CN104057202B - Based on the autonomous welding system of remote monitoring mobile robot and the method for FPGA - Google Patents

Based on the autonomous welding system of remote monitoring mobile robot and the method for FPGA Download PDF

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Publication number
CN104057202B
CN104057202B CN201410331179.9A CN201410331179A CN104057202B CN 104057202 B CN104057202 B CN 104057202B CN 201410331179 A CN201410331179 A CN 201410331179A CN 104057202 B CN104057202 B CN 104057202B
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welding
welding gun
image
laser
remote
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CN201410331179.9A
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CN104057202A (en
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石永华
俞国庆
龚成
石弟军
梁斌
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华南理工大学
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00Working by laser beam, e.g. welding, cutting or boring
    • B23K26/02Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00Working by laser beam, e.g. welding, cutting or boring
    • B23K26/70Auxiliary operations or equipment
    • B23K26/702Auxiliary equipment

Abstract

The invention discloses a kind of autonomous welding system of remote monitoring mobile robot based on FPGA, described system comprises: welding robot, Detecting Welding Seam sensing system, switch board and the remote operation controller based on FPGA; Described welding robot, for clamping welding gun and carrying sensing system, and drives welding gun in the motion of X, Y and Z three-dimensional; Detecting Welding Seam sensing system, sends to remote operation controller by the position signalling of described Z-direction, broken line laser image and welding scene video; Remote operation controller, welding parameter value is set, display remote welding scene video, calculate welding gun in the Y direction with Z-direction required for the distance of moving, and sending pulse and direction signal to switch board, Butt welding gun automatically adjusts with the position of Z-direction in the Y direction; Switch board, for the rotation of control step motor, and then regulate welding gun in the Y direction with the position of Z-direction.

Description

Based on the autonomous welding system of remote monitoring mobile robot and the method for FPGA

Technical field

Patent of the present invention belongs to welding jig field, particularly relates to a kind of autonomous welding system of remote monitoring mobile robot based on FPGA and method.

Background technology

Along with the development of solder technology and the shortage of welding skilled worker, the application of welding robot is more and more extensive, but existing fixed six degree of freedom welding robot all following shortcoming and defect of ubiquity:

1. the volume of welding robot is too large, is not easy to flexible movement, can only in fixing place operation.Need larger working space during welding robot operation, be difficult in narrow space operation;

2. fixed welding robot stroke is limited, and for the long weld seam of large component, as ship closure mouth weld seam, it cannot once be soldered whole weld seam, segmentation can only weld, affects welding quality and efficiency;

3. existing welding robot is according to the fixation locus welding of programming in advance or teaching is good, but the position of each work pieces process and assembling has difference, if then a teaching all can produce the deviation of welding position according to Antiinterference given in advance, if each workpiece carries out teaching, workload is very large;

4. sometimes special weld seam, welding robot cannot regulate in real time, just need manual hand manipulation robot, but existing robot operationally can not the image of long-range display welding scene, workman closely must visually observe weld seam, very inconvenient, and strong arc light also can produce injury to human body.

5. robot cost is too high, and the price of a robot at least tens ten thousand yuan, increases the cost of the manufacturing.

Therefore, the autonomous welding robot of exploitation creeping-type, realizes long-distance video display and the robot remote control operation of welding scene, and in welding process, the autonomous welding torch position of adjustment is in real time to adapt to the error with compensating part processing and assembling, do not need to weld front teaching, there is very large using value work.

Summary of the invention

Based on the autonomous welding system of remote monitoring mobile robot of FPGA, it is characterized in that, described system comprises: welding robot, Detecting Welding Seam sensing system, switch board and the remote operation controller based on FPGA; Described

Welding robot, for clamping welding gun and carrying sensing system, and drives welding gun in the motion of X, Y and Z three-dimensional;

Detecting Welding Seam sensing system, sends to remote operation controller by the position signalling of described Z-direction, broken line laser image and welding scene video;

Remote operation controller, welding parameter value is set, display remote welding scene video, calculate welding gun in the Y direction with Z-direction required for the distance of moving, and sending pulse and direction signal to switch board, Butt welding gun automatically adjusts with the position of Z-direction in the Y direction;

Switch board, for the rotation of control step motor, and then regulate welding gun in the Y direction with the position of Z-direction.

Based on the autonomous welding method of remote monitoring mobile robot of FPGA, comprising:

Measure welding gun end and weld seam distance in z-direction, the laser that laser range sensor sends runs into weld seam back reflection, and distance measuring sensor record transmits and receives the time difference of reflects laser;

The signal of laser ranging signal acquisition module to laser range sensor in remote operation controller gathers, and be converted into welding gun end and weld seam actual distance value in z-direction through distance measuring signal data processing module, the Z-direction reference range of setting before this distance value and welding is made comparisons, by timing sampling interpolation algorithm, calculate welding gun needs motion Distance geometry direction in Z-direction;

Send pulse and direction signal, and according to described Signal Regulation welding gun in the position of Z-direction.

Or

Shooting laser and weld groove image, carry out pretreatment to described image; By the flex point of pretreated image zooming-out laser rays, obtain Weld pipe mill point position, and calculate welding gun and weld seam distance in the Y direction;

The welding gun of setting before this distance value and welding and weld seam reference range are in the Y direction made comparisons, by timing sampling interpolation algorithm, calculates the Distance geometry direction that welding gun needs to move in the Y direction;

And send pulse and direction signal to switch board, regulate welding gun position in the Y direction; Carry out weld joint tracking, realize independently welding.

Compared with prior art, one or more embodiment of the present invention can have the following advantages by tool:

The positional information that remote operation controller detects according to Detecting Welding Seam sensing system, calculate the difference that welding gun departs from weld seam, and by timing sampling interpolation algorithm, correct the welding route of robot, welding gun is made to aim at Weld pipe mill in the Y direction, the distance of welding gun end and weld seam remains steady state value in z-direction, thus carries out weld joint tracking, realizes independently welding.Welding scene video can be presented on the image display panel of remote operation controller simultaneously in real time, is convenient to welding personnel according to welding scene video remote manual adjustment robot motion, realizes the real-time adjustment of welding position.

Accompanying drawing explanation

Fig. 1 is based on the portable autonomous welding robot system structure chart of remote monitoring of FPGA;

Fig. 2 welding robot mechanical schematic diagram;

Fig. 3 Detecting Welding Seam sensor system assemblies figure;

Fig. 4 linear array laser Shu Zuowei high light secondary light source strengthens Weld pipe mill point patterns schematic diagram;

The actual effect figure of Fig. 5 linear array laser Shu Zuowei high light secondary light source;

Fig. 6 weld image pretreatment process figure;

Fig. 7 remote operation controller systematic schematic diagram;

Fig. 8 timing sampling interpolation algorithm flow chart.

Detailed description of the invention

Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail.

As shown in Figure 1, be the portable autonomous welding robot system structure of remote monitoring based on FPGA, this structure comprises:

This system comprises: welding robot, Detecting Welding Seam sensing system, switch board 1 and the remote operation controller 2 based on FPGA; Described

Welding robot, for clamping welding gun and carrying sensing system, and drives welding gun in the motion of X, Y and Z three-dimensional;

Detecting Welding Seam sensing system, sends to remote operation controller 2 by the positional information of described Z-direction, broken line laser image and welding scene video;

Remote operation controller, the positional information of described Z-direction is changed into welding gun and the weld seam distance value in Z-direction, butt welded seam image processes, and extract Weld pipe mill point, obtain welding gun and weld seam distance value in the Y direction, by described distance value with weld before the stand-off distance values that sets make comparisons, and pass through interpolation algorithm, calculate welding gun in the Y direction with Z-direction required for the distance of moving, and sending pulse and direction signal to switch board 1, Butt welding gun 14 automatically adjusts with the position of Z-direction in the Y direction;

Switch board, for the rotation of Driving Stepping Motor, and then regulate welding gun in the Y direction with the position of Z-direction.

As shown in Figure 3, described Detecting Welding Seam sensing system comprises CCD camera 12, linear array diode laser 11 and laser range sensor 13;

Described laser range sensor 13, during for detecting welding, welding gun is in the position of Z-direction, and the height value of the Z-direction of welding gun is sent to remote operation controller by serial ports;

Linear array diode laser, for presenting a turning at weld groove place;

At the camera lens place of CCD camera, bandpass optical filter being installed, for filtering arc light, shooting broken line laser welded seam image and welding scene video, and image and video being sent to remote operation controller.

As shown in Figure 2, above-mentioned robotic's body comprises car body 10, robot X-direction direct current generator 9, welding gun fixture 3, fixed head 4, Z-direction slide unit 6, Z-direction stepper motor 7, Y-direction slide unit 5 and Y-direction stepper motor 8.

Above-mentioned switch board comprises brushless direct current motor driver, at least two stepper motor drivers and 24V DC power supply.

Above-mentioned remote operation controller comprises laser ranging signal acquisition module, image capture module, image pre-processing module, Weld pipe mill point extraction module, sampling interpolation module, video encoding module and display screen interface module;

Described laser ranging signal acquisition module gathers the signal value of the output of laser range sensor, and this signal value is converted to welding gun and the weld seam distance value in Z-direction;

Image capture module, for gathering image captured by CCD camera and video;

Image pre-processing module, for carrying out piecewise linear transform, medium filtering, binaryzation and Hough change to the image of shooting;

Weld pipe mill point extraction module, for extracting the position coordinates of Weld pipe mill point, and obtains welding gun and weld seam distance value in the Y direction;

Sampling interpolation module, for carrying out the interpolation of Y-direction and Z-direction;

Video encoding module, for forming video flowing by the image after process;

Display screen interface module, for being shown to the display screen of remote operation controller by described video flowing.

The present embodiment additionally provides a kind of autonomous welding method of remote monitoring mobile robot based on FPGA, and the method comprises:

Remote operation controller arranges the welding parameters such as the speed of welding of robot, welding direction, after starting welding, remote operation controller then sends PWM ripple to the brushless direct current motor driver in robot control cabinet, X-direction direct current generator is driven to rotate, thus robot is walked along bead direction, there is provided speed of welding, welding machine starts simultaneously, starts welding.

Measure welding gun end and the weld seam positional information in Z-direction, and this range data is sent to laser ranging signal acquisition module and data processing module and obtains welding gun end and the weld seam distance value in Z-direction;

By described distance value with weld before the reference range that set make comparisons, and by interpolation algorithm, calculate the Distance geometry direction that Z-direction needs to move;

Send pulse and direction signal, and according to described Signal Regulation welding gun in the position of welding direction;

Or

Shooting laser and weld groove image, carry out pretreatment to described image; By the flex point of pretreated image zooming-out laser rays, obtain Weld pipe mill point and welding gun position in the Y direction;

Analyze the position coordinates of welding gun in Y and Z-direction, by timing sampling interpolation algorithm, control motor driver, carry out weld joint tracking, realization is independently welded.

Welding position Cleaning Principle and the motion motion process of Z-direction are as follows:

The welding position of Z-direction is detected and is employed laser range sensor.Laser range sensor measures the positional information of welding gun end from weldment Z-direction, and be sent to remote operation controller by RS232 serial ports, the laser ranging signal acquisition module (comprise serial ports decoder module and data coding module) of remote operation controller through FPGA inside and data processing module obtain welding gun and the weld seam distance value in Z-direction, by its with weld before the reference range that sets make comparisons, by timing sampling interpolation algorithm, calculate welding gun the needs motion Distance geometry direction of motion in Z-direction, and send pulse and direction signal to the stepper motor driver in switch board, control Z-direction stepper motor to rotate, Z-direction stepper motor is connected by the screw mandrel of shaft coupling with Z-direction slide unit, welding gun is connected with Z-direction slide unit with fixed head by welding gun fixture, by the lead screw guide rails mechanism driving of Z-direction slide unit inside, real-time adjustment welding gun is in the position of Z-direction, welding gun and weld seam is made to remain constant in the distance of Z-direction, thus the system that achieves is in the weld joint tracking of Z-direction and autonomous welding.

Welding position Cleaning Principle and the motion motion process of Y-direction are as follows:

The welding position of Y-direction is detected and is employed CCD camera.In welding process, arc light is very strong, can only see the electric arc of white, and weld seam is masked, and how to avoid the interference of arc light to CCD camera imaging to be a difficult problem in the image of shooting.The interference of arc light is eliminated by a kind of method that the welding robot system invented have employed high light secondary light source, adopt a kind of laser instrument of linear array as secondary light source, linear laser line being projected welding arc front is about on the weld groove at 10mm place, and make laser rays perpendicular to weld seam, owing to there is the impact of bevel for welding, laser rays there will be a turning, and such CCD camera just can capture a broken line laser image with turning, as Fig. 4,5.Before CCD camera, filter system is housed, this filter system is bandpass optical filter, the light in the wavelength range centered by optical maser wavelength can only be allowed to pass through, and the arc light not in this wave-length coverage is by filtering, LASER Light Source is better than arc light in this wave-length coverage, the reflection ray of this secondary light source so just can be made to be photographed by CCD camera, CCD camera can be made to photograph laser and weld groove image clearly simultaneously.

Image semantic classification: image makes laser image more clear through piece-wise linear conversion and medium filtering.Then use binary conversion treatment that image is carried out intensity slicing, after being convenient to, can characteristic image be extracted.Hough transform is finally used to extract the center of laser rays flex point, as Fig. 6.

Pretreated image carries out Inflexion extracting to it, obtains Weld pipe mill point position, have employed slope ratio compared with method.Use geometric ratio arrangement to choose slope calculating and get average again, therefore interval 2, the slope of 4,8 row calculated line, and slope is compared.Suppose that the laser rays center position coordinates on image n-th pixel line is g (n), slope computing formula is:

k ( n ) = ( | g ( n - 1 ) - g ( n + 1 ) 2 | + | g ( n - 2 ) - g ( n + 2 ) 4 | + | g ( n - 4 ) - g ( n + 4 ) 8 | ) / 3 - - - ( 1 )

Wherein n >=5, i.e. slope calculations from the 5th row.

The slope of the adjacent laser rays point of every a line is compared, if find slope difference too large (exceeding 50% of self slope), then this point is defined as the flex point of laser rays.Judge that the criterion of flex point is as follows according to slope:

According to the shape of laser rays, there will be three flex points.If flex point is followed successively by (x 1, g (x 1)), (x 2, g (x 2)), (x 3, g (x 3)) and x 1<x 2<x 3, so the center point coordinate of weld seam is ((x 1+ x 3)/2, (g (x 1+ x 3)/2).Because weld seam position in the Y direction only need be calculated, so by weld seam (g (x 1+ x 3)/2 as weld seam position coordinates in the Y direction, then to deduct when welding gun and camera are installed distance in the Y direction, just obtain welding gun and weld seam distance in the Y direction, send it to remote operation controller.

By timing sampling interpolation algorithm, according to the size of welding gun and weld seam distance offsets in the Y direction and positive and negative, calculate the Distance geometry direction of motion that welding gun needs to move in the Y direction; And send pulse to the stepper motor driver in switch board, control Y-direction stepper motor to rotate, Y-direction stepper motor is connected with Y-direction slide unit, Y-direction slide unit is connected by cross with Z-direction slide unit, by the lead screw guide rails mechanism driving of Y-direction slide unit inside, in real time from main regulation welding gun position in the Y direction, make welding gun aim at the center of weld seam in the Y direction all the time, thus achieve system weld joint tracking in the Y direction and autonomous welding.

The broken line laser image of CCD camera collection and welding scene video are shown on the display screen in remote operation controller by remote operation controller, be supplied to welder's remote reviewing welding situation, the position deviation situation of the bevel for welding that robot can also show according to image on display screen in welding process and welding gun, the motion of Non-follow control machine people, thus the position of adjustment welding gun.

Remote operation controller system principle is as follows:

As shown in Figure 7, laser ranging signal acquisition module gathers the signal value of laser range sensor, this numerical value need convert real distance value to, then obtains welding gun and weld seam in the actual distance value of Z-direction through data processing module, finally sends to sampling interpolation module to carry out the motion interpolation of Z-direction.

Image capture module gathers the image captured by CCD, in the form of frames in temporary SDRAM, through follow-up image pre-processing module (piecewise linear transform, medium filtering, binaryzation, Hough transform), Weld pipe mill point extraction module, calculate the coordinate of Weld pipe mill point, obtain weld seam position coordinates in the Y direction, finally send to sampling interpolation module to carry out the motion interpolation of Y-direction.

Through pretreated image, through video encoding module, form video flowing, then be shown on the display screen of remote operation controller by video interface.

Because remote operation controller is based on FPGA design, data operation, motion control, image procossing and image display is integrated in one, the cost of native system can be greatly reduced.FPGA has parallel processing capability at a high speed, so the display of the identification of the IMAQ of CCD camera, image procossing, pad, laser range sensor collection signal, the data processing of signal, the calculating of sampling interpolation and the INTERPOLATION CONTROL OF PULSE of Y-direction stepper motor, the INTERPOLATION CONTROL OF PULSE of Z-direction stepper motor and welding image is all executed in parallel, the execution efficiency that can not influence each other each other, thus the real-time that can ensure system.

Timing sampling interpolation realize principle:

The autonomous tracking of Y and Z axis uses timing sampling interpolation algorithm.For Z-direction, the sampling interpolation cycle is T, and the real-time distance value of laser range sensor collection is d z, the reference range of setting is d zn, the interpolation rate of Z-direction is V z, the pitch of leading screw slide unit is L z, stepper motor step angle is θ z, then the stepper motor umber of pulse n that interpolation needs within a sampling period zfor:

n z = 360 &times; | d z - d zn | &theta; z L z - - - ( 3 )

Namely at an interpolation cycle T, n is sent to stepper motor zindividual pulse, just completes an interpolation, and its sampling interpolation algorithm flow is concrete as shown in Figure 8.

Although the embodiment disclosed by the present invention is as above, the embodiment that described content just adopts for the ease of understanding the present invention, and be not used to limit the present invention.Technical staff in any the technical field of the invention; under the prerequisite not departing from the spirit and scope disclosed by the present invention; any amendment and change can be done what implement in form and in details; but scope of patent protection of the present invention, the scope that still must define with appending claims is as the criterion.

Claims (6)

1. based on the autonomous welding system of remote monitoring mobile robot of FPGA, it is characterized in that, described system comprises: welding robot, Detecting Welding Seam sensing system, switch board and the remote operation controller based on FPGA; Described
Welding robot, for clamping welding gun and carrying sensing system, and drives welding gun in the motion of X, Y and Z three-dimensional;
Detecting Welding Seam sensing system, sends to remote operation controller by the position signalling of described Z-direction, broken line laser image and welding scene video;
Remote operation controller, the positional information of described Z-direction is changed into welding gun and the weld seam distance value in Z-direction, butt welded seam image processes, and extract Weld pipe mill point, obtain welding gun and weld seam distance value in the Y direction, by described distance value with weld before the stand-off distance values that sets make comparisons, and pass through interpolation algorithm, calculate welding gun in the Y direction with Z-direction required for the distance of moving, and sending pulse and direction signal to switch board, Butt welding gun automatically adjusts with the position of Z-direction in the Y direction;
Switch board, for the rotation of control step motor, and then regulate welding gun in the Y direction with the position of Z-direction;
Butt welded seam image procossing and weld seam flex point recognizer comprise:
Pretreated image carries out Inflexion extracting to it, obtains Weld pipe mill point position, have employed slope ratio compared with method, use geometric ratio arrangement to choose slope and calculate and get average again, the therefore slope of interval 2,4,8 row calculated line, and slope to be compared; Suppose that the laser rays center position coordinates on image n-th pixel line is g (n), slope computing formula is:
Wherein n >=5, i.e. slope calculations from the 5th row;
The slope of the adjacent laser rays point of every a line is compared, if find that namely slope difference exceedes 50% of self slope too greatly, then this point is defined as the flex point of laser rays; Judge that the criterion of flex point is as follows according to slope:
According to the shape of laser rays, there will be three flex points; If flex point is followed successively by (x 1, g (x 1)), (x 2, g (x 2)), (x 3, g (x 3)) and x 1<x 2<x 3, so the center point coordinate of weld seam is ((x 1+ x 3)/2, (g (x 1+ x 3)/2); Because weld seam position in the Y direction only need be calculated, so by weld seam (g (x 1+ x 3)/2 as weld seam position coordinates in the Y direction, then to deduct when welding gun and camera are installed distance in the Y direction, just obtain welding gun and weld seam distance in the Y direction, send it to remote operation controller.
2. the described autonomous welding system of remote monitoring mobile robot based on FPGA according to claim 1, is characterized in that: described Detecting Welding Seam sensing system comprises laser range sensor, linear array diode laser and CCD camera;
Described laser range sensor, during for detecting welding, welding gun and weld seam are in the positional information of Z-direction, and the positional information of the Z-direction of welding gun and weld seam is sent to remote operation controller by serial ports;
Linear array diode laser, for linear laser beam is projected weld groove, and makes laser rays perpendicular to weld seam, forms the broken line laser graphics with turning;
CCD camera, camera lens place is provided with bandpass optical filter, for taking broken line laser welded seam image and welding scene video, and image and video is sent to remote operation controller.
3. the autonomous welding system of remote monitoring mobile robot based on FPGA according to claim 1, is characterized in that: described welding robot comprises car body, robot X-direction direct current generator, welding gun fixture, fixed head, Z-direction slide unit, Z-direction stepper motor, Y-direction slide unit and Y-direction stepper motor.
4. the autonomous welding system of remote monitoring mobile robot based on FPGA according to claim 1, is characterized in that: described switch board comprises brushless direct current motor driver, at least two stepper motor drivers and 24V DC power supply.
5. the autonomous welding system of remote monitoring mobile robot based on FPGA according to claim 1, is characterized in that: described remote operation controller comprises laser ranging signal acquisition module, image capture module, image pre-processing module, Weld pipe mill point extraction module, sampling interpolation module, video encoding module and display screen interface module;
Described laser ranging signal acquisition module, gathers the signal value of output of laser range sensor, and this signal value is converted to welding gun and the weld seam distance value in Z-direction;
Image capture module, for gathering image captured by CCD camera and video;
Image pre-processing module, for carrying out piecewise linear transform, medium filtering, binaryzation and Hough change to the image of shooting;
Weld pipe mill point extraction module, for extracting the position coordinates of Weld pipe mill point, and obtains welding gun and weld seam distance value in the Y direction;
Sampling interpolation module, for carrying out the interpolation of Y-direction and Z-direction;
Video encoding module, for forming video flowing by the image after process;
Display screen interface module, for being shown to the display screen of remote operation controller by described video flowing.
6., based on the autonomous welding method of remote monitoring mobile robot of FPGA, it is characterized in that, described method comprises:
Measure welding gun end and weld seam distance in z-direction, the laser that laser range sensor sends runs into weld seam back reflection, and distance measuring sensor record transmits and receives the time difference of reflects laser;
The signal of laser ranging signal acquisition module to laser range sensor in remote operation controller gathers, and be converted into welding gun end and weld seam actual distance value in z-direction through distance measuring signal data processing module, the Z-direction reference range of setting before this distance value and welding is made comparisons, by timing sampling interpolation algorithm, calculate welding gun needs motion Distance geometry direction in Z-direction;
Send pulse and direction signal, and according to described Signal Regulation welding gun in the position of Z-direction;
Or
Shooting laser and weld groove image, carry out pretreatment to described image; By the flex point of pretreated image zooming-out laser rays, obtain Weld pipe mill point position, and calculate welding gun and weld seam distance in the Y direction;
The welding gun of setting before this distance value and welding and weld seam reference range are in the Y direction made comparisons, by timing sampling interpolation algorithm, calculates the Distance geometry direction that welding gun needs to move in the Y direction;
And send pulse and direction signal to switch board, regulate welding gun position in the Y direction; Carry out weld joint tracking, realize independently welding;
While the autonomous welding of realization, remote operation controller, by pretreated image, through Video coding, is shown on image display panel.
CN201410331179.9A 2014-07-11 2014-07-11 Based on the autonomous welding system of remote monitoring mobile robot and the method for FPGA CN104057202B (en)

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