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针对三峡水轮机叶片坑内移动式修焊机器人的作业过程测控问题,研制了一种基于双数字信号处理器的嵌入式视觉反馈控制系统。采用功能单元模块化设计思想和叠层积木式装配结构,该系统将基于TMS320DM642的图像采集与处理、基于TMS320LF2812的运动控制与参数调整、数字视频输入、模拟视频输入、模拟视频输出、数字视频输出、电源变换等功能模块集成在170mm×57mm×40mm的空间尺寸内。该系统可以安装在移动式修复机器人上、脱离工控机独立工作,适用于MIG、TIG、CO2等多种焊接工艺方法的过程监控、焊缝跟踪和焊缝成形实时控制。
Aiming at the problem of measurement and control of the operation process of mobile repair welding robot in the Three Gorges turbine pit, an embedded visual feedback control system based on double digital signal processor is developed. Adopting the functional unit modular design concept and the laminated building block assembly structure, the system will be based on TMS320DM642 image acquisition and processing, based on TMS320LF2812 motion control and parameter adjustment, digital video input, analog video input, analog video output, digital video output , Power conversion and other functional modules integrated in 170mm × 57mm × 40mm space size. The system can be installed on the mobile repair robot to work independently from the IPC. It is suitable for process monitoring, seam tracking and weld seam real-time control of various welding process methods such as MIG, TIG and CO2.