Study On The Key Technologies For Robot Real-time Guide System Sensors

With the rapid development of the mechanical manufacturing, welding technology has been toward automation, flexible, intelligent trend. Welding robot as a kind of important application of the industrial robot, was more and more widely applied in the field of automobile manufacturing, especially played an important role in the mass production and high efficiency production and product quality consistency. Due to the current path and parameters of welding robot set in advance based on the actual situation, cannot be self-correcting according to changes in the external information, it is difficult to ensure the welding strength and precision. In this paper, visual guide technology is applied to the welding robot, through visual sensor to measure station space position feedback to the robot, which makes welding robot real-time adjusting posture, to ensure the welding strength and precision. This paper analyzed the current development situation of welding technology and visual guidance technology at home and abroad, and carried on the corresponding research on measuring sensor and the center stripe extraction algorithm.This paper analyzed the development and current situation about the welding technology of industrial robots and vision sensor. The main work includes:1. Based on visual guiding function and parameters of welding robot system requirements, completed the sensor design.2. Completed the visual measurement hardware platform design. Compared a variety of hardware platform, complete with S3C6410 for embedded processors, tvp5150 for video decoding chip, DM9000 A for Ethernet control chip, the three most as the main body of the hardware circuit design.3. Under the Linux operating system, completed the kernel, system transplantation, image acquisition module driver modification and application design.4. Analyzed and compared various stripe extraction algorithm, put forward the optimization Steger rapid extraction method of laser stripe center. 5. Set up the experimental platform, to Design and complete the related experiments. Experiments show that real-time guide robot vision measuring system has high precision and high real time capability.