CN104603860B - System for characterizing human weld's operation - Google Patents
System for characterizing human weld's operation Download PDFInfo
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- CN104603860B CN104603860B CN201280075678.5A CN201280075678A CN104603860B CN 104603860 B CN104603860 B CN 104603860B CN 201280075678 A CN201280075678 A CN 201280075678A CN 104603860 B CN104603860 B CN 104603860B
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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
It is a kind of be used for characterize human weld exercise and by it is valuable train be supplied to welder system, the system include be used for produce, catch and processing data part.Data generating components further comprise fixing device, workpiece, at least one caliberating device and soldering appliance, and at least one described caliberating device each has 1 points of marks with caliberating device one.Data capture part further comprises the imaging system of the image for catching point mark, and data processor is operable to receive the information from data capture part and perform various positions and orientation to calculate.
Description
The cross reference of related application
Present patent application is that on July 8th, 2009 is submitting and entitled " for the side for the establishment for monitoring and characterizing artificial weld seam
The U.S. patent application serial number of method and system " is " welding submit and entitled on December 13rd, No.12/499,687 and 2010
The U.S. patent application serial number of training system " is No.12/966,570 part continuation application, the U.S. patent application serial number
For No.12/499,687 and the U.S. patent application serial number be No.12/966,570 disclosure herein all by drawing
With being incorporated herein, as in this paper by intactly restating.
Background of invention
Described invention be generally directed to characterize human weld operation system, and more particularly, to
In by such mode by useful information be supplied to welding trainee system, the mode for catch, processing and with
Visible form is presented by welding trainee's data for producing in real time when artificially performing actual welding.
Expectation of the manufacturing industry to the welder training of efficient and cost-effective became in past ten years has record to look into
Theme because in the factory of today, shipyard and construction site, the present situation of technology welder's critical shortage is just becoming shockingly bright
It is aobvious.Rapid pensioner labour, with reference to the slow paces of traditional welder training based on director, has become more effectively
The motive force of training technique development.Innovation to the acceleration training of the artificial dexterous technology specific to welding, together with to arc welding
The quick teaching of general principle is connect, a kind of necessity is going to.Sign disclosed herein and training system are solved to improving
This vital demand of welder training and artificial welding process can be monitored to ensure that the process is to allow
Limitation in, the limitation is necessary to the quality requirement that meets the whole industry.So far, most welding processes are all artificial
Ground is performed, however, the field still lack practicality, commercially available instrument track the execution of these artificial process.Cause
, there is lasting demand to such effective system in this, the system is used to train welder correctly to hold under various conditions
The various types of welding of row.
The content of the invention
Herein below provides the summary of some exemplaries of the present invention.The summary be not extensive general introduction and
It is not intended to determine the crucial or conclusive aspect or element or to delimit its scope of the present invention.
According to one aspect of the present invention, the system for characterizing artificial and/or semi-automatic welding operations and exercise is carried
For.The system includes data generating components, data capture part and data processor.Data generating components further comprise solid
Determine device, the geometric properties of wherein fixing device are predetermined；Workpiece, the workpiece is adapted to be arranged on fixing device
On, wherein workpiece includes at least one to be soldered joint, and is wherein limited along the vector of the joint to be soldered extension
Courses of action；At least one caliberating device, wherein each caliberating device further comprises at least two with caliberating device one
Geometrical relationship between point mark, and its midpoint mark and courses of action is predetermined；And soldering appliance, wherein welding
Bonding tool is operable to form weld seam in the joint to be soldered, and wherein soldering appliance limits tool point and tool vector, and
And wherein soldering appliance further comprises the target for being attached to soldering appliance, wherein target further comprises with predetermined
Pattern is installed in multiple points mark on target, and the predetermined pattern of its midpoint mark is operable to limit just
Body.Data capture part further comprises the imaging system of the image for catching point mark.Data processor is operable to
Receive the information from data capture part and then calculate courses of action with respect to the visible three-dimensional space of imaging system
Between position and orientation；Tool point relative to rigid body position and tool vector relative to rigid body orientation；And tool point
Relative to courses of action position and tool vector relative to courses of action orientation.
According to another aspect of the present invention, the system for characterizing artificial and/or semi-automatic welding operations and exercise
It is provided.The system includes data generating components, data capture part and data processor.Data generating components are further wrapped
Fixing device is included, the geometric properties of wherein fixing device are predetermined；Workpiece, the workpiece is adapted to be arranged on fixation
On device, wherein workpiece includes at least one to be soldered joint, and wherein along the vector of the joint to be soldered extension
Limit courses of action；At least one caliberating device, wherein each caliberating device further comprises with caliberating device one at least
Two point marks, and its midpoint marks the geometrical relationship between courses of action to be predetermined；And soldering appliance, its
Middle soldering appliance is operable to form weld seam in the joint to be soldered, and wherein soldering appliance limits tool point and instrument arrow
Amount, and wherein soldering appliance further comprises the target for being attached to soldering appliance, and wherein target further comprises with advance
The pattern of determination is installed in multiple points mark on target, and the predetermined pattern of its midpoint mark is operable to limit
Determine rigid body.Data capture part further comprises the imaging system of the image for catching point mark and imaging system is further
Including multiple digital cameras.At least one bandpass filter is incorporated into each optical series in multiple digital cameras,
For allowing to be only from the light from a mark reflection or the wavelength sent, to improve signal noise ratio (snr) of image.Data processor can be grasped
Make to receive the information from data capture part and then calculate courses of action with respect to imaging system visible three
The position of dimension space and orientation；Tool point relative to rigid body position and tool vector relative to rigid body orientation；And work
Tool point relative to courses of action position and tool vector relative to courses of action orientation.
Based on the detailed description for reading and understanding following illustrative embodiment, supplementary features and aspect of the invention are right
It will be apparent for those skilled in the art.As will be understood by the skilled artisan, the scope of the present invention is not being departed from
In the case of spirit, further embodiment of the invention is possible.So as to which accompanying drawing and associated description are in essence
On be considered as illustrative rather than it is restricted.
Brief Description Of Drawings
Accompanying drawing (it is incorporated into specification and forms a part for specification) is schematically illustrated the explanation present invention
One or more exemplaries and total description as given above and detailed description given below, use
In the principle for explaining the present invention, and wherein：
Fig. 1 is that the information flow for illustrating the exemplary of the present invention passes through data processing and visualization element
Flow chart；
Fig. 2 provide according to the present invention exemplary it is a kind of be used for characterize human weld operation it is portable or
The isometric view of half portable system；
Fig. 3 provides the isometric view for keeping flat component of Fig. 2 system；
Fig. 4 provides the isometric view of the horizontal assembly of Fig. 2 system；
Fig. 5 provides the isometric view of the vertical component of Fig. 2 system；
Fig. 6 illustrates the placement of Fig. 2 keep flat on component two points mark；
Fig. 7 illustrates exemplary workpiece courses of action；
Fig. 8 illustrate for determine work piece operations path exemplary workpiece on two actives or passive point marks
The placement of note；
Fig. 9 is the stream for being described in detail in process step involved in the exemplary of the first demarcation part of the present invention
Cheng Tu；
Figure 10 illustrates the soldering appliance of the exemplary of the present invention, shows to be used to define the point mark of rigid body
The placement of note；
Figure 11 illustrates the soldering appliance of the exemplary of the present invention, show to be used to define tool vector and
The placement of the point mark of rigid body；And
Figure 12 is to be described in detail in process step involved in the exemplary of the second demarcation part of the present invention
Flow chart.
The detailed description of invention
The exemplary of the present invention is described referring now to accompanying drawing.Ref. No. in detailed description from beginning to end by
It is used to refer to for various elements and structure.In other cases, for simplify description purpose, well-known construction and device with
The form of block diagram is illustrated.Although detailed description for purposes of illustration, below includes many specific contents,
It will be appreciated by those skilled in the art that many changes and change to detail hereinbelow are even more within the scope of the invention.So as to,
Embodiment below the present invention is set forth causing any loss without the generality to invention claimed and not had
Have and invention claimed is defined.
The present invention relates to the AS for observing and characterizing human weld's exercise and operation.This system is for welding
It is particularly useful for teaching and welder training, the system provides such affordable instrument, the instrument is used to weigh
Technology described in amount human weld's technology and comparison and the code set up.The present invention training apply including：(i) screening application
People's technical merit；(ii) progress of the trainee with the time is evaluated；(iii) provide and teach to reduce training time and cost in real time；
And (iv) regularly retests welder technology level using quantifiable result.Processing monitoring and quality control application bag
Include：(i) deviation of real-time confirmation and preferred situation；(ii) record and track the degree of conformity with code with the time
(compliance)；(iii) for the purpose of statistical Process Control, the data (for example, heat input measurement) in capture-process；
And (iv) confirms to need the welder of additional training.The system of the present invention provides such original benefit, that is, can determine to each
Plant the degree of conformity of the welding code received.
In various exemplaries, the present invention during exercise is welded based on the analysis of point cloud chart picture using single or
Multiple camera tracking systems act measuring welding torch and collect process data.The present invention is applied to the process of wide scope, including
But it is not necessarily limited to GMAW, FCAW, SMAW, GTAW and cutting.The present invention is expansible for the scope of work piece configuration, including
Large scale, various terminal type, pipeline, plate and complicated shape.Measured parameter include operating angle, travel angle,
Tool Room is every, gait of march, welding bead layout, swing, voltage, electric current, feed rate of welding wire and arc length.The instruction of the present invention
Specific welding code can be previously implanted or can be customized by director by practicing part.Data are automatically preserved and remembered
Performance is write down in record, postwelding analysis, and is traced with the progress of time.This system can be in entirely welding training program certainly
Begin to end to be used and in the helmet and feedback on screen can be included.Referring now to accompanying drawing, one of the invention or more
Multiple specific embodiments will be described in more detail.
As shown in figure 1, in an exemplary embodiment of the present invention, by the data generating components for welding sign system 10
100th, the essential information stream of data capture part 200 and data processing (and visualization) part 300 occurs in six basic steps
In rapid：(1) picture catching 110；(2) image procossing 112；(3) input 210 of electric arc welding data, such as known or preferred
Welding parameter；(4) data processing 212；(5) data storage 214；And (5) data display 310.Image capture step 110 is wrapped
Including one or more ready-made SPEED VISION cameras capture targets 98 of utilization, (it is typically comprised is closed with fixed geometry each other
System set 1 points mark) image, wherein output facet typically comprise with more than 100 frame per second create image text
Part.Include the point cloud analysis frame by frame of rigid body in terms of the input of image processing step 112, the rigid body includes three or more points
Mark (that is, the target of demarcation).According to the identification of known rigid body, position and orientation are relative to camera source and " after undergoing training
(trained) " rigid body orientation is calculated.Catch and compare the image from two or more cameras, it is allowed in three-dimensional space
Between in rigid body position and the substantially accurate of orientation are determined.Image is typically processed with the speed more than 10 times per second.
The output facet of image processing step 112 includes the establishment of array of data, and the array of data includes x- axles, y- axles and z-axis position
Put data and roll (roll), pitching (pitch) and deflection (yaw) directional data and timestamp and software identification.Text
File can be flowed or be sent with desired frequency.Include in terms of the input of data processing step 212 typically with advance
The home position of the rate request of determination and directional data, and output facet is using specific to selected technique and joint class
The algorithm of type is converted to this initial data useful welding parameter.Include in terms of the input of data storage step 214 with *
.dat file storage soldering test data, and output facet include preserving data for looking back and tracking, date saved with
Looked back on a monitor in later, and/or look back the progress of student later.The progress of student can include total practice periods, total
Arc duration, total electric arc start and with individual other specific performance of parameter of time.In terms of the input of data displaying 310
Including soldering test data, the soldering test data further comprise operating angle, travel angle, Tool Room every, advance speed
Degree, welding bead layout, swing, voltage, electric current, feed rate of welding wire, and output facet be related to can be in monitor, the helmet it is aobvious
Show the data checked in device, head-up display or combinations thereof, wherein parameter is drawn on time-based axle, and
Compared with upper lower threshold value or preferred change (such as those trained by the action of the professional welder of record).Electric current and electricity
Pressure can be measured to reference to gait of march determine heat input, and welding condition can be used to assessment electric arc it is long
Degree.Position data can be converted into weld seam starting position, weld seam stop position, fusion length, weld seam order, welding progress or
Combinations thereof, and electric current and voltage can be measured to determination heat input with reference to gait of march.
The illustrative that Fig. 2-Fig. 5 provides the welding sign system 10 of the exemplary according to the present invention is regarded
Figure.As shown in Fig. 2 portable training seat 20 includes being used to contact ground or the substantially flat substrate of other horizontal substrates
22nd, rigid vertical support column 24, camera or imaging device supporter 26 and the height for adjusting imaging device supporter 26
Rack and pinion component 31.In most embodiment, welding sign system 10 be intended that it is portable or at least from
One position be to another position it is moveable, therefore substrate 22 whole coverage be it is relatively small, with allow for
The maximum flexibility installed and used.As shown in Fig. 2-Fig. 6, welding sign system 10 can be used to Training Practicing, the white silk
Practising includes workpiece keep flat, horizontal or vertical orientation.In exemplary shown in the drawings, training seat 20 is depicted
For single or integration the structure for the miscellaneous part for being capable of support system.In other embodiments, seat 20 is non-existent, and
And the various parts of system are supported by any suitable structural or supportive device that can be obtained.Therefore, in this hair
In bright context, " seat " 20 is defined as any single structure, or alternatively, is capable of supporting welding sign system 10
Multiple structures of part.
For Fig. 2-Fig. 3, some welding exercises will be using component 30 be kept flat, and the component 30 that keeps flat is by ring-shaped article
(collar) 34 vertical support column 24 is attached slidably to, the ring-shaped article 34 is slided up or down on support column 24
It is dynamic.Ring-shaped article 34 is further supported on post 24 by rack and pinion 31, and the rack and pinion 31 includes being used in branch
The axle 32 of rack and pinion component 31 is moved up or down on dagger 24.Keeping flat component 30 includes training platform 38, the instruction
Practice platform 38 by (invisible) support of one or more supports.In some embodiments, shield 42 is attached to training and put down
Platform 38, for protecting the surface of support column 24 to exempt from heat damages.Training platform 38 further comprises at least one holder 44,
Surface for the specific fixing device/fixture 46 in welding position to be fixed to training platform.The specific fixture 46 in welding position
Structure configuration or type of the general characteristic based on welding procedure be variable, the type of the welding procedure is that specific weld is practiced
The theme of habit, and in Fig. 2-Fig. 3, fixing device 46 is arranged to the exercise of corner connection weld seam.In the example shown in Fig. 2-Fig. 3
In property embodiment, first (48) of the specific fixing device 46 in welding position and second (50) structure member are each other with right angle quilt
Set.Location-specific fixing device 46 can include one or more nails 47, for facilitating welded specimen in fixing device
Correct placement.Type of the characteristic based on human weld's technique for any welded specimen (workpiece) 54 being used together with system 10
It is variable, the type of human weld's technique is the theme of specific Training Practicing, and exemplary shown in Fig. 7-Fig. 8
In embodiment, first (56) of welded specimen 54 and second (58) part are also set with right angle each other.Reference picture 4- Fig. 5,
Other some welding exercises will utilize horizontal assembly 30 (see Fig. 4) or vertical component 30 (see Fig. 5).In Fig. 4, horizontal assembly 30
Workpiece 54 is maintained at correct position by support docking fixing device 46, the docking fixing device 46 for butt weld exercise
Put.In Figure 5, vertical component 30 supports vertical fixing device 46, and the vertical fixing device 46 is practised for lap weld will
Workpiece 54 is kept in the correct position.
The data processor 300 of the present invention typically comprises at least one computer, for receiving and analyzing by data
The information that part 200 is caught is caught, the data capture part 200 itself includes being comprised in protectiveness housing at least
One digital camera.During the operation of welding sign system 10, the computer typically runs such software, the software
Including training regulation module, image procossing and rigid body analysis module and data processing module.Training regulation module includes a variety of
Welding type and a series of acceptable welding conditions associated with creating each welding type.It is any amount of known
Or AWS welding points type and the acceptable parameter associated with these welding point types can be included in training rule
In cover half block, the training regulation module is accessed and configured by course director before Training Practicing starts.By director institute
The welding procedure and/or type of choosing determine that the specific fixing device of which welding procedure, caliberating device and welded specimen are used for
Any given Training Practicing.Target identification module is operable to the known rigid body target 98 of training system identification, and (it includes two
Individual or more point mark) and welding gun 90 is then calculated using target 98 when actual artificial weld seam is completed by trainee
Position and directional data.Data processing module will train the information in regulation module and the information by target identification resume module
Compare, and by the data output compared to display device (such as monitor or head-up display).Monitor allows to undergo training
Person sees handled data in real time, and the data seen be operable to user provide on welding characteristic and
The useful feedback of quality.Weld the visual interface of sign system 10 can include with the input of information, login, setting, demarcation,
Exercise, analysis and the related various features of progressive tracking.Analysis screen typically shows foundation in training regulation module
Welding parameter, including but not limited to operating angle, travel angle, Tool Room every, gait of march, welding bead layout, swing, electricity
Pressure, electric current, feed rate of welding wire and arc length.A variety of display changes are possible in the present invention.
In the case of most of rather than all, welding sign system 10 will undergo a series of demarcation steps before the use
Suddenly/process.Some in the aspect of system calibrating will typically be in delivery to being held by the manufacturer of system 10 before user
OK, and system calibrating other aspect will typically be in it is any welding Training Practicing before by welding sign system 10 user
To perform.System calibrating typically relates to two related and essential calibration process：(i) for be instructed in various welding
Each joint/the position grouping used in exercise, determines the three-dimensional position of the courses of action to be created on workpiece and determines
To；And (active) point mark that (passively) of the multiple reflections of (ii) by calculating and setting on target 98 or light are sent
With by the relation between at least two key points represented by being arranged on the point mark on soldering appliance 90, determining soldering appliance
Three-dimensional position and orientation.
Welding operation is typically related to relative to global coordinate system (that is, relative to welding in terms of the first demarcation of the present invention
The other structures part of sign system 10 and as the three dimensions occupied by the other structures part) demarcation.Tracking/
Characterize before human weld's exercise, the overall of each desired courses of action (that is, vector) is sat on any given workpiece
Mark will be determined.In most embodiment, this is the calibration process that factory performs, and the process will include being stored in number
According to the corresponding configuration file in processing component 200.In order to obtain desired vector, active or passive mark is included
Caliberating device can be in three possible positions of platform (that is, keeping flat, level and vertical) it is each in be inserted in
On at least two telltale marks.Fig. 6-Fig. 8 illustrates this demarcating steps in a possible position of platform.Joint is special
Fixed fixing device 46 includes the first and second structure members 48 (level) and 50 (vertically) respectively.Welded specimen or workpiece
54 include the first and second parts 56 (level) and 58 (vertically) respectively.Work piece operations path 59 extends to point Y simultaneously from point X
And be illustrated in the figure 7 with breaking.Anchor point mark 530 and 532 is placed as shown in Fig. 6 (and Fig. 8) and each marked
Position is obtained using data capture part 100, and this utilizes Optitrack Tracking Tools in this embodiment
(NaturalPoint Co., Ltds) or similar commercially available or proprietary hardware/software system, the system
Three dimensional indicia and the tracking of six degree of freedom target action are provided in real time.Such technology is typically with predetermined pattern
The point that the reflection and/or light of arrangement is sent marks to create a cloud, and described cloud is by system imaging hardware and system software solution
Read as " rigid body ", although other suitable methods are compatible with the present invention.
In the calibration process represented by the flow chart by Fig. 9, in step 280, form 38 be fixed to position i (0,1,
2) in；In step 282, caliberating device is placed on alignment 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 in step 290 quilt
Storage；In step 292, the coordinate of overlap joint courses of action is calculated, and is stored in step 294；And in step 296, slope
The coordinate of mouth courses of action is calculated, and is stored in step 298.All coordinates are with respect to data capture part
200 visible three dimensions are calculated.
In one embodiment of the invention, the position of workpiece and be directed through two or more are passive or main
Dynamic point mark is applied to caliberating device to demarcate, the caliberating device relative to fixing device with known translation and rotate
Biasing (offset) be placed, the fixing device keeps workpiece with known translation and rotation biasing.In this hair
In another bright embodiment, the position of workpiece is answered with the point mark being directed through two or more passive or actives
Use fixing device to demarcate, the fixing device keeps workpiece with known translation and rotation biasing.Still at it
In his embodiment, workpiece is nonlinear, and the position of the workpiece and orientation can be used with two or more
The calibration tool of passive or active point mark is plotted and is stored for future use.Based on the sequence in whole operation
Row step, the position in work piece operations path and orientation can undergo the sum of the predetermined translation from its original demarcation plane
The biasing of rotation.
Important tool control parameter (for example relative to the position in work piece operations path, orientation, speed, acceleration and
Spatial relationship) can be to time continuous tool location and orientation and various work piece operations paths described above
Analyze to determine.Tool control parameter can be compared with predetermined preferred value, to determine and known and preferred rule
The deviation of journey.Tool control parameter can also be combined with other fabrication process parameters, with determination and the deviation of preferred code, and
And these deviations can be used for assessment technique level, provide training feedback, evaluate towards technical goal progress or for
Quality control purpose.For the purpose of statistical Process Control, the described action parameter relative to work piece operations path can be with
Collect from multiple operations.Deviation for the purpose of statistical Process Control, and preferred code can converge from multiple operations
Always.It important tool control parameter and can also be described, be used for relative to the tool location and orientation in work piece operations path
The signature of action of experienced operator is set up for use as the datum line evaluated with the degree of conformity of preferred code.
Demarcation of the soldering appliance 90 relative to target 98 is typically related in terms of second demarcation." welding " instrument 90 is typically
It is the clamper of welding torch or welding gun or SMAW welding rods but it is also possible to be other any amount of apparatus, including solder iron, cutting
Saw, forming tool, material removing tool, spray gun for paint or spanner.Reference picture 10- Figure 11, welding gun/soldering appliance 90 includes tool point
91st, nozzle 92, body 94, trigger 96 and target 98.Tool calibration device 93, it is included in A and B location (referring to Figure 11)
Two active or passive points marks for being integrated, be attached to or be inserted into nozzle 92.Rigid body point cloud is (i.e.,
" rigid body ") by the way that active or passive point mark 502,504 and 506 (and additional point is marked) is attached into target 98
Upper surface (other placements are possible) is built.Target 98 can include electric power input (if used point mark is main
It is dynamic) and need power supply.Using Optitrack Tracking Tools, (NaturalPoint has data capture part 200
Limit company) or similar hardware/software rigid body and point mark 522 (A) and 520 (B), the point mark expression work are set
Has the position of vector 524.These positions can be extracted by the software of system 10 and put the relation between mark A and B and rigid body
It can be calculated.
In the calibration process represented by the flow chart by Figure 12, in step 250, welding tip 92 and contact tube
(contact tube) is removed；In step 252, caliberating device is inserted into body 94；Soldering appliance 90 is placed on work
Make enveloping surface, and rigid body 500 (being designated as in fig. 11 " S ") and point mark A and B are caught by data capture part 100；
Relation between step 256, A and S and B and S is calculated；In step 258, it is stored for AS relation data；And
Step 260, it is stored for BS relation data.
In one embodiment of the invention, the demarcation of tool point and tool vector passes through in the position along tool vector
The point mark of two or more passive or actives is applied to caliberating device to perform, the tool vector is relative to instrument
Point has known biasing.In another embodiment, the demarcation of tool point and tool vector is by inserting a tool into phase
Have in the calibrating block of known location and orientation to perform for workpiece.On being limited by a mark (for example, 502,504,506)
Rigid body, in one embodiment, passive or active point mark is attached to instrument in the way of many facets so that
Rotation and the directed change of wide scope are adapted in the visual field of imaging system.In another embodiment, it is passive or main
Dynamic point mark is attached to instrument in spherical mode, so as to be adapted to the rotation of wide scope in the visual field of imaging system
And directed change.Still in another embodiment, the point mark of passive or active is attached to work in an annular fashion
Tool, so as to be adapted to rotation and the directed change of wide scope in the visual field of imaging system.
Substantial amounts of additional useful feature can be merged in the present invention.For example, for the purpose of image filtering, band logical or height
Bandpass filter can be incorporated into each optical series in multiple digital cameras in data capture part 200, be used for
Allow to be only from the light from a mark reflection or the wavelength sent, to improve signal noise ratio (snr) of image.It is emerging from dynamic sense by only analyzing
Image information is acquired in interesting region, false information can be rejected, the dynamic area-of-interest has from known before firm
The biasing that body position is limited.This dynamic area-of-interest can be incorporated into or otherwise be pre-defined (i.e.,
Be previously programmed is width x and height y framework or region and center in the known location of target 98) in each digital phase
In the visual field of machine, so that image information is only processed from the region limited in advance.Area-of-interest will be with rigid body movement
Change, and be therefore based on known position before rigid body.This method allows imaging system finding when point is marked only
Pixel in the dynamic area-of-interest of observation and ignore or stop and be not included in the larger picture frame in dynamic area-of-interest
Pixel.The processing time of reduction be the present invention this in terms of benefit.
Although the present invention is illustrated by the description of the exemplary to the present invention, although and
Through describing embodiment in some details, the scope of appended claim is limited or is restricted in any way so
Details be not applicant intention.Additional advantage and change seem easy reason for a person skilled in the art
Solution.Therefore, the present invention is not restricted to concrete details, representational apparatus and method and/or shown at its extensive aspect
Go out and the illustrative embodiment that describes in any one.So as in the spirit for the total inventive concept for not departing from applicant
Or in the case of scope, can deviate with such details.
Claims (20)
1. a kind of system for characterizing welding operation, the system includes：
(a) data generating components, wherein the data generating components further comprise：
(i) fixing device, wherein the geometric properties of the fixing device are predetermined；
(ii) workpiece, the workpiece is adapted to be arranged in the fixing device, wherein the workpiece includes what is be soldered
At least one joint, and wherein limit courses of action along the vector of the joint to be soldered extension；
(iii) at least one caliberating device, wherein each caliberating device further comprises with caliberating device one at least
Geometrical relationship between two point marks, and wherein described point mark and the courses of action is predetermined；And
(iv) soldering appliance, wherein the soldering appliance is operable to form weld seam in the joint to be soldered, wherein described
Soldering appliance limits tool point and tool vector, and wherein described soldering appliance further comprises being attached to the Welder
The target of tool, wherein the target further comprises the multiple point marks being installed in predetermined pattern on the target
Note, and the predetermined pattern of its midpoint mark is operable to restriction rigid body；And
(b) data capture part, wherein the data capture part further comprises being used to catch 1 points of marks
Image imaging system；And
(c) data processor, wherein the data processor is operable to receive the letter from the data capture part
Cease and then calculate：
(i) position and orientation of the courses of action with respect to the visible three dimensions of the imaging system；
(ii) tool point relative to the rigid body position and the tool vector relative to the rigid body orientation；With
And
(iii) tool point relative to the position of the courses of action and the tool vector relative to the courses of action
Orientation,
The tool point of wherein described soldering appliance and the calibration and usage of tool vector are integrated into removable caliberating device
In two or more point marks perform, and the point mark wherein in the caliberating device is along tool vector quilt
Set, the tool vector has known biasing relative to the tool point of the soldering appliance.
2. the system as claimed in claim 1, wherein the imaging system further comprises multiple digital cameras, and wherein extremely
A few wave filter is incorporated into each optical series in the multiple digital camera, for allowing to be only from from described
1 points of mark reflections or the light of the wavelength sent, to improve signal noise ratio (snr) of image.
3. system as claimed in claim 2, wherein further comprise can by the multiple digital camera for the imaging system
At least one dynamic area-of-interest seen, wherein the dynamic area-of-interest is by using known before the rigid body
Position is to determine, and wherein image information is only collected and processed out of described dynamic area-of-interest.
4. the system as claimed in claim 1, wherein the position of the courses of action and orientation are used and caliberating device one
1 points mark to demarcate, and the caliberating device is relative to the fixing device with known translation and rotation biasing
It is placed, and wherein described fixing device keeps institute relative to the courses of action with known translation and rotation biasing
State workpiece.
5. the system as claimed in claim 1, wherein the position of the courses of action and orientation use and be arranged on fixing device
On 1 points of marks demarcate, the fixing device is relative to the courses of action with known translation and rotation
Biasing keeps the workpiece.
6. the system as claimed in claim 1, wherein the courses of action are nonlinear, wherein the courses of action are in three-dimensional
Position and orientation in space can use caliberating device to mark and draw, and the caliberating device includes 1 points of marks, and
Wherein described courses of action indicate placement of the caliberating device at multiple, the different points in the courses of action.
7. the system as claimed in claim 1, wherein based on the predetermined sequence step being included in whole system operation
Suddenly, the position of the courses of action and orientation are undergone from the inclined of the predetermined translation and rotation of its original demarcation plane
Put.
8. the system as claimed in claim 1, wherein the point for limiting the rigid body is marked and is attached with the configuration of many facets
To the soldering appliance, the configuration of many facets adapts to the rotation of the wide scope of the soldering appliance when in use and orientation changes
Become.
9. the system as claimed in claim 1, wherein the point mark for limiting the rigid body is attached to spherical configuration
The soldering appliance, the spherical configuration adapts to rotation and the directed change of the wide scope of the soldering appliance when in use.
10. the system as claimed in claim 1, wherein passive or active the point mark is attached to the configuration of annular
The soldering appliance, the annular configuration adapts to rotation and the directed change of the wide scope of the soldering appliance when in use.
11. the system as claimed in claim 1, wherein tool location, fixed of the system-computed relative to the courses of action
The value of at least one into, speed and acceleration, wherein these values and then compared with predetermined preferred value, to determine
And the deviation of known and preferred code, and wherein such deviation be used for assessment technique level, provide training feedback, comment
Valency is towards at least one in the progress of technical goal and quality control purpose.
12. a kind of system for being used to characterize human weld's operation, the system includes：
(a) data generating components, wherein the data generating components further comprise：
(i) fixing device, wherein the geometric properties of the fixing device are predetermined；
(ii) workpiece, the workpiece is adapted to be arranged in the fixing device, wherein the workpiece includes what is be soldered
At least one joint, and wherein limit courses of action along the vector of the joint to be soldered extension；
(iii) at least one caliberating device, wherein each caliberating device further comprises with caliberating device one at least
Geometrical relationship between two point marks, and wherein described point mark and the courses of action is predetermined；And
(iv) soldering appliance, wherein the soldering appliance is operable to form weld seam in the joint to be soldered, wherein described
Soldering appliance limits tool point and tool vector, and wherein described soldering appliance further comprises being attached to the Welder
The target of tool, wherein the target further comprises the multiple point marks being installed in predetermined pattern on the target
Note, and the predetermined pattern of its midpoint mark is operable to restriction rigid body；And
(b) data capture part, wherein the data capture part further comprises being used to catch 1 points of marks
Image imaging system, wherein the imaging system further comprises multiple digital cameras, and wherein at least one is filtered
Device is incorporated into each optical series in the multiple digital camera, for allowing to be only from from described 1 points
Mark reflection or the light of the wavelength sent, to improve signal noise ratio (snr) of image；And
(c) data processor, wherein the data processor is operable to receive the letter from the data capture part
Cease and then calculate：
(i) position and orientation of the courses of action with respect to the visible three dimensions of the imaging system；
(ii) tool point relative to the rigid body position and the tool vector relative to the rigid body orientation；With
And
(iii) tool point relative to the position of the courses of action and the tool vector relative to the courses of action
Orientation,
The tool point of wherein described soldering appliance and the calibration and usage of tool vector are integrated into removable caliberating device
In two or more point marks perform, and point mark wherein in said device is set along tool vector
Put, the tool vector has known biasing relative to the tool point of the soldering appliance.
13. system as claimed in claim 12, wherein the position of the courses of action and orientation are used and caliberating device one
1 points of marks demarcate, the caliberating device is relative to the fixing device with known translation and rotation inclined
Put and be placed, and wherein described fixing device is kept relative to the courses of action with known translation and rotation biasing
The workpiece.
14. system as claimed in claim 12, wherein the position of the courses of action and orientation use and be arranged on fixed dress
Put 1 points marks are demarcated, the fixing device relative to the courses of action with known translation and rotate
Biasing keep the workpiece.
15. system as claimed in claim 12, wherein the courses of action are nonlinear, wherein the courses of action are three
Position and orientation in dimension space can use caliberating device to mark and draw, and the caliberating device includes 1 points of marks, and
And wherein described courses of action indicate placement of the caliberating device at multiple, the different points in the courses of action.
16. system as claimed in claim 12, wherein based on the predetermined sequence being included in whole system operation
Step, the position of the courses of action and orientation are undergone from the predetermined translation and rotation of its original demarcation plane
Biasing.
17. system as claimed in claim 12, wherein the point mark for limiting the rigid body is attached with the configuration of many facets
The soldering appliance is connected to, the configuration of many facets adapts to rotation and the orientation of the wide scope of the soldering appliance when in use
Change.
18. system as claimed in claim 12, wherein the point for limiting the rigid body is marked and is attached with spherical configuration
To the soldering appliance, the spherical configuration adapts to the rotation of the wide scope of the soldering appliance when in use and orientation changes
Become.
19. system as claimed in claim 12, wherein passive or active the point mark is attached with the configuration of annular
To the soldering appliance, the annular configuration adapts to the rotation of the wide scope of the soldering appliance when in use and orientation changes
Become.
20. system as claimed in claim 12, wherein tool location, fixed of the system-computed relative to the courses of action
The value of at least one into, speed and acceleration, wherein these values and then compared with predetermined preferred value, to determine
And the deviation of known and preferred code, and wherein such deviation be used for assessment technique level, provide training feedback, comment
Valency is towards at least one in the progress of technical goal and quality control purpose.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710121652.4A CN107293191B (en) | 2012-07-06 | 2012-07-06 | System for characterizing human weld's operation |
| CN201710868734.5A CN107731079B (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 |
|---|---|---|---|
| CN201710121652.4A Division CN107293191B (en) | 2012-07-06 | 2012-07-06 | System for characterizing human weld's operation |
| CN201710868734.5A Division CN107731079B (en) | 2012-07-06 | 2012-07-06 | System for characterizing human weld's operation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104603860A CN104603860A (en) | 2015-05-06 |
| CN104603860B true CN104603860B (en) | 2017-10-20 |
Family
ID=49882397
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710121652.4A Expired - Fee Related CN107293191B (en) | 2012-07-06 | 2012-07-06 | System for characterizing human weld's operation |
| 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 |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710121652.4A Expired - Fee Related CN107293191B (en) | 2012-07-06 | 2012-07-06 | System for characterizing human weld's operation |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710868734.5A Expired - Fee Related CN107731079B (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) | CN107293191B (en) |
| BR (1) | BR112015000235A2 (en) |
| DE (1) | DE202012013151U1 (en) |
| WO (1) | WO2014007830A1 (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN107293191A (en) | 2017-10-24 |
| DE202012013151U1 (en) | 2015-02-02 |
| KR102013475B1 (en) | 2019-08-22 |
| BR112015000235A2 (en) | 2017-06-27 |
| KR20150048715A (en) | 2015-05-07 |
| JP3198723U (en) | 2015-07-23 |
| WO2014007830A1 (en) | 2014-01-09 |
| CN107731079B (en) | 2019-11-22 |
| CN104603860A (en) | 2015-05-06 |
| CN107731079A (en) | 2018-02-23 |
| CN107293191B (en) | 2019-07-09 |
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