| In recent years,in the field of automated production,automatic control system has been widely adopted,and gradually extended in fields such as biology and medicine.In this paper,the status quo of the positioning and grabbing control system in the automatic control system is analyzed,and the positioning and grasping control system for the medicine bottle is studied.And in order to achieve accurate,fast and efficient system control,the latest generation of OMRON NJ controller is selected for positioning and grabbing control.Targeting at the control demand of the system on the positioning and grasping of the medicine bottle,through the study of the multi-axis synchronous control method of the NJ controller,the action requirements of the grip mechanism and the slide platform mechanism,the three-degree-of-freedom right-angle coordinate robot is selected as the grasping mechanism,and the slide platform mechanism is adopted to achieve the separation of the medicine bottle in raw.The transmission mode of each axis of the grabbing mechanism is studied and the working principle of the servo system is analyzed.The coordinate system model of the crawling mechanism is established,and the kinematic principle of it is analyzed,and the running trajectory of the crawling mechanism is planned by the curve fitting algorithm.In order to obtain the control parameters of the grabbing mechanism through the visual image,the method of collecting digital image information,the method of image processing and the method of calibration of camera parameters are studied.The twodimensional digital image information is obtained by using the image acquisition system,and the coordinate space of the image acquisition system is established.Through the mutual conversion of the coordinate spaces,the position control parameters required by converting the position information from the image pixel point to the shaft motor of the grabbing mechanism are obtained.According to the characteristics of structural tensor,a method is proposed to extract the position characteristics of the medicine bottle by using the extended structure tensor to extract the image features.The image is filtered bilaterally.While ensuring that the image edge information is not lost,the noise interference is reduced,the structural information of the local neighborhood of the image pixel is obtained by the structure tensor,and the structure tensor is expanded non-linearly combined with the brightness signal,so as to realize the precise control of the grabbing mechanism.The hardware implementation of the system is completed,including the selection of NJ controller servo motors,power circuits,control circuits,I/O mapping,and encoder interface circuits.Based on Sysmac Studio control system software platform,the software design of the system is completed.The synchronous control of multi-axis motor is realized,the positioning and grabbing control of the medicine bottle is verified,and the positioning and grabbing system of the medicine bottle in the pharmaceutical production line is realized. |
