运动控制平台,软件采用Rslinx和Rslogix5000。PLC作为硬件系统的唯一控制器,可以通过一定的控制算法控制伺服电机动作,伺服电机带动运动平台,进而控制小球在运动平台上的位置和轨迹。OPC通讯模块用于实现视觉模块图象数据与PLC控制程序数据实时交互,来实现对小球运动轨迹的实时跟踪。OPC服务器采用Rslinx,OPC客户端是基于WINTECH公司的WTclient.dll上开发。之所以采用OPC方式主要理由在于其扩展性、通用性很强,另外在现有的OPC服务器上开发OPC客户端的方式广泛应用于工业界。更多还原

【Abstract】 In this paper, after studying related vision servo system theory, I have built a servo system based on computer vision. The servo system is made up of three parts. They are computer vision module, servo control system module and OPC communication module. Subsequently, developing a vision solved method by USB camera and achieving servo control system by programmable logic controller (PLC). In the aspect of system communication, using the OPC technique which broadly adopt in the industrial area.The software of computer vision module is developed by C/C++ based on windows OS and VC++ 6.0. The inputting image is collected by USB camera and the image collected process utilized the Microsoft Video for Windows lib (vfm.lib) to make gray transform. After this, utilizing the Laplcian edge detected operator to detect the efficient edge of the object image. Finally, obtaining the centre of object ball’s coordinate by the efficient edge points.Servo control system is the cored module of the whole system. The hardware is mainly constituted of Rockwell A-B Controllogix5550 PLC,1756-M08SE Multi-Axes servo controller,Ultra3000-SE servo drive,Y-1002-2-H servo motor and 01GS001U motion platform.The software is mainly constituted of Rockwell Rslinx and Rslogix5000. PLC acts as the exclusive brain. It can control the servo motor to move logically by some arithmetic. Then, the servo motor drive the motion platform in order to command the object ball’s position and trace.OPC communication module realizes the data exchange between the computer vision program and PLC ladder program. Only with this function, we can obtain the real-time trace of the object ball’s coordinate. The OPC communication is complied server/client mode. In this paper, the OPC server is Rockwell Rslinx and the OPC client is self-developed based on WTclient.dll which provided by WINTECH company. There are several reasons of choosing OPC technique,. The main reason is OPC’s excellent expansibility and universality. And also Self-developing OPC client based on existing OPC server is very popular in the industrial area.更多还原