无导轨焊接机器人视觉跟踪系统的设计与仿真.pdfVIP

无导轨焊接机器人视觉跟踪系统的设计与仿真 摘 要 无导轨焊接机器人是焊接机器人的一种类型，因其无需进行焊接轨道铺设，从 而极大提高了焊接效率，并节约了焊接成本。然而，无导轨焊接机器人不能利用导 轨进行焊接过程中的定向，必须配备跟踪系统进行导向。 本文在参照国内外无导轨焊接机器人视觉跟踪系统的基础上，针对我校重点实 验室研发的无导轨焊接机器人进行了视觉跟踪系统的设计。选取经济可靠的高性能 线阵CCD——TCD1206SUP为核心元件，焊缝图像由线阵CCD摄像系统摄取，通过 图像采集系统和计算机软件，对检测到的图像进行处理来准确地识别焊缝位置，计 算焊炬和实际焊缝之间的偏差，通过此偏差信号，控制器来控制执行系统运动进行 实时跟踪，从而有效地提高焊缝跟踪精度。 根据以上提出的焊缝路径轨迹线偏差检测算法，进行硬件系统电路的设计。整 个系统设计分为三个模块：CCD驱动模块的核心是一片复杂可编程逻辑器件 (CPLD)，对其进行VHDL编程，产生CCD的驱动脉冲及同步控制信号；CCD输出信 号经比较、放大等二值化处理后，输出二值化信号；光电信号处理系统将此二值化 信号进行信号处理及D/A转换，获得模拟量电压，即可获得焊缝偏差。 利用仿真软件对设计的视觉跟踪系统进行仿真，仿真结果表明所设计的无导轨 焊接机器人视觉跟踪系统可以有效识别焊缝位置，并给出偏差信号。 关键字：焊缝跟踪，线阵CCD，CPLD，saber软件仿真，MAX+PLUSII软件仿 真 I 无导轨焊接机器人视觉跟踪系统的设计与仿真 Abstract Welding robot without rail is one type of welding robots. Because it doesn’t need a welding rail, the welding efficiency is improved and the cost is saved. However, the rail free welding robot can not use the rail to orientate in the course of welding, but it must be allocated with the tracking system. In this paper, on the basis of referring to the seam-tracking system of the welding robot without rail home and abroad, the visual-tracking system is designed for the rail free welding robot developed by the priority laboratory in my school. In this design, the high-property CCD——TCD1206SUP is chosen as the main component. The welding position can be detected accurately by the vision sensor CCD (charge coupled device). By the system of image collection and computer-ware, the position of the welding line can be recognized exactly; the deviation can be counted between the moving track of torch and the welding line. Through the deviation signal the torch’s act can be controlled real-timely and the seam tracking accuracy is enhanced efficiently. According to the al