This research is dedicated to develop a safety measurement for human-machine cooperative system, in which the machine region and the human region cannot be separated due to the overlap and the movement both from human...This research is dedicated to develop a safety measurement for human-machine cooperative system, in which the machine region and the human region cannot be separated due to the overlap and the movement both from human and from machines. Our proposal here is to automatically monitor the moving objects by image sensing/recognition method, such that the machine system can get enough information about the environment situation and about the production progress at any time, and therefore the machines can accordingly take some corresponding actions automatically to avoid hazard. For this purpose, two types of monitor systems are proposed. The first type is based on the omni directional vision sensor, and the second is based on the stereo vision sensor. Each type may be used alone or together with another type, depending on the safety system's requirements and the specific situation of the manufacture field to be monitored. In this paper, the description about these two types are given, and as for the special application of these image sensors into safety control, the construction of a hierarchy safety system is proposed.展开更多
采用新型互补金属氧化物半导体(Complementary metal oxide semiconductor,CMOS)视觉传感器对弧焊机器人熔化及气体保护焊(Gas metal arc welding,GMAW)熔池图像的提取技术进行研究,通过对CMOS视觉传感器的硬件电路改造,实现GMAW熔池图...采用新型互补金属氧化物半导体(Complementary metal oxide semiconductor,CMOS)视觉传感器对弧焊机器人熔化及气体保护焊(Gas metal arc welding,GMAW)熔池图像的提取技术进行研究,通过对CMOS视觉传感器的硬件电路改造,实现GMAW熔池图像的自适应采集。首先对触发电路进行改造,实现熔池图像高速采集的可控化。对GMAW脉冲焊不同时刻采集的熔池图像进行比较,定性得到最佳的采集时刻。对硬件控制电路进行改进,实现熔池图像曝光量的可控化。研究GMAW在送丝速度协同控制模式下,不同送丝速度与曝光量的定量关系。通过对硬件控制电路进行改进,实现熔池图像灰度压缩的可控化。比较CMOS视觉传感器工作在不同模式下对GMAW脉冲和短路焊时采集的熔池图像,得出CMOS视觉传感器工作在线性—对数模式下能更好地适应GMAW熔池图像采集。最后综合运用以上3种技术对GMAW脉冲焊和短路焊的熔池图像进行试验,均获得了清晰的熔池图像,为下一步熔池图像处理和焊接质量控制打下了基础。展开更多
文摘This research is dedicated to develop a safety measurement for human-machine cooperative system, in which the machine region and the human region cannot be separated due to the overlap and the movement both from human and from machines. Our proposal here is to automatically monitor the moving objects by image sensing/recognition method, such that the machine system can get enough information about the environment situation and about the production progress at any time, and therefore the machines can accordingly take some corresponding actions automatically to avoid hazard. For this purpose, two types of monitor systems are proposed. The first type is based on the omni directional vision sensor, and the second is based on the stereo vision sensor. Each type may be used alone or together with another type, depending on the safety system's requirements and the specific situation of the manufacture field to be monitored. In this paper, the description about these two types are given, and as for the special application of these image sensors into safety control, the construction of a hierarchy safety system is proposed.
文摘采用新型互补金属氧化物半导体(Complementary metal oxide semiconductor,CMOS)视觉传感器对弧焊机器人熔化及气体保护焊(Gas metal arc welding,GMAW)熔池图像的提取技术进行研究,通过对CMOS视觉传感器的硬件电路改造,实现GMAW熔池图像的自适应采集。首先对触发电路进行改造,实现熔池图像高速采集的可控化。对GMAW脉冲焊不同时刻采集的熔池图像进行比较,定性得到最佳的采集时刻。对硬件控制电路进行改进,实现熔池图像曝光量的可控化。研究GMAW在送丝速度协同控制模式下,不同送丝速度与曝光量的定量关系。通过对硬件控制电路进行改进,实现熔池图像灰度压缩的可控化。比较CMOS视觉传感器工作在不同模式下对GMAW脉冲和短路焊时采集的熔池图像,得出CMOS视觉传感器工作在线性—对数模式下能更好地适应GMAW熔池图像采集。最后综合运用以上3种技术对GMAW脉冲焊和短路焊的熔池图像进行试验,均获得了清晰的熔池图像,为下一步熔池图像处理和焊接质量控制打下了基础。
