| In China,steel coils transportation is generally completed by the workers through crane,which the grasping step is done by the manipulator on board.The manipulator-snatching is a complicated process,and the key point is to control the precise positioning of the manipulator to the target.Nowadays The Grawling System used around the world still needs an experienced operator to control the manipulator manually.This kind of system,on the one hand,has high requirements for the operators to achieve accurately,and the coil is often damaged caused by incorrect location of the operator.On the other hand,the manual control of the start and stop with the crane will sometimes take a certain amount of free and blindness,so that the efficiency of running is not high,resulting in energy waste,an increase of transportation costs,etc.So if the sensor technology is adopted to achieve the positioning without the need of manually control to all manipulator joints,will raise the efficiency will raise extentedly.In this paper,a new automatic coil transportation system for steel manufacturing industry was designed.The focus of this paper was the visual image processing algorithm,motion control software design and development of the corresponding problem.This system is mainly divided into two parts:the image processing and the motion control.In image processing,firstly an simulate image was given including histogram equalization and median filter.Then,extraction of the workpiece's edge characteristics was processed.The various classical edge detection operator analysis shows that:the Canny operator obtained better results,including the accuracy of positioning,singleness of the response and detection effect.Aiming at the characteristics of digital images,characteristics of coordinates obtained by the edge detection was used to describe the space location information,in motion control, several commonly used theories in visual tracking was discussed.And according to the design scheme,a simplified model of the dynamics was built to design the movement path of the manipulator.In the control system software,Visual C + + 6.0 was used as a development platform in this paper,the use of modular programming method result in good readability and modifiability of the code.A number of principles and codes was given for the algorithm and the realization,the theory of algorithms was introduced to transform it into the actual process.This provides a strong guarantee for the further perfection of this system. |
