基于视觉三维重建的类人焊接机器人轨迹规划算法

doi:10.3901/JME.260167

机械工程学报 ›› 2026, Vol. 62 ›› Issue (13): 55-65.doi: 10.3901/JME.260167

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基于视觉三维重建的类人焊接机器人轨迹规划算法

迟鹏¹, 刘媛¹, 廖海鹏¹, 吴祥淼¹, 吴健文², 张芩³, 王振民¹

1. 华南理工大学机械与汽车工程学院广州 510641;
2. 广州海关技术中心汽车与装备检测研究所广州 510623;
3. 华南理工大学计算机科学与工程学院广州 511006

收稿日期:2025-06-24 修回日期:2026-02-23 发布日期:2026-08-28
作者简介:迟鹏，男，1997年出生，博士研究生。主要研究方向为视觉三维重建和类人焊接技术。E-mail：mechipeng@mail.scut.edu.cn;王振民(通信作者)，男，1974年出生，博士，教授，博士研究生导师。主要研究方向为新型焊接电源、水下机器人制造和类人焊接技术。E-mail：wangzhm@scut.edu.cn
基金资助:
国家重点研发计划(2023YFB3407702,2023YFB3407703)、国家自然科学基金(U23A20625,52375334)、国家科技重大专项(2024ZD0712601)、广东省自然科学基金(2023A1515012112)、深圳市科技计划(KJZD20230923114614029)和南沙区科技计划(2025ZD003)资助项目。

Trajectory Planning Algorithm for Humanoid Welding Robots Based on Visual 3D Reconstruction

CHI Peng¹, LIU Yuan¹, LIAO Haipeng¹, WU Xiangmiao¹, WU Jianwen², ZHANG Qin³, WANG Zhenmin¹

1. School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou 510641;
2. Guangzhou Customs Technology Center, Guangzhou 510623;
3. School of Computer Science and Engineering, South China University of Technology, Guangzhou 511006

Received:2025-06-24 Revised:2026-02-23 Published:2026-08-28

摘要/Abstract

摘要： 类人焊接机器人作为智能焊接技术发展的重要方向之一，是解决非标准化、小规模化、狭窄空间焊接制造与修复的有效途径。针对机器人焊接场景重构与自主焊接作业难题，提出了一种基于视觉三维重建的类人焊接机器人轨迹规划算法。在机器人移动过程中，提取头部双目图像ORB特征点并估计深度信息生成三维点云，利用线面特征信息和改进二维RRT*算法在可通域内进行移动路径规划；在机器人焊接过程中，基于左机械臂RGB-D多视角图像和改进NDT点云匹配方法构建待焊区域三维点云；利用高精度点云和改进三维RRT*算法进行右机械臂焊接轨迹规划。为验证所提方法，搭建了类人焊接机器人样机并进行实验，结果表明，提出的算法可进行自主三维重建、移动路径规划及焊接轨迹规划，实时性强，规划路径短，焊枪定位精度可满足焊接需求。

关键词: 类人焊接机器人, 视觉三维重建, 路径规划, 焊接轨迹规划

Abstract: Humanoid welding robots are a promising solution for non-standard, small-scale, and narrow-space welding applications. A trajectory planning algorithm is presented for humanoid welding robots based on visual 3D reconstruction to address challenges in scene reconstruction and autonomous welding. The algorithm extracts ORB features from stereo images of the robot's head to estimate depth and generate a 3D point cloud. Using line and plane features, an improved 2D RRT* (Rapidly-exploring random tree star) algorithm is applied for path planning within the navigable domain. During welding, multi-view RGB-D images of the left arm and an enhanced NDT (normal distributions transform) method construct the 3D point cloud of the weld area. High-precision point clouds and an improved 3D RRT* algorithm are then used for planning the right-arm welding trajectory. Experimental results with a humanoid welding robot prototype demonstrate that the proposed method achieves autonomous 3D reconstruction, path planning, and welding trajectory planning with high real-time performance, short path lengths, and precise torch positioning, meeting welding accuracy requirements.

Key words: humanoid welding robot, 3D reconstruction, path planning, welding trajectory planning

中图分类号:

TP242

迟鹏, 刘媛, 廖海鹏, 吴祥淼, 吴健文, 张芩, 王振民. 基于视觉三维重建的类人焊接机器人轨迹规划算法[J]. 机械工程学报, 2026, 62(13): 55-65.

CHI Peng, LIU Yuan, LIAO Haipeng, WU Xiangmiao, WU Jianwen, ZHANG Qin, WANG Zhenmin. Trajectory Planning Algorithm for Humanoid Welding Robots Based on Visual 3D Reconstruction[J]. Journal of Mechanical Engineering, 2026, 62(13): 55-65.

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链接本文: http://www.cjmenet.com.cn/CN/10.3901/JME.260167

http://www.cjmenet.com.cn/CN/Y2026/V62/I13/55

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基于视觉三维重建的类人焊接机器人轨迹规划算法

Trajectory Planning Algorithm for Humanoid Welding Robots Based on Visual 3D Reconstruction

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