Development Of Collection Coin Packaging Box Camera Robot Control System

In recent years,as the coin market continues to heat up,more and more people have begun to pay attention to collectible coins.Traditional manual methods are used to sort and identify collectible coins.The cost of labor and equipment is high,and repeated repetitions for a long time can easily cause physical and visual fatigue and affect physical and mental health.The collection coin packaging box photographing robot control system has been developed and designed,which can realize a series of fully automatic photographing processes such as clamping,lifting,positioning,flipping and image acquisition of the collection coin packaging box.The overall control system architecture of "PC + industrial camera + embedded controller" is constructed.The PC terminal of the upper computer is responsible for functions such as human-computer interaction,data communication and parameter setting;The industrial camera is connected to the PC via Ethernet and used for the collection of coin images;The embedded controller of the lower computer is responsible for completing the motion control of the 6-axis motor,the collection of sensor signals and the fully automated control of the robot,etc.;The data transmission between the upper computer PC and the lower main controller is through the CAN bus,and the application layer protocol of the CAN bus is customized.The high-performance STM32F4 is selected as the main controller chip,and the controller hardware circuit design is completed.The hardware interface mainly includes the minimum system module,power supply module,sensor signal acquisition module,stepper motor control module,CAN bus data communication and data bus storage module,etc.Based on the design of UCOS-? operating system,an embedded software design was developed,and the 6-axis stepper motor motion control,limit switch interface control,CAN bus communication function and signal acquisition function were completed.The host computer human-computer interaction software was designed,an experimental test platform was built and the test was completed.The experimental results show that the collection box camera robot designed in this paper has reasonable structure design,stable system operation,clear image collection,high quality,and can be operated in manual or automatic mode,which can meet the needs of large batches of collection coin packaging boxes for image collection.