精选项目 Selected  projects

项目背景 / Project Context: 

2025 年“信捷杯”全国大学生智能制造创新大赛——典型智能机器人系统应用编程赛项决赛
2025 XINJE Cup National College Student Smart Manufacturing Innovation Competition — Final Round, Typical Industrial Robot System Application Programming

个人角色 / Role: 

独立完成项目编程、控制逻辑设计、人机交互界面开发及系统集成相关工作
Independently carried out the project's programming, control logic design, HMI development, and system integration work.

核心技术 / Core Technologies: 

PLC·伺服运动控制·六轴工业机器人·机器视觉·人机界面·变频驱动·步进电机控制·称重·多模块协调 

PLC · Servo Motion Control · Six-Axis Industrial Robot · Machine Vision · HMI · Variable-Frequency Drive · Stepper Motor Control · Weighing · Multi-Module Coordination

目录 | Content

01 项目概述 | Project Overview

本项目围绕实验室试验药制备场景，构建了一套以六轴工业机器人为核心的智能制造实训系统。系统以钢珠模拟药剂颗粒，通过自动取料、定量灌装、称重检测、视觉定位、封装及成品入库等工序，模拟多模块协同完成的自动化生产流程。

项目整合 PLC 控制、伺服运动控制、工业机器人、机器视觉、步进驱动、变频输送、称重检测及触摸屏人机交互等技术，要求不同设备按照工艺顺序执行动作，并在手动调试、自动运行、状态监控及异常处理等环节保持协调。

我独立完成了该项目涉及的编程与系统集成工作，对设备模块、控制流程、运行逻辑及人机交互设计具有完整的项目实践经验。

This project focused on a laboratory test-drug preparation scenario and involved an integrated smart manufacturing training platform built around a six-axis industrial robot. Steel balls were used to simulate pharmaceutical particles, enabling an automated production workflow involving material retrieval, dosing, weighing, vision-guided positioning, sealing, and finished-product storage.

The system integrated PLC control, servo motion control, industrial robotics, machine vision, stepper motor control, variable-frequency conveyor control, weighing, and HMI-based operation. The key objective was to coordinate multiple equipment modules through a defined process sequence while supporting manual commissioning, automatic operation, status monitoring, and fault handling.

I independently carried out the project's programming and system integration work, developing an end-to-end understanding of the equipment modules, control sequences, operating logic, and HMI design.

02 项目背景与自动化需求 | Background & Automation Objectives

项目以智能配药为应用情境，重点解决传统人工操作中可能存在的流程衔接效率低、操作一致性不足、检测与执行相互独立、过程记录及设备状态不易集中监控等问题。

系统采用模块化自动化架构，将取料、输送、灌装、称重、视觉定位、封装及仓储等环节整合为一套可编程、可监控的自动化流程。

项目的主要目标包括：

• 工序自动化： 将多个独立设备模块组织为连续的自动化工作流程。

• 多设备协同： 协调 PLC、伺服轴组、六轴机器人、视觉系统及外围执行机构。

• 运动与定位控制： 实现立体仓库的物料存取、机器人搬运及视觉辅助定位。

• 人机交互： 通过 HMI 完成设备操作、参数配置、状态显示及报警管理。

• 运行安全与异常处理： 建立初始化、手动调试、自动运行、暂停、急停及报警处理等控制机制。

The project used automated laboratory preparation as its application scenario. It focused on challenges associated with manually coordinated processes, including inconsistent operations, fragmented equipment control, limited centralized monitoring, and difficulties coordinating inspection and execution.

A modular automation architecture was used to integrate material retrieval, conveying, dosing, weighing, vision-guided positioning, sealing, and storage into a programmable and monitorable workflow.

The main objectives were:

• Process automation: Organize multiple equipment modules into a coordinated production sequence.

• Multi-device coordination: Coordinate the PLC, servo axes, six-axis robot, vision system, and peripheral actuators.

• Motion and positioning control: Enable automated storage and retrieval, robotic handling, and vision-assisted positioning.

• Human-machine interaction: Provide equipment operation, parameter configuration, status monitoring, and alarm management through the HMI.

• Operational safety and fault handling: Implement initialization, manual commissioning, automatic operation, pause, emergency-stop, and alarm-handling functions.

03 系统架构与硬件组成 | System Architecture & Hardware

系统采用 PLC 为核心的控制架构，结合独立的机器人控制器、伺服驱动系统、视觉控制器及 HMI，实现不同自动化模块之间的协同。

The system used a PLC-centered control architecture, integrating a dedicated robot controller, servo drives, a vision controller, and an HMI to coordinate the different automation modules.

05 手动调试与自动运行 | Manual Commissioning & Automatic Operation

系统设置手动与自动两种运行模式，以支持单模块调试和整套工艺运行。

The system provided manual and automatic modes to support individual module commissioning and integrated process execution.

手动模式 | Manual Mode

• 通过 HMI 对输送、灌装、称重及立体仓库等模块进行独立操作。

• 对伺服轴进行点动、寸动、回原及运动参数设置。

• 对机器人及其末端工具执行相应的操作与调试。

• 对气缸、输送带和灌装机构进行动作测试。

• 通过传感器状态及界面反馈检查模块运行情况。

The HMI supported independent operation of the conveyor, dosing, weighing, and storage modules. Manual functions also covered servo jogging, incremental movement, homing, parameter configuration, robot operation, and actuator testing.

自动模式 | Automatic Mode

• 在设备初始化完成并满足运行条件后启动自动流程。

• 根据当前加工任务协调仓储、机器人、灌装、称重、视觉及输送模块。

• 根据各步骤的完成状态推进后续工序。

• 在运行过程中通过 HMI 监控系统状态。

• 根据设定的控制逻辑处理暂停、急停及恢复操作。

Automatic operation began after initialization and readiness checks. The PLC coordinated the modules according to the process sequence, monitored step completion, and supported the defined pause, emergency-stop, and recovery procedures.

06 机器视觉与手眼标定 | Machine Vision & Hand-Eye Calibration

机器视觉模块用于获取瓶盖的位置与角度信息，为机器人执行瓶盖放置动作提供定位依据。

项目涉及的关键环节包括：

1. 通过工业相机、镜头及光源采集目标图像。

2. 使用视觉软件处理图像并获取目标的位置、角度等信息。

3. 进行手眼标定，建立图像坐标与机器人位置坐标之间的对应关系。

4. 将视觉定位结果用于机器人运动过程中的目标定位。

5. 配合机器人吸盘工具完成瓶盖的抓取与放置。

该模块体现了从图像采集、视觉定位到机器人执行的跨系统协同，而不仅是单独完成图像识别。

The machine vision module identified the cap's position and orientation to support robotic placement.

The key workflow involved:

1. Acquiring target images using an industrial camera, lens, and lighting system.

2. Processing images in the vision software to obtain position and orientation information.

3. Performing hand-eye calibration to establish the relationship between image coordinates and robot coordinates.

4. Using the vision results to determine the target position for robot motion.

5. Coordinating the robot's suction tool to pick up and place the cap.

This module demonstrated cross-system coordination from image acquisition and visual localization to robotic execution, rather than image processing in isolation.

07 项目中体现的综合工程能力 | Integrated Engineering Competencies

该项目的综合性体现在不同技术模块之间的接口、状态与工艺顺序协调。独立完成整套项目工作，使我有机会从系统整体出发理解各模块之间的关系，而不是仅关注某一设备或单一程序功能。

主要能力维度：

• PLC 编程与逻辑设计： 将工艺需求转化为设备控制流程。

• 运动控制： 理解伺服轴的运动方式、定位流程、回原及参数配置。

• 机器人应用： 理解机器人搬运、工位切换、末端工具更换与轨迹动作之间的关系。

• 机器视觉集成： 理解视觉定位结果如何用于机器人执行。

• 外围设备控制： 协调步进驱动、变频输送、称重及气动机构。

• HMI 设计： 将操作、参数、状态、报警及权限管理组织为统一的人机交互界面。

• 系统集成： 以整体工艺流程为主线，协调不同设备的启动条件、执行状态与动作完成条件。

• 调试与问题分析： 通过手动操作、模块自检、状态监控及异常提示定位问题。

The project's complexity lay in coordinating interfaces, operating states, and process sequences across multiple technologies. Completing the project independently provided an opportunity to understand the relationships between the system's modules as a whole rather than focusing on a single device or isolated programming task.

Key competency areas:

• PLC programming and logic design: Translating process requirements into equipment control sequences.

• Motion control: Understanding servo movement, positioning, homing, and parameter configuration.

• Robot applications: Coordinating material handling, station changes, tool changes, and trajectory execution.

• Machine vision integration: Understanding how vision-based positioning results are used in robotic operations.

• Peripheral equipment control: Coordinating stepper drives, variable-frequency conveying, weighing, and pneumatic mechanisms.

• HMI development: Organizing operator controls, parameters, status indicators, alarms, and access permissions into a unified interface.

• System integration: Coordinating operating conditions, module states, and action-completion requirements across the overall process.

• Commissioning and troubleshooting: Using manual operation, module self-checks, status monitoring, and alarm feedback to investigate issues.

08 项目奖项 | Project Awards