斗轮取料机无人化取料控制系统设计

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1、⺋༡ᆜփ䇰ᮽMASTER’SDISSERTATION䇰ᮽ从ⴤᯍ䖤਌ᯏᵰᰖӰौ਌ᯏ᧝࡬㌱㔕䇴䇗㘻ဉ੃ᆏ⾛⪔ᆜ〇㊱ࡡᐛぁ⺋༡᤽ሲᮏᐾࡎᖢᮏᦾ2015ᒤ12ᴸѝമ࠶㊫ਧ˖TP223ᆖṑԓ⸱˖10216UDC˖621.3ᇶ㓗˖ޜᔰᐕ〻⺅༛ᆖս䇪᮷˄ᐕ〻䇮䇑ර˅ᯍ䖤਌ᯏᵰᰖӰौ਌ᯏ᧝࡬㌱㔕䇴䇗⺋༡⹊ガ⭕˖ᆉ⾕⪎ሲᐾ˖ࡈᖜᮉᦸࢥሲᐾ˖ן䍥ᇮᮉᦸ⭩䈭ᆜփ˖ᐕ〻⺅༛ᆜ〇亼ต˖᧗ࡦᐕ〻ᡶ൞ঋփ˖⾎ॾ哴債⑟࣑ޜਨㆊ䗟ᰛᵕ˖2015ᒤ12ᴸᦾҾᆜփঋփ˖⠅ኡབྷᆖADissertationfortheMasterDegreeinCont

2、rolEngineeringSTUDYONUNDERWATERPOSITIONINGSYSTEMBASEDONBINOCULARSTEREOVISIONbyXiangruiSunSupervisor:ProfessorBinLiuYanshanUniversityDecember,2015⠋ኧཝᆜ⺋༡ᆜփ䇰ᮽ৕ࡑᙝ༦᱄ᵜӪ䜁䟽༠᰾˖↔༴ᡰᨀӔⲴ⺅༛ᆖս䇪᮷ljᯇ䖞ਆᯉᵪᰐӪॆਆᯉ᧗ࡦ㌫㔏䇮䇑NJˈᱟᵜӪ൘ሬᐸᤷሬлˈ൘⠅ኡབྷᆖ᭫䈫⺅༛ᆖսᵏ䰤⤜・䘋㹼⹄ウᐕ֌ᡰਆᗇⲴᡀ᷌DŽ䇪᮷ѝ䲔ᐢ⌘᰾䜘࠶ཆнवਜ਼ԆӪᐢਁ㺘ᡆ᫠߉䗷Ⲵ

3、⹄ウᡀ᷌DŽሩᵜ᮷Ⲵ⹄ウᐕ֌ڊࠪ䟽㾱䍑⥞ⲴњӪ઼䳶փˈ൷ᐢ൘᮷ѝԕ᰾⺞ᯩᔿ⌘᰾DŽᵜ༠᰾Ⲵ⌅ᖻ㔃᷌ሶᆼޘ⭡ᵜӪ᢯ᣵDŽ֌㘵ㆮᆇ˖ᰕᵏ˖ᒤᴸᰕ⠋ኧཝᆜ⺋༡ᆜփ䇰ᮽ⭞ᦾᵹҜljᯇ䖞ਆᯉᵪᰐӪॆਆᯉ᧗ࡦ㌫㔏䇮䇑NJ㌫ᵜӪ൘⠅ኡབྷᆖ᭫䈫⺅༛ᆖսᵏ䰤൘ሬᐸᤷሬлᆼᡀⲴ⺅༛ᆖս䇪᮷DŽᵜ䇪᮷Ⲵ⹄ウᡀ᷌ᖂ⠅ኡབྷᆖᡰᴹˈᵜ䇪᮷Ⲵ⹄ウ޵ᇩнᗇԕަᆳঅսⲴ਽ѹਁ㺘DŽᵜӪᆼޘҶ䀓⠅ኡབྷᆖޣҾ؍ᆈǃ⭘ᆖս䇪᮷Ⲵ㿴ᇊˈ਼᜿ᆖṑ؍⮉ᒦੁᴹޣ䜘䰘䘱Ӕ䇪᮷Ⲵ༽ঠԦ઼⭥ᆀ⡸ᵜˈ䇨䇪᮷㻛ḕ䰵઼ُ䰵DŽᵜӪᦸᵳ⠅ኡབྷᆖˈਟԕ䟷⭘ᖡঠǃ㕙ঠᡆަᆳ༽ࡦ᡻⇥؍ᆈ䇪᮷ˈਟ

4、ԕޜᐳ䇪᮷Ⲵޘ䜘ᡆ䜘࠶޵ᇩDŽ؍ᇶƑˈ൘ᒤ䀓ᇶਾ䘲⭘ᵜᦸᵳҖDŽᵜᆖս䇪᮷኎Ҿн؍ᇶƑDŽ˄䈧൘ԕк⴨ᓄᯩṶ޵ᢃ“√”˅֌㘵ㆮ਽˖ᰕᵏ˖ᒤᴸᰕሬᐸㆮ਽˖ᰕᵏ˖ᒤᴸᰕ᪈㾱᪎㾷ᯇ䖞ਆᯉᵪᐢᡀѪ⧠ԓᐕলˈ⑟ਓㅹਆᯉⲴѫ㾱ᐕާDŽ䲿⵰ਆᯉᵪ㿴⁑ॆˈ儈᭸ॆ઼ᰐӪॆⲴ㾱≲Ⲵнᯝᨀ儈ˈᯇ䖞ਆᯉᵪⲴᰐӪॆਆᯉᢰᵟ䎺ᶕ䎺ᡀѪӪԜⲴ⹄ウ✝⛩DŽᨀ儈ਆᯉ֌ъⲴᐕ֌᭸⦷ˈ࣐ᕪ⑟ਓਆᯉⲴ㠚ࣘॆ≤ᒣᱟᵜ䈮仈ࠪਁ⛩DŽ俆ˈᵜ᮷ӻ㓽Ҷᯇ䖞ਆᯉᵪഭ޵ཆⲴਁኅ⧠⣦ԕ৺བྷරॆˈཊṧॆˈ⧟؍ॆ઼ᰐӪॆⲴਁኅ䎻࣯ˈ⛩᰾ҶᰐӪॆਆᯉᵪ⹄ウⲴ⧠ᇎ᜿ѹDŽ❦ਾˈ䇪᮷ㆰ䘠Ҷᯇ

5、䖞ਆᯉᵪᵪᶴⲴ਴㓴ᡀ䜘࠶৺ਆᯉ֌ъ᧗ࡦ㿴ࡉ˗ӻ㓽ҶਆᯉᵪⲴᮤփ᧗ࡦ㾱≲઼᧗ࡦ㌫㔏㓴ᡀDŽᵜ᮷PLC䟷⭘ABޜਨⲴ1756-L73༴⨶ಘˈ㓴ᘱⴁ᧗䖟ԦѪ㖇世ቄᴰᯠⲴFactoryTalkViewӪᵪӔӂ䖟ԦˈԕControlLogix᧗ࡦ㌫㔏Ѫส⹰ˈ䟷⭘᧗ࡦ㖁ˈԕཚ㖁઼䘌〻I/OⲴ䙊ؑᯩᔿˈᇎ⧠Ҷкս㌫㔏਼PLC৺བྷᵪ਴㓴ᡀᵪᶴⲴᇎᰦ䙊ؑоⴁ᧗DŽሩ㠚ࣘਆᯉ֌ъⲴᐕ֌৏⨶䘋㹼ӻ㓽৺䖟Ԧ䇮䇑DŽ᧕лᶕˈ䇮䇑Ҷ㠚ࣘ⍂≤㌫㔏ˈሩ㠚ࣘ⍂≤Ⲵ⍱〻৺≤սⲴ㠚ࣘ᧗ࡦ䘋㹼Ҷ䇮䇑˗⵰䟽ᓄ⭘MATLAB઼㲊ᤏ⧠ᇎᢰᵟˈሩᐕ֌䗷〻ѝਟ㜭ࠪ⧠Ⲵ

6、⻠ᫎⲴࠐ⿽ᛵߥ䘋㹼Ҷᔪ⁑ˈᒦ䘋㹼ԯⵏDŽᴰਾˈสҾ㓴ᘱⴁ᧗䖟ԦFactoryTalkViewሩਆᯉᵪ䘌〻᫽֌㌫㔏䘋㹼Ҷ䇮䇑ˈ࠶࡛Ӿ䘌〻᫽֌สᵜ⢩⛩ˈสᵜ᫽֌ˈ⢩↺ᛵߥⲴ⌘᜿һ亩ԕ৺кսᵪ⭼䶒Ⲵ䇮䇑䘋㹼Ҷӻ㓽DŽީ䭤䈃˖ᯇ䖞ਆᯉᵪ˗᯻䖜࠶ቲਆᯉ˗ControlLogix㌫㔏˗ԕཚ㖁˗MATLAB৺㲊ᤏ⧠ᇎᢰᵟ˗FactoryTalkViewI⠅ኡབྷᆖᐕ〻⺅༛ᆖս䇪᮷AbstractBucketwheelreclaimerhasbecomethethemainreclaimingtoolofmodernfactories

7、andports.Withthedemandofporttakingthematerial’sscale,efficientandintelligentcontinuestoimprove,bucketwheelreclaimerunmannedreclaimingtechnologymoreandmorebecameahotspot.Howtoimproveportworkingenvironment,improveportcoalhandlingautomationlevelisthestartingpoin

8、tforthistopic.Firstly,introducedthedevelopmentstatusofbucket-wheelreclaimer,aswellaslarge,diversification,environmentalprotectionandthedevelopmenttrendofunmanned,identifiesthepracticalsig