新型智能球罐焊接机器人视觉传感器的研究  

A novel visual sensor for intelligent spherical tank welding robot

作　　者：孙振国[1] 王军波[1] 陈强[1] 纪萌[1] 

机构地区：[1]清华大学机械工程系,北京100084

出　　处：《光学技术》2001年第3期252-254,259,共4页Optical Technique

基　　金：国家"8 63"计划!(863- 51 2- 991 3- 0 2 )资助项目

摘　　要：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。In order to realize autonomous moving and automatic weld seam tracking for intelligent spherical tank welding robot, a novel visual sensor based on linear CCD has been developed The visual sensor consists of a high resolution linear CCD chip, an optical system(including light source, filter, lenses and so on), and an all hardware photoelectric signal processing circuit With the advantages of fast response, good robustness, low cost and lightweight, the designed visual sensor could avoid the interference of the arc light during welding and provide the deviating signal of the seam trace line precisely in real time Assisted by the visual sensor, the spherical tank welding robot could move along the weld seam autonomously, could align the welding torch with weld seam automatically and meet the requirements of multi-layer, multi-pass welding process for spherical tank So that, more intelligent and automatic welding operation for spherical tank could be fulfilled

关 键 词：线阵CCD 焊缝跟踪 球罐 焊接机器人 视觉传感器 

分 类 号：TG409[金属学及工艺—焊接] TP242[自动化与计算机技术—检测技术与自动化装置]