CN107293191B - System for characterizing human weld's operation - Google Patents
System for characterizing human weld's operation Download PDFInfo
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- CN107293191B CN107293191B CN201710121652.4A CN201710121652A CN107293191B CN 107293191 B CN107293191 B CN 107293191B CN 201710121652 A CN201710121652 A CN 201710121652A CN 107293191 B CN107293191 B CN 107293191B
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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 kind of system practiced for characterizing human weld and valuable training is supplied to welder, the system comprises the components for generating, capturing and handling data.Data generating components further comprise fixed device, workpiece, at least one caliberating device and soldering appliance, at least one described caliberating device each has 1 points of labels with the caliberating device one.Data capture component further comprises the imaging system for capturing a little image of label, and data processor is operable to receive the information from data capture component and executes various positions and orientation calculating.
Description
The application is PCT International Application Serial No. PCT/US2012/045776 for submitting on July 6th, 2012 on March 6th, 2015
Into National Phase in China Chinese Patent Application No. be 201280075678.5, it is entitled " for characterizing human weld
The divisional application of the application for a patent for invention of the system of operation ".
Cross reference to related applications
PCT International Application Serial No. PCT/US2012/045776 is that on July 8th, 2009 is submitting and entitled " for monitoring and characterizing
The U.S. patent application serial number of the method and system of the creation of artificial weld seam " is No.12/499,687 and 2010 year December 13
The U.S. patent application serial number of " welding training system " that day submits and entitled is No.12/966,570 part continuation application,
The public affairs that the U.S. patent application serial number is No.12/499,687 and the U.S. patent application serial number is No.12/966,570
Open content herein all by reference be incorporated herein, as in this paper by completely restating.
Technical field
Described invention be generally directed to characterization human weld operation system, and more particularly, to
In in this way by useful information be supplied to welding trainee system, the mode be capture, processing and with
Visible format is presented by welding trainee the data that generate in real time when artificially executing actual welding.
Background technique
Manufacturing industry becomes the expectation of the welder training of efficient and cost-effective in past ten years has record that can look into
Theme because the status of technology welder's critical shortage is just becoming shockingly bright in the factory of today, shipyard and construction site
It is aobvious.Rapid pensioner labour has become more effectively in conjunction with the slow paces of traditional welder training based on director
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 introduction for connecing basic principle, is going to a kind of necessity.Characterization disclosed herein and training system are solved to raising
This vital demand of welder training and can monitor artificial welding process come ensure the process be allow
Limitation in, the limitation is necessary the quality requirement for meeting the whole industry.So far, most welding processes are all artificial
Ground executes, however, the field lacks practical, commercially available tool still to track the execution of these artificial process.Cause
This, to such effective system, there are lasting demands, and the system is for training welder correctly to hold under various conditions
The various types of welding of row.
Summary of the invention
The following contents provides the summary of certain exemplary implementation schemes of the invention.The summary be not it is extensive summarize and
It is not intended to the range to determine of the invention crucial or conclusive aspect or element or to delimit it.
According to one aspect of the present invention, it is mentioned for characterizing artificial and/or semi-automatic welding operations and the system of practice
For.The system includes data generating components, data capture component and data processor.Data generating components further comprise solid
Device is determined, wherein the geometrical characteristic of fixed device is predetermined；Workpiece, the workpiece are adapted to be mounted on fixed device
On, wherein workpiece includes at least one to be soldered connector, and is wherein limited along the vector that the connector to be soldered extends
Courses of action；At least one caliberating device, wherein each caliberating device further comprises at least two with caliberating device one
Point label, and the geometrical relationship between its midpoint label 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 the label of multiple points on target, and the predetermined pattern of its midpoint label is operable to limit just
Body.Data capture component further comprises the imaging system for capturing a little image of label.Data processor is operable to
Receive the information from data capture component and then calculating operation path relative to pass through the visible three-dimensional space of imaging system
Between position and orientation；Position and tool vector orientation relative to rigid body of the tool point relative to rigid body；And tool point
The orientation of position and tool vector relative to courses of action relative to courses of action.
According to another aspect of the invention, the system for characterizing artificial and/or semi-automatic welding operations and practice
It is provided.The system includes data generating components, data capture component and data processor.Data generating components further wrap
Fixed device is included, wherein the geometrical characteristic of fixed device is predetermined；Workpiece, the workpiece are adapted to be mounted on fixation
On device, wherein workpiece includes at least one to be soldered connector, and the vector wherein extended along the connector to be soldered
Limit courses of action；At least one caliberating device, wherein each caliberating device further comprises integrated at least with caliberating device
Two point labels, and the geometrical relationship between its midpoint label and courses of action is predetermined；And soldering appliance,
Middle soldering appliance is operable to form weld seam in the joint to be soldered, and wherein soldering appliance limits tool point and tool arrow
Amount, and wherein soldering appliance further comprises the target for being attached to soldering appliance, and wherein target further comprises with preparatory
Determining pattern is installed in the label of multiple points on target, and the predetermined pattern of its midpoint label is operable to limit
Determine rigid body.Data capture component further comprises further for capturing the imaging system and imaging system of a little image of label
Including multiple digital cameras.At least one bandpass filter is incorporated into optical series in each of multiple digital cameras,
For allowing to be only from the light from label reflection or the wavelength issued, to improve signal noise ratio (snr) of image.Data processor can be grasped
Make receive the information from data capture component and then calculating operation path relative to by imaging system visible three
The position of dimension space and orientation；Position and tool vector orientation relative to rigid body of the tool point relative to rigid body；And work
Have orientation of position and tool vector of the point relative to courses of action relative to courses of action.
The one aspect of the application provides a kind of system for characterizing welding operation, the system comprises: (a) data produce
Raw component, wherein the data generating components further comprise: (i) fixed device, wherein the geometrical characteristic of the fixed device
It is predetermined；(ii) workpiece, the workpiece are adapted to be mounted on the fixed device, wherein the workpiece includes wanting
At least one soldered connector, and wherein courses of action are limited along the vector that the connector to be soldered extends；(iii)
At least one caliberating device, wherein each caliberating device further comprises at least two point marks with the caliberating device one
Note, and wherein the geometrical relationship between point label and the courses of action is predetermined；And (iv) Welder
Tool, wherein the soldering appliance is operable to form weld seam in the joint to be soldered, wherein the soldering appliance limits
Determine tool point and tool vector, and wherein the soldering appliance further comprises the target for being attached to the soldering appliance,
Wherein the target further comprises the multiple points label being installed on the target with predetermined pattern, and wherein
The predetermined pattern of point label is operable to limit rigid body；And (b) data capture component, wherein the data capture portion
Part further comprises the imaging system for capturing the image of the point label；And (c) data processor, wherein the number
It is operable to receive the information from the data capture component according to processing component and then calculate: (i) described courses of action
Relative to by the visible three-dimensional space of the imaging system position and orientation；(ii) tool point is relative to the rigid body
Orientation relative to the rigid body of position and the tool vector；And (iii) described tool point is relative to the operation
The orientation of the position in path and the tool vector relative to the courses of action.
In some embodiments, the imaging system further comprises multiple digital cameras, and wherein at least one
Filter is incorporated into optical series in each of the multiple digital camera, for allowing to be only from from the point label
The light of reflection or the wavelength issued, to improve signal noise ratio (snr) of image.
In some embodiments, the imaging system further comprises visible at least by the multiple digital camera
One dynamic area-of-interest, wherein the dynamic area-of-interest is come really by using the position known before of the rigid body
It is fixed, and wherein image information is only collected and processed out of described dynamic area-of-interest.
In some embodiments, the position of the courses of action and orientation use at least two with caliberating device one
To demarcate, the caliberating device is placed relative to the fixed device with known translation and rotation biasing point label,
And wherein the fixed device keeps the workpiece relative to the courses of action with known translation and rotation biasing.
In some embodiments, the position of the courses of action and orientation, which use, is set on the securing means at least
To demarcate, the fixed device is kept relative to the courses of action with known translation and rotation biasing two point labels
The workpiece.
In some embodiments, the courses of action are nonlinear, wherein the courses of action are in three dimensions
Position and orientation caliberating device can be used to mark and draw, the caliberating device includes 1 points of labels, and wherein institute
It states courses of action and indicates placement of the caliberating device at multiple, the different points in the courses of action.
In some embodiments, described based on the predetermined sequence step being included in whole system operation
The position of courses of action and orientation are undergone from the predetermined translation of its original calibration plane and rotation biasing.
In some embodiments, the tool point of the soldering appliance and the calibration and usage of tool vector are integrated into
Two or more point labels in removable caliberating device are to execute, and the wherein point in the caliberating device
Label is set along tool vector, and the tool vector has known inclined relative to the tool point of the soldering appliance
It sets.
In some embodiments, the calibration of the tool point of the soldering appliance is by by the end of the soldering appliance
End is inserted into caliberating device to execute, and the caliberating device is predetermined relative to the position of the workpiece and orientation.
In some embodiments, the point for limiting the rigid body, which is marked, is attached to the weldering with the configuration of more facets
Bonding tool, the configuration of more facets adapt to rotation and the directed change of the wide scope of the soldering appliance when in use.
In some embodiments, the point label for limiting the rigid body is attached to the welding with spherical configuration
Tool, the spherical configuration adapt to rotation and the directed change of the wide scope of the soldering appliance when in use.
In some embodiments, it is described passively or active point label with annular configuration be attached to the welding
Tool, the configuration of the annular adapt to rotation and the directed change of the wide scope of the soldering appliance when in use.
In some embodiments, the system-computed relative to the tool location of the courses of action, orientation, speed and
The value of at least one of acceleration, wherein these values then compared with predetermined preferred value, with it is determining with it is known and
The deviation of preferred regulation, and wherein such deviation is used for assessment technique level, provides training feedback, evaluates towards skill
At least one of the progress of art target and quality control purpose.
The one aspect of the application also provides a kind of system for characterizing human weld's operation, the system comprises: (a)
Data generating components, wherein the data generating components further comprise: (i) fixed device, wherein the fixed device is several
What feature is predetermined；(ii) workpiece, the workpiece is adapted to be mounted on the fixed device, wherein the workpiece
Operation road is limited along the vector that the connector to be soldered extends including at least one to be soldered connector, and wherein
Diameter；(iii) at least one caliberating device, wherein each caliberating device further comprises at least two with the caliberating device one
A point label, and wherein the geometrical relationship between point label 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 the welding
Tool limits tool point and tool vector, and wherein the soldering appliance further comprises being attached to the soldering appliance
Target, wherein the target further comprises the multiple points label being installed on the target with predetermined pattern, and
And the predetermined pattern of its midpoint label is operable to limit rigid body；And (b) data capture component, wherein the data
Capturing component further comprises the imaging system for capturing the image of the point label, wherein the imaging system is further wrapped
Multiple digital cameras are included, and wherein at least one filter is incorporated into optics sequence in each of the multiple digital camera
In column, for allowing to be only from the light from the point label reflection or the wavelength issued, to improve signal noise ratio (snr) of image；And (c)
Data processor, wherein the data processor is operable to receive the information from the data capture component and so
Afterwards calculate: (i) described courses of action relative to by the visible three-dimensional space of the imaging system position and orientation；(ii) institute
State position and tool vector orientation relative to the rigid body of the tool point relative to the rigid body；And (iii) institute
State position and tool vector orientation relative to the courses of action of the tool point relative to the courses of action.
In some embodiments, the position of the courses of action and orientation use at least two with caliberating device one
To demarcate, the caliberating device is placed relative to the fixed device with known translation and rotation biasing point label,
And wherein the fixed device keeps the workpiece relative to the courses of action with known translation and rotation biasing.
In some embodiments, the position of the courses of action and orientation, which use, is set on the securing means at least
To demarcate, the fixed device is kept relative to the courses of action with known translation and rotation biasing two point labels
The workpiece.
In some embodiments, the courses of action are nonlinear, wherein the courses of action are in three dimensions
Position and orientation caliberating device can be used to mark and draw, the caliberating device includes 1 points of labels, and wherein institute
It states courses of action and indicates placement of the caliberating device at multiple, the different points in the courses of action.
In some embodiments, described based on the predetermined sequence step being included in whole system operation
The position of courses of action and orientation are undergone from the predetermined translation of its original calibration plane and rotation biasing.
In some embodiments, the tool point of the soldering appliance and the calibration and usage of tool vector are integrated into
Two or more point labels in removable caliberating device are to execute, and wherein point label in said device
It is set along tool vector, the tool vector has known biasing relative to the tool point of the soldering appliance.
In some embodiments, the calibration of the tool point of the soldering appliance is by by the end of the soldering appliance
End is inserted into caliberating device to execute, and the caliberating device is predetermined relative to the position of the workpiece and orientation.
In some embodiments, the point for limiting the rigid body, which is marked, is attached to the weldering with the configuration of more facets
Bonding tool, the configuration of more facets adapt to rotation and the directed change of the wide scope of the soldering appliance when in use.
In some embodiments, the point label for limiting the rigid body is attached to the welding with spherical configuration
Tool, the spherical configuration adapt to rotation and the directed change of the wide scope of the soldering appliance when in use.
In some embodiments, it is described passively or active point label with annular configuration be attached to the welding
Tool, the configuration of the annular adapt to rotation and the directed change of the wide scope of the soldering appliance when in use.
In some embodiments, the system-computed relative to the tool location of the courses of action, orientation, speed and
The value of at least one of acceleration, wherein these values then compared with predetermined preferred value, with it is determining with it is known and
The deviation of preferred regulation, and wherein such deviation is used for assessment technique level, provides training feedback, evaluates towards skill
At least one of the progress of art target and quality control purpose.
Based on the detailed description of the following illustrative embodiment of reading and understanding, supplementary features of the invention and aspect 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 where spirit, further embodiment of the invention is possible.To which attached drawing and associated description are in essence
On be considered as illustrative rather than it is restrictive.
Detailed description of the invention
Attached drawing (it is incorporated into specification and forms part of specification), which is schematically illustrated, illustrates the present invention
One or more exemplary implementation schemes and total description as given above and detailed description given below, use
In explanation the principle of the present invention, and wherein:
Fig. 1 is to illustrate the information flow of exemplary implementation scheme of the invention to pass through data processing and visualization element
Flow chart；
Fig. 2 provide exemplary implementation scheme according to the present invention it is a kind of for characterize the portable of human weld's operation or
The isometric view of half portable system；
Fig. 3 provides the isometric view for laying flat component 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 component of the system of Fig. 2；
Fig. 6 illustrates the placement of two laid flat on component the point label of Fig. 2；
Fig. 7 illustrates exemplary workpiece courses of action；
Fig. 8 illustrate two actives in the exemplary workpiece for determining work piece operations path or passively point mark
The placement of note；
Fig. 9 is the stream for being described in detail in processing step involved in the exemplary implementation scheme of the first calibration component of the invention
Cheng Tu；
Figure 10 illustrates the soldering appliance of exemplary implementation scheme of the invention, shows the point mark for being used to define rigid body
The placement of note；
Figure 11 illustrates the soldering appliance of exemplary implementation scheme of the invention, show be used to define tool vector and
The placement of the point label of rigid body；And
Figure 12 is to be described in detail in processing step involved in the exemplary implementation scheme of the second calibration component of the invention
Flow chart.
Specific embodiment
Exemplary implementation scheme of the invention is described referring now to attached 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 the purpose for simplifying description, well-known structure and device with
The form of block diagram is shown.Although detailed description for purposes of illustration, below includes many specific contents,
It will be appreciated by those skilled in the art that many variations and change to detail hereinbelow are within the scope of the invention.To,
Embodiment below the present invention is set forth without causing any loss to the generality of invention claimed and not having
Have and invention claimed is defined.
The present invention relates to the advanced system for observing and characterizing human weld's practice and operation.This system is for welding
Be for introduction and welder training it is particularly useful, the system provides such affordable tool, and the tool is for weighing
Measure technology described in human weld's technology and comparison and established regulation.Training application of the invention includes: (i) screening application
People's technical level；(ii) progress of evaluation trainee at any time；(iii) it provides and teaches in real time to reduce training time and cost；
And (iv) regularly retests welder technology level using quantifiable result.Processing monitoring and quality control application packet
It includes: the deviation of (i) real-time confirmation and preferred situation；(ii) it records and tracks the degree of conformity with regulation at any time
(compliance)；(iii) data (for example, heat input measurement) for the purpose of statistical Process Control, in capture-process；
And (iv) confirmation needs to add the welder of training.System of the invention provides such original benefit, can determine to each
The degree of conformity for the welding code that kind is received.
In various exemplary implementation schemes, the present invention during welding practice based on the analysis of point cloud chart picture using single or
Multiple camera tracking systems come measure welding torch act and collect process data.The present invention is suitable for 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 range of work piece configuration, including
Large scale, various terminal type, pipeline, plate and complexity shape.Measured parameter include operating angle, travel angle,
Tool interval, travel speed, welding bead layout, swing, voltage, electric current, feed rate of welding wire and arc length.Instruction of the invention
Specific welding code can be previously implanted or can be customized by director by practicing component.Data are automatically saved and are remembered
Record, performance is write down in postwelding analysis, and progress at any time is tracked.This system can be in entirely welding training program certainly
Beginning to end is used and may include the feedback in the helmet and screen.Referring now to attached drawing, of the invention one 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 characterization system 10
100, the essential information stream of data capture component 200 and data processing (and visualization) component 300 occurs in six basic steps
In rapid: (1) picture catching 110；(2) image procossing 112；(3) input 210 of arc welding data, for example, it is known or preferred
Welding parameter；(4) data processing 212；(5) data storage 214；And (5) data show 310.Image capture step 110 is wrapped
Including one or more ready-made SPEED VISION cameras capture targets 98 of utilization, (it, which is typically comprised, is closed each other with fixed geometry
System setting 1 points label) image, wherein output facet typically comprise be more than 100 frame per second creation image text
Part.It 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
Label (that is, target of calibration).According to the identification of known rigid body, position and orientation are relative to camera source and " after trained
(trained) " rigid body orientation is calculated.The image from two or more cameras is captured and compared, is allowed in three-dimensional space
Between in rigid body position and the substantially accurate of orientation are determined.Image is typically with processed more than 10 rates per second.
The output facet of image processing step 112 includes the creation of array of data, and the array of data includes x- axis, y- axis and z-axis position
It sets data and rolls (roll), pitching (pitch) and deflection (yaw) directional data and timestamp and software identification.Text
File can be flowed or be sent with desired frequency.It include typically with preparatory in terms of the input of data processing step 212
The home position of determining rate request and directional data, and output facet is including the use of specific to selected technique and connector class
This initial data is converted to useful welding parameter by the algorithm of type.It include with * in terms of the input of data storage step 214
.dat file storage soldering test data, and output facet include save data with for look back and track, date saved with
It is looked back on a monitor in later, and/or looks back the progress of student later.The progress of student may include total practice periods, total
Arc duration, total electric arc start and other specific performance of parameter at any 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 interval, speed of advancing
Degree, welding bead layout, swing, voltage, electric current, feed rate of welding wire, and output facet is related to show in monitor, the helmet
Show the data checked in device, head-up display or their combination, wherein parameter is drawn on time-based axis, and
Compared with upper lower threshold value or preferred variation those of (such as the movement by recording professional welder train).Electric current and electricity
Pressure can in conjunction with travel speed be measured to 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 sequence, welding progress or
Their combination, and electric current and voltage can be measured to determine heat input in conjunction with travel speed.
Fig. 2-Fig. 5 provides the illustrative view of the welding characterization system 10 of exemplary implementation scheme according to the present invention
Figure.As shown in Fig. 2, portable training seat 20 includes the substantially flat substrate for contacting ground or other horizontal substrates
22, 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 of embodiment, welding characterization system 10 be intended that it is portable or at least from
One position is moveable to another position, thus the entire coverage area of substrate 22 be it is relatively small, with allow for
The maximum flexibility installed and used.As shown in Fig. 2-Fig. 6, welding characterization system 10 can be used to Training Practicing, the white silk
Practise the workpiece including orientation lay flat, horizontal or vertical.In exemplary implementation scheme shown in the drawings, training seat 20 is depicted
To be capable of other component single of support system or the structure of integration.In other embodiments, seat 20 is not present, 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 characterization system 10
Multiple structures of component.
For Fig. 2-Fig. 3, certain welding practices will be using component 30 be laid flat, and the component 30 that lays flat passes through ring-shaped article
(collar) 34 it is attached slidably to vertical support column 24, the ring-shaped article 34 is slided upward or downward on support column 24
It is dynamic.Ring-shaped article 34 is further supported on column 24 by rack and pinion 31, and the rack and pinion 31 includes for propping up
The axis 32 of rack and pinion component 31 is moved up or down on dagger 24.Laying flat component 30 includes training platform 38, the instruction
Practice platform 38 by (invisible) support of one or more brackets.In some embodiments, it is flat to be attached to training for shield 42
Platform 38, for protecting the surface of support column 24 from heat damages.Training platform 38 further comprises at least one clamping piece 44,
The surface for being fixed to training platform for welding position specifically to be fixed to device/fixture 46.The specific fixture 46 in welding position
Structure configuration or type of the general characteristic based on welding procedure be it is variable, the type of the welding procedure be specific weld practice
The theme of habit, and in Fig. 2-Fig. 3, fixed device 46 is configured for the practice of corner connection weld seam.In Fig. 2-example shown in Fig. 3
Property embodiment in, welding position specifically fix device 46 first (48) and second (50) structure member each other with right angle quilt
Setting.Location-specific fixed device 46 may include one or more nails 47, the welded specimen on convenient fixed 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
Be it is variable, the type of human weld's technique is the theme of specific Training Practicing, and shown in Fig. 8 exemplary in Fig. 7-
In embodiment, first (56) of welded specimen 54 and second (58) part are also set each other with right angle.Reference Fig. 4-Fig. 5,
Other certain welding practices will utilize horizontal assembly 30 (see Fig. 4) or vertical component 30 (see Fig. 5).In Fig. 4, horizontal assembly 30
Fixed device 46 is docked in support, and the fixed device 46 of the docking is practiced workpiece 54 being maintained at correct position for butt weld
It sets.In Fig. 5, vertical component 30 supports vertical fixed device 46, and the vertical fixed device 46 will for lap weld practice
Workpiece 54 is kept in the correct position.
Data processor 300 of the invention typically comprises at least one computer, for reception and analysis by data
The information that component 200 is captured is captured, the data capture component 200 itself includes being comprised in protectiveness shell at least
One digital camera.During the operation of welding characterization system 10, which 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 each welding type is created.It is any amount of known
Or AWS welding point type and acceptable parameter associated with these welding point types can be included in trained rule
In cover half block, the trained regulation module is accessed and is configured by course director before Training Practicing starts.By director institute
The welding procedure and/or type of choosing determine which welding procedure is specifically fixed device, caliberating device and welded specimen and is used for
Any given Training Practicing.Target identification module is operable to training system and identifies that (it includes two to known rigid body target 98
A or more point label) 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 is by the information in training regulation module and by the information of target identification resume module
It compares, and the data compared is exported to display device (such as monitor or head-up display).Monitor allows trained
Person sees handled data in real time, and the data seen be operable to provide to user about welding characteristic and
The useful feedback of quality.The visual interface of welding characterization system 10 may include input with information, login, setting, calibration,
Practice, analysis and progress track relevant various features.Analysis screen typically shows foundation in training regulation module
Welding parameter, including but not limited to operating angle, tool interval, travel speed, welding bead layout, are swung, electricity travel angle
Pressure, electric current, feed rate of welding wire and arc length.A variety of display variations are possible in the present invention.
It is most of rather than it is all in the case where, welding characterization system 10 will undergo a series of calibration steps before the use
Suddenly/process.Some in the aspect of system calibrating will typically be in delivery and be held before by the manufacturer of system 10 to user
Row, and other aspects of system calibrating will typically be in any welding Training Practicing before by the user of welding characterization system 10
To execute.System calibrating typically relates to two relevant and essential calibration process: (i) is directed to and to instruct in various welding
Each connector/position grouping used in practice determines the three-dimensional position of the courses of action to be created on workpiece and determines
To；And (active) point label that (ii) is issued by (passively) of multiple reflections of the calculating and setting on target 98 or light
Relationship between at least two key points represented by the point label by being arranged on soldering appliance 90, determines soldering appliance
Three-dimensional position and orientation.
First calibration aspect of the invention typically relates to welding operation relative to global coordinate system (that is, relative to welding
The other structures component of characterization system 10 and the three-dimensional space as occupied by the other structures component) calibration.Tracking/
Before characterizing human weld's practice, the whole of each desired courses of action (that is, vector) is sat on any given workpiece
Mark will be determined.In most of embodiment, this is the calibration process that factory executes, and the process will include being stored in number
According to the corresponding configuration file in processing component 200.It is comprising active or passively mark in order to obtain desired vector
Caliberating device can be inserted in each of three possible positions of platform (that is, lay flat, horizontal and vertical)
On at least two telltale marks.Fig. 6-Fig. 8 illustrates this demarcating steps in a possible position of platform.Connector is special
Fixed fixation device 46 respectively includes the first and second structure members 48 (horizontal) and 50 (vertically).Welded specimen or workpiece
54 respectively include the first and second parts 56 (horizontal) and 58 (vertically).Work piece operations path 59 extends to point Y simultaneously from point X
And it is shown in Fig. 7 with broken string.Anchor point mark 530 and 532 is placed as shown in Fig. 6 (and Fig. 8) and each label
Position is obtained using data capture component 100, this utilizes Optitrack Tracking Tools in this embodiment
(NaturalPoint Co., Ltd) 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 reflection of arrangement and/or that light issues marks to create a cloud, and described cloud is by system imaging hardware and system software solution
It reads to be " 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, table 38 be fixed to position i (0,1,
2) in；In step 282, caliberating device is placed on positioning pin；In step 284, all mark positions are captured；In step
286, the coordinate of locator position is calculated；It is calculated in the coordinate of step 288, corner connection courses of action, and in step 290 quilt
Storage；In step 292, the coordinate for overlapping 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 relative to pass through data capture component
200 visible three-dimensional space are calculated.
In one embodiment of the invention, it the position of workpiece and is directed through two or more passively or main
Dynamic point label is applied to caliberating device to demarcate, the caliberating device relative to fixed device with known translation and rotation
Biasing (offset) be placed, the fixed device keeps workpiece with known translation and rotation biasing.In this hair
In another bright embodiment, the position of workpiece and it is directed through two or more passively or the point of active label is answered
Fixed device is used to demarcate, the fixed 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
Passively or the calibration tool of the point label of active is plotted and is stored for future use.Based on the sequence in entire operation
Column step, the position in work piece operations path and orientation can undergo the sum of the predetermined translation from its original calibration plane
The biasing of rotation.
Important tool control parameter (such as the position relative to work piece operations path, orientation, speed, acceleration and
Spatial relationship) it can be to continuous tool location and orientation at any time and various work piece operations paths described above
Analysis is to determine.Tool control parameter can be compared with predetermined preferred value, with determining and known and preferred rule
The deviation of journey.Tool control parameter can also be combined with other fabrication process parameters, with the deviation of determining and preferred regulation, and
And these deviations can be used for that assessment technique is horizontal, provide training feedback, evaluation towards technical goal progress or for
Quality controls purpose.For the purpose of statistical Process Control, the documented action parameter relative to work piece operations path can be with
Summarize from multiple operations.Deviation for the purpose of statistical Process Control, and preferred regulation can converge from multiple operations
Always.Important tool control parameter and the tool location relative to work piece operations path and orientation can also be described, and be used for
The signature of the movement of experienced operator is established for use as the reference line of evaluation and the degree of conformity of preferred regulation.
Second calibration aspect typically relates to calibration of the soldering appliance 90 relative to target 98." welding " tool 90 is typically
It is the clamper of welding torch or welding gun or SMAW welding rod 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.0- Figure 11 referring to Fig.1, welding gun/soldering appliance 90 include tool point
91, nozzle 92, ontology 94, trigger 96 and target 98.Tool calibration device 93 comprising in A and B location (referring to Figure 11)
Two actives being integrated or passively point label, be attached to or be inserted into nozzle 92.Rigid body point cloud (that is,
" rigid body ") by by active or passively put label 502,504 and 506 (and additional point mark) and be attached to target 98
Upper surface (other placements are possible) constructs.Target 98 may include electric power input (if used point label is main
Dynamic) and need power supply.Using Optitrack Tracking Tools, (NaturalPoint has data capture component 200
Limit company) or similar hardware/software rigid body and point label 522 (A) and 520 (B), the point label expression work be set
Has the position of vector 524.These positions can be extracted by the software of system 10 and put the relationship between label 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
(contacttube) it is removed；In step 252, caliberating device is inserted into ontology 94；Soldering appliance 90 is placed on work
Enveloping surface, and rigid body 500 (" S " is designated as in Figure 11) and point label A and B are captured by data capture component 100；?
Step 256, the relationship between A and S and B and S is calculated；In step 258, for ASRelation data be stored；And in step
Rapid 260, for BSRelation data be stored.
In one embodiment of the invention, the calibration of tool point and tool vector passes through in the position along tool vector
By two or more passively or the point of active label be applied to caliberating device to execute, the tool vector is relative to tool
Point has known biasing.In another embodiment, the calibration of tool point and tool vector is by inserting a tool into phase
Have in the calibrating block of known location and orientation for workpiece and executes.It is limited about by a label (for example, 502,504,506)
Rigid body, in one embodiment, passively or active point label tool is attached in a manner of more facets so that
Rotation and the directed change of wide scope are adapted in the visual field of imaging system.In another embodiment, passively or it is main
Dynamic point label is attached to tool in a manner of spherical, 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, passively or the point of active label be 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.
A large amount of additional useful feature can be incorporated into the present invention.For example, for the purpose of image filtering, band logical or height
Bandpass filter can be incorporated into optical series in each of multiple digital cameras in data capture component 200, be used for
Allow to be only from the light from label reflection or the wavelength issued, to improve signal noise ratio (snr) of image.By only analyzing from dynamically feeling emerging
Image information is acquired in interesting region, false information can be rejected, and the dynamic area-of-interest has from known before rigid
The biasing that body position is limited.This dynamic area-of-interest can be incorporated into or be otherwise pre-defined (that is,
Be previously programmed for 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 the region that image information is only limited from this in advance is processed.Area-of-interest will it is mobile with rigid body and
Change, and is therefore based on rigid body position known before.This method allow imaging system when finding point label only
It observes the pixel in dynamic area-of-interest and ignores or stop in the larger picture frame being not included in dynamic area-of-interest
Pixel.The processing time of reduction be of the invention this in terms of benefit.
Although illustrating the present invention by the description to exemplary implementation scheme of the invention, and although
Through describing embodiment in certain details, the range of the attached claims is limited or is restricted to so in any way
Details be not applicant intention.Additional advantage and change seems for a person skilled in the art is easy reason
Solution.Therefore, the present invention is not limited to concrete details, representative device and method and/or shown at its extensive aspect
Out and any of the illustrative embodiment of description.To in the spirit for the total concept of the invention for not departing from applicant
Or in the case where range, it can be deviateed with such details.
Claims (20)
1. a kind of system for characterizing welding operation, the system comprises:
(a) data generating components, wherein the data generating components further comprise:
(i) fixed device, wherein the geometrical characteristic of the fixed device is predetermined；
(ii) workpiece, the workpiece is adapted to be mounted on the fixed device, wherein the workpiece includes being soldered
At least one connector, and wherein courses of action are limited along the vector that the connector to be soldered extends；
(iii) at least one caliberating device, wherein each caliberating device further comprises integrated at least with the caliberating device
Two point labels, and wherein the geometrical relationship between point label 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
The soldering appliance limits tool point and tool vector, and wherein the soldering appliance further comprises being attached to the weldering
The target of bonding tool, wherein the target further comprises the multiple points being installed on the target with predetermined pattern
Label, and the predetermined pattern of its midpoint label is operable to limit rigid body；And
(b) data capture component, wherein the data capture component further comprises for capturing point included by the target
The imaging system of the image of at least one of point label included by label or at least one described caliberating device；And
(c) data processor, wherein the data processor is operable to receive the letter from the data capture component
It ceases and then calculates:
(i) courses of action relative to by the visible three-dimensional space of the imaging system position and orientation；
(ii) position and tool vector orientation relative to the rigid body of the tool point relative to the rigid body；With
And
(iii) tool point is relative to the position of the courses of action and the tool vector relative to the courses of action
Orientation,
Wherein the calibration of the tool point of the soldering appliance is by being inserted into caliberating device for the end of the soldering appliance
In execute, the caliberating device is predetermined relative to the position of the workpiece and orientation.
2. the system as claimed in claim 1, wherein the imaging system further comprises multiple digital cameras, and wherein extremely
A few filter is incorporated into optical series in each of the multiple digital camera, for allowing to be only from from described
The light of point label reflection included by point label and at least one described caliberating device included by target or the wavelength issued, with
Improve signal noise ratio (snr) of image.
3. system as claimed in claim 2, wherein the imaging system further comprises can by the multiple digital camera
At least one dynamic area-of-interest seen, wherein the dynamic area-of-interest is by using the known before of 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 use and caliberating device one
1 points of labels are to demarcate, and the caliberating device is relative to the fixed device with known translation and rotation biasing
Be placed, and wherein the fixed device relative to the courses of action with known translation and rotation biasing keep institute
State workpiece.
5. the system as claimed in claim 1, wherein the position of the courses of action and orientation use are arranged on fixed device
On 1 points label to demarcate, the fixed 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
Caliberating device can be used to mark and draw in position and orientation in space, and the caliberating device includes 1 points of labels, and
Wherein the 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 predetermined translation of its original calibration plane and rotation inclined
It sets.
8. the system as claimed in claim 1, wherein the point label for limiting the rigid body is attached with the configuration of more facets
To the soldering appliance, the configuration of more 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 label for limiting the rigid body is attached to spherical configuration
The soldering appliance, the spherical configuration adapt 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 passively or the point of active label is attached to the configuration of annular
The soldering appliance, the configuration of the annular adapt 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
To the value of at least one of, velocity and acceleration, wherein these values are then compared with predetermined preferred value, with determination
And the deviation of known and preferred regulation, and wherein such deviation is used for assessment technique level, provides training feedback, comments
Progress and quality control purpose at least one of of the valence towards technical goal.
12. a kind of system for characterizing human weld's operation, the system comprises:
(a) data generating components, wherein the data generating components further comprise:
(i) fixed device, wherein the geometrical characteristic of the fixed device is predetermined；
(ii) workpiece, the workpiece is adapted to be mounted on the fixed device, wherein the workpiece includes being soldered
At least one connector, and wherein courses of action are limited along the vector that the connector to be soldered extends；
(iii) at least one caliberating device, wherein each caliberating device further comprises integrated at least with the caliberating device
Two point labels, and wherein the geometrical relationship between point label 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
The soldering appliance limits tool point and tool vector, and wherein the soldering appliance further comprises being attached to the weldering
The target of bonding tool, wherein the target further comprises the multiple points being installed on the target with predetermined pattern
Label, and the predetermined pattern of its midpoint label is operable to limit rigid body；And
(b) data capture component, wherein the data capture component further comprises for capturing point included by the target
The imaging system of the image of at least one of point label included by label or at least one described caliberating device, wherein described
Imaging system further comprises multiple digital cameras, and wherein at least one filter is incorporated into the multiple digital camera
In each of in optical series, for allowing to be only from point label and at least one described calibration included by the target
The light of the reflection of point label or the wavelength issued included by device, 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 component
It ceases and then calculates:
(i) courses of action relative to by the visible three-dimensional space of the imaging system position and orientation；
(ii) position and tool vector orientation relative to the rigid body of the tool point relative to the rigid body；With
And
(iii) tool point is relative to the position of the courses of action and the tool vector relative to the courses of action
Orientation,
Wherein the calibration of the tool point of the soldering appliance is by being inserted into caliberating device for the end of the soldering appliance
In execute, the caliberating device is predetermined relative to the position of the workpiece and orientation.
13. system as claimed in claim 12, wherein the position of the courses of action and orientation use and caliberating device one
1 points label to demarcate, the caliberating device is relative to the fixed device with known translation and rotation inclined
It sets and is placed, and wherein the fixed 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 are arranged on fixed dress
Set 1 points labels to demarcate, the fixed device relative to the courses of action with known translation and rotation
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
Caliberating device can be used to mark and draw in position and orientation in dimension space, and the caliberating device includes 1 points of labels, and
And wherein the 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 of its original calibration plane and rotation
Biasing.
17. system as claimed in claim 12, wherein the point label for limiting the rigid body is attached with the configuration of more facets
It is connected to the soldering appliance, the configuration of more facets adapts to the rotation and orientation of the wide scope of the soldering appliance when in use
Change.
18. system as claimed in claim 12, wherein the point label for limiting the rigid body 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 passively or the point of active label is attached with the configuration of annular
To the soldering appliance, the configuration of the annular 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
To the value of at least one of, velocity and acceleration, wherein these values are then compared with predetermined preferred value, with determination
And the deviation of known and preferred regulation, and wherein such deviation is used for assessment technique level, provides training feedback, comments
Progress and quality control purpose at least one of of the valence towards technical goal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 US9221117B2 (en) | 2009-07-08 | 2012-07-06 | System for characterizing manual welding operations |
| CN201280075678.5A CN104603860B (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 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201280075678.5A Division CN104603860B (en) | 2012-07-06 | 2012-07-06 | System for characterizing human weld's operation |
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| CN107293191A CN107293191A (en) | 2017-10-24 |
| CN107293191B true CN107293191B (en) | 2019-07-09 |
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| 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 |
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| CN201710868734.5A Expired - Fee Related CN107731079B (en) | 2012-07-06 | 2012-07-06 | System for characterizing human weld's operation |
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| JP (1) | JP3198723U (en) |
| KR (1) | KR102013475B1 (en) |
| CN (3) | CN107293191B (en) |
| BR (1) | BR112015000235A2 (en) |
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| WO (1) | WO2014007830A1 (en) |
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- 2012-07-06 DE DE202012013151.6U patent/DE202012013151U1/en not_active Expired - Lifetime
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Also Published As
| Publication number | Publication date |
|---|---|
| CN104603860A (en) | 2015-05-06 |
| KR20150048715A (en) | 2015-05-07 |
| CN107293191A (en) | 2017-10-24 |
| CN104603860B (en) | 2017-10-20 |
| JP3198723U (en) | 2015-07-23 |
| CN107731079B (en) | 2019-11-22 |
| CN107731079A (en) | 2018-02-23 |
| KR102013475B1 (en) | 2019-08-22 |
| DE202012013151U1 (en) | 2015-02-02 |
| WO2014007830A1 (en) | 2014-01-09 |
| BR112015000235A2 (en) | 2017-06-27 |
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