梁潇, 李原, 梁自泽, 侯增广, 徐德, 谭民. 基于DSP的视觉传感器在焊接机器人上的应用[J]. 机器人, 2007, 29(5): 443-450.
引用本文: 梁潇, 李原, 梁自泽, 侯增广, 徐德, 谭民. 基于DSP的视觉传感器在焊接机器人上的应用[J]. 机器人, 2007, 29(5): 443-450.
LIANG Xiao, LI Yuan, LIANG Zi-ze, HOU Zeng-guang, XU De, TAN Min. DSP-Based Vision Sensor Applied to Welding Robots[J]. ROBOT, 2007, 29(5): 443-450.
Citation: LIANG Xiao, LI Yuan, LIANG Zi-ze, HOU Zeng-guang, XU De, TAN Min. DSP-Based Vision Sensor Applied to Welding Robots[J]. ROBOT, 2007, 29(5): 443-450.

基于DSP的视觉传感器在焊接机器人上的应用

DSP-Based Vision Sensor Applied to Welding Robots

  • 摘要: 设计并实现了一种基于DSP的视觉传感器.视觉传感器使用高速DSP微处理器采集图像,并在传感器内部执行图像处理算法;得到决策结果后直接输出给控制系统执行决策动作,从而避免了使用高带宽数据通讯通道传输大数据量的图像,提高了系统整体性能.开发的视觉传感器采用嵌入式微处理器和叠加式构架,具有体积小、实时性能好、可扩展性强等特点.同时,系统提供了常用的图像处理软件支持包,以支持二次开发.开发的视觉传感器在焊接机器人平台上的应用实验验证了其实际整体性能可以满足实际应用的需要.最后,对视觉传感器在机器人平台上的下一步应用进行了讨论.

     

    Abstract: Design and implementation of a DSP-based vision sensor are presented.The vision sensor uses high-speed DSP micro-processor to capture images,and carries out image processing algorithms locally.After making a decision,it directly transfers the result to the control system to execute the actions.Therefore,the need for high-bandwidth communication channels for transferring huge image data is avoided,and the performance of the system is then enhanced.Using embedded micor-processor and socket-based configuration,the developed vision sensor is characterized by compact size,great real-time performance and flexible expansibility.Software libraries for image processing are also supported for second-level development.The developed vision sensor is applied to the welding robot platform,and the experiment validates its practicability in real-world applications.Future work about using the vision sensor on robots is discussed at the end of this paper.

     

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