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Proceedings Paper

Linear CCD based novel visual sensor for intelligent spherical tank welding robot
Author(s): Zhenguo Sun; Junbo Wang; Qiang Chen; Lipei Jiang; Xiangdong Jiao; Long Xue
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Paper Abstract

In order to fulfill autonomous climbing and automatic weld seam tracking, a novel visual sensor has been developed for intelligent spherical tank welding robot. Composed of a high-resolution linear CCD, an optical system (including light source, filter, lenses and so on), and an all hardware photoelectrical signal processing circuit, the designed visual sensor could avoid the interference of the arc light during welding and provide the seam track signal precisely in real time. In this paper, the construction and working principle of the linear CCD based visual sensor have been illustrated, then principle of weld seam track detecting has been introduced thoroughly. Equipped with the visual sensor, the spherical tank welding robot could move along the weld seam autonomously, could align the welding torch with weld seam automatically. Therefore, the requirements of multi-layer, multi-pass welding process for spherical tank manufacturing have been met.

Paper Details

Date Published: 20 September 2002
PDF: 6 pages
Proc. SPIE 4927, Optical Design and Testing, (20 September 2002); doi: 10.1117/12.471679
Show Author Affiliations
Zhenguo Sun, Tsinghua Univ. (China)
Junbo Wang, Tsinghua Univ. (China)
Qiang Chen, Tsinghua Univ. (China)
Lipei Jiang, Beijing Institute of Petro-Chemical Technology (China)
Xiangdong Jiao, Beijing Institute of Petro-Chemical Technology (China)
Long Xue, Beijing Institute of Petro-Chemical Technology (China)


Published in SPIE Proceedings Vol. 4927:
Optical Design and Testing
Zhicheng Weng; Jose M. Sasian; Yongtian Wang, Editor(s)

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