摘要
利用可编程控制器(PLC)技术与机器视觉技术,设计用于宏观超分子组装的自动化实验平台,平台主要由控制、图像采集和执行3部分组成。控制部分硬件包括工业计算机、西门子PLC;图像采集部分硬件包括工业相机和相机镜头;执行部分硬件包括三轴直线机械臂、振荡平台和液体抽注系统。为了解决平台的定位问题,提出双标识物视觉定位算法,实现了实验平台的精准定位。同时提出基于多代局部最优解的混合蚁群遗传路径规划算法,优化实验平台机械臂的运动路径,提高其工作效率。利用所设计平台进行宏观超分子组装实验,实验结果表明,该实验平台能够批量进行宏观超分子的组装、解组装和清洗等实验步骤,不需要实验人员干涉,节约了实验时间,对宏观超分子组装的工业化生产具有一定的指导意义。
PLC technology and machine vision technology have been employed to design an automatic experimental platform for macro supramolecular assembly. The main steps consist of control, image acquisition and execution. The hardware of the control part includes an industrial computer and a Siemens PLC. The hardware of the image acquisition part includes an industrial camera and camera lens. The hardware of the executive part includes a three-axis linear manipulator, an oscillation platform and a liquid pumping system. In order to solve the problem of visual positioning of the platform, a double marker visual positioning algorithm is employed to realize the accurate positioning of the manipulator of the experimental platform. In addition, a hybrid ant colony genetic path planning algorithm based on a multi generation local optimal solution is proposed in order to optimize the mechanical motion path of the experimental platform and improve its working efficiency. The experimental results show that the automatic experimental platform can carry out the experimental steps of macro supramolecular assembly, disassembly and cleaning in batches without the intervention of experimental personnel, thus saving experimental time, and making it suitable for use in industrial production.
作者
黄丰盛
谢于锰
梁焜明
董力群
卢延博
张亚军
HUANG FengSheng;XIE YuMeng;LIANG KunMing;DONG LiQun;LU YanBo;ZHANG YaJun(College of Mechanical and Electrical Engineering,Beijing University of Chemical Technology,Beijing 100029;Zhong Shan LK Machinery Co.,Ltd.,Zhongshan 528400,China)
出处
《北京化工大学学报（自然科学版）》
CAS
CSCD
北大核心
2022年第6期92-100,共9页
Journal of Beijing University of Chemical Technology(Natural Science Edition)
