Welding is a method of realizing material connections, and the development of modern sensing technology is pushing this traditional process towards automation and intelligence. Among many sensing methods, visual sensing stands out with its advantages of non-contact, fast response and economic benefits, etc. This paper provides a comprehensive review of visualization methods in the context of specific welding processes in the following five aspects. The problem of IWP location is summarized from two directions of active and passive vision. Weld seam identification and tracking methods are discussed in detail based on the morphological characteristics of the weld seam. The feasibility of different weld path planning methods is analyzed based on the point cloud information and the composite vision information. Two types of monitoring means based on infrared sensing and visible light sensing are summarized taking into account the thermal and morphological characteristics of the weld pool, and welding defect detection technology is summarized by comparing the intelligent detection algorithms and the traditional detection algorithms. Finally, by combining the existing developments in computer technology, composite sensing technology, machine learning technology, and multi-robot control technology, the article concludes with a summary and trends in the development of automated welding technologies.

中文翻译：

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自动/智能机器人焊接视觉传感技术的进展、挑战和趋势：最新进展综述


焊接是一种实现材料连接的方法，现代传感技术的发展正在推动这一传统工艺走向自动化、智能化。在众多传感方法中，视觉传感以其非接触、响应速度快、经济实惠等优点脱颖而出。本文从以下五个方面对具体焊接工艺背景下的可视化方法进行了全面综述。从主动视觉和被动视觉两个方向概括IWP定位问题。根据焊缝的形态特征，详细讨论了焊缝识别与跟踪方法。基于点云信息和复合视觉信息分析了不同焊接路径规划方法的可行性。结合熔池的热学和形貌特征，总结了基于红外传感和可见光传感的两类监测手段，并通过智能检测算法与传统检测算法的比较，总结了焊接缺陷检测技术。最后，结合计算机技术、复合传感技术、机器学习技术、多机器人控制技术等领域的现有发展，对自动化焊接技术的发展进行了总结和趋势。