焊接機(jī)器人視覺感知及智能化焊接關(guān)鍵技術(shù)研究進(jìn)展

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Progress and trends towards visual perception technologies in intelligent robotic welding

CHEN Huabin，XIAO Runquan，CHEN Shanben （School of Materials Science and Engineering，Shanghai Jiao Tong University，Shanghai 2OO24O，China）

Abstract： Intellgent welding is important in promoting the " industrial base strengthening"project，supporting national construction and defense security. From major equipment to fine structures，welding is an indispensable key technology.Asan important carrier of intellgent welding，robots will play an important role in promoting " replacing people with machinesand liberating people with machines." Starting from the key technical perspectives of scene modeling of the entire welding manufacturing process，in-situ perception of welding process shape， adaptive regulation，and process knowledge construction， this paper focuses on the research status of common technologies such as " teaching-free" programming environment perception，point cloud registration，weld trajectory planning，and weld adaptive arrangement of welding robots.Then，taking the multi-source information monitoring and control system of the intellgent welding manufacturing process as an example，a hierarchical structure model of a welding manufacturing system based on IOT-MAS is proposed，and common scientific problems such aswelding multimodal information perception，fusion，and processknowledge modeling are introduced.In addition，the paper introduces a typical case of online learning of on-site perception data of engineering machinery parts welding and a welding quality evaluation model driven by a model-data dual drive.In conclusion，we explore the current trends and obstacles in advancing intelligent robot welding.

Key words： welding robot； intelligent welding; visual sensor; weld seam tracking；welding quality

0 前言

美國(guó)、德國(guó)、日本等發(fā)達(dá)國(guó)家紛紛實(shí)施“再工業(yè)化”和“制造回歸戰(zhàn)略”，力圖搶占高端制造市場(chǎng)，國(guó)內(nèi)制造業(yè)面臨創(chuàng)新升級(jí)和智能化轉(zhuǎn)型的迫切需求[1]。（剩余10969字）