《工程科学学报》录用稿，htps:/doi.org/10.13374/i,issn2095-9389.2021.09.02.001©北京科技大学2020 工程科学学报DO: 面向三维复杂焊缝的焊接机器人焊缝跟踪方法 张雨航2)，曹学鹏)，张弓2,38，侯至丞2，)，吴月玉2)，徐群华)，袁海2，) 1)长安大学，西安7100642)广州先进技术研究所，广州5114583)中国科学院大学，北京100049 ☒通信作者，E-mail:gong.zhang@giat.ac.cn 摘要机器人焊接技术具有质量稳定、效率高等特点，为实现空间内的三维复杂焊缝跟原以提出基手分段扫描、滤波、 特征点采集、路径规划的焊缝四步跟踪方法。通过安装于焊接机器人末端的激光传感器、以分段扫描方式连续多段采 集焊缝数据：为提高跟踪精度，采用组合滤波的方式修正数据，有效降低焊件麦面毛刺数据失真和噪声等影响： 通过特征点采集与坐标系标定确定焊接点：最后结合焊接机器人路径规划获得空间焊接路径。对二维$型焊缝与三 维复杂焊缝进行了实验研究，结果表明提出的四步焊缝跟踪方法可形成完整的焊接路径，两种焊件平均跟踪误差约 为0.296mm和0.292mm,满足机器人焊接跟踪误差低于0.5mm的精度要茉 表明所提出焊接跟踪方法的有效性， 可为复杂焊缝的高精度跟踪和自动焊接研究提供有益参考。 关键词焊缝跟踪：三维复杂焊缝：分段扫描：特征点提取： 路径 分类号TP242.2 Welding seam tracking method, of welding robot oriented to 3D complex welding seam ZHANG Yu-hang 2),CAO Xue-peng,ZHANG Gong HOU Zhi-cheng WU Yue-yu,XU Oun-hua YUAN Hars) 1)Chang'an University,Xi'an 710064,Chin 2) Guangzhou Institute of Advanced Teehne zhou 511458,China 3) University of Chinese Academy Berjing 100049.China Corresponding author,E-mai iat.ac.cn ABSTRACT Welding fobo tis widely used in many kinds and working conditions of welding production in the current machinery manufaeturing industry.It plays an important role in the machinery manufacturing industry.At present,in most industries,welding robets still work by teaching and reproduction.When the welding object or welding conditions change, the robot can not make corresponding adjustments in time,which makes the welding gun deviate from the weld center, resulting in the decline of welding quality.In the future,the realization of automatic welding and intelligent welding is the inevitable trend of development.The application of machine vision in the welding field will promote the transformation of welding technology from rigid welding automation to flexible welding intelligence.The purpose of welding automation and intelligence is to improve the working environment,save labor cost and improve product quality.Robotic welding technology has the characteristics of stable quality and high efficiency.To achieve 3D complex weld tracking in space,a four-step welding seam tracking method is proposed based on segmented scanning,filtering,feature points extraction,and path 收稿日期： 基金项目：国家重点研发计划(2018YFA0902903)、国家自然科学基金(62073092)、广东省自然科学基金 (2021A1515012638)、陕西省重点研发计划(2021 ZDLGY09-02)、广州市基础研究计划(202002030320)工程科学学报 DOI: 面向三维复杂焊缝的焊接机器人焊缝跟踪方法1 张雨航 1,2)，曹学鹏 1)，张弓 2,3)，侯至丞 2,3)，吴月玉 2)，徐群华 2)，袁海 2,3) 1) 长安大学，西安 710064 2) 广州先进技术研究所，广州 511458 3) 中国科学院大学，北京 100049  通信作者，E-mail: gong.zhang@giat.ac.cn 摘 要 机器人焊接技术具有质量稳定、效率高等特点，为实现空间内的三维复杂焊缝跟踪，提出基于分段扫描、滤波、 特征点采集、路径规划的焊缝四步跟踪方法。通过安装于焊接机器人末端的激光传感器，以分段扫描方式连续多段采 集焊缝数据；为提高跟踪精度，采用组合滤波的方式修正数据，有效降低焊件表面毛刺、数据失真和噪声等影响； 通过特征点采集与坐标系标定确定焊接点；最后结合焊接机器人路径规划获得空间焊接路径。对二维 S 型焊缝与三 维复杂焊缝进行了实验研究，结果表明提出的四步焊缝跟踪方法可形成完整的焊接路径，两种焊件平均跟踪误差约 为 0.296 mm 和 0.292 mm，满足机器人焊接跟踪误差低于 0.5 mm 的精度要求。表明所提出焊接跟踪方法的有效性， 可为复杂焊缝的高精度跟踪和自动焊接研究提供有益参考。 关键词 焊缝跟踪；三维复杂焊缝；分段扫描；特征点提取；路径规划 分类号 TP242.2 Welding seam tracking method of welding robot oriented to 3D complex welding seam ZHANG Yu-hang1,2) , CAO Xue-peng1) , ZHANG Gong2,3) , HOU Zhi-cheng2,3) , WU Yue-yu2) , XU Qun-hua2) , YUAN Hai2,3) 1) Chang’an University, Xi’an 710064, China 2) Guangzhou Institute of Advanced Technology, Guangzhou 511458, China 3) University of Chinese Academy of Sciences, Beijing 100049, China  Corresponding author, E-mail: gong.zhang@giat.ac.cn ABSTRACT Welding robot is widely used in many kinds and working conditions of welding production in the current machinery manufacturing industry. It plays an important role in the machinery manufacturing industry. At present, in most industries, welding robots still work by teaching and reproduction. When the welding object or welding conditions change, the robot can not make corresponding adjustments in time, which makes the welding gun deviate from the weld center, resulting in the decline of welding quality. In the future, the realization of automatic welding and intelligent welding is the inevitable trend of development. The application of machine vision in the welding field will promote the transformation of welding technology from rigid welding automation to flexible welding intelligence. The purpose of welding automation and intelligence is to improve the working environment, save labor cost and improve product quality. Robotic welding technology has the characteristics of stable quality and high efficiency. To achieve 3D complex weld tracking in space, a four-step welding seam tracking method is proposed based on segmented scanning, filtering, feature points extraction, and path 1收稿日期: 基金项目:国家重点研发计划（2018YFA0902903）、国家自然科学基金（62073092）、广东省自然科学基金 （2021A1515012638）、陕西省重点研发计划（2021ZDLGY09-02）、广州市基础研究计划（202002030320） 《工程科学学报》录用稿，https://doi.org/10.13374/j.issn2095-9389.2021.09.02.001 ©北京科技大学 2020 录用稿件，非最终出版稿