基于DSP的视觉传感器的开发及其在焊缝自动跟踪机器人上的应用

近年来视觉传感器在工业自动化和机器人导航领域得到越来越多的应用。本文提出了一种基于DSP微处理器的视觉传感器的设计与实现。视觉传感器采集环境图像并在DSP内核处理器执行图像处理算法，得到决策结果后直接输出给控制系统执行，从而避免了传输大量图像数据所需要的高带宽通讯通道的使用。开发的视觉传感器具有体积小、实时性能好、可扩展性强等特点，并且提供了常用的图像处理软件支持包。文中对系统的软件和硬件开发进行了详细阐述，最后在焊缝自动跟踪平台上的应用验证了传感器的实际整体性能可满足实际应用的需要。关于视觉传感器的下一步工作在最后进行了讨论。

DSP-Based Vision Sensor Applied to Welding Robots

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.