Linear CCD based novel visual sensor for intelligent spherical tank welding robot

被引：1

作者：

Sun, ZG ^{[1
]}

Wang, JB ^{[1
]}

Chen, Q ^{[1
]}

Jiang, LP ^{[1
]}

Jiao, XD ^{[1
]}

Xue, L ^{[1
]}

机构：

[1] Tsing Hua Univ, Dept Engn Mech, Beijing 100084, Peoples R China

来源：

OPTICAL DESIGN AND TESTING | 2002年 / 4927卷

关键词：

linear CCD; weld seam tracking; spherical tank welding robot; visual sensor; photoelectric sensing system;

D O I：

10.1117/12.471679

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

In order to fulfill autonomous climbing and automatic weld seam tracking, a novel visual sensor has been developed for intelligent spherical tank welding robot. Composed of a high-resolution linear CCD, an optical system (including light source, filter, lenses and so on), and an all hardware photoelectric signal processing circuit, the designed visual sensor could avoid the interference of the arc light during welding and provide the seam track signal precisely in real time. In this paper, the construction and working principle of the linear CCD based visual sensor have been illustrated, then principle of weld seam track detecting has been introduced thoroughly. Equipped with the visual sensor, the spherical tank welding robot could move along the weld seam autonomously, could align the welding torch with weld seam automatically. Therefore, the requirements of multi-layer, multi-pass welding process for spherical tank manufacturing have been met.

引用

页码：612 / 617

页数：6