CN113795795A - Method and system for realizing intelligent camera to control mobile platform - Google Patents
Method and system for realizing intelligent camera to control mobile platform Download PDFInfo
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Abstract
The invention discloses a method and a system for realizing a mobile platform controlled by an intelligent camera, wherein the intelligent camera, a mobile platform controller and a mobile platform are arranged and sequentially connected, the intelligent camera consists of an FPGA + ARM, a DDR and a display chip, the mobile platform controller comprises an FPGA chip and a plurality of driving chips, the mobile platform comprises a motor, and a platform origin and a platform limit signal are returned to the FPGA chip; the display chip displays a mobile platform setting interface and a motion trail programming interface; setting basic parameters of a mobile platform controller, and converting and associating the parameters of a mobile platform setting interface with the parameters of a motion trail programming interface; and programming the running track of the mobile platform. The invention can be operated by hands without programming capability requirement of an operator and only simple operation explanation.
Description
The invention relates to a method and a system for realizing an intelligent camera to control a mobile platform.
The existing mobile platform generally has the following two control modes:
the first is a PLC control mode. The PLC is connected with the motor driver, and then the motor driver directly drives the motor to move. As shown in fig. one, the PLC may require a computer, an industrial personal computer, or an embedded system with a touch screen to program the PLC, so as to finally implement mobile platform control.
The second is a motion control card control mode. Inserting a motion control card into a PCI slot of a computer or an industrial personal computer, or connecting the motion control card through a network interface of the computer or the industrial personal computer, then connecting the motion control card to a motor driver through a bus, then connecting a motor on a mobile platform to the bus driver, and then programming the control platform to move through software of the computer or the industrial personal computer, as shown in the second figure.
The PLC mainly reads external input signals, executes logic, sequence, timing, counting and arithmetic operations by a microprocessor according to the states or values of the input signals and an internally stored and pre-programmed program, generates corresponding signals and outputs the signals to an output device, such as a switch of a relay, an electromagnetic valve and a motor driver, and controls the operation of machinery or programs so as to achieve the purpose of mechanical control automation or processing programs.
The International Electrotechnical Commission (IEC) specifies five PLC programming languages, mainly a ladder diagram, a function block diagram, a sequence function diagram of a graphical programming language, an instruction list and a structured text of a textual programming language, and at least one programming language needs to be mastered when a program required by the operation of the PLC is to be written, and the working principle of the PLC is deeply understood;
the motion control card and the PLC are both controllers and need to write control programs, the motion control card needs to be developed by using high-level programming languages such as C + +, C #, VB, VB.net and the like based on the programming software of a computer or an industrial personal computer, and an API (application program interface) function provided by a motion control card manufacturer is also needed in the programming to realize the control of the control card;
either way, the operator is required to have some programming capability to enable control of the mobile platform.
Disclosure of Invention
The invention provides a method and a system for realizing the control of a mobile platform by an intelligent camera.
The technical scheme of the invention is realized as follows:
an implementation method for controlling a mobile platform by an intelligent camera is provided, wherein the intelligent camera, a mobile platform controller and the mobile platform are sequentially connected, and the implementation method specifically comprises the following steps:
s1, the intelligent camera is composed of an FPGA + ARM, a DDR and a display chip, the mobile platform controller comprises an FPGA chip and a plurality of driving chips connected with the output end of the FPGA chip, the mobile platform comprises motors in one-to-one correspondence with the driving chips, and the motors return to a platform origin and a platform limit signal to the FPGA chip;
s2, displaying the setting interface and the movement track programming interface of the mobile platform by the display chip;
s3, setting basic parameters of the mobile platform controller, and converting and associating the parameters of the mobile platform setting interface with the parameters of the motion trail programming interface;
s4, programming the moving track of the mobile platform, and resetting the mobile platform;
s5, driving the mobile platform to a programming target point, calculating the moving distance of the mobile platform in each direction according to the feedback information of the mobile platform controller, marking and recording the coordinate of the programming target point;
s6, driving the mobile platform to the next programming target point, calculating the relative position of the programming target point and the last programming target point according to the feedback information of the mobile platform controller, marking and deducing the coordinate of the programming target point;
and S7, judging whether all the programming target points are marked and recorded, if so, finishing the motion track programming, otherwise, repeating the step S6.
As a preferred embodiment of the present invention, the step S3 of setting the basic parameters of the mobile platform controller, and the step of converting and associating the parameters of the mobile platform setting interface with the parameters of the motion trajectory programming interface specifically includes the following steps:
s301, basic parameters of the mobile platform controller comprise a platform origin, a motor step angle A, the perimeter of a gear/the thread pitch C of a screw rod, a fine driving pulse fraction D, the moving speed S of the mobile platform, the maximum moving speed and the acceleration;
s302, calculating the number of pulses per millimeter (MP/C) of the mobile platform (360/A multiplied by D/C);
s303, calculating the moving speed S of the moving platform as the driving chip pulse frequency/pulse per millimeter, that is
The speed of the moving platform S (mm/S) is pulse frequency (plus/S)/number of pulses per millimeter (plus/mm);
the pulse frequency of the driving chip is 1 second;
s304, deriving the maximum pulse frequency and the acceleration pulse frequency of the driving chip corresponding to the maximum movement speed and the acceleration based on the same method;
s305, converting the pulse frequency of the driving chip into speed data and displaying the speed data on a setting interface of the mobile platform;
s306, driving keys in all directions are arranged on the motion trail programming interface, the driving keys are used for controlling the moving platform to move to a programming target point in all directions, and the moving platform controller feeds back the number of motion pulses sent by the driving chip to the intelligent camera.
In a preferred embodiment of the present invention, in step S4, the moving trajectory of the mobile platform is programmed, and the mobile platform is reset; the resetting of the mobile platform specifically means that the mobile platform is moved to a set original point, and the original point is one of four corners of the mobile platform.
In a preferred embodiment of the present invention, the moving platform is an XYZ three-axis coordinate system, a two-phase stepping motor is disposed on each coordinate axis, and a photoelectric sensor is disposed to obtain a limit signal.
In a preferred embodiment of the present invention, the intelligent camera is connected to the mobile platform controller through a multi-core cable, a custom data format is defined through an SPI protocol, the intelligent camera sends a platform movement command, and the mobile platform controller drives the motors of the respective axes to move after receiving the command.
An implementation system for controlling a mobile platform by an intelligent camera comprises
The intelligent camera consists of an FPGA + ARM, a DDR and a display chip, wherein the display chip displays a mobile platform setting interface and a motion trail programming interface; the system comprises a mobile platform controller, a motion trail programming interface and a display screen, wherein the mobile platform controller is used for setting basic parameters of the mobile platform controller and converting and associating the parameters of the mobile platform setting interface with the parameters of the motion trail programming interface; programming the running track of the mobile platform, and resetting the mobile platform; driving the mobile platform to a programming target point, calculating the moving distance of the mobile platform in each direction according to the feedback information of the mobile platform controller, and marking and recording the coordinate of the programming target point; driving the mobile platform to a next programming target point, calculating the relative position of the programming target point and a previous programming target point according to the feedback information of the mobile platform controller, marking and deducing the coordinate of the programming target point; marking all the programming target points;
the mobile platform controller comprises an FPGA chip and a plurality of driving chips connected with the output end of the FPGA chip and outputs pulse signals to the mobile platform;
and the mobile platform comprises motors which correspond to the driving chips one by one and returns platform original points and platform limiting signals to the FPGA chip.
As a preferred embodiment of the present invention, the setting of the basic parameters of the mobile platform controller, and the converting and associating the parameters of the mobile platform setting interface and the parameters of the motion trajectory programming interface specifically include:
basic parameters of the mobile platform controller comprise a platform origin, a motor step angle A, the perimeter of a gear/the thread pitch C of a screw rod, a fine driving pulse division number D, the moving speed S of the mobile platform, the maximum moving speed and the acceleration;
calculating the number of pulses per millimeter of the mobile platform, MP, P/C, 360/A multiplied by D/C; calculating the moving speed S of the moving platform, namely the driving chip pulse frequency/pulse number per millimeter, namely the speed S (mm/S) of the moving platform, namely the pulse frequency (plus/S)/pulse number per millimeter (plus/mm); the pulse frequency of the driving chip is 1 second; deriving the maximum pulse frequency and the acceleration pulse frequency of the driving chip corresponding to the maximum movement speed and the acceleration based on the same method;
converting the pulse frequency of the driving chip into speed data and displaying the speed data on a setting interface of the mobile platform; and driving keys in all directions are arranged on the motion trail programming interface, all directions of the mobile platform are controlled to move to the programming target point through the driving keys, and the mobile platform controller feeds back the number of motion pulses sent by the driving chip to the intelligent camera.
As a preferred embodiment of the present invention, resetting the mobile platform specifically means moving the mobile platform to a set origin, the origin being one of four corners of the mobile platform.
In a preferred embodiment of the present invention, the moving platform is an XYZ three-axis coordinate system, a two-phase stepping motor is disposed on each coordinate axis, and a photoelectric sensor is disposed to obtain a limit signal.
In a preferred embodiment of the present invention, the intelligent camera is connected to the mobile platform controller through a multi-core cable, a custom data format is defined through an SPI protocol, the intelligent camera sends a platform movement command, and the mobile platform controller drives the motors of the respective axes to move after receiving the command.
The invention has the beneficial effects that: the operator does not need to have programming capability requirement, and can operate the operation by simply operating and explaining.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic diagram of a PLC-based programmable logic controller controlling a mobile platform according to the prior art;
FIG. 2 is a diagram illustrating a prior art motion control card controlling a mobile platform;
FIG. 3 is a schematic diagram of the present invention using an intelligent camera to control a mobile platform;
FIG. 4 is a detailed block diagram of FIG. 3;
FIG. 5 is a schematic view of a mobile platform setup interface;
FIG. 6 is a motion trajectory programming interface of the motion trajectory programming interface;
fig. 7 is a flowchart of an implementation method for controlling a mobile platform by an intelligent camera.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 3 to 7, the present invention provides a method for implementing an intelligent camera to control a mobile platform, wherein the intelligent camera, a mobile platform controller and the mobile platform are sequentially connected, and the method specifically includes the following steps:
s1, the intelligent camera is composed of an FPGA + ARM, a DDR and a display chip, the mobile platform controller comprises an FPGA chip and a plurality of driving chips connected with the output end of the FPGA chip, the mobile platform comprises motors corresponding to the driving chips one by one, and the motors return to the original point of the platform and a platform limit signal to the FPGA chip;
s2, displaying the setting interface and the movement track programming interface of the mobile platform by the display chip;
s3, setting basic parameters of the mobile platform controller, and converting and associating the parameters of the mobile platform setting interface with the parameters of the motion trail programming interface;
s4, programming the moving track of the mobile platform, and resetting the mobile platform;
s5, driving the mobile platform to a programming target point, calculating the moving distance of the mobile platform in each direction according to the feedback information of the mobile platform controller, marking and recording the coordinate of the programming target point;
s6, driving the mobile platform to the next programming target point, calculating the relative position of the programming target point and the last programming target point according to the feedback information of the mobile platform controller, marking and deducing the coordinate of the programming target point;
and S7, judging whether all the programming target points are marked and recorded, if so, finishing the motion track programming, otherwise, repeating the step S6.
The product related to the realization method comprises an intelligent camera, a mobile platform controller and a three-axis mobile platform;
the intelligent camera is an SOC intelligent camera based on an FPGA + ARM architecture. The FPGA provides rich IO interfaces and strong parallel processing capability, can simultaneously process input multi-channel signals and data and simultaneously output multi-channel control signals and data; the ARM provides flexible software programming and a powerful embedded Linux system, can realize the expansion of various interfaces such as a network, a serial port, a user-defined interface and the like, and can realize accurate and complex control by matching with various communication protocols;
the mobile platform controller takes the FPGA as a main control chip and is matched with a motor driving chip to complete the motor control and driving functions; the FPGA can realize accurate pulse control output, and limit signals of the motor in all directions can be timely and efficiently processed by the strong parallel processing capacity of the FPGA, so that the motor can be accurately controlled;
the moving platform is composed of XYZ three axes, each axis is driven by a two-phase stepping motor, and each axis uses a photoelectric sensor as a limit signal in each direction, so that the moving platform cannot exceed the maximum working range when moving;
the intelligent camera is connected with the mobile platform controller through a multi-core cable, a user-defined data format is walked through an SPI protocol, the intelligent camera sends a platform moving instruction, and the mobile platform controller drives the motors of all shafts to move after receiving the instruction.
The embedded Linux operating system of the intelligent camera is internally provided with embedded software specially developed for the intelligent camera, a mobile platform setting interface and a motion trail programming interface are arranged in the software, the mobile platform setting interface sets basic parameters of a mobile platform controller through a configuration port, and the motion trail programming interface carries out motion trail programming movement after the basic parameters of the controller are configured.
As a preferred embodiment of the present invention, the step S3 of setting the basic parameters of the mobile platform controller, and the step of converting and associating the parameters of the mobile platform setting interface with the parameters of the motion trajectory programming interface specifically includes the following steps:
s301, basic parameters of the mobile platform controller comprise a platform origin, a motor step angle A, the perimeter of a gear/the thread pitch C of a screw rod, a fine driving pulse fraction D, the moving speed S of the mobile platform, the maximum moving speed and the acceleration;
s302, calculating the number of pulses per millimeter (MP/C) of the mobile platform (360/A multiplied by D/C);
s303, calculating the moving speed S of the moving platform as the driving chip pulse frequency/pulse per millimeter, that is
The speed of the moving platform S (mm/S) is pulse frequency (plus/S)/number of pulses per millimeter (plus/mm);
the pulse frequency of the driving chip is 1 second;
s304, deriving the maximum pulse frequency and the acceleration pulse frequency of the driving chip corresponding to the maximum movement speed and the acceleration based on the same method;
s305, converting the pulse frequency of the driving chip into speed data and displaying the speed data on a setting interface of the mobile platform;
s306, driving keys in all directions are arranged on the motion trail programming interface, the driving keys are used for controlling the moving platform to move to a programming target point in all directions, and the moving platform controller feeds back the number of motion pulses sent by the driving chip to the intelligent camera.
In a preferred embodiment of the present invention, in step S4, the moving trajectory of the mobile platform is programmed, and the mobile platform is reset; the resetting of the mobile platform specifically means that the mobile platform is moved to a set original point, and the original point is one of four corners of the mobile platform.
In a preferred embodiment of the invention, the moving platform is an XYZ three-axis coordinate system, a two-phase stepping motor is arranged on each coordinate axis, and a photoelectric sensor is arranged to acquire a limit signal.
In a preferred embodiment of the invention, the intelligent camera is connected with the mobile platform controller through a multi-core cable, a self-defined data format is accessed through an SPI protocol, the intelligent camera sends out a platform moving instruction, and the mobile platform controller drives the motors of all axes to move after receiving the instruction.
The invention also provides a system for realizing the intelligent camera control mobile platform, which comprises
The intelligent camera consists of an FPGA + ARM, a DDR and a display chip, wherein the display chip displays a mobile platform setting interface and a motion trail programming interface; the system comprises a mobile platform controller, a motion trail programming interface and a display screen, wherein the mobile platform controller is used for setting basic parameters of the mobile platform controller and converting and associating the parameters of the mobile platform setting interface with the parameters of the motion trail programming interface; programming the running track of the mobile platform, and resetting the mobile platform; driving the mobile platform to a programming target point, calculating the moving distance of the mobile platform in each direction according to the feedback information of the mobile platform controller, and marking and recording the coordinate of the programming target point; driving the mobile platform to a next programming target point, calculating the relative position of the programming target point and a previous programming target point according to the feedback information of the mobile platform controller, marking and deducing the coordinate of the programming target point; marking all the programming target points;
the mobile platform controller comprises an FPGA chip and a plurality of driving chips connected with the output end of the FPGA chip and outputs pulse signals to the mobile platform;
and the mobile platform comprises motors which correspond to the driving chips one by one and returns a platform original point and a platform limit signal to the FPGA chip.
As a preferred embodiment of the present invention, setting basic parameters of a mobile platform controller, and converting and associating parameters of a mobile platform setting interface and parameters of a motion trajectory programming interface specifically includes:
basic parameters of the mobile platform controller comprise a platform origin, a motor step angle A, the perimeter of a gear/the thread pitch C of a screw rod, a fine driving pulse division number D, the moving speed S of the mobile platform, the maximum moving speed and the acceleration;
calculating the number of pulses per millimeter of the mobile platform, MP, P/C, 360/A multiplied by D/C; calculating the moving speed S of the moving platform, namely the driving chip pulse frequency/pulse number per millimeter, namely the speed S (mm/S) of the moving platform, namely the pulse frequency (plus/S)/pulse number per millimeter (plus/mm); the pulse frequency of the driving chip is 1 second; deriving the maximum pulse frequency and the acceleration pulse frequency of the driving chip corresponding to the maximum movement speed and the acceleration based on the same method;
converting the pulse frequency of the driving chip into speed data and displaying the speed data on a setting interface of the mobile platform; and driving keys in all directions are arranged on the motion trail programming interface, all directions of the mobile platform are controlled to move to the programming target point through the driving keys, and the mobile platform controller feeds back the number of motion pulses sent by the driving chip to the intelligent camera.
After the basic parameters of the mobile platform controller are set, the running track of the mobile platform can be programmed through the embedded software;
firstly, the first step of programming requires resetting the mobile platform, i.e. moving the mobile platform to a set origin; and then moving the platform to a programming target point through up-down, left-right direction keys in the embedded software, calculating the moving distance of the platform in each direction according to the moving pulse number fed back by the moving platform controller, marking and recording the coordinates of the point 1, and clearing the moving pulse number fed back by the moving platform controller. And then continuously moving the mobile platform to the next target point through the direction key, calculating the relative position of the mobile platform relative to the previous point 1 through the pulse number fed back by the mobile platform controller, and then calculating the coordinate of the point 2 and recording. And the motion trail programming can be completed by circulating until all target points are marked and recorded.
By the method, the operator does not need to have programming capability, only needs to control the mobile platform to move up, down, left and right to the target point, and then marks the target point to realize programming.
As a preferred embodiment of the present invention, resetting the mobile platform specifically means moving the mobile platform to a set origin, the origin being one of four corners of the mobile platform.
In a preferred embodiment of the invention, the moving platform is an XYZ three-axis coordinate system, a two-phase stepping motor is arranged on each coordinate axis, and a photoelectric sensor is arranged to acquire a limit signal.
In a preferred embodiment of the invention, the intelligent camera is connected with the mobile platform controller through a multi-core cable, a self-defined data format is accessed through an SPI protocol, the intelligent camera sends out a platform moving instruction, and the mobile platform controller drives the motors of all axes to move after receiving the instruction.
The implementation method uses the intelligent camera to replace a computer or an industrial personal computer or an embedded system with a touch screen. The intelligent camera is composed of an FPGA + ARM architecture SOC, a DDR and a display driving chip, an embedded Linux operating system is built in the SOC, embedded software specially developed for the intelligent camera is installed in the embedded Linux operating system, and the software can be used for directly configuring a mobile platform controller and programming the motion of the mobile platform.
And using the mobile platform controller to replace a PLC or a motion control card and a motor driver to control the mobile platform. The mobile platform controller consists of an FPGA and a motor driving chip, wherein the FPGA is used for receiving a platform moving signal sent by the intelligent camera and a feedback signal of the platform, such as an original point and a limit signal, and controlling the movement of the motor of each shaft.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
- The method for realizing the control of the mobile platform by the intelligent camera is characterized by comprising the following steps of:s1, the intelligent camera is composed of an FPGA + ARM, a DDR and a display chip, the mobile platform controller comprises an FPGA chip and a plurality of driving chips connected with the output end of the FPGA chip, the mobile platform comprises motors in one-to-one correspondence with the driving chips, and the motors return to a platform origin and a platform limit signal to the FPGA chip;s2, displaying the setting interface and the movement track programming interface of the mobile platform by the display chip;s3, setting basic parameters of the mobile platform controller, and converting and associating the parameters of the mobile platform setting interface with the parameters of the motion trail programming interface;s4, programming the moving track of the mobile platform, and resetting the mobile platform;s5, driving the mobile platform to a programming target point, calculating the moving distance of the mobile platform in each direction according to the feedback information of the mobile platform controller, marking and recording the coordinate of the programming target point;s6, driving the mobile platform to the next programming target point, calculating the relative position of the programming target point and the last programming target point according to the feedback information of the mobile platform controller, marking and deducing the coordinate of the programming target point;and S7, judging whether all the programming target points are marked and recorded, if so, finishing the motion track programming, otherwise, repeating the step S6.
- The method for implementing an intelligent camera to control a mobile platform according to claim 1, wherein the step S3 sets basic parameters of a mobile platform controller, and the step of converting and associating the parameters of the mobile platform setting interface with the parameters of the motion trajectory programming interface specifically includes the following steps:s301, basic parameters of the mobile platform controller comprise a platform origin, a motor step angle A, the perimeter of a gear/the thread pitch C of a screw rod, a fine driving pulse fraction D, the moving speed S of the mobile platform, the maximum moving speed and the acceleration;s302, calculating the number of pulses per millimeter (MP/C) of the mobile platform (360/A multiplied by D/C);s303, calculating the moving speed S of the moving platform as the driving chip pulse frequency/pulse per millimeter, that isThe speed of the moving platform S (mm/S) is pulse frequency (plus/S)/number of pulses per millimeter (plus/mm);the pulse frequency of the driving chip is 1 second;s304, deriving the maximum pulse frequency and the acceleration pulse frequency of the driving chip corresponding to the maximum movement speed and the acceleration based on the same method;s305, converting the pulse frequency of the driving chip into speed data and displaying the speed data on a setting interface of the mobile platform;s306, driving keys in all directions are arranged on the motion trail programming interface, the driving keys are used for controlling the moving platform to move to a programming target point in all directions, and the moving platform controller feeds back the number of motion pulses sent by the driving chip to the intelligent camera.
- The method for controlling a mobile platform according to claim 1, wherein in step S4, the moving trajectory of the mobile platform is programmed, and the mobile platform is reset; the resetting of the mobile platform specifically means that the mobile platform is moved to a set original point, and the original point is one of four corners of the mobile platform.
- The method as claimed in claim 1, wherein the mobile platform is an XYZ three-axis coordinate system, each axis is provided with a two-phase stepping motor, and a photoelectric sensor is provided to obtain a limit signal.
- The method as claimed in claim 4, wherein the smart camera is connected to the mobile platform controller via a multi-core cable, the self-defined data format is passed via an SPI protocol, the smart camera sends a platform moving command, and the mobile platform controller drives the motors of the axes to move after receiving the command.
- An implementation system for controlling a mobile platform by an intelligent camera is characterized by comprisingThe intelligent camera consists of an FPGA + ARM, a DDR and a display chip, wherein the display chip displays a mobile platform setting interface and a motion trail programming interface; the system comprises a mobile platform controller, a motion trail programming interface and a display screen, wherein the mobile platform controller is used for setting basic parameters of the mobile platform controller and converting and associating the parameters of the mobile platform setting interface with the parameters of the motion trail programming interface; programming the running track of the mobile platform, and resetting the mobile platform; driving the mobile platform to a programming target point, calculating the moving distance of the mobile platform in each direction according to the feedback information of the mobile platform controller, and marking and recording the coordinate of the programming target point; driving the mobile platform to a next programming target point, calculating the relative position of the programming target point and a previous programming target point according to the feedback information of the mobile platform controller, marking and deducing the coordinate of the programming target point; marking all the programming target points;the mobile platform controller comprises an FPGA chip and a plurality of driving chips connected with the output end of the FPGA chip and outputs pulse signals to the mobile platform;and the mobile platform comprises motors which correspond to the driving chips one by one and returns platform original points and platform limiting signals to the FPGA chip.
- The system of claim 6, wherein the setting of the basic parameters of the mobile platform controller, and the converting and associating the parameters of the mobile platform setting interface with the parameters of the motion trajectory programming interface specifically comprises:basic parameters of the mobile platform controller comprise a platform origin, a motor step angle A, the perimeter of a gear/the thread pitch C of a screw rod, a fine driving pulse division number D, the moving speed S of the mobile platform, the maximum moving speed and the acceleration;calculating the number of pulses per millimeter of the mobile platform, MP, P/C, 360/A multiplied by D/C; calculating the moving speed S of the moving platform, namely the driving chip pulse frequency/pulse number per millimeter, namely the speed S (mm/S) of the moving platform, namely the pulse frequency (plus/S)/pulse number per millimeter (plus/mm); the pulse frequency of the driving chip is 1 second; deriving the maximum pulse frequency and the acceleration pulse frequency of the driving chip corresponding to the maximum movement speed and the acceleration based on the same method;converting the pulse frequency of the driving chip into speed data and displaying the speed data on a setting interface of the mobile platform; and driving keys in all directions are arranged on the motion trail programming interface, all directions of the mobile platform are controlled to move to the programming target point through the driving keys, and the mobile platform controller feeds back the number of motion pulses sent by the driving chip to the intelligent camera.
- The system of claim 6, wherein resetting the mobile platform means moving the mobile platform to a set origin point, the origin point being one of four corners of the mobile platform.
- The system as claimed in claim 6, wherein the mobile platform is an XYZ three-axis coordinate system, and a two-phase stepping motor is disposed on each axis, and a photoelectric sensor is disposed to obtain the limit signal.
- The system of claim 9, wherein the smart camera is connected to the mobile platform controller via a multi-core cable, a custom data format is passed via an SPI protocol, the smart camera sends a platform movement command, and the mobile platform controller drives the motors of the axes to move after receiving the command.
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