基于机器视觉的机器人多层多道焊路径规划应用研究现状  

Research Status of Robot Multi-layer and Multi-pass Welding Path Planning Application based on Machine Vision

作　　者：刘新宇 马晓阳 王任甫 王杏华 孙磊 程彬 贺智涛 LIU Xinyu;MA Xiaoyang;WANG Renfu;WANG Xinghua;SUN Lei;CHENG Bin;HE Zhitao(Luoyang Ship Material Research Institute,China State Shipbuilding Co.,Ltd.,Luoyang 471023,Henan,China)

机构地区：[1]中国船舶集团有限公司第七二五研究所,河南洛阳471023

出　　处：《焊管》2024年第8期1-8,18,共9页Welded Pipe and Tube

基　　金：“超高强钢厚板机器人智能化焊接技术”(项目编号JK230101)。

摘　　要：基于视觉的机器人多层多道焊路径规划技术可以大幅缩减人工示教时间,提高焊接效率和质量,受到了广泛关注。然而,焊接过程中受强弧光、飞溅等因素的干扰和焊缝特征提取精度低等的影响,对机器人多层多道焊路径规划技术提出了严峻挑战。通过分析多层多道焊路径规划过程的传感器开发设计、图像处理、特征提取及多层多道焊缝填充等关键技术,阐述了机器人多层多道焊路径规划技术的应用现状,并对其发展趋势进行了分析与展望。Based on the vision robot multi-layer and multi-pass welding path planning technology,manual teaching time can be significantly reduced,welding efficiency and quality are improved,and widespread attention is received.However,the interference of strong arc light,spatter and other factors during the welding process,as well as the low accuracy of weld feature extraction,pose serious challenges to the multi-layer and multi-pass welding path planning technology for robots.By analyzing the key technologies of sensor development and design,image processing,feature extraction,and multi-layer and multi-pass weld filling in the process of multi-layer and multi-pass welding path planning,the application status of robot multi-layer and multipass welding path planning technology is expounded,and its development trend is analyzed and prospected.

关 键 词：智能焊接 多层多道焊 图像处理 特征提取 路径规划 

分 类 号：TG409[金属学及工艺—焊接]