CN114799638A - Human-computer cooperation welding system based on virtual reality - Google Patents
Human-computer cooperation welding system based on virtual reality Download PDFInfo
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- CN114799638A CN114799638A CN202210525953.4A CN202210525953A CN114799638A CN 114799638 A CN114799638 A CN 114799638A CN 202210525953 A CN202210525953 A CN 202210525953A CN 114799638 A CN114799638 A CN 114799638A
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Abstract
The invention discloses a human-computer cooperation welding system based on virtual reality, which comprises: the virtual reality welding teaching subsystem is used for setting a virtual reality welding process in a virtual reality welding model and teaching the welding process in a virtual reality scene; the manual operation welding virtual subsystem is used for performing manual operation remote welding and converting initial operation in a welding process into an initial operation virtual reality welding scene; the machine welding process control subsystem is used for receiving remote welding signals and controlling the welding mechanism to execute corresponding multi-degree-of-freedom welding actions; and the human-computer cooperation welding allocation subsystem is used for performing human-computer cooperation virtual welding, performing welding detection feedback adjustment on the virtual welding quality, and circularly and progressively adjusting the welding quality.
Description
Technical Field
The invention relates to the technical field of industrial robot precision welding, in particular to a man-machine cooperation welding system based on virtual reality.
Background
At the present stage, the degree of freedom and efficiency of the man-machine cooperation of the welding system are still to be improved, and the following problems exist: how to accurately perform welding process teaching in a virtual reality scene, convert initial operation of a welding process into an initial operation virtual reality welding scene, perform multi-degree-of-freedom welding actions, adjust welding quality by human-computer cooperation virtual welding and the like; therefore, there is a need for a virtual reality-based human-machine cooperative welding system that at least partially solves the problems of the prior art.
Disclosure of Invention
In the summary section, a series of concepts in a simplified form are introduced, which will be described in further detail in the detailed description section; this summary of the invention is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
To at least partially solve the above problems, the present invention provides a virtual reality-based human-machine cooperative welding system, comprising:
the virtual reality welding teaching subsystem is used for setting a virtual reality welding process in a virtual reality welding model and teaching the welding process in a virtual reality scene;
the manual operation welding virtual subsystem is used for performing manual operation remote welding and converting initial operation in a welding process into an initial operation virtual reality welding scene;
the machine welding process control subsystem is used for receiving remote welding signals and controlling the welding mechanism to execute corresponding multi-degree-of-freedom welding actions;
and the human-computer cooperation welding allocation subsystem is used for performing human-computer cooperation virtual welding, performing welding detection feedback adjustment on the virtual welding quality, and circularly and progressively adjusting the welding quality.
Preferably, the virtual reality welding teaching subsystem includes:
the virtual reality scene simulation subsystem is used for establishing a virtual reality welding model through a virtual reality model of the welding scene;
the scene simulation welding setting subsystem is used for setting a virtual reality welding process in the virtual reality welding model by inputting welding parameters into the virtual reality welding model;
and the welding setting process teaching subsystem is used for teaching the welding process in the virtual reality scene according to the virtual reality welding process.
Preferably, the manual welding virtual subsystem includes:
the manual operation remote welding subsystem is used for carrying out initial operation of the welding process through manual operation welding and remote welding;
the remote welding scene shooting and recording subsystem is used for carrying out multi-dimensional remote welding scene shooting and recording on the initial operation of the welding process through multi-angle shooting and recording;
and the scene shooting virtual transformation subsystem is used for transforming the shooting content of the multidimensional remote welding scene into an initial operation virtual reality welding scene through virtual three-dimensional transformation.
Preferably, the machine welding process control subsystem comprises:
a remote welding signal receiving subsystem for receiving a welding process control signal via a remote signal receiver;
the signal receiving and welding conversion subsystem is used for converting the remotely received welding process control signal into an execution instruction of the welding mechanism;
and the welding conversion process control subsystem is used for controlling the welding mechanism to execute corresponding multi-degree-of-freedom welding actions according to the execution command of the welding mechanism.
Preferably, the human-machine cooperation welding deployment subsystem includes:
the human-computer cooperation virtual welding subsystem is used for carrying out virtual reality human-computer cooperation welding through manual operation welding and virtual reality welding;
the virtual welding quality adjusting subsystem is used for performing welding detection feedback adjustment on the virtual welding quality according to the virtual reality man-machine cooperation welding state;
and the quality adjusting circulating progressive subsystem is used for circularly progressively welding according to the welding detection feedback adjusting state and continuously adjusting the welding quality.
Preferably, the welding setting process teaching subsystem includes:
the welding setting process verification unit is used for transmitting the virtual reality welding process to the virtual reality preliminary verification module and carrying out welding setting primary verification on the virtual reality welding process;
the process verification intelligent circulation unit is used for carrying out primary analysis on the welding setting primary verification result, feeding the primary analysis result forward to the welding setting process verification unit, and carrying out secondary verification on the welding setting;
and the intelligent cyclic welding teaching unit is used for teaching the welding process in the virtual reality scene through machine learning teaching according to the welding setting secondary verification result.
Preferably, the scene recording virtual transformation subsystem includes:
the scene shooting virtual reality welding model unit is used for shooting and recording a multi-dimensional remote welding scene through the multi-camera high-definition acquisition module to acquire welding multi-dimensional remote welding shooting and recording data; obtaining welding change data when a virtual reality welding model element changes, the welding change data comprising: welding position change data, welding speed change data and welding parameter change data;
the virtual reality welding model element extraction unit is used for extracting virtual reality welding model element data through data elements according to the multidimensional remote welding shooting data, the welding position change data, the welding speed change data and the welding parameter change data;
and the element extraction virtual transformation unit is used for generating a welding element virtual reality model and a welding action motion track in a virtual reality image of the virtual reality welding model element according to the virtual reality welding model element data through virtual reality element transformation, and transforming the initial operation of the welding process into an initial operation virtual reality welding scene through virtual stereo transformation of the recorded content of the multi-dimensional remote welding scene.
Preferably, the human-machine cooperation virtual welding subsystem includes:
the man-machine cooperation welding monitoring unit is used for clamping a welding raw material to be welded on the welding equipment and setting the shooting device according to the virtual reality multi-angle shooting requirement; starting the welding equipment and a shooting device, and shooting a welding workpiece obtained after a plurality of welding cycles by the shooting device; integrating a plurality of periodic samples into a periodic sample image by using a differential sampling technology, and performing man-machine cooperation welding monitoring on the sample image; processing the sample image to obtain a man-machine cooperation welding monitoring image;
the virtual reality welding control unit is used for carrying out simulation modeling on a welding equipment control system; setting welding parameters for the virtual reality welding model according to a given design scheme, completing the action realization of welding equipment, completing the conveying and the motion realization of a workpiece to be welded, compiling a motion and motion control script, and performing off-line simulation operation; inputting the virtual reality welding model into a welding equipment integrated control module, and realizing synchronous motion of the virtual reality welding model and welding equipment by using a virtual-real synchronization technology and a simulation platform to complete virtual-real synchronization control on the welding equipment;
the welding control cooperation welding unit is used for identifying and analyzing the welding detection image to obtain welding detection data, and the intelligent judgment module is used for comparing the welding detection data with welding setting data;
when the welding detection data exceed a data error threshold value set by the welding setting data, judging that the result is unqualified, and controlling the virtual reality welding model by an operator according to the judgment result to perform parallel control on the welding equipment;
and when the welding detection data does not exceed the data error threshold set by the welding set data, judging that the result is qualified, and finishing the man-machine cooperation virtual reality welding.
Preferably, the virtual weld quality adjustment subsystem includes:
the welding detection result feedback unit is used for detecting the human-computer cooperation welding state of the virtual reality and feeding back the human-computer cooperation welding state detection result;
the result feedback parameter adjusting unit is used for adjusting virtual reality welding parameters according to the detection result of the man-machine cooperation welding state to obtain man-machine cooperation welding adjusting parameters;
and the parameter adjusting quality adjusting unit is used for adjusting the virtual reality human-computer cooperation welding state according to the human-computer cooperation welding adjusting parameters and carrying out welding detection feedback adjustment on the virtual welding quality.
Preferably, the mass adjustment cycle progression subsystem comprises:
a quality adjustment period setting unit for setting a quality adjustment period according to the welding detection feedback adjustment state;
the period setting system circulation unit is used for performing virtual welding quality adjustment circulation according to the quality adjustment period;
and the system circulating progressive welding unit is used for regulating circulation according to the virtual welding quality, performing circulating progressive welding and continuously regulating the welding quality.
Compared with the prior art, the invention at least comprises the following beneficial effects:
the invention relates to a human-computer cooperation welding system based on virtual reality, which comprises: the virtual reality welding teaching subsystem is used for setting a virtual reality welding process in a virtual reality welding model and teaching the welding process in a virtual reality scene; the manual operation welding virtual subsystem is used for performing manual operation remote welding and converting initial operation in a welding process into an initial operation virtual reality welding scene; the machine welding process control subsystem is used for receiving remote welding signals and controlling the welding mechanism to execute corresponding multi-degree-of-freedom welding actions; the human-machine cooperation welding allocation subsystem is used for performing human-machine cooperation virtual welding, performing welding detection feedback adjustment on the virtual welding quality, and circularly and progressively adjusting the welding quality; setting a virtual reality welding process in the virtual reality welding model according to virtual reality scene simulation and scene simulation welding, and teaching a welding setting process; carrying out initial operation of the welding process according to manual operation remote welding; carrying out multi-dimensional remote welding scene shooting and virtual transformation of scene shooting and recording to transform the initial operation of the welding process into an initial operation virtual reality welding scene; according to the remote transmission communication, the remote welding signal receiving and the signal receiving welding conversion, the remotely received welding process control signal is converted into an execution instruction of a welding mechanism, and the corresponding multi-degree-of-freedom welding action is executed; performing virtual welding detection feedback adjustment on the virtual welding quality according to human-computer cooperation virtual welding and virtual welding quality adjustment, and performing quality adjustment circularly and progressively to continuously adjust the welding quality; according to the invention, through a motion control strategy, an input signal of the spatial six-degree-of-freedom controller is converted into pose and speed change of target welding in a remote cooperative welding mode, welding is carried out in a virtual reality environment, remote welding is supported, and the diversity of welding scenes is improved.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a block diagram of a human-machine cooperative welding system based on virtual reality according to the present invention.
Fig. 2 is a diagram of an embodiment 1 of a human-machine cooperation welding system based on virtual reality according to the present invention.
Fig. 3 is a diagram of an embodiment 2 of a virtual reality-based human-machine cooperative welding system according to the present invention.
Detailed Description
The present invention is further described in detail below with reference to the drawings and examples so that those skilled in the art can implement the invention with reference to the description; as shown in fig. 1-3, the present invention provides a virtual reality-based human-machine cooperative welding system, comprising:
the virtual reality welding teaching subsystem is used for setting a virtual reality welding process in a virtual reality welding model and teaching the welding process in a virtual reality scene;
the manual operation welding virtual subsystem is used for performing manual operation remote welding and converting initial operation in a welding process into an initial operation virtual reality welding scene;
the machine welding process control subsystem is used for receiving remote welding signals and controlling the welding mechanism to execute corresponding multi-degree-of-freedom welding actions;
and the human-computer cooperation welding allocation subsystem is used for performing human-computer cooperation virtual welding, performing welding detection feedback adjustment on the virtual welding quality, and circularly and progressively adjusting the welding quality.
The working principle of the technical scheme is as follows: the invention relates to a human-computer cooperation welding system based on virtual reality, which comprises: the virtual reality welding teaching subsystem is used for setting a virtual reality welding process in a virtual reality welding model and teaching the welding process in a virtual reality scene; the manual operation welding virtual subsystem is used for performing manual operation remote welding and converting initial operation in a welding process into an initial operation virtual reality welding scene; the machine welding process control subsystem is used for receiving remote welding signals and controlling the welding mechanism to execute corresponding multi-degree-of-freedom welding actions; the human-computer cooperation welding allocation subsystem is used for performing human-computer cooperation virtual welding, performing welding detection feedback adjustment on the virtual welding quality, and circularly and progressively adjusting the welding quality; setting a virtual reality welding process in a virtual reality welding model according to virtual reality scene simulation and scene simulation welding, and teaching a welding setting process; carrying out initial operation of the welding process according to manual operation remote welding; carrying out multi-dimensional remote welding scene shooting and virtual scene shooting conversion to convert the initial operation of the welding process into an initial operation virtual reality welding scene; according to the remote transmission communication, the remote welding signal receiving and the signal receiving welding conversion, the remotely received welding process control signal is converted into an execution instruction of a welding mechanism, and the corresponding multi-degree-of-freedom welding action is executed; performing virtual welding detection feedback adjustment on the virtual welding quality according to human-computer cooperation virtual welding and virtual welding quality adjustment, and performing quality adjustment circularly and progressively to continuously adjust the welding quality; the virtual reality welding teaching subsystem and the manual operation welding virtual subsystem are used for data transmission, and simultaneously, the virtual reality welding teaching subsystem and the manual operation welding virtual subsystem are used for data and control signal transmission, and the machine welding process control subsystem and the man-machine cooperation welding allocation subsystem are used for data signal transmission; all subsystems are connected with a voltage-stabilizing welding power supply and a control power supply at the same time.
The beneficial effects of the above technical scheme are: the invention relates to a human-computer cooperation welding system based on virtual reality, which comprises: the virtual reality welding teaching subsystem is used for setting a virtual reality welding process in a virtual reality welding model and teaching the welding process in a virtual reality scene; the manual operation welding virtual subsystem is used for performing manual operation remote welding and converting initial operation in a welding process into an initial operation virtual reality welding scene; the machine welding process control subsystem is used for receiving remote welding signals and controlling the welding mechanism to execute corresponding multi-degree-of-freedom welding actions; the human-computer cooperation welding allocation subsystem is used for performing human-computer cooperation virtual welding, performing welding detection feedback adjustment on the virtual welding quality, and circularly and progressively adjusting the welding quality; setting a virtual reality welding process in a virtual reality welding model according to virtual reality scene simulation and scene simulation welding, and teaching a welding setting process; carrying out initial operation of the welding process according to manual operation remote welding; carrying out multi-dimensional remote welding scene shooting and virtual transformation of scene shooting and recording to transform the initial operation of the welding process into an initial operation virtual reality welding scene; according to the remote transmission communication, the remote welding signal receiving and the signal receiving welding conversion, the remotely received welding process control signal is converted into an execution instruction of a welding mechanism, and the corresponding multi-degree-of-freedom welding action is executed; performing virtual welding detection feedback adjustment on the virtual welding quality according to human-computer cooperation virtual welding and virtual welding quality adjustment, and performing quality adjustment circularly and progressively to continuously adjust the welding quality; according to the invention, through a motion control strategy, an input signal of the spatial six-degree-of-freedom controller is converted into pose and speed change of target welding in a remote cooperative welding mode, welding is carried out in a virtual reality environment, remote welding is supported, and the diversity of welding scenes is improved.
In one embodiment, the virtual reality welding teaching subsystem comprises:
the virtual reality scene simulation subsystem is used for establishing a virtual reality welding model through a virtual reality model of the welding scene;
the scene simulation welding setting subsystem is used for setting a virtual reality welding process in the virtual reality welding model by inputting welding parameters into the virtual reality welding model;
and the welding setting process teaching subsystem is used for teaching the welding process in the virtual reality scene according to the virtual reality welding process.
The operating principle of the technical scheme is that the virtual reality welding teaching subsystem comprises: the virtual reality scene simulation subsystem is used for establishing a virtual reality welding model through a virtual reality model of the welding scene; the scene simulation welding setting subsystem is used for setting a virtual reality welding process in the virtual reality welding model by inputting welding parameters into the virtual reality welding model; the welding setting process teaching subsystem is used for teaching a welding process in a virtual reality scene according to a virtual reality welding process; setting a virtual reality welding process in a virtual reality welding model according to virtual reality scene simulation and scene simulation welding, and teaching a welding setting process; and carrying out initial operation of the welding process according to manual operation remote welding.
The beneficial effects of above-mentioned technical scheme do, virtual reality welding teaching divides the system to include: the virtual reality scene simulation subsystem is used for establishing a virtual reality welding model through a virtual reality model of the welding scene; the scene simulation welding setting subsystem is used for setting a virtual reality welding process in the virtual reality welding model by inputting welding parameters into the virtual reality welding model; the welding setting process teaching subsystem is used for teaching a welding process in a virtual reality scene according to a virtual reality welding process; setting a virtual reality welding process in a virtual reality welding model according to virtual reality scene simulation and scene simulation welding, and teaching a welding setting process; carrying out initial operation of the welding process according to manual operation remote welding; the mode of remote cooperation welding can be adopted, the safety risk caused to welding personnel is further reduced, and the welding safety is further improved.
In one embodiment, the manually operated welding virtual subsystem comprises:
the manual operation remote welding subsystem is used for carrying out initial operation of the welding process through manual operation welding and remote welding;
the remote welding scene shooting and recording subsystem is used for carrying out multi-dimensional remote welding scene shooting and recording on the initial operation of the welding process through multi-angle shooting and recording;
and the scene shooting virtual transformation subsystem is used for transforming the shooting content of the multidimensional remote welding scene into an initial operation virtual reality welding scene through virtual three-dimensional transformation.
The working principle of the technical scheme is that the manual operation welding virtual subsystem comprises the following steps: the manual operation remote welding subsystem is used for carrying out initial operation of the welding process through manual operation welding and remote welding; the remote welding scene shooting and recording subsystem is used for carrying out multi-dimensional remote welding scene shooting and recording on the initial operation of the welding process through multi-angle shooting and recording; the scene shooting virtual transformation system is used for transforming the shooting content of the multidimensional remote welding scene into an initial operation virtual reality welding scene through virtual three-dimensional transformation; and carrying out multi-dimensional remote welding scene shooting and recording and virtual scene shooting conversion to convert the initial operation of the welding process into an initial operation virtual reality welding scene.
Above-mentioned technical scheme's beneficial effect does, the virtual subsystem of manual operation welding includes: the manual operation remote welding subsystem is used for carrying out initial operation of the welding process through manual operation welding and remote welding; the remote welding scene shooting and recording subsystem is used for carrying out multi-dimensional remote welding scene shooting and recording on the initial operation of the welding process through multi-angle shooting and recording; the scene shooting virtual transformation system is used for transforming the shooting content of the multidimensional remote welding scene into an initial operation virtual reality welding scene through virtual three-dimensional transformation; carrying out multi-dimensional remote welding scene shooting and virtual transformation of scene shooting and recording to transform the initial operation of the welding process into an initial operation virtual reality welding scene; the efficiency is continuously improved by increasing mutual promotion of man-machine cooperation.
In one embodiment, the machine welding process control subsystem comprises:
a remote welding signal receiving subsystem for receiving a welding process control signal via a remote signal receiver;
the signal receiving and welding conversion subsystem is used for converting the remotely received welding process control signal into an execution instruction of the welding mechanism;
and the welding conversion process control subsystem is used for controlling the welding mechanism to execute corresponding multi-degree-of-freedom welding actions according to the execution command of the welding mechanism.
The working principle of the technical scheme is that the machine welding process control subsystem comprises: a remote welding signal receiving subsystem for receiving a welding process control signal via a remote signal receiver; the signal receiving and welding conversion subsystem is used for converting the remotely received welding process control signal into an execution instruction of the welding mechanism; the welding conversion process control subsystem is used for controlling the welding mechanism to execute corresponding multi-degree-of-freedom welding actions according to the execution command of the welding mechanism; and receiving welding signals remotely according to remote transmission communication, converting the welding process control signals remotely received into execution instructions of a welding mechanism, and executing corresponding multi-degree-of-freedom welding actions.
Above-mentioned technical scheme's beneficial effect does, machine welding process control subsystem includes: a remote welding signal receiving subsystem for receiving a welding process control signal via a remote signal receiver; the signal receiving and welding conversion subsystem is used for converting the remotely received welding process control signal into an execution instruction of the welding mechanism; the welding conversion process control subsystem is used for controlling the welding mechanism to execute corresponding multi-degree-of-freedom welding actions according to the execution instruction of the welding mechanism; and receiving welding signals remotely according to remote transmission communication, converting the welding process control signals remotely received into execution instructions of a welding mechanism, and executing corresponding multi-degree-of-freedom welding actions.
In one embodiment, the human-machine cooperation welding deployment subsystem comprises:
the human-computer cooperation virtual welding subsystem is used for carrying out virtual reality human-computer cooperation welding through manual operation welding and virtual reality welding;
the virtual welding quality adjusting subsystem is used for performing welding detection feedback adjustment on the virtual welding quality according to the virtual reality man-machine cooperation welding state;
and the quality adjusting circulating progressive subsystem is used for circularly progressively welding according to the welding detection feedback adjusting state and continuously adjusting the welding quality.
The working principle of the technical scheme is that the human-machine cooperation welding allocation subsystem comprises: the human-computer cooperation virtual welding subsystem is used for carrying out virtual reality human-computer cooperation welding through manual operation welding and virtual reality welding; the virtual welding quality adjusting subsystem is used for performing welding detection feedback adjustment on the virtual welding quality according to the virtual reality man-machine cooperation welding state; the quality regulation circulation progressive subsystem is used for circularly progressively welding according to the welding detection feedback regulation state and continuously regulating the welding quality; and performing virtual welding quality adjustment to perform welding detection feedback adjustment on the virtual welding quality according to human-computer cooperation virtual welding, and performing quality adjustment to perform circular progression so as to continuously adjust the welding quality.
The beneficial effect of above-mentioned technical scheme does, man-machine cooperation welding allotment subsystem includes: the human-computer cooperation virtual welding subsystem is used for carrying out virtual reality human-computer cooperation welding through manual operation welding and virtual reality welding; the virtual welding quality adjusting subsystem is used for performing welding detection feedback adjustment on the virtual welding quality according to the virtual reality man-machine cooperation welding state; the quality regulation circulation progressive subsystem is used for circularly progressively welding according to the welding detection feedback regulation state and continuously regulating the welding quality; and performing virtual welding quality adjustment to perform welding detection feedback adjustment on the virtual welding quality according to human-computer cooperation virtual welding, and performing quality adjustment to perform circular progression so as to continuously adjust the welding quality.
In one embodiment, the weld setup process teaching subsystem comprises:
the welding setting process verification unit is used for transmitting the virtual reality welding process to the virtual reality preliminary verification module and carrying out welding setting primary verification on the virtual reality welding process;
the process verification intelligent circulation unit is used for carrying out primary analysis on the welding setting primary verification result, feeding the primary analysis result forward to the welding setting process verification unit, and carrying out secondary verification on the welding setting;
the intelligent cyclic welding teaching unit is used for teaching a welding process in a virtual reality scene through machine learning teaching according to a welding set secondary verification result; calculating the position of a virtual welding gun of the virtual reality welding system, wherein the calculation formula is as follows:
dik is the position of a virtual welding gun of the welding system, Ptik is the proportional value of the adjustment coefficient of the welding system, Dh is the t-moment position of the virtual reality welding control unit, Dho is the reference position of the virtual reality welding control unit, Atrans is the unit matrix of coordinate system conversion, and Dwo is the target reference position of the virtual welding gun of the virtual reality welding system; comparing the position of the actual welding gun of the welding system with the consistency by calculating the position of the virtual welding gun of the virtual reality welding system; the higher the position comparison consistency is, the larger the consistency base value of the virtual reality system and the actual system is, and the higher the consistency of the virtual reality welding and the manual welding with the welding standard requirement is.
The working principle of the technical scheme is that the welding setting process teaching subsystem comprises:
the welding setting process verification unit is used for transmitting the virtual reality welding process to the virtual reality preliminary verification module and carrying out welding setting primary verification on the virtual reality welding process;
the process verification intelligent circulation unit is used for carrying out primary analysis on the welding setting primary verification result, feeding the primary analysis result forward to the welding setting process verification unit, and carrying out secondary verification on the welding setting;
the intelligent cyclic welding teaching unit is used for teaching a welding process in a virtual reality scene through machine learning teaching according to a welding set secondary verification result; calculating the position of a virtual welding gun of the virtual reality welding system, wherein the calculation formula is as follows:
dik is the position of a virtual welding gun of the welding system, Ptik is the proportional value of the adjustment coefficient of the welding system, Dh is the t-moment position of the virtual reality welding control unit, Dho is the reference position of the virtual reality welding control unit, Atrans is the unit matrix of coordinate system conversion, and Dwo is the target reference position of the virtual welding gun of the virtual reality welding system; comparing the position of the virtual welding gun of the virtual reality welding system with the position of the actual welding gun of the welding system for consistency by calculating the position of the virtual welding gun of the virtual reality welding system; the higher the position comparison consistency is, the larger the consistency base value of the virtual reality system and the actual system is, and the higher the consistency of the virtual reality welding and the manual welding with the welding standard requirement is.
The beneficial effect of above-mentioned technical scheme does, welding sets up process teaching subsystem includes: the welding setting process verification unit is used for transmitting the virtual reality welding process to the virtual reality preliminary verification module and carrying out welding setting primary verification on the virtual reality welding process; the process verification intelligent circulation unit is used for carrying out primary analysis on the welding setting primary verification result, feeding the primary analysis result forward to the welding setting process verification unit, and carrying out secondary verification on the welding setting; the intelligent cyclic welding teaching unit is used for teaching a welding process in a virtual reality scene through machine learning teaching according to a welding set secondary verification result; calculating the position of a virtual welding gun of the virtual reality welding system, wherein Dik is the position of the virtual welding gun of the welding system, Ptik is a proportional value of an adjusting coefficient of the welding system, Dh is the position of the virtual reality welding control unit at the moment t, Dho is the reference position of the virtual reality welding control unit, Atrans is a unit matrix of coordinate system conversion, and Dwo is the target reference position of the virtual welding gun of the virtual reality welding system; comparing the position of the actual welding gun of the welding system with the consistency by calculating the position of the virtual welding gun of the virtual reality welding system; the higher the position comparison consistency is, the larger the consistency base number value of the virtual reality system and the actual system is, and the higher the consistency of the virtual reality welding and the manual welding with the welding standard requirement is; the consistency of the virtual reality human-computer cooperation welding and the welding standard is obviously improved.
In one embodiment, the scene recording virtual transformation subsystem includes:
the scene shooting virtual reality welding model unit is used for shooting and recording a multi-dimensional remote welding scene through the multi-camera high-definition acquisition module to acquire welding multi-dimensional remote welding shooting and recording data; obtaining welding change data when a virtual reality welding model element changes, the welding change data comprising: welding position change data, welding speed change data and welding parameter change data;
the virtual reality welding model element extraction unit is used for extracting virtual reality welding model element data through data elements according to the multi-dimensional remote welding shooting data, the welding position change data, the welding speed change data and the welding parameter change data;
and the element extraction virtual transformation unit is used for generating a welding element virtual reality model and a welding action motion track in a virtual reality image of the virtual reality welding model element according to the virtual reality welding model element data through virtual reality element transformation, and transforming the initial operation of the welding process into an initial operation virtual reality welding scene through virtual stereo transformation of the recorded content of the multi-dimensional remote welding scene.
The working principle of the technical scheme is that the scene shooting virtual transformation subsystem comprises:
the scene shooting virtual reality welding model unit is used for shooting and recording a multi-dimensional remote welding scene through the multi-camera high-definition acquisition module to acquire welding multi-dimensional remote welding shooting and recording data; obtaining welding change data when a virtual reality welding model element changes, the welding change data comprising: welding position change data, welding speed change data and welding parameter change data;
the virtual reality welding model element extraction unit is used for extracting virtual reality welding model element data through data elements according to the multi-dimensional remote welding shooting data, the welding position change data, the welding speed change data and the welding parameter change data;
and the element extraction virtual transformation unit is used for generating a welding element virtual reality model and a welding action motion track in a virtual reality image of the virtual reality welding model element according to the virtual reality welding model element data through virtual reality element transformation, and transforming the initial operation of the welding process into an initial operation virtual reality welding scene through virtual stereo transformation of the recorded content of the multi-dimensional remote welding scene.
The technical scheme has the beneficial effects that the scene shooting virtual transformation subsystem comprises: the scene shooting virtual reality welding model unit is used for shooting and recording a multi-dimensional remote welding scene through the multi-camera high-definition acquisition module to acquire welding multi-dimensional remote welding shooting and recording data; obtaining welding change data when a virtual reality welding model element changes, the welding change data comprising: welding position change data, welding speed change data and welding parameter change data; the virtual reality welding model element extraction unit is used for extracting virtual reality welding model element data through data elements according to the multi-dimensional remote welding shooting data, the welding position change data, the welding speed change data and the welding parameter change data; the element extraction virtual transformation unit is used for generating a welding element virtual reality model and a welding action motion track in a virtual reality image of the virtual reality welding model element according to the virtual reality welding model element data through virtual reality element transformation, and transforming the initial operation of the welding process into an initial operation virtual reality welding scene through virtual stereo transformation of the recorded content of the multidimensional remote welding scene; the consistency degree of virtual reality scene transformation and real welding scene is improved.
In one embodiment, the human-machine-collaborative virtual welding subsystem comprises:
the man-machine cooperation welding monitoring unit is used for clamping a welding raw material to be welded on the welding equipment and setting the shooting device according to the virtual reality multi-angle shooting requirement; starting the welding equipment and a shooting device, and shooting a welding workpiece obtained after a plurality of welding cycles by the shooting device; integrating a plurality of periodic samples into a periodic sample image by using a differential sampling technology, and performing man-machine cooperation welding monitoring on the sample image; processing the sample image to obtain a man-machine cooperation welding monitoring image;
the virtual reality welding control unit is used for carrying out simulation modeling on a welding equipment control system; setting welding parameters for the virtual reality welding model according to a given design scheme, completing the action realization of welding equipment, completing the conveying and the motion realization of a workpiece to be welded, compiling a motion and motion control script, and performing off-line simulation operation; inputting the virtual reality welding model into a welding equipment integrated control module, and utilizing a virtual reality synchronization technology to realize synchronous motion of the virtual reality welding model and the welding equipment by means of a simulation platform so as to complete virtual reality synchronous control on the welding equipment;
the welding control cooperation welding unit is used for identifying and analyzing the welding detection image to obtain welding detection data, and the intelligent judgment module is used for comparing the welding detection data with welding setting data;
when the welding detection data exceed a data error threshold value set by the welding setting data, judging that the result is unqualified, and controlling the virtual reality welding model by an operator according to the judgment result to perform parallel control on the welding equipment;
and when the welding detection data does not exceed the data error threshold set by the welding set data, judging that the result is qualified, and finishing the man-machine cooperation virtual reality welding.
The working principle of the technical scheme is that the human-computer cooperation virtual welding subsystem comprises:
the man-machine cooperation welding monitoring unit is used for clamping a welding raw material to be welded on the welding equipment and setting the shooting device according to the virtual reality multi-angle shooting requirement; starting the welding equipment and a shooting device, and shooting a welding workpiece obtained after a plurality of welding cycles by the shooting device; integrating a plurality of periodic samples into a periodic sample image by using a differential sampling technology, and performing man-machine cooperation welding monitoring on the sample image; processing the sample image to obtain a man-machine cooperation welding monitoring image;
the virtual reality welding control unit is used for carrying out simulation modeling on a welding equipment control system; setting welding parameters for the virtual reality welding model according to a given design scheme, completing the action realization of welding equipment, completing the conveying and the motion realization of a workpiece to be welded, compiling a motion and motion control script, and performing off-line simulation operation; inputting the virtual reality welding model into a welding equipment integrated control module, and realizing synchronous motion of the virtual reality welding model and welding equipment by using a virtual-real synchronization technology and a simulation platform to complete virtual-real synchronization control on the welding equipment;
the welding control cooperation welding unit is used for identifying and analyzing the welding detection image to obtain welding detection data, and the intelligent judgment module is used for comparing the welding detection data with welding setting data;
when the welding detection data exceed a data error threshold value set by the welding setting data, judging that the result is unqualified, and controlling the virtual reality welding model by an operator according to the judgment result to perform parallel control on the welding equipment;
and when the welding detection data does not exceed the data error threshold set by the welding set data, judging that the result is qualified, and finishing the man-machine cooperation virtual reality welding.
The beneficial effect of the above technical scheme is that the human-computer cooperation virtual welding subsystem comprises: the man-machine cooperation welding monitoring unit is used for clamping a welding raw material to be welded on the welding equipment and setting the shooting device according to the virtual reality multi-angle shooting requirement; starting the welding equipment and a shooting device, and shooting a welding workpiece obtained after a plurality of welding cycles by the shooting device; integrating a plurality of periodic samples into a periodic sample image by using a differential sampling technology, and performing man-machine cooperation welding monitoring on the sample image; processing the sample image to obtain a man-machine cooperation welding monitoring image; the virtual reality welding control unit is used for carrying out simulation modeling on a welding equipment control system; setting welding parameters for the virtual reality welding model according to a given design scheme, completing the action realization of welding equipment, completing the conveying and the motion realization of a workpiece to be welded, compiling a motion and motion control script, and performing off-line simulation operation; inputting the virtual reality welding model into a welding equipment integrated control module, and realizing synchronous motion of the virtual reality welding model and welding equipment by using a virtual-real synchronization technology and a simulation platform to complete virtual-real synchronization control on the welding equipment; the welding control cooperation welding unit is used for identifying and analyzing the welding detection image to obtain welding detection data, and the intelligent judgment module is used for comparing the welding detection data with welding setting data;
when the welding detection data exceed a data error threshold value set by the welding setting data, judging that the result is unqualified, and controlling the virtual reality welding model by an operator according to the judgment result to perform parallel control on the welding equipment; when the welding detection data do not exceed the data error threshold set by the welding set data, judging that the result is qualified, and finishing the man-machine cooperation virtual reality welding; the monitoring and control accuracy of the man-machine cooperation welding is further improved, the coordination and synchronous control of the synchronous motion of the virtual reality welding model and the welding equipment is improved, and the continuous improvement of intelligent analysis and judgment is realized.
In one embodiment, the virtual weld quality adjustment subsystem comprises:
the welding detection result feedback unit is used for detecting the human-computer cooperation welding state of the virtual reality and feeding back the human-computer cooperation welding state detection result;
the result feedback parameter adjusting unit is used for adjusting virtual reality welding parameters according to the detection result of the man-machine cooperation welding state to obtain man-machine cooperation welding adjusting parameters;
and the parameter adjusting quality adjusting unit is used for adjusting the virtual reality human-computer cooperation welding state according to the human-computer cooperation welding adjusting parameters and carrying out welding detection feedback adjustment on the virtual welding quality.
The working principle of the technical scheme is that the virtual welding quality adjusting subsystem comprises:
the welding detection result feedback unit is used for detecting the human-computer cooperation welding state of the virtual reality and feeding back the human-computer cooperation welding state detection result;
the result feedback parameter adjusting unit is used for adjusting virtual reality welding parameters according to the detection result of the man-machine cooperation welding state to obtain man-machine cooperation welding adjusting parameters;
and the parameter adjusting quality adjusting unit is used for adjusting the virtual reality human-computer cooperation welding state according to the human-computer cooperation welding adjusting parameters and carrying out welding detection feedback adjustment on the virtual welding quality.
The beneficial effects of the above technical scheme are that, virtual welding quality adjusts the subsystem and includes: the welding detection result feedback unit is used for detecting the human-computer cooperation welding state of the virtual reality and feeding back the human-computer cooperation welding state detection result; the result feedback parameter adjusting unit is used for adjusting virtual reality welding parameters according to the detection result of the man-machine cooperation welding state to obtain man-machine cooperation welding adjusting parameters; the parameter adjusting quality adjusting unit is used for adjusting a virtual reality man-machine cooperation welding state according to man-machine cooperation welding adjusting parameters and performing welding detection feedback adjustment on the virtual welding quality; the feedback adjustment process can optimize the welding parameters in real time.
In one embodiment, the mass adjustment cycle progression subsystem comprises:
a quality adjustment period setting unit for setting a quality adjustment period according to the welding detection feedback adjustment state;
the period setting system circulation unit is used for performing virtual welding quality adjustment circulation according to the quality adjustment period;
and the system circulating progressive welding unit is used for regulating circulation according to the virtual welding quality, performing circulating progressive welding and continuously regulating the welding quality.
The working principle of the technical scheme is that the quality adjusting circulating progressive subsystem comprises:
a quality adjustment period setting unit for setting a quality adjustment period according to the welding detection feedback adjustment state;
the period setting system circulation unit is used for performing virtual welding quality adjustment circulation according to the quality adjustment period;
and the system circulating progressive welding unit is used for regulating circulation according to the virtual welding quality, performing circulating progressive welding and continuously regulating the welding quality.
The beneficial effect of the above technical scheme is that the quality adjustment circulation progressive subsystem comprises: a quality adjustment period setting unit for setting a quality adjustment period according to the welding detection feedback adjustment state; the period setting system circulation unit is used for performing virtual welding quality adjustment circulation according to the quality adjustment period; and the system circulating progressive welding unit is used for regulating circulation according to the virtual welding quality, performing circulating progressive welding and continuously regulating the welding quality.
While embodiments of the invention have been described above, it is not intended to be limited to the details shown, described and illustrated herein, but is to be accorded the widest scope consistent with the principles and novel features herein disclosed, and to such extent that such modifications are readily available to those skilled in the art, and it is not intended to be limited to the details shown and described herein without departing from the general concept as defined by the appended claims and their equivalents.
Claims (10)
1. A human-machine cooperation welding system based on virtual reality is characterized by comprising:
the virtual reality welding teaching subsystem is used for setting a virtual reality welding process in a virtual reality welding model and teaching the welding process in a virtual reality scene;
the manual operation welding virtual subsystem is used for performing manual operation remote welding and converting initial operation in a welding process into an initial operation virtual reality welding scene;
the machine welding process control subsystem is used for receiving remote welding signals and controlling the welding mechanism to execute corresponding multi-degree-of-freedom welding actions;
and the human-computer cooperation welding allocation subsystem is used for performing human-computer cooperation virtual welding, performing welding detection feedback adjustment on the virtual welding quality, and circularly and progressively adjusting the welding quality.
2. The virtual reality-based human-machine cooperative welding system according to claim 1, wherein said virtual reality welding teaching subsystem comprises:
the virtual reality scene simulation subsystem is used for establishing a virtual reality welding model through a virtual reality model of the welding scene;
the scene simulation welding setting subsystem is used for setting a virtual reality welding process in the virtual reality welding model by inputting welding parameters into the virtual reality welding model;
and the welding setting process teaching subsystem is used for teaching the welding process in the virtual reality scene according to the virtual reality welding process.
3. The virtual reality-based human-computer collaborative welding system according to claim 1, wherein the manually operated welding virtual subsystem comprises:
the manual operation remote welding subsystem is used for carrying out initial operation of the welding process through manual operation welding and remote welding;
the remote welding scene shooting and recording subsystem is used for carrying out multi-dimensional remote welding scene shooting and recording on the initial operation of the welding process through multi-angle shooting and recording;
and the scene shooting virtual transformation subsystem is used for transforming the shooting content of the multidimensional remote welding scene into an initial operation virtual reality welding scene through virtual three-dimensional transformation.
4. The virtual reality-based human-computer cooperative welding system of claim 1, wherein the machine welding process control subsystem comprises:
a remote welding signal receiving subsystem for receiving a welding process control signal via a remote signal receiver;
the signal receiving and welding conversion subsystem is used for converting the remotely received welding process control signal into an execution instruction of the welding mechanism;
and the welding conversion process control subsystem is used for controlling the welding mechanism to execute corresponding multi-degree-of-freedom welding actions according to the execution command of the welding mechanism.
5. The virtual reality-based human-computer cooperative welding system according to claim 1, wherein said human-computer cooperative welding deployment subsystem comprises:
the human-computer cooperation virtual welding subsystem is used for carrying out virtual reality human-computer cooperation welding through manual operation welding and virtual reality welding;
the virtual welding quality adjusting subsystem is used for performing welding detection feedback adjustment on the virtual welding quality according to the virtual reality man-machine cooperation welding state;
and the quality adjusting circulating progressive subsystem is used for circularly progressively welding according to the welding detection feedback adjusting state and continuously adjusting the welding quality.
6. The virtual reality-based human-machine cooperative welding system of claim 2, wherein the welding setup procedure teaching subsystem comprises:
the welding setting process verification unit is used for transmitting the virtual reality welding process to the virtual reality preliminary verification module and carrying out welding setting primary verification on the virtual reality welding process;
the process verification intelligent circulation unit is used for carrying out primary analysis on the welding setting primary verification result, feeding the primary analysis result forward to the welding setting process verification unit, and carrying out secondary verification on the welding setting;
and the intelligent cyclic welding teaching unit is used for teaching the welding process in the virtual reality scene through machine learning teaching according to the welding setting secondary verification result.
7. The human-computer collaboration welding system based on virtual reality as claimed in claim 3, wherein the scene recording virtual transformation subsystem comprises:
the scene shooting virtual reality welding model unit is used for shooting and recording a multi-dimensional remote welding scene through the multi-camera high-definition acquisition module to acquire welding multi-dimensional remote welding shooting and recording data; obtaining welding change data when a virtual reality welding model element changes, the welding change data comprising: welding position change data, welding speed change data and welding parameter change data;
the virtual reality welding model element extraction unit is used for extracting virtual reality welding model element data through data elements according to the multi-dimensional remote welding shooting data, the welding position change data, the welding speed change data and the welding parameter change data;
and the element extraction virtual transformation unit is used for generating a welding element virtual reality model and a welding action motion track in a virtual reality image of the virtual reality welding model element according to the virtual reality welding model element data through virtual reality element transformation, and transforming the initial operation of the welding process into an initial operation virtual reality welding scene through virtual stereo transformation of the recorded content of the multi-dimensional remote welding scene.
8. The virtual reality-based human-computer collaborative welding system of claim 5, wherein the human-computer collaborative virtual welding subsystem comprises:
the man-machine cooperation welding monitoring unit is used for clamping a welding raw material to be welded onto welding equipment and setting a shooting device according to virtual reality multi-angle shooting requirements; starting the welding equipment and a shooting device, and shooting a welding workpiece obtained after a plurality of welding cycles by the shooting device; integrating a plurality of periodic samples into a periodic sample image by using a differential sampling technology, and performing man-machine cooperation welding monitoring on the sample image; processing the sample image to obtain a man-machine cooperation welding monitoring image;
the virtual reality welding control unit is used for carrying out simulation modeling on a welding equipment control system; setting welding parameters for the virtual reality welding model according to a given design scheme, completing the action realization of welding equipment, completing the conveying and the motion realization of a workpiece to be welded, compiling a motion and motion control script, and performing off-line simulation operation; inputting the virtual reality welding model into a welding equipment integrated control module, and realizing synchronous motion of the virtual reality welding model and welding equipment by using a virtual-real synchronization technology and a simulation platform to complete virtual-real synchronization control on the welding equipment;
the welding control cooperation welding unit is used for identifying and analyzing the welding detection image to obtain welding detection data, and the intelligent judgment module is used for comparing the welding detection data with welding setting data;
when the welding detection data exceed a data error threshold value set by the welding setting data, judging that the result is unqualified, and controlling the virtual reality welding model by an operator according to the judgment result to perform parallel control on the welding equipment;
and when the welding detection data do not exceed the data error threshold set by the welding set data, judging that the result is qualified, and finishing the man-machine cooperation virtual reality welding.
9. The virtual reality-based human-machine cooperative welding system of claim 5, wherein the virtual welding quality adjustment subsystem comprises:
the welding detection result feedback unit is used for detecting the human-computer cooperation welding state of the virtual reality and feeding back the human-computer cooperation welding state detection result;
the result feedback parameter adjusting unit is used for adjusting virtual reality welding parameters according to the detection result of the man-machine cooperation welding state to obtain man-machine cooperation welding adjusting parameters;
and the parameter adjusting quality adjusting unit is used for adjusting the virtual reality human-computer cooperation welding state according to the human-computer cooperation welding adjusting parameters and carrying out welding detection feedback adjustment on the virtual welding quality.
10. The virtual reality-based human-machine cooperative welding system of claim 5, wherein the quality adjustment cycle progression subsystem comprises:
a quality adjustment period setting unit for setting a quality adjustment period according to the welding detection feedback adjustment state;
the period setting system circulation unit is used for performing virtual welding quality adjustment circulation according to the quality adjustment period;
and the system circulating progressive welding unit is used for regulating circulation according to the virtual welding quality, performing circulating progressive welding and continuously regulating the welding quality.
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Application publication date: 20220729 |