基于Controllogix的视觉伺服系统
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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。
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.
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。
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.
引文
[1]贾云得,机器视觉.科学出版社,2000
[2]郑南宁,计算机视觉与模式识别,国防工业出版社,1998.
[3]赵清杰,连广宇,机器人视觉伺服综述.控制与决策,2001
[4]马颂德,张正友,计算机视觉——计算理论和算法基础,科学出版社,1998
[5]程存学,朱晓昆,计算机视觉——低层处理技术,电子工业出版社,1993
[6]章毓晋,图像处理和分析清华大学出版社,1999
[7]沈庭芳,方子文,数字图像处理及模式识别,北京理工大学出版社,1998
[8]林靖,陈辉堂,机器人视觉伺服系统的研究,控制理论与应用,2000,Vol. 17,No .4
[9] 姜尚坤,基于 OPC 技术的伺服控制,上海,上海交通大学,2006
[10] 李学华,基于图像识别的圆形钢管计数方法研究,山东,山东科技大学,2005
[11] 李颖晖,郭阳宽,伺服转台的机械结构方案设计探讨,机械研究与应用,2002
[12]刘胜,彭侠夫,现代伺服系统设计,哈尔滨:哈尔滨工程大学出版社,2001
[13]孙勇奎,高精度转台伺服控制系统的研究,成都,电子科技大学,2004
[14] Rockwell Automation,RSLinx Classic Guide,www.rockwellautomation.com,2001
[15] Rockwell Automation,Controllogix5550 User Manual,www.rockwellautomation.com, 2002
[16] Rockwell Automation,1756-M08SE User Manual,www.rockwellautomation.com,2002
[17] Rockwell Automation,Ultra3000-SE User Manual,www.rockwellautomation.com,2002
[18] Rockwell Automation,Servo Motor User Manual,www.rockwellautomation.com,2002
[19] Rockwell Automation,Rslogix5000 User Manual,www.rockwellautomation.com,2002
[20] Rockwell Automation,Rslinx User Manual,www.rockwellautomation.com,2002
[21] Rockwell Automation,Ultraware User Manual,www.rockwellautomation.com,2002
[22] Rockwell Automation,Logix5000 Instruction Set,www.rockwellautomation.com,2002
[23] 01GS001U 用户手册,北京光学仪器厂,2006
[24]钱晓龙,MicroLogix 控制器应用实例,北京,机械工业出版社, 2003
[25]钱晓龙,智能电器与 MicroLogix 控制器,北京,机械工业出版社, 2003
[26]郁极,尹旭峰,基于数字伺服现场总线的开放式数控系统,中国机械工程,1999(10)
[27]郭庆鼎,交流伺服系统,北京,机械工业出版社,1998
[28] Rockwell Automation,ControlLogix: A Maestro of Motion, A-B Journal,2001
[29]康存锋,陈卫福,黄旭东,基于 SERCOS 技术实现高速高精度运动控制,制造技术与机床,2002(6)
[30]Jovic Fran, Expert systems in process control,London,Chapman & Hall,1992
[31]L. E. Weisi,Dynamic Visual Servo Control of Robotics:an Adaptive Image-Based Approach, Ph.D.thesis,Carnegie-Mellon University,1984
[32]Mark A. Ruzon Carlo Tomasi. Color Edge Detection with the Compass Operator, IEEE Conference on Computer Vision and Pattern Recognition ’99, Volume 2, pages 160-166, June 1999
[33]刘祎玮,Visual C++视频/音频开发实用工程案例精选, 北京,人民邮电出版社,2004
[34]汪立森,Visualc++实践与提高——COM 和 COM+篇,北京,中国铁道出版社,2002
[35]何援军,计算机图形学,北京,机械工业出版社,2006
[36]Kenneth,R .Ca stleman,数字图像处理,清华大学出版社,1999
[37]LogitechQuickCamTeam,Logitech QuickCam SDK 1.0 Microsoft MFC Programmers Guide.Logitech,USA,2001
[38] Bill Green,Edge Detection Tutorial. Philadelphia,Drexel University,2002
[39]李明,基于 CH374 的 USB 摄像头驱动设计, 单片机与嵌入式系统应用,2007
[40]赵军,平西建,视频信号的捕获采集编程.信息工程大学学报,2001
[41]赵小松,张宏伟,摄像机标定技术的研究,机械工程学报,2002
[43]薛福珍,基于 OPC 数据访问规范的客户端软件研究与开发,计算机工程,2002
[44]郑立,OPC 应用程序入门,日本 OPC 协会,2002
[45]宋丽红,李二勇,COM+编程指南,北京,机械工业出版社,2002
[46]OPC Foundation,OPC Overview(Version 1.0),1998
[47]OPC Foundation,OPC Data Access Custom Interface Specification Release 2.05A,2002
[48]OPC Foundation,Data Access Automation Interface Standard Specification 2.05,2002
[49]WINTECH,WTclient DLL User’s Guide,2007
[50]无极,面对面从芯选择摄像头,天极网,2005
[51]Guy Eddon,Henry Eddon.Inside COM+ Base Services,北京希望电子出版社,2001
[52]AI Chisholm,OLE/OPC Memory Management White Paper,Intellution Inc,1998
[2]郑南宁,计算机视觉与模式识别,国防工业出版社,1998.
[3]赵清杰,连广宇,机器人视觉伺服综述.控制与决策,2001
[4]马颂德,张正友,计算机视觉——计算理论和算法基础,科学出版社,1998
[5]程存学,朱晓昆,计算机视觉——低层处理技术,电子工业出版社,1993
[6]章毓晋,图像处理和分析清华大学出版社,1999
[7]沈庭芳,方子文,数字图像处理及模式识别,北京理工大学出版社,1998
[8]林靖,陈辉堂,机器人视觉伺服系统的研究,控制理论与应用,2000,Vol. 17,No .4
[9] 姜尚坤,基于 OPC 技术的伺服控制,上海,上海交通大学,2006
[10] 李学华,基于图像识别的圆形钢管计数方法研究,山东,山东科技大学,2005
[11] 李颖晖,郭阳宽,伺服转台的机械结构方案设计探讨,机械研究与应用,2002
[12]刘胜,彭侠夫,现代伺服系统设计,哈尔滨:哈尔滨工程大学出版社,2001
[13]孙勇奎,高精度转台伺服控制系统的研究,成都,电子科技大学,2004
[14] Rockwell Automation,RSLinx Classic Guide,www.rockwellautomation.com,2001
[15] Rockwell Automation,Controllogix5550 User Manual,www.rockwellautomation.com, 2002
[16] Rockwell Automation,1756-M08SE User Manual,www.rockwellautomation.com,2002
[17] Rockwell Automation,Ultra3000-SE User Manual,www.rockwellautomation.com,2002
[18] Rockwell Automation,Servo Motor User Manual,www.rockwellautomation.com,2002
[19] Rockwell Automation,Rslogix5000 User Manual,www.rockwellautomation.com,2002
[20] Rockwell Automation,Rslinx User Manual,www.rockwellautomation.com,2002
[21] Rockwell Automation,Ultraware User Manual,www.rockwellautomation.com,2002
[22] Rockwell Automation,Logix5000 Instruction Set,www.rockwellautomation.com,2002
[23] 01GS001U 用户手册,北京光学仪器厂,2006
[24]钱晓龙,MicroLogix 控制器应用实例,北京,机械工业出版社, 2003
[25]钱晓龙,智能电器与 MicroLogix 控制器,北京,机械工业出版社, 2003
[26]郁极,尹旭峰,基于数字伺服现场总线的开放式数控系统,中国机械工程,1999(10)
[27]郭庆鼎,交流伺服系统,北京,机械工业出版社,1998
[28] Rockwell Automation,ControlLogix: A Maestro of Motion, A-B Journal,2001
[29]康存锋,陈卫福,黄旭东,基于 SERCOS 技术实现高速高精度运动控制,制造技术与机床,2002(6)
[30]Jovic Fran, Expert systems in process control,London,Chapman & Hall,1992
[31]L. E. Weisi,Dynamic Visual Servo Control of Robotics:an Adaptive Image-Based Approach, Ph.D.thesis,Carnegie-Mellon University,1984
[32]Mark A. Ruzon Carlo Tomasi. Color Edge Detection with the Compass Operator, IEEE Conference on Computer Vision and Pattern Recognition ’99, Volume 2, pages 160-166, June 1999
[33]刘祎玮,Visual C++视频/音频开发实用工程案例精选, 北京,人民邮电出版社,2004
[34]汪立森,Visualc++实践与提高——COM 和 COM+篇,北京,中国铁道出版社,2002
[35]何援军,计算机图形学,北京,机械工业出版社,2006
[36]Kenneth,R .Ca stleman,数字图像处理,清华大学出版社,1999
[37]LogitechQuickCamTeam,Logitech QuickCam SDK 1.0 Microsoft MFC Programmers Guide.Logitech,USA,2001
[38] Bill Green,Edge Detection Tutorial. Philadelphia,Drexel University,2002
[39]李明,基于 CH374 的 USB 摄像头驱动设计, 单片机与嵌入式系统应用,2007
[40]赵军,平西建,视频信号的捕获采集编程.信息工程大学学报,2001
[41]赵小松,张宏伟,摄像机标定技术的研究,机械工程学报,2002
[43]薛福珍,基于 OPC 数据访问规范的客户端软件研究与开发,计算机工程,2002
[44]郑立,OPC 应用程序入门,日本 OPC 协会,2002
[45]宋丽红,李二勇,COM+编程指南,北京,机械工业出版社,2002
[46]OPC Foundation,OPC Overview(Version 1.0),1998
[47]OPC Foundation,OPC Data Access Custom Interface Specification Release 2.05A,2002
[48]OPC Foundation,Data Access Automation Interface Standard Specification 2.05,2002
[49]WINTECH,WTclient DLL User’s Guide,2007
[50]无极,面对面从芯选择摄像头,天极网,2005
[51]Guy Eddon,Henry Eddon.Inside COM+ Base Services,北京希望电子出版社,2001
[52]AI Chisholm,OLE/OPC Memory Management White Paper,Intellution Inc,1998