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为实现智能球罐焊接机器人的自主运动与焊缝自动跟踪 ,研制了一种新型视觉传感器。该传感器以高分辨率线阵 CCD芯片为核心 ,由光源、滤光片、透镜等光学系统及 CCD驱动电路、光电信号处理电路等组成 ,其中光电处理电路全部由硬件实现。整个视觉传感系统可以避免焊接时弧光的干扰 ,实时、准确地检测出焊缝轨迹线偏差信号 ,具有实时性强、鲁棒性好、成本低、重量轻等优点。借助所研制的视觉传感器 ,球罐焊接机器人能够实现沿焊缝的自主运动和焊炬与焊缝的自动对中 ,满足球罐多层多道焊接工艺要求 ,实现球罐焊接作业的智能化、自动化
In order to realize the autonomous movement of the robot and the automatic tracking of the welding seam, a new type of vision sensor has been developed. The sensor with high resolution linear CCD chip as the core, by the light source, filter, lens and other optical systems and CCD drive circuit, optical signal processing circuit, etc., which optoelectronic processing circuit all hardware implementation. The whole visual sensing system can avoid arc interference when welding, real-time and accurate detection of weld trajectory deviation signal, with strong real-time, good robustness, low cost, light weight and other advantages. With the developed visual sensor, the spherical tank welding robot can realize the automatic movement along the welding seam and the automatic alignment of the welding torch and the welding torch, meet the multi-layer multi-pass welding process requirements of the spherical tank, realize the intelligence of the spherical tank welding operation, automation