工业自动化中的自动光学定位技术
摘要
电子计算机科学、图像处理、模式识别理论和技术的迅速发展给工业自动化中的机器视觉技术带来了良好的实现条件。近年来作为机器视觉范畴之一的自动光学定位技术日益得到重视,已经成为高技术领域的一项重要研究课题。
本文主要研究工业自动光学定位系统的实现,从硬件和软件两个方面详细介绍了自动光学定位系统的设计开发过程和其他一些相关技术。
系统硬件部分是根据数字图像信号处理的特点,设计一个基于CMOS传感器采集图像、复杂可编程逻辑门器件(CPLD)控制采集、数据传输和图像存储、高速数字信号处理器(DSP)实现图像识别算法的定位点图像采集和处理系统。其中详细介绍了硬件系统的结构、各块芯片的原理、芯片之间的接口设计、通信和控制以及图像信号在该系统中的流程。该系统作为一种低成本、高精度、便于携带的实时自动光学定位技术的实现平台,只要修改CPLD和DSP的程序便可实现多种功能的算法处理,并将处理结果输出。
软件部分是针对定位点图像的特点,开发一种新的定位点识别算法,它基于二值图像的三个几何性质:图形的质心和其几何中心重合;可以通过图形面积来求其半径;定位点图形能被以算法计算的中心为圆心、计算半径为半径的圆囊括。算法由适合图形图像处理的MATLAB语言实现,实验结果分析显示该算法对定位点图像的处理速度快而且定位精度高。根据算法思路采用C语言修改和优化后的程序通过了DSP集成开发环境CCS下的模拟。
The machine vision has been carried out by the great development of computer science, image processing technologies and pattern recognition theories. The automatic optical positioning anchor technology which is a part of the machine vision has been regarded as a significant content and becomes an important research quest in high technological field.
How to realize the system of industrial automatic optical positioning technology is main work in this article. This system is introduced by two parts: hardware and software, and some other correlative technologies are also related.
In the part of hardware, a professional system for gathering and dealing with positioning points based on characters of the digital signal has been designed. It is made up of a CMOS image sensor, complex programmable logic device (CPLD) and digital signal processor (DSP) which takes role as image gathering, transmission controlling and image processing respectively. The configuration of hardware system, principles, interface designing, communication and control of each chip are introduced in this article and the flow of image data in the system is also illuminated here. This system is used as a platform for realizing automatic real-time optical positioning technology because of its low-cost, high precision and easy to carry. It can deal with many identification methods by modifying programs in CPLD and DSP.
In the part of software, a new method for identifying positioning points is proposed according to characters of binary images. It is based on the three geometric properties of the circle: the centroid overlaps with the geometric center, radius can be calculated from the area and area can be enclosed with the calculated radius. The arithmetic is coded by MATLAB which is proper to image processing. Experimental results show that the geometry method gives quite accurate location of the center of circles using very short time. A modified and optimized C program according to the MATLAB arithmetic can be transported to DSP after simulating in CCS which is the integrated development environment of DSP.
本文主要研究工业自动光学定位系统的实现,从硬件和软件两个方面详细介绍了自动光学定位系统的设计开发过程和其他一些相关技术。
系统硬件部分是根据数字图像信号处理的特点,设计一个基于CMOS传感器采集图像、复杂可编程逻辑门器件(CPLD)控制采集、数据传输和图像存储、高速数字信号处理器(DSP)实现图像识别算法的定位点图像采集和处理系统。其中详细介绍了硬件系统的结构、各块芯片的原理、芯片之间的接口设计、通信和控制以及图像信号在该系统中的流程。该系统作为一种低成本、高精度、便于携带的实时自动光学定位技术的实现平台,只要修改CPLD和DSP的程序便可实现多种功能的算法处理,并将处理结果输出。
软件部分是针对定位点图像的特点,开发一种新的定位点识别算法,它基于二值图像的三个几何性质:图形的质心和其几何中心重合;可以通过图形面积来求其半径;定位点图形能被以算法计算的中心为圆心、计算半径为半径的圆囊括。算法由适合图形图像处理的MATLAB语言实现,实验结果分析显示该算法对定位点图像的处理速度快而且定位精度高。根据算法思路采用C语言修改和优化后的程序通过了DSP集成开发环境CCS下的模拟。
The machine vision has been carried out by the great development of computer science, image processing technologies and pattern recognition theories. The automatic optical positioning anchor technology which is a part of the machine vision has been regarded as a significant content and becomes an important research quest in high technological field.
How to realize the system of industrial automatic optical positioning technology is main work in this article. This system is introduced by two parts: hardware and software, and some other correlative technologies are also related.
In the part of hardware, a professional system for gathering and dealing with positioning points based on characters of the digital signal has been designed. It is made up of a CMOS image sensor, complex programmable logic device (CPLD) and digital signal processor (DSP) which takes role as image gathering, transmission controlling and image processing respectively. The configuration of hardware system, principles, interface designing, communication and control of each chip are introduced in this article and the flow of image data in the system is also illuminated here. This system is used as a platform for realizing automatic real-time optical positioning technology because of its low-cost, high precision and easy to carry. It can deal with many identification methods by modifying programs in CPLD and DSP.
In the part of software, a new method for identifying positioning points is proposed according to characters of binary images. It is based on the three geometric properties of the circle: the centroid overlaps with the geometric center, radius can be calculated from the area and area can be enclosed with the calculated radius. The arithmetic is coded by MATLAB which is proper to image processing. Experimental results show that the geometry method gives quite accurate location of the center of circles using very short time. A modified and optimized C program according to the MATLAB arithmetic can be transported to DSP after simulating in CCS which is the integrated development environment of DSP.
引文
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[3] 罗兵,张云.SMT 产品质量 AOI 快速检测方案[J].电子质量,2007,第 2 期:8-10.
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[1] 徐婉莹,刘建军,黄新生.基于 CPLD 和 DSP 的高速图像采集技术研究[J].电子工程师,2004,30(6):48-50.
[2] 刘党辉,沈兰荪.DSP 芯片及其在图像技术中的应用[J].测控技术,2001,20(5):16-19.
[3] 王旭宇,赵跃进,周渝斌.基于 DSP 的实时数字图像处理平台[J].光电技术,2004,30,(5):630-632.
[4] 涂军,陈意翔,吴安清,杨凡. 一种基于 DSP 技术的动态图像高速采集系统的设计[J].湖北工业大学学报,2006,21,(2):51-54.
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[3] 赵生昌.OV5017 及其在视频图像处理中的应用[J].电子技术,2004,第 6 期:41-44.
[4] 李飚,肖亮,沈振康.CMOS 图像传感器芯片 OV5017 及其应用[J].电子技术应用,2001,第 4 期:77-78.
[5] 吕涛,李众立.基于 CPLD 的 CMOS 图像传感器数据接口设计[J].兵工自动化,2005,24,(3):58-59.
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[11] 杨德嵩.内存逻辑 BANK 的工作原理及功能[J].青海大学学报(自然科学版),2003,第 4 期:46.
[12] 苏涛,蔡建隆,何学辉.DSP 接口电路设计与编程[M].西安:西安电子科技大学出版社,2003.
[13] 徐杰阳.基于 WISHBONE 总线的 FLASH 闪存接口设计[J].今日电子,2004,第 7期:91-93.
[14] AMD Corporation.AM29LV160D datasheet[Z]. http://www.amd.com/us-en/assets/content_type/white_papers_and_tech_docs/22358B.pdf,2003.
[15] 刘艳萍,贾志成,李志军,王宝珠.DSP 技术原理及应用教程[M].北京:北京航空航天大学出版社,2005.
[1] 夏良正.数字图像处理[M].南京:东南大学出版社,1999.
[2] 安宁,林树忠,刘海华,崔慧.图像处理方法应用及其研究[J].仪器仪表学报,2006,27,(6):792-793.
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[1] 刘艳萍,贾志成,李志军,王宝珠.DSP 技术原理及应用教程[M].北京:北京航空航天大学出版社,2005.
[2] Texas Instruments.TMS320VC5402 fixed-point digital signal processor[Z]. http://www.ti.com/, 2000.
[3] 刘益成.TMS320C54X DSP 应用程序设计与开发[M].北京:北京航空航天大学出版社,2002.
[4] 胡金波,陈慧剑.DSP 环境下 C 语言编程的优化实现[J].现代电子技术,2002,第 12期:82-84.
[5] 刘朝晖,郑玉墙.用 C 语言进行 DSP 软件设计的优化考虑[J].空军雷达学院学报,2001,15,(2):49-52.
[6] 钱永林.论 TMS320C54X DSP 的程序优化[J].江西电力职业技术学院学报,2005,18,(2):46-48.
[2] 姚立新,张武学,连军莉.AOI 系统在 PCB 中的应用[J].测试与测量技术,2004,112期:25-28.
[3] 罗兵,张云.SMT 产品质量 AOI 快速检测方案[J].电子质量,2007,第 2 期:8-10.
[4] 鲁昌华,徐胜海,刘春.数字图像处理技术在 PCB 板检测种的应用[J].仪器仪表学报,2001,22,(4):426-429.
[5] 单越康,许昌.基于计算机视觉的光学目标自动定位系统[J].光子学报,2000,29(10):899-901.
[6] 包建华,陈晓平.基于神经网络的印制线路板图件识别研究[J].苏州大学学报(工科版),2006,26,(3):41-44.
[7] 范良藻.CMOS 图像传感器[J].电子世界,1999,第 4 期:40-42.
[8] 李晓延.CMOS 图像传感器简议[J].今日电子,2006,第 11 期:61-62.
[1] 徐婉莹,刘建军,黄新生.基于 CPLD 和 DSP 的高速图像采集技术研究[J].电子工程师,2004,30(6):48-50.
[2] 刘党辉,沈兰荪.DSP 芯片及其在图像技术中的应用[J].测控技术,2001,20(5):16-19.
[3] 王旭宇,赵跃进,周渝斌.基于 DSP 的实时数字图像处理平台[J].光电技术,2004,30,(5):630-632.
[4] 涂军,陈意翔,吴安清,杨凡. 一种基于 DSP 技术的动态图像高速采集系统的设计[J].湖北工业大学学报,2006,21,(2):51-54.
[5] 李枫,潘娜.DSP 算法设计与系统方案[M].北京:国防工业出版社,2004.
[6] 张雄伟, 陈亮, 徐光辉.DSP 芯片的原理与开发利用[M].北京:电子工业出版社,2003.
[7] 刘益成.TMS320C54X DSP 应用程序设计与开发[M].北京:北京航空航天大学出版社,2002.
[8] 戴明桢,周建江.TMS320C54X DSP 结构、原理与应用[M].北京:北京航空航天大学出版社,2001.
[9] Texas Instruments.TMS320VC5402 fixed-point digital signal processor[Z]. http://www.ti.com/, 2000.
[10] 樊昌信,张甫翊,徐炳祥,吴成柯.通信原理[M].北京:国防工业出版社,2001.
[11] 李真芳,苏涛,黄小宇.DSP 程序开发-MATLAB 调试及直接目标代码生成[M].西安:西安电子科技大学出版社,2003.
[1] 余国华,冯启明.基于 CMOS 传感器的视频采集系统设计[J].武汉理工大学学报(交通科学与工程版),2004,28,(1):145-147.
[2] Omnivision Technologies, Inc.The OV5017 Datasheet [Z]. http://www.ic2ic.com/search.jsp?sSearchWord=OV5017,1997.
[3] 赵生昌.OV5017 及其在视频图像处理中的应用[J].电子技术,2004,第 6 期:41-44.
[4] 李飚,肖亮,沈振康.CMOS 图像传感器芯片 OV5017 及其应用[J].电子技术应用,2001,第 4 期:77-78.
[5] 吕涛,李众立.基于 CPLD 的 CMOS 图像传感器数据接口设计[J].兵工自动化,2005,24,(3):58-59.
[6] Altera Corporation.EPM7128 datasheet[Z].http://www.altera.com.,1999.
[7] 林晓春,过润秋.Altera EPLD 系列器件 EPM7128 性能特点及应用[J].国外电子元器件,1998,第 11 期:42-47.
[8] 谢庆胜.图像采集与传输系统-数字化监控系统的设计与实现[D].西安:西安交通大学,2001.
[9] Hynix Corporation.HY57V281620 datasheet[Z]. http://www.hynix-st.com/hssl/00_index/index.jsp,2001.
[10] 尹军,梁光明,唐朝京.基于 EPLD 实现 TMS320C5402 与 SDRAM 的接口.微处理机,2001,第 4 期:46-48.
[11] 杨德嵩.内存逻辑 BANK 的工作原理及功能[J].青海大学学报(自然科学版),2003,第 4 期:46.
[12] 苏涛,蔡建隆,何学辉.DSP 接口电路设计与编程[M].西安:西安电子科技大学出版社,2003.
[13] 徐杰阳.基于 WISHBONE 总线的 FLASH 闪存接口设计[J].今日电子,2004,第 7期:91-93.
[14] AMD Corporation.AM29LV160D datasheet[Z]. http://www.amd.com/us-en/assets/content_type/white_papers_and_tech_docs/22358B.pdf,2003.
[15] 刘艳萍,贾志成,李志军,王宝珠.DSP 技术原理及应用教程[M].北京:北京航空航天大学出版社,2005.
[1] 夏良正.数字图像处理[M].南京:东南大学出版社,1999.
[2] 安宁,林树忠,刘海华,崔慧.图像处理方法应用及其研究[J].仪器仪表学报,2006,27,(6):792-793.
[3] N.Pal, A.Pal.Object-background segmentation using new definitions of entropy[J].IEEProc. 1989, Vol. 135 pt. E, 284-295.
[4] 吴雪箐,夏良正.目标识别中的图像阈值分割方法[J].东南大学学报,1995,25(5A).
[5] N.Otsu.A threshold selection method from gray-level histogram[J].IEEE Trans. Systems Man Cybernet. SMC-8, 1978, 62-66.
[6] Hui-Fuang, Ng.Automatic thresholding for defect detection[J].Pattern Recognition Letters, 2006, Vol. 27, 1644-1649.
[7] P.S.Liao, T.S.Chen and P.C.Chung.A fast algorithm for multilevel thresholding[J].Journal of Information Science and Engineering, 2001, Vol. 17, 713-727.
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