基于大模型的机器人生产任务切换系统设计

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关键词：工业生产任务切换;探索—复现;视觉—语言—动作模型;机器人；柔性制造中图分类号：TP242.2；TP273 文献标志码：A 文章编号：1003-5168（2025）24-0051-05DOI：10.19968/j.cnki.hnkj.1003-5168.2025.24.009

Design ofa Robot Production Task SwitchingSystem Basedon Large-ScaleModels

YANG Liyong1QIAN Guoming1ZHAI Yujia'WANG Qirui² （1.Haian lnstitute of lntelligent Equipment，SJTU， Haian 2266OO， China; 2.Haian Jiaorui Robotics Technology Co.，Ltd.，Haian 2266OO，China）

Abstract： [Purposes] Currently，in industrial manufacturing，robot production task switching is highlydependent on manual programming，resulting in time-consuming switching and demanding engineer expertise.To address this，this paper proposes a robot production task switching system based on large-scale models.[Methods] The system employs an "exploration-reproduction" core mechanism：a multimodal large language model （MLLM） is used to understand and make decisions about production tasks. The system then utilizes a vision-language-action model （VLA） to autonomously explore and record successful robot task trajectories in the initial phase.When the same task is subsequently executed，the system can directly and quickly reproduce the recorded trajectories.[Findings] Experimental results demonstrate that the systemachievesareduction ofapproximately 30% intask switching time，while simultaneously reducing the operational dependency on programming expertise.[Conclusions] Through the exploration and reproduction mechanism of large-scale models，the system enhances the inteligence and flexibility of robots in production task switching，offering new insights for flexible manufacturing.

Keywords： industrial production task switching; exploration-reproduction; vision-language-action model; robot; flexible manufacturing

0 引言

传统工业制造遵循“先部署后生产"的模式，部署阶段通常耗时数月甚至超过1a，随后便进入长达数年的大规模标准化生产阶段[1。（剩余5639字）