基于Linux嵌入式系统的焊缝激光结构光视觉传感系统  

Structure light vision sensing system of weld laser based on Linux embedded system

作　　者：刘呈龙[1] 闫志鸿[1] 卢振洋[1] 

机构地区：[1]北京工业大学机械工程及应用电子技术学院,北京100124

出　　处：《电焊机》2016年第10期56-60,65,共6页Electric Welding Machine

摘　　要：焊缝跟踪是自动化焊接的关键。以ARM为开发平台,在嵌入式Linux系统的基础上开发了一套焊缝激光结构光的视觉传感系统,体积小,成本低。经过一台网络交换机将视觉传感器模块、传感器人机交互模块、机器人控制器模块以及机器人手控盒模块进行组网,形成了一个焊缝自动跟踪网络系统,便于设备的扩展和各个模块之间的数据交换和共享。针对焊接中常用的V型坡口,采用简化的hough变换图像处理算法,得到了坡口激光结构光条纹的特征点位置。The seam tracking become the key of automatic welding. Based on the ARM as a development platform,we has developed a laser weld structure light vision sensing system on the basis of embedded Linux system,smaller and costless. Form a weld automatic tracking net system with Visual sensor module, sensors, human-computer interaction module, robot controller module and robot control box through a network switch, to facilitate the expansion of the equipment and data exchange and sharing between the various modules. In view of the ＂V＂ groove is commonly used in welding, use simplified hough transform image processing algorithms to get the feature point of the groove laser structured light stripe.

关 键 词：嵌入式系统 视觉传感 图像处理 机器人 人机交互 

分 类 号：TG409[金属学及工艺—焊接]