1. Optical imaging module.
The module can be divided into two parts: lighting system planning and lens optical system planning.
Lighting planning is to study the optical characteristics, distance, object size, scenery characteristics, etc. of the measured object, reasonably plan the intensity, color, uniformity, structure, and size of the light source, and plan a reasonable optical path to achieve the purpose of obtaining relevant structural information of the policy.
The lens is the main component that projects the spatial information of the object to the image side. The planning of the lens is mainly based on the detection of the lighting conditions and policy characteristics of the selection of the focal length and aperture scale of the lens. After confirming the model of the lens, plan the rear end fixing structure of the lens.
2. Picture sensor module
The module is mainly used for photoelectric conversion of information and is located on the image plane at the rear end of the lens. At present, the main image sensors can be divided into two types: CCD (Charge-coupled Device) and CMOS picture sensors. Because it is the source of electrical signals, excellent and stable circuit drive is the key to planning this module.
3. Picture processing module
This module is mainly responsible for the processing of drawings and the proposal of information parameters, which can be divided into two levels: hardware structure and software algorithm.
The hardware layer is generally a CPU-centric circuit system. According to the machine vision of the PC, the CPU of the PC and related peripherals are used; According to the embedded system, smart cameras with independent data processing capabilities rely on information processing chips on the board, such as DSP, ARM, FPGA, etc.
The software section contains a complete drawing and resolution plan, with a series of algorithms in between. In the advanced drawing system, the data algorithm library will be synthesized, which is convenient for the transplantation and reuse of the system. When the algorithm library is large, the algorithm library is called through the graphical interface.
4. IO module
The IO module is a module that outputs the computing results and data of the machine vision system. According to the machine vision system of the PC, the interface can be divided into internal interface and external interface, the internal interface only needs to serve as the high-speed communication port of the system to transmit signals to the PC, and the external interface completes the function of communication and information exchange between the system and other systems or users. Smart cameras, on the other hand, generally use general-purpose IO and high-speed Ethernet to complete all the corresponding functions.
5. Manifestation module
The display module can be considered as a special user IO, which can enable the user to detect the operation process of the system more intuitively. According to the machine vision system of the PC, the data information of the system can be transmitted to the graphics card directly through the PCI bus, and transmitted to the computer screen through the VGA interface. Smart cameras that process independently are generally visualized by an extended LCD screen and a picture display control chip.
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If the grease is not replaced for a long time, the six axes of the robot will be formed.
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· Program structure
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§ Global
§ Local
§ Modules without data lists
o Function blocks
§ Global
§ Local
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