Advances techniques of the structured light sensing in intelligent welding robots: a review
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ORIGINAL ARTICLE
Advances techniques of the structured light sensing in intelligent welding robots: a review Lei Yang1,2
· Yanhong Liu1,2 · Jinzhu Peng1,2
Received: 6 September 2019 / Accepted: 20 May 2020 / Published online: 18 August 2020 © Springer-Verlag London Ltd., part of Springer Nature 2020
Abstract With the rapid development of artificial intelligence and intelligent manufacturing, the traditional teaching-playback mode and the off-line programming (OLP) mode cannot meet the flexible and fast modern manufacturing mode. Therefore, the intelligent welding robots have been widely developed and applied into the industrial production lines to improve the manufacturing efficiency. The sensing system of welding robots is one of the key technologies to realize the intelligent robot welding. Due to its unique characteristics of good robustness and high precision, the structured light sensor has been widely developed in the intelligent welding robots. To adapt to different measurement tasks of the welding robots, many researchers have designed different structured light sensors and integrated them into the intelligent welding robots. Therefore, the latest research and application work about the structured light sensors in the intelligent welding robots is analyzed and summarized, such as initial weld position identification, parameter extraction, seam tracking, monitoring of welding pool, and welding quality detection, to provide a comprehensive reference for researchers engaged in these related research work as much as possible. Keywords Intelligent welding robots · Structured light sensor · Initial weld position identification · Parameter extraction · Seam tracking · Monitoring of welding pool · Welding quality detection
1 Introduction During the modern manufacturing industry, the welding robot technology has been widely applied into many scenarios, such as automobile manufacturing, ship building, and industrial production. It is a typical representative of current intelligent manufacturing. It could greatly improve the automation level of manufacturing industry, guarantee the safety of staff, keep the production quality, and improve the technical level of industrial production. Yanhong Liu
[email protected] Lei Yang [email protected] Jinzhu Peng [email protected] 1
School of Electrical Engineering, Zhengzhou University, Zhengzhou, 450001, China
2
Robot Perception and Control Engineering Laboratory, Zhengzhou, 450001, Henan Province, China
At present, the common path programming modes of the welding robots in both manufacturing production and research work could be mainly divided into three categories: teaching-playback mode, the OLP mode [1–3], and the intelligent path programming mode [4]. The traditional teaching-playback mode still plays an important role in the current production and manufacturing. However, in the actual welding production, the pose of welding targets is often changeable due to the effect of installation error and processing error. Meanwhile, some disturbance information inevit
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