基于PC的运动视觉一体化开放控制平台设计

PC-based open control platform design of integration of machine vision and motion control

为了更方便地在运动控制系统中集成机器视觉,简化系统复杂程度,节约控制系统成本,借助Windows操作系统的实时拓展套件KRTS(Kithara real-time suite),在一台多核PC上,建立运行实时任务的实时子系统.该系统能够与运行非实时任务的Windows系统并行运行.使用通用的以太网卡进行运动控制数据与图像数据的传输,取代了运动控制卡、图像采集卡等专用硬件.开发了运动控制与机器视觉一体化解决方案,实现了控制平台的标准化、通用性和网络化,系统最大实时响应时间为36.96μs.基于该平台,开发了视觉引导的DELTA高速分拣系统.

A real-time sub-system taking advantage of Windows real-time extension software K R TS （Kitharareal-time suite） was realized on a multi-core CPU computer in order to conveniently integrate motioncontrol with machine vision, simplify motion control system as well as cost less. Real-time tasks ran in realtime sub-system and other tasks ran in Windows in parallel. In this w ay, standard network cards instead ofmotion control cards and image capture cards were used to transfer data of motion control and images. Thesolution which integrated motion control with machine vision was proposed and achieved standardization,commonality and network as a motion control platform. The maximum response time of the system was36. 96 through test. A vision-guided high speed D ELTA sorting system was developed based on theplatform.