视觉伺服系统的控制算法及实验研究

视觉伺服系统的控制算法及实验研究学位论文视觉伺服系统的控制算法及实验研究视觉伺服系统的控制算法及实验研究摘要通常意义上的传感器所获取到的信息比较单一，不足以应对智能机器人的需求，但是视觉模块能够获取到极其丰富的信息。基于视觉的伺服系统的研究受到机器人开发工作者的青睐，并成为当前国内外机械伺服系统研究领域的热点。本设计的主要研究内容是视觉伺服系统的控制算法及实验研究，其主要研究对象是基于MPC08SP运动控制卡的二自由度机械臂平台。本设计主要目的是以视觉反馈为核心构建其闭环控制系统以实现对目标物体的寻找及定位。按照项目需求，本设计实现了以下几个功能：1)基于虚拟仪器完成Usb摄像头对图像的采集；2)使用Labview的视觉模块完成对图像的分析处理，计算目标物体的位置，并通过串口发送位置参数；3)运用C++编写程序实现串口数据的接收，并调用MPC08SP函数库，完成二维平台对目标的定位；关键词：LabVIEW；机器视觉；图像处理；视觉定位ThecontrolalgorithmandexperimentalresearchofvisualservosystemAbstractTheinformationsobtainedbycommonsensorsarerelativelysimple,anditisnotsufficienttorespondtotheneedsofintelligentrobots.Butthevisionmodulecangettotheveryrichinformations.Basedonvisualservosystemfavoredrobotdevelopmentworkers,andhasbecomeahotresearchathomeandabroadinthefieldofmechanicalservosystem.Themainstudycontentofthistopicisthecontrolalgorithmandexperimentalresearchofvisualservosystem,themainobjectofstudyistwodegreesoffreedommechanicalarmplatformwhichbasedonMPC08SPmovementcontrolcard.Purposeofthistopicisbasedonvisualfeedbackasthecoretobuilditsclosedloopcontrolsystemforsearchingandpositioningonthetargetobject.Accordingtoprojectrequirements,theprojectachievedthefollowingfunctions:1）BasedonVirtualInstrumenttocompletethattheusbcameracaptureimages；2）UsingLabviewvisionmoduletocompletetheimageanalysisandprocessing,calculatingthepositionofthetargetobject,andsentthroughtheserialpositionparameters;3）UsingC++programmingtoachievethatreceivesserialdata,AndcallsMPC08SPlibrary,completedpositioningofthetargetontwo-dimensionalplatform;Keywords:Labview，machinevision,pictureprocession,visionlocalization目录论文总页数：27页1引言...............................................................................................................................................11.1课题背景情况........................................................................................................................11.2实际应用价值........................................................................................................................11.3国内外研究现状、发展动态................................................................................................11.3.1当前主流的视觉算法.....................................................................................................21.3.2机器视觉伺服系统的分类.............................................................................................21.3.3机器视觉面临的发展难题.............................................................................................41.4本文研究内容和方法.............................................................................................................42设计要求.......................................................................................................................................42.1设计任务................................................................................................................................42.2主要功能................................................................................................................................42.3用户交互界面........................................................................................................................53方案的比较和论证.......................................................................................................................53.1编译平台的选择....................................................................................................................53.2图像处理供选方案................................................................................................................53.3驱动电机选择........................................................................................................................63.4运动控制单元选择................................................................................................................64视觉实现算法...............................................................................................................................74.1图像采集................................................................................................................................74.2图像处理................................................................................................................................74.2.1图像滤波.........................................................................................................................74.2.2目标识别.........................................................................................................................74.2.3质心计算.........................................................................................................................84.2.4坐标转换.........................................................................................................................84.2.5坐标转换参数的确定.....................................................................................................95系统硬件设计.............................................................................................................................105.1驱动器接线图...................................................