1 College of materials Science and Technology, Nanjing University of Aeronautics and Astronautics, Nanjing 211106 2 Kunshan Huaheng Welding Co., Ltd., Kunshan 215347
Abstract: Welding automation is a crucial way towards “digitalization” and “intelligentization” of welding technology in 21st century.Welding automation can be realized with the premise of automatic, fast and accurate tracking the welding seam. Before the emergence of automatic welding technology, conventional welding operations were manually conducted. However, there are certain insufficiencies of manual monitoring and tracking of welding. On one hand, the harsh environment of welding work will do harm to the health of workers. On the other hand, the welding quality cannot be guaranteed under the long-term labor intensity brought by track and monitor welding process. The modern welding seam tracking technology is gradually getting rid of artificial interference, turning to sensors, computer processing and automatic welding process by actuators. Sensor is regard as the “sensory organ” of the weld tracking system, and the system completely relies on sensors to perceive the external welding environment and determine the relative position of welding torch and seam. meanwhile, welding environment is often accompanied with various noise, spatter, high-frequency radiation and so forth, which will obviously affect the signal acquisition and even cause an error of judgment on the position of welding seam. Hence, for the sake of acquiring satisfactory data, it has become an urgent need for welding seam tracking technology to employ appropriate welding sensing approach and process the acquired signals accurately and quickly. Generally, welding seam tracking sensors can be classified into direct sensors (arc sensors) and indirect sensors. In recent years, certain development have been made for both types of sensors. For instance, the application of magnetic-control arc sensors provides a new research direction for welding seam tracking, and indirect vision sensors are stepping their way to miniaturization and simplification. moreover, the emergence of multi-sensor information fusion technology creates a possibility to overcome the insufficiency in accuracy of single sensor. Besides, the signal processing technology can boost the signal-to-noise ratio, which paves the way for obtaining accurate information of seam position. The electrical signal filtering technology is changing gradually from a simple hardware filter to a software filter and combined filtering method. Concerning image processing technology, the anti-interference ability of image has been improved, yet further research should be conducted on the accuracy, real-time performance and reliability of welding seam identification. In this article, we systematically introduce the sensing approaches applied in seam tracking process, and put emphasis on the detailed classification and characteristics of the mainstream arc sensors and visual sensors. Additionally, we summarize the development status of crucial arc sensing signal filtering technology and essential visual sensing image processing technology. Finally, we point out the future directions of welding seam tracking.
1 Lee D, Ku N, Kim T, et al.Robotics and Computer-Integrated manufacturing, 2011,27(2SI),377. 2 muhammad J, Altun H, Abo-Serie E.International Journal of Advanced manufacturing Technology, 2017,88(1-4),127. 3 Ushio m, mao W. Transactions of JWRI, 1994,23(2),135. 4 Kannatey-Asibu E.Journal of manufacturing Science & Engineering, 1997,119(4B),801. 5 Xiong Z Y, Zhang H, Pan J L.Welding Technology, 2001(5),2 (in Chinese). 熊震宇, 张华, 潘际銮. 焊接技术, 2001(5),2. 6 Kodama m, Goda H, Iwabuchi H.Welding International, 2001,15(12),952. 7 Sugitani Y, murayama m, Etoh S, et al.Nippon Kokan Technical Report Overseas, 1989(57),111. 8 Sugitani Y, Kanjo Y, murayama m.Quarterly Journal of the Japan Welding Society, 1995,13(1),28. 9 Liao B J. Study on multi-freedom intelligent welding system with arc sensor. Ph.D. Thesis, Tsinghua University, China, 1993 (in Chinese). 廖宝剑. 以电弧为传感器的多自由度智能焊接系统研究. 博士学位论文, 清华大学, 1993. 10 Kim C H, Na S J.Proceedings of the Institution of mechanical Engineers Part B-Journal of Engineering manufacture, 2001,215(9),1271. 11 Kim C H, Na S J.Proceedings of the Institution of mechanical Engineers Part B-Journal of Engineering manufacture, 2001,215(9),1281. 12 mboldyrev A, Abirzhev V, Vchernykh A.Welding International, 1992,6(10),812. 13 Hong B, Wei F L, Lai X, et al.Transactions of the China Welding Institution, 2008(5),1 (in Chinese). 洪波, 魏复理, 来鑫, 等.焊接学报, 2008(5),1. 14 Li Z K. The optimization of seam tracking sensor base on magnetic control swinging arc weld. Ph.D. Thesis, Xiangtan University, China, 2015 (in Chinese). 李振凯. 磁控摆动电弧焊缝跟踪传感器的优化.博士学位论文, 湘潭大学, 2015. 15 Xu P, Xu G, Tang X, et al.International Journal of Advanced manufacturing Technology, 2008,37(1-2),70. 16 Xu P, Tang X, Lu F, et al.International Journal of Advanced manufacturing Technology, 2007,32(9-10),918. 17 Kiddee P, Fang Z, Tan m.International Journal of Advanced manufacturing Technology, 2016,87(9-12),1. 18 Brzakovic D, Khani D T.Ieee Transactions On Robotics and Automation, 1991,7(3),343. 19 Fan C J. Weld pool characters extraction visual sensing and intelligent control during varied gap aluminum alloy pulsed GTAW process. Ph.D. Thesis, Shanghai Jiao Tong University, China, 2008 (in Chinese). 樊重建. 变间隙铝合金脉冲GTAW熔池视觉特征获取及其智能控制研究. 博士学位论文, 上海交通大学, 2008. 20 Xu Y, Fang G, Lv N, et al.Robotics and Computer-Integrated manufacturing, 2015,32,25. 21 Dinham m, Fang G.Robotics and Computer-Integrated manufacturing, 2014,30(3),229. 22 Cao Y Y, Huang m S, Jiang L P, et al.Electric Welding machine, 2008(2),21 (in Chinese). 曹莹瑜, 黄民双, 蒋力培, 等. 电焊机, 2008(2),21. 23 Bae K, Park J.Journal of materials Processing Technology, 2006,176(1-3),111. 24 Hong B, Yan Q, Xiong B W, et al.Hot Working Technology, 2010(9),128 (in Chinese). 洪波, 闫强, 熊炳卫, 等. 热加工工艺, 2010(9),128. 25 Hu S, Liu Y, Sun D, et al.Pressure Vessel Technology, 2001(1),13 (in Chinese). 胡绳荪, 刘勇, 孙栋, 等. 压力容器, 2001(1),13. 26 Bhattacharya S, Pal K, Pal S K.Applied Soft Computing, 2012, 12(1), 498. 27 Zeng L, meng Z D, Gong Y F.Journal of Central South University(Science and Technology), 2013(S2),329 (in Chinese). 曾露, 孟正大, 龚烨飞. 中南大学学报(自然科学版), 2013(S2),329. 28 Liao B J, Wu S D, Pan J L.Transactions of the China Welding Institution, 1996(4),263 (in Chinese). 廖宝剑, 吴世德, 潘际銮. 焊接学报, 1996(4),263. 29 Nilsson J W, Riedel S. Electric Circuits, Prentice Hall Press, USA, 2015. 30 Hong B. mathematical modeling and simulating analysis for moving style welding robot system with arc sensor. Ph.D. Thesis, Xiangtan University, China, 2005 (in Chinese). 洪波. 电弧传感移动式焊接机器人的数学建模及仿真. 博士学位论文, 湘潭大学, 2005. 31 Huang J, Hong B, Pan J L, et al.Welding Technology, 2005(4),44 (in Chinese). 黄俊, 洪波, 潘际銮, 等. 焊接技术, 2005(4),44. 32 Huang H, ma H B, Lin T, et al.Journal of Shanghai Jiaotong University, 2010(S1),22 (in Chinese). 黄辉, 马宏波, 林涛, 等. 上海交通大学学报, 2010(S1),22. 33 Guo H, Chen H, Xu F, et al.Ieee Transactions On Industrial Electronics, 2013,60(9),3823. 34 Kumar A, Das B, Sharma J.International Journal of Electrical Power & Energy Systems, 2006,28(1),65. 35 Kalman R E.Journal of Basic Engineering Transactions, 1960,82,35. 36 Grewal m S.Kalman Filtering, Springer Berlin Heidelberg, Germany, 2011. 37 Zhang K, Jin X, Wu Y X.Transactions of the China Welding Institution, 2009(12),1 (in Chinese). 张轲, 金鑫, 吴毅雄. 焊接学报, 2009(12),1. 38 Gao X D, Chen Y P, Yuan R N, et al. Control Theory & Applications, 2007(6),977 (in Chinese). 高向东, 陈永平, 袁弱男, 等. 控制理论与应用, 2007(6),977. 39 Hsung T, Lun D, Siu W.IEEE Transactions On Signal Processing, 1999,47(11),3139. 40 Lu J. Signal recovery and noise reduction with wavelets. Ph.D. thesis, Dartmouth College Hanover, USA, 1993. 41 Zeng S S, Wang G R, Shi Y H, et al.Transactions of the China Welding Institution, 2009(1),13 (in Chinese). 曾松盛, 王国荣, 石永华, 等. 焊接学报, 2009(1),13. 42 Gao Y F, Zhang H, mao Z W, et al.Transactions of the China Welding Institution, 2008(4),57 (in Chinese). 高延峰, 张华, 毛志伟, 等.焊接学报, 2008(4),57. 43 Xuan Z Z, Li G H, Lu J, et al.Journal of Jilin University(Engineering and Technology Edition), 2006(4),480 (in Chinese). 宣兆志, 李国辉, 路佳, 等.吉林大学学报(工学版), 2006(4),480. 44 Xue J X, Yi Z P. Journal of mechanical Engineering, 2003(4),128 (in Chinese). 薛家祥, 易志平. 机械工程学报, 2003(4),128. 45 Hu S, Luo Y, Jiao X D, et al.Journal of Shanghai Jiaotong University, 2016(S1),59 (in Chinese). 胡胜, 罗雨, 焦向东, 等. 上海交通大学学报, 2016(S1),59. 46 Le J, Zhang H, Ye Y H, et al.Transactions of the China Welding Institution, 2015(5),5 (in Chinese). 乐健, 张华, 叶艳辉, 等. 焊接学报, 2015(5),5. 47 Wang D L, Zhang Z X, Liang Z m, et al.Transactions of the China Welding Institution, 2014(5),17 (in Chinese). 汪殿龙, 张志洋, 梁志敏, 等. 焊接学报, 2014(5),17. 48 Shen J Q. Research on seam image processing for CO2 horizontal position welding based on laser vision sensing. Ph.D. Thesis, Tianjin University, China, 2010 (in Chinese). 申俊琦. 基于激光视觉传感的CO2横焊焊缝图像处理研究. 博士学位论文, 天津大学, 2010. 49 Duan H W, Lan H, Zheng H Y, et al.Journal of Harbin University of Science and Technology, 2012(4),52 (in Chinese). 段宏伟, 兰虎, 郑红艳, 等. 哈尔滨理工大学学报, 2012(4),52. 50 Liu X W, Chen X m, Liu C Y. Transactions of the China Welding Institution, 2017(2),19 (in Chinese). 刘习文, 陈显明, 刘超英. 焊接学报, 2017,(2),19. 51 Yan Z G, Xu D, Li Y. Transactions of the China Welding Institution, 2008(7),34 (in Chinese). 鄢治国, 徐德, 李原. 焊接学报, 2008(7),34. 52 Li G J, Wang G R, Zhong J G, et al. Transactions of the China Welding Institution, 2005,26(3),58 (in Chinese). 李国进, 王国荣, 钟继光, 等. 焊接学报, 2005,26(3),58. 53 Otsu N.IEEE Transactions On Systems man & Cybernetics, 1979,9(1),62. 54 Shen J Q, Hu S D, Feng S Q.Journal of Tianjin University, 2011(4),308 (in Chinese). 申俊琦, 胡绳荪, 冯胜强.天津大学学报, 2011(4),308. 55 Xue J X, Zhang L L, Liu X.Transactions of the China Welding Institution, 2005(6),25 (in Chinese). 薛家祥, 张丽玲, 刘晓. 焊接学报, 2005(6),25. 56 Tuominen J, Lipping T. In: IEEE International Symposium on Industrial Electronics. montreal, 2006, pp. 431. 57 Shen J Q, Hu S S, Feng S Q, et al.Journal of Tianjin University, 2010(4),373 (in Chinese). 申俊琦, 胡绳荪, 冯胜强, 等. 天津大学学报, 2010(4),373. 58 Wang H W, Li S L, Cao S Y, et al.Hot Working Technology, 2012(23),141 (in Chinese). 王宏文, 李松林, 曹思源, 等. 热加工工艺, 2012(23),141. 59 molina L, Carvalho E A N, Freire E O. In: Robotic Symposium, 2008. LARS'08. IEEE Latin American. Natal, 2008, pp. 45. 60 Liu X W, Hong B, Dai T F.Laser & Infrared, 2011(7),804 (in Chinese). 刘习文, 洪波, 戴铁峰. 激光与红外, 2011(7),804. 61 Fang Z, Xu D. In: 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO). Guilin, 2009, pp. 1230. 62 Zhang Y, Lu N, Huang Y m, et al.Transactions of the China Welding Institution, 2014(8),53 (in Chinese). 章妍, 吕娜, 黄一鸣, 等.焊接学报, 2014(8),53.
渝公网安备50019002502923号 版权所有：《材料导报》编辑部
2019, Vol. 33 
