A Study Of Control System Of Omnidirectional Mobile Robot With Ultrasonic Cavitation

With the acceleration of modern industrialization,more and more industries are adopting welded components.Thus,the safety of welded components is required with higher demand.In recent years,research on the application of ultrasonic waves in materials and metallurgy is the mainstream.It is highlight that imposing ultrasonic wave in the welding pool to improve the welding quality.This study processing method of combining vision tracking robots with ultrasonic technique to introduce in the field of welding,to be more specific,a control system of omnidirectional ultrasonic cavitation mobile robot is designed that the robot is allowed to walk with the welding through the visual feedback during the welding process.In this way,the ultrasonic waves keep acting on the welding pool,and the weld microstructure becomes more compact after the condensation.Therefore,the welding line quality can be improved effectively.This research discusses the functional demand and the operation control system plan of the robot and designs a project that using PC+GTS-800 series of movement control board as the core of the control to manipulate four Mecanum wheels independently,as a result,a hardware platform of omnidirectional moving mechanism can be established.Moreover,the project based on Visual Studio 2015 platform,and C++ languages to the system software designing are put forward,in terms of movement control,vision measurement,humanmachine interface,telecommunication and others.In order to realise the seam image noise reduction and compress a region of interest(ROI),it is essential to exploit machine vision,using the way of graying the image,median filter and other methods through OpenCV.Besides,HAAR cascade trainers are introduced to identify the classifier of the solder joints and locate the center coordinates of each solder joint.Further,a kinematics model of an omnidirectional mobile robot is designed,which is based on the inversion theory to draw up the tracking algorithm of the solder joints.Following that,in order to realize the control goal of robot walking with the welding,it is necessary to use the center coordinates of the solder joint with the camera pixel center point deviation as a control input and take advantage of position visual servo control principal.Finally,a sample machine is made,and the experimental verification is developed.Specifically,the walking stability of the robot,the robot recognition,and the effectiveness of the solder joint tracking are tested.The experiment result shows that a control system of omnidirectional ultrasonic cavitation mobile robot is able to walk with the solder joints in the process of welding,meanwhile,the ultrasonic device is running stable,and ultrasonic waves keep working around the solder joints.Accordingly,the solidification property of the welding pool is improved.