在智慧製造的潮流下，工業控制結合機器視覺成為必然的趨勢，傳統的整合方案不僅耗時、高成本、開發和佈署困難。為了解決此問題，本研究基於開源軟體Beremiz的PLCopen編輯器，進一步整合了可程式邏輯控制與機器視覺的函式庫在單一編輯器，並且研發一個可程式邏輯控制與一個機器視覺模擬器，使用編輯器所輸出的XML格式的PLC程式，透過XML解析器分析執行功能和流程，得以容易地進行邏輯控制和視覺分析的功能模擬。一旦驗證成功，再將解析器轉譯的GVM編碼表，傳送至內建PLCopen執行引擎的GVM控制器，即可於工作現場執行PLCopen程式，完成系統快速佈署。我們以一個視覺導引機械手臂的控制系統(Vision-Guided Robot Arm, VGRA)設計來驗證此一平台。目標系統是六軸機械手臂結合視覺感測器，機器視覺用於偵測和辨識物件，機械手臂則負責夾取和放置物件。藉由本研究所設計的PLCopen開發平台，可有效進行邏輯控制與機器視覺的整合編輯，接著模擬系統流程及功能，最後快速佈署控制器，完成應用系統開發。

The combination of industrial control and machine vision has become an inevitability in the era of intelligent manufacturing. Traditional integration schemes are time consuming and costly, as well as difficult to develop and deploy. To solve this problem, the present study integrated a programmable logic controller (PLC) and a machine vision library in a single editor according to the PLCopen editor of Beremiz, a set of open-source software. We also developed a PLC and a machine vision simulator, which uses the PLC program in the XML format as it is output by the editor, to analyze the executive functions and related processes through an XML parser. This can facilitate simulation of the functions of logic control and visual analysis. Once the verification is complete, the Grafcet virtual machine (GVM) code table translated by the parser is transferred to the GVM controller of the built-in PLCopen execution engine, which executes the PLCopen program in the field, completing the system’s rapid deployment. We validated this platform with a vision-guided robot arm design. The target system is a six-axis robot arm with a visual sensor, which is used to detect and identify objects; the robotic arm is responsible for gripping and placing objects. The proposed PLCopen development platform enables integrated editing of logic control and machine vision and simulation of the system flow and functions. The controller can be quickly deployed to complete the development of an application system.

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