一种用于球罐焊接机器人焊缝实时跟踪的线阵CCD传感器

A Linear CCD Sensor Applied in Real-time Weld Seam Tracking for Spherical Tank Welding Robot

根据球罐焊接机器人焊缝跟踪的要求和特点 ,设计了一种基于线阵CCD的视觉传感器。传感器所用线阵CCD的分辨率高 ,光电处理系统均由硬件实现。传感器与焊接机器人组成的焊缝跟踪系统焊缝偏差检测精度高、实时性好 ,并且可以避免焊接时弧光的干扰 。

As the requirement and characteristics existing in weld seam tracking for spherical tank welding robot as concerned, a visual sensor based on linear CCD has been developed. The linear CCD applied has high resolution and the processing units of the sensor have been realized by hardware. The weld seam tracking system, which comprises the visual sensor and welding robot, can trace the weld seam with high tracking precision in real time and can avoid the interference of the arc light.