CN104603860A - System for characterizing manual welding operations - Google Patents
System for characterizing manual welding operations Download PDFInfo
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- CN104603860A CN104603860A CN201280075678.5A CN201280075678A CN104603860A CN 104603860 A CN104603860 A CN 104603860A CN 201280075678 A CN201280075678 A CN 201280075678A CN 104603860 A CN104603860 A CN 104603860A
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B19/00—Teaching not covered by other main groups of this subclass
- G09B19/24—Use of tools
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Abstract
A system for characterizing manual welding exercises and providing valuable training to welders that includes components for generating, capturing, and processing data. The data generating component further includes a fixture, workpiece, at least one calibration devices each having at least two point markers integral therewith, and a welding tool. The data capturing component further includes an imaging system for capturing images of the point markers and the data processing component is operative to receive information from the data capturing component and perform various position and orientation calculations.
Description
the cross reference of related application
Present patent application is that on July 8th, 2009 submits and the u.s. patent application serial number being entitled as " for monitoring and characterize the method and system of the establishment of artificial weld seam " is No.12/499, that on Dec 13rd, 687 and 2010 submits and the u.s. patent application serial number being entitled as " welding training system " is No.12/966, the part continuation application of 570, described u.s. patent application serial number is No.12/499, 687 and described u.s. patent application serial number be No.12/966, the disclosure of 570 is all merged in herein at this by reference, as intactly restated herein.
background of invention
Described invention relate generally to is for characterizing the system of human weld's operation, and more specifically, relate to the system for by such mode useful information being supplied to welding trainee, described mode be seizure, process and present and to perform actual welding with visible form in artificially by welding trainee time the data that produce in real time.
Manufacturing industry is to becoming the theme having and record and can look in the expectation of the welder training of efficient and cost-effective in the past 10 years, because in the factory of today, shipyard and building ground, the present situation of technology welder critical shortage is just becoming shockingly obvious.Rapid pensioner labour, in conjunction with traditional slow paces based on preceptorial welder training, has become the expulsive force of more effective training technique development.To the innovation of the acceleration training of the artificial dexterous technology specific to welding, together with the quick instruction to arc welding ultimate principle, becoming a kind of necessary.Sign disclosed herein and training system solve this vital demand improving welder training and can monitor artificial welding process to guarantee that described process is in admissible restriction, and described restriction is necessary to the quality requirements meeting the whole industry.Up to now, most welding process is all performed by artificially, but this field still lacks practical, commercially available instrument to follow the tracks of the execution of these artificial process.Therefore, such effective system is existed to the demand continued, described system is come correctly to perform various types of welding under various conditions for training welder.
Summary of the invention
Following content provides the summary of some exemplary of the present invention.This summary is not summarize widely and be not intended to determine key of the present invention or conclusive aspect or element or delimit its scope.
According to one aspect of the present invention, be provided for the system characterizing artificial and/or semi-automatic welding operations and exercise.This system comprises data generating components, data capture parts and data processor.Data generating components comprises stationary installation further, and wherein the geometric properties of stationary installation is predetermined; Workpiece, described workpiece is adjusted to be installed on the securing means, and wherein workpiece comprises at least one joint that will be soldered, and wherein limits courses of action along the vector wanting soldered joint to extend; At least one caliberating device, wherein each caliberating device comprise further with caliberating device one at least two somes mark, and its mid point mark with courses of action between geometric relationship be predetermined; And soldering appliance, wherein soldering appliance can operate and want soldered joint to form weld seam, wherein soldering appliance limits tool point and tool vector, and wherein soldering appliance comprises the target being attached to soldering appliance further, wherein target comprises the multiple marks be installed in predetermined pattern on target further, and the predetermined pattern of its mid point mark can operate to limit rigid body.Data capture parts comprise further for catching an imaging system for the image of mark.Data processor can operate to receive information from data capture parts and then calculating operation path with respect to the visible three-dimensional position of imaging system and orientation; Tool point is relative to the position of rigid body and the tool vector orientation relative to rigid body; And tool point is relative to the position of courses of action and the tool vector orientation relative to courses of action.
According to another aspect of the present invention, be also provided for the system characterizing artificial and/or semi-automatic welding operations and exercise.This system comprises data generating components, data capture parts and data processor.Data generating components comprises stationary installation further, and wherein the geometric properties of stationary installation is predetermined; Workpiece, described workpiece is adjusted to be installed on the securing means, and wherein workpiece comprises at least one joint that will be soldered, and wherein limits courses of action along the vector wanting soldered joint to extend; At least one caliberating device, wherein each caliberating device comprise further with caliberating device one at least two somes mark, and its mid point mark with courses of action between geometric relationship be predetermined; And soldering appliance, wherein soldering appliance can operate and want soldered joint to form weld seam, wherein soldering appliance limits tool point and tool vector, and wherein soldering appliance comprises the target being attached to soldering appliance further, wherein target comprises the multiple marks be installed in predetermined pattern on target further, and the predetermined pattern of its mid point mark can operate to limit rigid body.Data capture parts comprise the imaging system of the image for catching some mark further and imaging system comprises multiple digital camera further.At least one bandpass filter is incorporated in each optical series in multiple digital camera, for allowing only to come since a mark reflection or the light of wavelength that sends, to improve signal noise ratio (snr) of image.Data processor can operate to receive information from data capture parts and then calculating operation path with respect to the visible three-dimensional position of imaging system and orientation; Tool point is relative to the position of rigid body and the tool vector orientation relative to rigid body; And tool point is relative to the position of courses of action and the tool vector orientation relative to courses of action.
Based on the detailed description reading and understand exemplary below, supplementary features of the present invention and aspect will become distinct for a person skilled in the art.As by understand by technician, without departing from the scope and spirit of the present invention, further embodiment of the present invention is possible.Thus accompanying drawing and being described in of being associated are considered to illustrative instead of restrictive in essence.
brief Description Of Drawings
Accompanying drawing (it to be incorporated in instructions and to form a part for instructions) schematically illustrate one or more exemplary of the present invention and total description given above and below given by detailed description, for explaining principle of the present invention, and wherein:
Fig. 1 is the information flow that illustrates exemplary of the present invention by the process flow diagram of data processing and visualization element;
Fig. 2 provides the isometric view of a kind of portable or half portable system for characterizing human weld's operation according to exemplary of the present invention;
Fig. 3 provides the isometric view keeping flat assembly of the system of Fig. 2;
Fig. 4 provides the isometric view of the horizontal assembly of the system of Fig. 2;
Fig. 5 provides the isometric view of the vertical assembly of the system of Fig. 2;
Fig. 6 illustrates the placement keeping flat two some marks on assembly of Fig. 2;
Fig. 7 illustrates exemplary workpiece courses of action;
The placement of that Fig. 8 illustrates two actives in the exemplary workpiece for determining work piece operations path or passive some mark;
Fig. 9 is described in detail in the process flow diagram that of the present invention first demarcates treatment step involved in the exemplary of parts;
Figure 10 illustrates the soldering appliance of exemplary of the present invention, and the placement of the some mark being used to limit rigid body is shown;
Figure 11 illustrates the soldering appliance of exemplary of the present invention, and the placement of the some mark being used to limit tool vector and rigid body is shown; And
Figure 12 is described in detail in the process flow diagram that of the present invention second demarcates treatment step involved in the exemplary of parts.
the detailed description of invention
Referring now to accompanying drawing, exemplary of the present invention is described.Ref. No. is used to refer to from start to finish for various element and structure in detailed description.In other cases, for the object of simplified characterization, well-known construction and device is illustrated in block form an.Although for the object illustrated, detailed description below comprises many concrete contents, it will be understood by those of skill in the art that, is within the scope of the invention to many changes of detail hereinbelow and change.Thus the embodiment below the present invention is not caused any loss to the generality of invention required for protection by setting forth and does not limit invention required for protection.
The present invention relates to the AS for observing and characterize human weld's exercise and operation.This system is useful especially for welding instruction and welder training, and described system provides so affordable instrument, and described instrument is for weighing human weld's technology and more described technology and the code set up.Training application of the present invention comprises: (i) screens applicant's technical merit; (ii) trainee's progress is in time evaluated; (iii) provide guidance in real time to reduce training time and cost; And (iv) utilizes quantifiable result to retest welder technology level termly.Process monitoring and quality control application comprise: the deviation of (i) real-time confirmation and preferred situation; (ii) record and follow the tracks of in time with the degree of conformity (compliance) of code; (iii) for the object of statistical Process Control, the data (such as, heat input measurement) in capture-process; And (iv) confirms the welder needing additional training.System of the present invention provides so original benefit, namely can determine the degree of conformity to various received weld code.
In various exemplary, the present invention uses single or multiple camera tracking system to measure welding torch action and collection process data based on the analysis of point cloud chart picture between welding practice period.The present invention is applicable to the process of wide region, including but not necessarily limited to GMAW, FCAW, SMAW, GTAW and cutting.The present invention is extendible for the scope of work piece configuration, comprises the shape of large scale, various terminal type, pipeline, plate and complexity.Measured parameter comprise operating angle, travel angle, Tool Room every, gait of march, welding bead layout, swing, voltage, electric current, feed rate of welding wire and arc length.Training component of the present invention can be implanted concrete weld code in advance or can be customized by director.Data are automatically preserved and record, and performance is write down in postwelding analysis, and progress is in time tracked.This system can be used from start to finish in whole welding training program and can comprise in the helmet with the feedback on screen.Referring now to accompanying drawing, one or more specific embodiment of the present invention will be described in more detail.
As shown in Figure 1, in an exemplary embodiment of the present invention, the essential information stream by welding the data generating components 100 of characterization system 10, data capture parts 200 and data processing (with visual) parts 300 occurs in six basic steps: (1) picture catching 110; (2) image procossing 112; (3) input 210 of arc welding data, example welding parameter as is known or preferred; (4) data processing 212; (5) data storing 214; And (5) data display 310.Image capture step 110 comprises the image of the SPEED VISION cameras capture target 98 (it typically comprises each other with at least two some marks that fixing geometric relationship is arranged) utilizing one or more ready-made, and wherein output facet typically comprises exceeding 100 frames establishment image files per second.The input aspect of image processing step 112 comprises the cloud analysis of point frame by frame of rigid body, and described rigid body comprises three or more somes mark (that is, the target of demarcation).According to the identification of known rigid body, position and orientation are calculated relative to camera source and " (trained) after undergoing training " rigid body orientation.Catch and the image compared from two or more cameras, allow in three dimensions to rigid body position and directed substantially determining accurately.Image is typically processed with the speed more than 10 times per second.The output facet of image processing step 112 comprises the establishment of data array, and described data array comprises x-axle, y-axle and z-shaft position data and rolling (roll), pitching (pitch) and deflection (yaw) directional data and timestamp and software identification.Text can flow with desired frequency or send.The input aspect of data processing step 212 comprises typically with the original position of predetermined rate request and directional data, and output facet comprises utilizing, specific to the algorithm of selected technique and joint categories, this raw data is converted to useful welding parameter.The input aspect of data storing step 214 comprises and stores soldering test data with * .dat file, and output facet comprise preserve data for review and follow the tracks of, date saved for looking back on a monitor after a while, and/or looks back the progress of student after a while.The progress of student can comprise total practice periods, total arc duration, total electric arc startup and a specific performance of other parameter in time.The input aspect of data displaying 310 comprises soldering test data, described soldering test data comprise further operating angle, travel angle, Tool Room every, gait of march, welding bead layout, swing, voltage, electric current, feed rate of welding wire, and output facet relate to can display in watch-dog, the helmet, data that head-up display or their combination are checked, wherein parameter is drawn on time-based axle, and with upper lower threshold value or preferably change compared with (action such as by recording professional welder train those).In conjunction with gait of march is measured, electric current and voltage can determine that heat inputs, and welding condition can be used to assess arc length.Position data can be converted into weld seam starting position, weld seam stop position, fusion length, weld seam order, welding progress or their combination, and in conjunction with gait of march is measured, electric current and voltage can determine that heat inputs.
Fig. 2-Fig. 5 provides the illustrative view of the welding characterization system 10 according to exemplary of the present invention.As shown in Figure 2, portable training seat 20 comprises for the substantially smooth substrate 22 of kiss the earth or other horizontal substrate, rigid vertical support column 24, camera or imaging device supporter 26 and for regulating the rack and pinion assembly 31 of the height of imaging device supporter 26.In most embodiment, welding characterization system 10 is intended that portable or is at least moveable from a position to another position, and the whole coverage of therefore substrate 22 is relatively little, to allow for the maximum flexibility installed and use.As shown in Fig. 2-Fig. 6, welding characterization system 10 can be used to Training Practicing, and described exercise comprises the workpiece of that keep flat, horizontal or vertical orientation.In exemplary shown in the drawings, training seat 20 is depicted as can miscellaneous part single of support system or the structure integrated.In other embodiments, seat 20 is non-existent, and the various parts of system are supported by any applicable structural or supportive device that can obtain.Therefore, in the context of the present invention, " seat " 20 is restricted to any single structure, or alternatively, can multiple structures of parts of supporting welding characterization system 10.
For Fig. 2-Fig. 3, utilization is kept flat assembly 30 by some welding exercise, described in keep flat assembly 30 and be attached to vertical support column 24 slidably by ring-shaped article (collar) 34, described ring-shaped article 34 slides up or down on support column 24.Ring-shaped article 34 is supported on post 24 by rack and pinion 31 further, and described rack and pinion 31 comprises the axle 32 for moving up or down rack and pinion assembly 31 on support column 24.Keep flat assembly 30 and comprise training platform 38, described training platform 38 is supported by one or more support (invisible).In some embodiments, guard shield 42 is attached to training platform 38, and the surface for the protection of support column 24 exempts from heat damages.Training platform 38 comprises at least one holder 44 further, for specific for welding position stationary installation/fixture 46 being fixed to the surface of training platform.The structural allocation of the specific fixture in welding position 46 or general characteristic are variable based on the type of welding technology, and the type of described welding technology is the theme of specific weld exercise, and in Fig. 2-Fig. 3, stationary installation 46 is arranged to the exercise of corner connection weld seam.In the exemplary shown in Fig. 2-Fig. 3, the first (48) and second (50) structure member of the specific stationary installation 46 in welding position is set up with right angle each other.Location-specific stationary installation 46 can comprise one or more nail 47, the correct placement of welded specimen in convenient stationary installation.The characteristic of any welded specimen (workpiece) 54 used together with system 10 is variable based on the type of human weld's technique, the type of described human weld's technique is the theme of specific Training Practicing, and in the exemplary shown in Fig. 7-Fig. 8, the first (56) and second (58) part of welded specimen 54 is also set up with right angle each other.With reference to Fig. 4-Fig. 5, some other welding exercise will utilize horizontal assembly 30 (see Fig. 4) or vertical assembly 30 (see Fig. 5).In the diagram, horizontal assembly 30 supports docking stationary installation 46, and workpiece 54 is remained on correct position for butt-weld exercise by described docking stationary installation 46.In Figure 5, vertical assembly 30 supports vertical stationary installation 46, and workpiece 54 is remained on correct position for lap weld exercise by described vertical stationary installation 46.
Data processor 300 of the present invention typically comprises at least one computing machine, and for receiving and analyze the information caught by data capture parts 200, described data capture parts 200 self comprise at least one digital camera be comprised in protectiveness housing.During the operation of welding characterization system 10, this computing machine typically runs such software, and described software comprises training regulation module, image procossing and rigid body analysis module and data processing module.Training regulation module comprises multiple welding type and a series of acceptable welding condition be associated with each welding type of establishment.Any amount of known or AWS welding joint type and the acceptable parameter be associated with these welding joint types can be included in trains in regulation module, and described training regulation module was accessed by course director and configured before Training Practicing starts.Welding technology selected by director and/or type determine that the specific stationary installation of which welding technology, caliberating device and welded specimen are used to any given Training Practicing.Target identification module can operate the known rigid body target of training system identification 98 (it comprises two or more some marks) and then use when the artificial weld seam of reality is completed by trainee target 98 to calculate position and the directional data of welding gun 90.The data compared compared with the information by the process of target identification module, and are exported the information in training regulation module to display device (such as watch-dog or head-up display) by data processing module.Watch-dog allows trainee to see handled data in real time, and the Data operative seen provides the useful feedback about the characteristic of welding and quality to user.The visual interface of welding characterization system 10 can comprise follows the tracks of relevant various features to the input of information, login, setting, demarcation, exercise, analysis and progress.Analyze screen and typically show the welding parameter be based upon in training regulation module, include, but is not limited to operating angle, travel angle, Tool Room every, gait of march, welding bead layout, swing, voltage, electric current, feed rate of welding wire and arc length.Multiple display change is possible in the present invention.
When great majority instead of all, welding characterization system 10 will experience a series of demarcating steps/process before the use.Some in the aspect of system calibrating will typically be performed by the manufacturer of system 10 before user in delivery, and other aspects of system calibrating will typically be performed by the user of welding characterization system 10 before any welding Training Practicing.System calibrating typically relates to two relevant and requisite calibration process: (i), for each joint/position grouping that will use in various welding Training Practicing, determines three-dimensional position and the orientation of the courses of action that will be created on workpiece; And (initiatively) relation between some mark and at least two key points represented by the point be arranged on soldering appliance 90 marks that (ii) is sent by (passive) or the light of multiple reflections of calculating and setting on target 98, determine three-dimensional position and the orientation of soldering appliance.
First demarcation aspect of the present invention typically relates to the demarcation of welding operation relative to global coordinate system (that is, relative to welding other structure members of characterization system 10 and the three dimensions occupied by other structure members described).Before tracking/sign human weld exercise, on any given workpiece, the overall coordinate of each desired courses of action (that is, vector) will be determined.In most embodiment, this is the calibration process that factory performs, and described process will comprise the configuration file of the correspondence be stored in data processor 200.In order to obtain desired vector, comprise initiatively or passive mark caliberating device can three possible positions of platform (that is, keep flat, level and vertical) in each in be inserted at least two telltale marks.Fig. 6-Fig. 8 illustrates this demarcating steps in a possible position of platform.The specific stationary installation of joint 46 comprises the first and second structure members 48 (level) and 50 (vertical) respectively.Welded specimen or workpiece 54 comprise the first and second parts 56 (level) and 58 (vertical) respectively.Work piece operations path 59 extends to a Y from an X and is illustrated with broken string in the figure 7.Anchor point mark 530 and 532 is placed as shown in Fig. 6 (and Fig. 8) and the position usage data seizure parts 100 of each mark obtain, this utilizes Optitrack Tracking Tools (NaturalPoint company limited) or similar commercially available or proprietary hardware/software system in this embodiment, and described system provides three-dimensional mark and six degree of freedom subject performance to follow the tracks of in real time.Such technology typically utilize with the reflection of predetermined patterned arrangement and/or some mark that light sends create a cloud, described some cloud is read as " rigid body " by system imaging hardware and system software, although other suitable methods and the present invention compatible.
In the calibration process represented by the process flow diagram of Fig. 9, in step 280, form 38 is fixed in position i (0,1,2); In step 282, caliberating device is placed on register pin; In step 284, all mark positions are captured; In step 286, the coordinate of locator position is calculated; In step 288, the coordinate of corner connection courses of action is calculated, and is stored in step 290; In step 292, the coordinate of overlap joint courses of action is calculated, and is stored in step 294; And in step 296, the coordinate of groove courses of action is calculated, and is stored in step 298.All coordinates are calculated with respect to the visible three dimensions of data capture parts 200.
In one embodiment of the invention, the position of workpiece and be directed through two or more are passive or some tag application initiatively and demarcate to caliberating device, described caliberating device relative to stationary installation being placed with biased (offset) that rotate with known translation, described stationary installation with known translation with rotate biased come holding workpiece.In another embodiment of the invention, the position of workpiece and be directed through two or more are passive or some tag application initiatively and demarcate to stationary installation, described stationary installation with known translation with rotation biased come holding workpiece.Still in other embodiments, workpiece is nonlinear, and the position of described workpiece and the directed calibration tool with two or more passive or initiatively some marks that can use are marked and drawed and be stored for future use.Based on the sequence step in whole operation, the position in work piece operations path and directed that can experience the predetermined translation of the original demarcation plane from it with rotate biased.
Important tool control parameter (such as relative to the position in work piece operations path, orientation, speed, acceleration and spatial relationship) can be determined to continuous print tool location and analysis that is directed and various work piece operations path described above in time.Tool control parameter can compared with predetermined preferred value, to determine and the known and deviation of preferred code.Tool control parameter can also combine with other fabrication process parameters, to determine the deviation with preferred code, and these deviations can be used to assessment technique level, provide training feedback, evaluate towards the progress of technical goal or for quality control object.For the object of statistical Process Control, the described action parameter relative to work piece operations path can gather from multiple operation.For the object of statistical Process Control, can gather from multiple operation with the deviation of preferred code.Important tool control parameter and also can being recorded relative to the tool location in work piece operations path and orientation, for the signature of setting up the action of experienced operator with judging and the datum line of the degree of conformity of preferred code.
Second demarcation aspect typically relates to the demarcation of soldering appliance 90 relative to target 98.The clamper of " welding " instrument 90 welding torch or welding gun or SMAW welding rod typically, but also can be other apparatus any amount of, comprise solder iron, cast-cutting saw, forming tool, material removing tool, spray gun for paint or spanner.With reference to Figure 10-Figure 11, welding gun/soldering appliance 90 comprises tool point 91, nozzle 92, body 94, trigger 96 and target 98.Tool calibration device 93, that it is included in the integrated active of two of A and B position (see Figure 11) or passive some mark, is attached to or is inserted in nozzle 92.Rigid body point cloud (that is, " rigid body ") is built by the upper surface (other placements are possible) active or passive some mark 502,504 and 506 (and additional some mark) being attached to target 98.Target 98 can comprise electric power input (if the some mark used is initiatively) and need power supply.Data capture parts 200 use Optitrack Tracking Tools (NaturalPoint company limited) or similar hardware/software to arrange rigid body and to put mark 522 (A) and 520 (B), and described mark represents the position of tool vector 524.These positions can be extracted by the software of system 10 and the relation that point marks between A and B and rigid body can be calculated.
In the calibration process represented by the process flow diagram of Figure 12, in step 250, welding tip 92 and contact tube (contacttube) are removed; In step 252, caliberating device is inserted in body 94; Soldering appliance 90 is placed on working envelope face, and rigid body 500 (being designated as in fig. 11 " S ") and some mark A and B are caught by data capture parts 100; In step 256, the relation between A and S and B and S is calculated; In step 258, the relation data for AS is stored; And in step 260, the relation data for BS is stored.
In one embodiment of the invention, the demarcation of tool point and tool vector is by the position along tool vector, by two or more, passive or some tag application initiatively performs to caliberating device, and described tool vector has known being biased relative to tool point.In another embodiment, the demarcation of tool point and tool vector performs by being inserted into by instrument to have in known location and directed calibrating block relative to workpiece.About by some mark (such as, 502,504,506) rigid body limited, in one embodiment, passive or initiatively some mark is attached to instrument in the mode of many facets, to make rotation and the directed change that can adapt to wide region in the visual field of imaging system.In another embodiment, passive or initiatively some mark is attached to instrument in spherical mode, to make rotation and the directed change that can adapt to wide region in the visual field of imaging system.Still in another embodiment, passive or initiatively some mark is attached to instrument in the mode of annular, to make rotation and the directed change that can adapt to wide region in the visual field of imaging system.
A large amount of additional useful features can be merged in the present invention.Such as, for the object of image filtering, logical or the Hi-pass filter of band can be incorporated in each optical series in the multiple digital cameras in data capture parts 200, for allowing only to come the light of wavelength since a mark reflects or sends, to improve signal noise ratio (snr) of image.In dynamic area-of-interest, acquire image information by only analyzing, false information can be rejected, and described dynamic area-of-interest has limit from rigid body position known before biased.This dynamic area-of-interest can be incorporated into or otherwise be limited (namely in advance, be previously programmed as width x and the height framework of y or region and center in the known location of target 98) in the visual field of each digital camera, to make image information only processed from the region that this limits in advance.Area-of-interest will move along with rigid body and change, and therefore be based on position known before rigid body.This method allows imaging system only to observe the pixel in dynamic area-of-interest when finding some mark and ignores or stop the pixel in the larger picture frame that is not included in dynamic area-of-interest.The processing time of minimizing is the benefit of this aspect of the present invention.
Although by illustrating the present invention to the description of exemplary of the present invention, although and in some details, describe embodiment, the scope of appended claim is limited or is restricted to the intention that such details is not applicant by any way.Additional advantage and change seem easy understand for a person skilled in the art.Therefore, the present invention its be not limited to widely concrete details, representational apparatus and method and/or shown and describe illustrative embodiment in any one.Thus, when not departing from the spirit or scope of total inventive concept of applicant, can depart to some extent with such details.
Claims (24)
1., for characterizing a system for welding operation, described system comprises:
(a) data generating components, wherein said data generating components comprises further:
(i) stationary installation, the geometric properties of wherein said stationary installation is predetermined;
(ii) workpiece, described workpiece is adjusted to be arranged in described stationary installation, and wherein said workpiece comprises wants at least one soldered joint, and wherein limits courses of action along the vector wanting soldered described joint to extend;
(iii) at least one caliberating device, wherein each caliberating device comprises further and mark with at least two points of described caliberating device one, and the wherein said geometric relationship marked between described courses of action is predetermined; And
(iv) soldering appliance, wherein said soldering appliance can operate is wanting soldered described joint to form weld seam, wherein said soldering appliance limits tool point and tool vector, and wherein said soldering appliance comprises the target being attached to described soldering appliance further, wherein said target comprises the multiple marks be installed in predetermined pattern on described target further, and the predetermined pattern of its mid point mark can operate to limit rigid body; And
(b) data capture parts, wherein said data capture parts comprise the imaging system of the image for catching described mark further; And
(c) data processor, wherein said data processor can operate to receive the information from described data capture parts and then calculating:
I () described courses of action are with respect to the visible three-dimensional position of described imaging system and orientation;
(ii) described tool point is relative to the position of described rigid body and the described tool vector orientation relative to described rigid body; And
(iii) described tool point is relative to the position of described courses of action and the described tool vector orientation relative to described courses of action.
2. the system as claimed in claim 1, wherein said imaging system comprises multiple digital camera further, and wherein at least one wave filter is incorporated in each optical series in described multiple digital camera, only come since the described light marking the wavelength reflecting or send, to improve signal noise ratio (snr) of image for allowing.
3. system as claimed in claim 2, wherein said imaging system comprises by described multiple digital camera at least one dynamic area-of-interest visible further, wherein said dynamic area-of-interest is determined by using the known position before of described rigid body, and wherein image information is only collected and processes in described dynamic area-of-interest.
4. the system as claimed in claim 1, position and directed use of wherein said courses of action mark to demarcate with at least two points of caliberating device one, described caliberating device relative to described stationary installation with known translation with being biasedly placed of rotating, and wherein said stationary installation relative to described courses of action with known translation with the described workpiece of biased maintenance rotated.
5. the system as claimed in claim 1, the position of wherein said courses of action and directed at least two the somes marks be set up on the securing means that use are demarcated, described stationary installation relative to described courses of action with known translation with the described workpiece of biased maintenance rotated.
6. the system as claimed in claim 1, wherein said courses of action are nonlinear, wherein said courses of action position in three dimensions and orientation can use caliberating device to mark and draw, described caliberating device comprises at least two some marks, and wherein said courses of action indicate the placement at multiple, the different some place of described caliberating device in described courses of action.
7. the system as claimed in claim 1, wherein based on the predetermined sequence step be included in whole system operation, the position of described courses of action and directed experience from the predetermined translation of its original demarcation plane with rotate biased.
8. the system as claimed in claim 1, two or more some marks that the described tool point of wherein said soldering appliance and the calibration and usage of tool vector are integrated in removable caliberating device perform, and the described mark wherein in described caliberating device is set up along tool vector, described tool vector has known being biased relative to the described tool point of described soldering appliance.
9. the system as claimed in claim 1, the demarcation of the described tool point of wherein said soldering appliance performs by being inserted in caliberating device by the end of described soldering appliance, and described caliberating device is predetermined relative to the position of described workpiece and orientation.
10. the system as claimed in claim 1, the described mark wherein limiting described rigid body is attached to described soldering appliance with the configuration of many facets, and the configuration of described many facets adapts to rotation and the directed change of described soldering appliance wide region in use.
11. the system as claimed in claim 1, the described mark wherein limiting described rigid body is attached to described soldering appliance with spherical configuration, and described spherical configuration adapts to rotation and the directed change of described soldering appliance wide region in use.
12. the system as claimed in claim 1, wherein said passive or initiatively some mark is attached to described soldering appliance with the configuration of annular, and the configuration of described annular adapts to rotation and the directed change of described soldering appliance wide region in use.
13. the system as claimed in claim 1, wherein said system-computed is relative to the value of at least one in the tool location of described courses of action, orientation, speed and acceleration, wherein these values are then compared with predetermined preferred value, to determine and the deviation of known and preferred code, and wherein such deviation be used to assessment technique level, training feedback is provided, evaluate in the progress and quality control object of technical goal at least one.
14. 1 kinds for characterize human weld operation system, described system comprises:
(a) data generating components, wherein said data generating components comprises further:
(i) stationary installation, the geometric properties of wherein said stationary installation is predetermined;
(ii) workpiece, described workpiece is adjusted to be arranged in described stationary installation, and wherein said workpiece comprises wants at least one soldered joint, and wherein limits courses of action along the vector wanting soldered described joint to extend;
(iii) at least one caliberating device, wherein each caliberating device comprises further and mark with at least two points of described caliberating device one, and the wherein said geometric relationship marked between described courses of action is predetermined; And
(iv) soldering appliance, wherein said soldering appliance can operate is wanting soldered described joint to form weld seam, wherein said soldering appliance limits tool point and tool vector, and wherein said soldering appliance comprises the target being attached to described soldering appliance further, wherein said target comprises the multiple marks be installed in predetermined pattern on described target further, and the predetermined pattern of its mid point mark can operate to limit rigid body; And
(b) data capture parts, wherein said data capture parts comprise the imaging system of the image for catching described mark further, wherein said imaging system comprises multiple digital camera further, and wherein at least one wave filter is incorporated in each optical series in described multiple digital camera, only come since the described light marking the wavelength reflecting or send, to improve signal noise ratio (snr) of image for allowing; And
(c) data processor, wherein said data processor can operate to receive the information from described data capture parts and then calculating:
I () described courses of action are with respect to the visible three-dimensional position of described imaging system and orientation;
(ii) described tool point is relative to the position of described rigid body and the described tool vector orientation relative to described rigid body; And
(iii) described tool point is relative to the position of described courses of action and the described tool vector orientation relative to described courses of action.
15. systems as claimed in claim 14, position and directed use of wherein said courses of action mark to demarcate with at least two points of caliberating device one, described caliberating device relative to described stationary installation with known translation with being biasedly placed of rotating, and wherein said stationary installation relative to described courses of action with known translation with the described workpiece of biased maintenance rotated.
16. systems as claimed in claim 14, the position of wherein said courses of action and directed at least two the somes marks be set up on the securing means that use are demarcated, described stationary installation relative to described courses of action with known translation with the described workpiece of biased maintenance rotated.
17. systems as claimed in claim 14, wherein said courses of action are nonlinear, wherein said courses of action position in three dimensions and orientation can use caliberating device to mark and draw, described caliberating device comprises at least two some marks, and wherein said courses of action indicate the placement at multiple, the different some place of described caliberating device in described courses of action.
18. systems as claimed in claim 14, wherein based on the predetermined sequence step be included in whole system operation, the position of described courses of action and directed experience from the predetermined translation of its original demarcation plane with rotate biased.
19. systems as claimed in claim 14, two or more some marks that the described tool point of wherein said soldering appliance and the calibration and usage of tool vector are integrated in removable caliberating device perform, and wherein described mark is in said device set up along tool vector, described tool vector has known biased relative to the described tool point of described soldering appliance.
20. systems as claimed in claim 14, the demarcation of the described tool point of wherein said soldering appliance performs by being inserted in caliberating device by the end of described soldering appliance, and described caliberating device is predetermined relative to the position of described workpiece and orientation.
21. systems as claimed in claim 14, the described mark wherein limiting described rigid body is attached to described soldering appliance with the configuration of many facets, and the configuration of described many facets adapts to rotation and the directed change of described soldering appliance wide region in use.
22. systems as claimed in claim 14, the described mark wherein limiting described rigid body is attached to described soldering appliance with spherical configuration, and described spherical configuration adapts to rotation and the directed change of described soldering appliance wide region in use.
23. systems as claimed in claim 14, wherein said passive or initiatively some mark is attached to described soldering appliance with the configuration of annular, and the configuration of described annular adapts to rotation and the directed change of described soldering appliance wide region in use.
24. systems as claimed in claim 14, wherein said system-computed is relative to the value of at least one in the tool location of described courses of action, orientation, speed and acceleration, wherein these values are then compared with predetermined preferred value, to determine and the deviation of known and preferred code, and wherein such deviation be used to assessment technique level, training feedback is provided, evaluate in the progress and quality control object of technical goal at least one.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710868734.5A CN107731079B (en) | 2012-07-06 | 2012-07-06 | System for characterizing human weld's operation |
| CN201710121652.4A CN107293191B (en) | 2012-07-06 | 2012-07-06 | System for characterizing human weld's operation |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US13/543,240 | 2012-07-06 | ||
| PCT/US2012/045776 WO2014007830A1 (en) | 2012-07-06 | 2012-07-06 | System for characterizing manual welding operations |
| US13/543,240 US9221117B2 (en) | 2009-07-08 | 2012-07-06 | System for characterizing manual welding operations |
Related Child Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710868734.5A Division CN107731079B (en) | 2012-07-06 | 2012-07-06 | System for characterizing human weld's operation |
| CN201710121652.4A Division CN107293191B (en) | 2012-07-06 | 2012-07-06 | System for characterizing human weld's operation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104603860A true CN104603860A (en) | 2015-05-06 |
| CN104603860B CN104603860B (en) | 2017-10-20 |
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| CN201280075678.5A Expired - Fee Related CN104603860B (en) | 2012-07-06 | 2012-07-06 | System for characterizing human weld's operation |
| CN201710868734.5A Expired - Fee Related CN107731079B (en) | 2012-07-06 | 2012-07-06 | System for characterizing human weld's operation |
| CN201710121652.4A Expired - Fee Related CN107293191B (en) | 2012-07-06 | 2012-07-06 | System for characterizing human weld's operation |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710868734.5A Expired - Fee Related CN107731079B (en) | 2012-07-06 | 2012-07-06 | System for characterizing human weld's operation |
| CN201710121652.4A Expired - Fee Related CN107293191B (en) | 2012-07-06 | 2012-07-06 | System for characterizing human weld's operation |
Country Status (6)
| Country | Link |
|---|---|
| JP (1) | JP3198723U (en) |
| KR (1) | KR102013475B1 (en) |
| CN (3) | CN104603860B (en) |
| BR (1) | BR112015000235A2 (en) |
| DE (1) | DE202012013151U1 (en) |
| WO (1) | WO2014007830A1 (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| BR112015000235A2 (en) | 2017-06-27 |
| JP3198723U (en) | 2015-07-23 |
| KR20150048715A (en) | 2015-05-07 |
| KR102013475B1 (en) | 2019-08-22 |
| CN107293191A (en) | 2017-10-24 |
| CN107293191B (en) | 2019-07-09 |
| WO2014007830A1 (en) | 2014-01-09 |
| CN104603860B (en) | 2017-10-20 |
| CN107731079B (en) | 2019-11-22 |
| CN107731079A (en) | 2018-02-23 |
| DE202012013151U1 (en) | 2015-02-02 |
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