Research On Visual Inspection And Positioning System Of Cabin Docking Based On Domestic PLC

As a key link in the manufacturing of related equipment,segment docking has an urgent need to achieve quality and efficiency improvement through intelligence,and the docking process is frequently transferred and handed over between each subsystem by the overhead robots,whose gripping and placing is mainly realized by mechanical devices such as accompanying jig spigot and zero-point quick change,etc.In order to meet the requirements of safety,accuracy and stability of the handing process,a visual recognition,measurement and guidance based on inspection solution.Machine vision applied to segment docking can provide visual image data for grabbing and docking,and visually guide the grabbing based on the data to achieve efficient and safe segment docking.This paper focuses on the above key research topics,combined with the application scenario of cabin docking,based on the independent and controllable domestic real-time Ethernet PLC system,to build a cabin docking visual inspection and positioning system,and related research,this paper research content mainly has the following aspects:1.The overall design of the visual inspection and positioning system for segment docking is proposed.Analyze the application requirements of the visual inspection and positioning system in the process of capsule grabbing and placing and docking,and clarify the relevant technical indexes.Based on the domestic distributed real-time Ethernet PLC system,the overall system architecture is designed,and the system functional modules and system data communication are designed and planned.2.The hardware solution of the cabin docking vision inspection and positioning system is proposed.The motion subsystem,vision inspection subsystem and electrical connection system are designed.The motion subsystem is designed with three degrees of freedom linear module,the vision inspection subsystem is designed with industrial cameras and related equipment selected according to the inspection requirements,and the electrical connection design connects the power supply,motor and driver,and vision inspection subsystem,and the design meets the system hardware requirements.3.Proposes a software solution for visual inspection and positioning system for cabin segment docking.The PLC system function block for visual inspection and the related visual inspection software are designed.The function block can meet the requirements of sensor feedback,motion control,visual inspection,etc.,providing a basic function block for the application of visual functions in the domestic PLC system,and the visual inspection software can realize the functions of circular feature,line angle and distance measurement,error calibration,etc.4.The system is able to achieve circular feature recognition measurement,line angle and distance measurement and visual guidance-based capturing of cabin segments,and the test shows that the system achieves the designed functions and can meet the demand of cabin segment docking.