Research On Embedded Controller Of Pneumatic Assist Equipment Based On Image Position Detection

Under the premise of rapid improvement of China’s industrial level,many equipment and operation methods need to be transformed and upgraded in the industrial field;Under the premise of guaranteeing the original functions and engineering quality,more intelligent and flexible transformation is urgently needed.The experimental equipment studied in this project is a kind of high-precision heavy-load assist equipment,which has six basic degrees of freedom of space movement.After the manual planning of the path,the installation of the workpiece can be carried out,and there is a large workspace,but the work in a special environment will be affected;the control mode uses "PC-PLC" upper and lower computer form to plan the trajectory of the movement path;however,under the existing scheme,the trajectory planning of the experimental equipment is divided into several steps offline,and the real-time performance is poor.This topic is studied from two aspects of embedded controller design and visual position closed-loop,to improve the intelligence of the overall process of equipment and the real-time level of trajectory planning,reduce the redundancy of the original control structure,and leave room for the realization of follow-up control functions.Firstly,analyze the original control scheme.The original scheme adopted the combination of upper and lower computer,which did not realize the function of online real-time trajectory planning for the power equipment.Moreover,it was too redundant and heavy in hardware,and the structure saturation was not conducive to further research.The controller based on STM32 can cooperate with the visual feedback and displacement ranging sensor to measure the deviation of degrees of freedom,and use the powerful computing power of its main control chip to calculate the deviation of position and pose and transmit the calculated results to the lower computer through data transmission,realizing the "measurement,calculation and control" three-in-one control scheme.Moreover,LCD screen is added as the main control interface of human-computer interaction,and manual control mode is added to the algorithm to make the experimental equipment more flexible.After that,using visual sensor and displacement sensor calculates deviation.With kinematics coordinate transformation matrix as the basic principle,relying on the "three focal plane" method and monocular machine vision in plane,we can measure and calculate the deviation value of the six basic freedoms,and then calculate the position and posture deviation matrix from the power assist equipment end position to the target position,and the visual measurement results for accuracy analysis,the original experimental equipment for increased awareness of environmental information and measure and the position of the complete closed loop,improve the automatic and intelligent level of the whole.In order to realize the online trajectory planning of the working path of the power equipment,through the analysis of the kinematics forward solution and backward solution,the five-order interpolation function was introduced as the driving function of the trajectory planning and compiled into the Engineering code based on C language as the motion control algorithm of the embedded controller STM32.In order to facilitate the use of operators,this paper will also carry out logical sequence analysis of the above functions and set buttons on the LCD screen to achieve human-computer interaction operation.Finally,in order to verify the feasibility and calculation accuracy of the trajectory planning scheme,the dynamic model of the equipment was built.The trajectory planning results obtained by the single chip microcomputer were input into the model,and the end trajectory was recorded and analyzed and compared with the expected results.