基于面阵CCD的小型械手定位.docVIP

PAGE 2 摘 要 面阵CCD已经被广泛应用到各个领域，摄像、信号处理和储存。本文对小型机械手定位进行了理论、计算方面的研究，在分析CCD器件的基本原理以及CCD检测系统工作原理的基础上，提出了基于面阵CCD小型机械手定位方法。 要控制机械手完成一个任务，前提条件就是机械手的精确定位，即其姿态的准确定位。这就需要在操作前了解机械手所处的空间位置，鉴于CCD在图像测量中具有灵敏度高、体积小、动态范围大、转换效率高、功率低、寿命长、性能稳定等优点，采用CCD相机对机械手位置进行实时图像采集，然后处理计算，达到准确定位。 本文从硬件和软件两个方面详细的阐述了基于面阵CCD小型机械手定位的方法研究。对采集到的图像进行图像处理，经过特殊点匹配，分析计算。然后将信息输出控制步进电机进行跟踪。从而也就完成了定位过程。 关键词：面阵CCD 图像采集 机械手 特征识别 Abstract Matrix CCD has been widely applied to the three areas, video, signal processing and storage. The small robot positioning theory, computational aspects have been studied on the basis of the analysis of the basic principles of CCD and CCD detection system working principle of the proposed small area CCD-based robot positioning methods. To control the robot to complete a task, a prerequisite for the precise positioning of the robot, that is its attitude. This need to understand the posture of the robot which before the operation. In view of the CCD image measurement with high sensitivity, small size, large dynamic range, high conversion efficiency, low power, long life, stable performance, etc., we have taken to using the CCD camera on the robot camera, and then deal with the calculation, its further accurate positioning and control to reach the exact location. This paper described in detail in terms of both hardware and software design process of the small area CCD-based robot positioning. Image processing, image acquisition and special point match, have been analysed and calculated . And the information was output to control stepper motor tracking. Had thus completed the orientation process. Keywords:Matrix CCD;Image acquisition;Manipulator;Feature recognition 目 录 TOC \o 1-3 \h \z \u HYPERLINK \l _Toc327973562 摘 要 PAGEREF _Toc327973562 \h I HYPERLINK \l _Toc327973563 Abstract PAGEREF _Toc327973563 \h II HYPERLINK \l _Toc327973564 第1章 绪 论 PAGEREF _Toc327973564 \h 1 HYPERLINK \l _Toc327973565 1.1 课题来源和产生背景 PAGEREF _T