【摘要】 针对三峡水轮机叶片坑内移动式修焊机器人的作业过程测控问题,研制了一种基于双数字信号处理器的嵌入式视觉反馈控制系统。采用功能单元模块化设计思想和叠层积木式装配结构,该系统将基于TMS320DM642的图像采集与处理、基于TMS320LF2812的运动控制与参数调整、数字视频输入、模拟视频输入、模拟视频输出、数字视频输出、电源变换等功能模块集成在170 mm×57 mm×40 mm的空间尺寸内。该系统可以安装在移动式修复机器人上、脱离工控机独立工作,适用于MIG、TIG、CO2等多种焊接工艺方法的过程监控、焊缝跟踪和焊缝成形实时控制。更多还原

【Abstract】 A dual digital signal processor(DSP) visual feedback control system was developed for controlling mobile welding robots for on-site repairs of the turbine blades in the Three Gorges Power Station.The modulated design of each functional unit and the cascade assembly structure gives a compact 170 mm×57 mm×40 mm unit with image grabbing and processing by a TMS320DM642,motion control and parameter regulation by a TMS320LF2812,and integrated digital and analog video inputs, and outputs and the power source.Therefore,the mobile welding robot can work independently of the IPC for process monitoring,seam tracing and weld formation controll during MIG(metal inertia gas),TIG(Tungsten inertia gas) and CO2 welding.更多还原