Study on the auto-searching line mobile robot for cutting steel plate based on CCD vision

An autonomous mobile robot for cutting steel is developed with the function of auto-searching line. The proposed auto-searching line mobile cutting robot adopts flexible magnetic-wheel different structure and utilizes CCD vision sensors to get the two-dimension deviation information of cutting trajectory. Altera Niso II embedded processor, Cyclone III EP3C55, is used as the core controller of system that realizes the coordinate action of space multi-degree of freedom. While cutting, the motion control system let robot track cutting roughly in a certain range and the cross adjusting slider is used to realize the accurate tracking in real time. The experimental results show that the designed robot can search the cutting trajectory autonomously and adjust pose, the cutting precision can meet the requirements of actual cutting engineering.