KR102476526B1 - Lidar-based smart welding system using intelligent welding watch and helmet device - Google Patents

Abstract

The present invention relates to a LiDAR-based smart welding system using an intelligent welding watch and helmet device to increase the stability and efficiency of welding work. According to the present invention, the LiDAR-based smart welding system comprises: a welding gun scanning an electric arc onto a welding part of a base material; a power feeder unit supplying current to the welding gun and connecting the ground to the base material; a central control unit connected to the power feeder unit by wire or wirelessly to control the power feeder unit and welding conditions; a welding smart watch worn on a user's wrist and wirelessly connected to the central control unit to control the welding conditions and display welding information; a smart welding helmet worn on the user's face and wirelessly connected to the central control unit to control the welding conditions and display the welding information; a camera unit wirelessly connected to the central control unit and photographing the welding part of the base material in real time; and a LiDAR for measuring the location and welding conditions of the welding area.

Description

Lidar-based smart welding system using intelligent welding watch and helmet device {Lidar-based smart welding system using intelligent welding watch and helmet device}

The present invention relates to a welding system, and more particularly, to a lidar-based smart welding system using an intelligent welding watch and helmet capable of easily and quickly setting and manipulating welding conditions and increasing the efficiency of welding work through monitoring of detailed welding conditions. It is about.

In general, welding is to metallurgically join metal members by heating/pressing operations, etc., by locally heating/melting the junction of both metal members to be joined, melting and adding a filler material thereto, and joining them by local casting action. Fusion welding, press welding, which is a method of heating the joint to an appropriate temperature and applying mechanical pressure to complete the joint, and melting and adding brazing material, a non-ferrous alloy filler material with a much lower melting point than the base material to be joined, to the joint There is brazing that achieves the purpose of bonding by using the intermolecular attraction at the time of solidification of the molten braze material.

This welding process researches and develops safe welding technology that can weld uniformly, and today, with the development of robots and automation technology, automatic welding devices that automatically perform the welding process are widely used in production lines, helping to improve productivity. are giving

Such a welding device generally includes a welding gun or a welding robot and a power feeder unit that supplies power, and the user performs welding while directly adjusting the power feeder unit. However, it is difficult to set various welding conditions and monitor welding information.

The object of the present invention to solve the above problems is as follows.

First, the present invention is to provide a digital smart control system that can easily and quickly set and manipulate welding conditions and increase the stability and efficiency of welding work through monitoring of detailed welding conditions.

Second, the present invention monitors the welding state or welding process and controls the operation by setting the welding conditions with a simple operation, so that the welding process can be monitored in real time and faulty welding can be easily found more precisely based on lidar and more detailed It is intended to provide a smart welding control system that not only enables precise and sophisticated welding, but also shortens welding time, improves productivity, improves a safer working environment, and increases welding efficiency with eye protection through ergonomic design.

A first feature of the present invention to solve the above problems is a LiDAR-based smart welding system using an intelligent welding watch and a helmet, a welding gun for injecting an electric arc into a welding region of a base material; a power feeder unit supplying current to the welding gun and connecting the ground to the base material; a central control unit that is connected to the power feeder unit by wire or wirelessly and controls the power feeder unit and welding conditions; A welding smart watch worn on a user's wrist, wirelessly connected to the central control unit to control the welding conditions and display welding information; A welding smart helmet that is worn on the user's face and is wirelessly connected to the central control unit to control the welding conditions and display the welding information; a camera unit wirelessly connected to the central control unit and photographing the welding portion of the base material in real time; And it may include a lidar for measuring the location and welding conditions of the welding area.

A second feature of the present invention is a lidar-based smart welding system using an intelligent welding watch and helmet, including a welding robot; a central control unit that is connected to the welding robot through a wired or wireless network and controls the welding robot; A camera unit installed in the welding robot head to photograph the welding process of the welding part; lidar for measuring the position of the welded area and welding conditions; A smart control unit connected to the central control unit through a wired or wireless network to monitor welding information or control welding conditions; and a welding smart watch worn on a user's wrist, wirelessly connected to the central control unit to control the welding conditions and display welding information. To be worn on the user's face, it may include a welding smart helmet that is wirelessly connected to the central control unit to control the welding conditions and display the welding information.

Here, a plurality of functions may be controlled by rotation of a circular bezel installed on the outer circumference of the smart watch, or a plurality of functions may be controlled by buttons installed on the outside of the smart watch or buttons installed on the outside of the helmet. In addition, it can be an intelligent welding control system that protects eyes by applying a camera to the welding smart helmet and can check settings and conditions such as voltage, current and wire speed through the front display window even during welding.

In addition, the power feeder unit, as an intelligent network device, may be equipped with a wireless transmission and reception device, and the welding conditions include welding base material thickness, material, tempering, wire speed, current, arc length, voltage, gas flow rate, temperature and time It may contain information.

In addition, the central control unit may further include a server having a database that communicates welding information including welding conditions, welding procedures and specifications with the smart watch and smart helmet in real time and stores the welding information. . In addition, the central control unit may be connected to the welding robot and the smart control unit and a network to communicate welding information including welding conditions, welding procedures and specifications in real time, and to have a database for storing the welding information. have.

The effects of the present invention to solve the above problems are as follows.

First, the present invention has a welding gun equipped with a camera and lidar, connected to the power feeder unit through wireless communication, together with a central control unit that stores or controls welding conditions and welding information, setting welding conditions and displaying welding information, etc. LiDAR-based smart welding system using an intelligent welding watch and helmet that can easily and quickly set and operate welding conditions and increase the efficiency of welding work through monitoring of detailed welding conditions by including a smart watch that performs the functions of provides

Second, the present invention is equipped with a camera and lidar device on the welding robot head to monitor the welding status or welding process, and to set various welding conditions with simple manipulation and control the operation through a smart watch and helmet By monitoring the welding process in real time, it is easy to find faulty welding, and more detailed and sophisticated welding is possible, as well as shortening welding time, improving productivity, improving a safer working environment, and ergonomic design with eye protection function for welding efficiency. We provide a lidar-based smart welding system using an intelligent welding watch and helmet that can increase

1 is a connection schematic diagram of a lidar-based smart welding system configuration using an intelligent welding watch and a helmet according to an embodiment of the present invention.
2 is a network connection schematic diagram of a block configuration of a lidar-based smart welding system using an intelligent welding watch and a helmet according to an embodiment of the present invention.
Figure 3 is another embodiment of the present invention, a connection schematic diagram of a LiDAR-based smart welding system configuration using an intelligent welding watch and a helmet.
4 is a network connection schematic diagram of a block configuration of a lidar-based smart welding system using an intelligent welding watch and a helmet according to another embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail so that those skilled in the art can easily practice the present invention with reference to the accompanying drawings. However, the present invention may be embodied in many different forms and is not limited to the embodiments described herein. And in order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and similar reference numerals are attached to similar parts throughout the specification.

Throughout the specification, when a part is said to be "connected" to another part, this includes not only the case where it is "directly connected" but also the case where it is "electrically connected" with another element interposed therebetween. . In addition, when a part "includes" a certain component, this means that it may further include other components, not excluding other components, unless otherwise stated, and one or more other characteristics. However, it should be understood that it does not preclude the possibility of existence or addition of numbers, steps, operations, components, parts, or combinations thereof.

As used throughout the specification, the terms "about", "substantially", etc., are used at or approximating that value when manufacturing and material tolerances inherent in the stated meaning are given, and do not convey an understanding of the present invention. Accurate or absolute figures are used to help prevent exploitation by unscrupulous infringers of the disclosed disclosure.

In this specification, a "unit" includes a unit realized by hardware, a unit realized by software, and a unit realized using both. Further, one unit may be realized using two or more hardware, and two or more units may be realized by one hardware.

In this specification, some of the operations or functions described as being performed by a terminal, device, or device may be performed instead by a server connected to the terminal, device, or device. Likewise, some of the operations or functions described as being performed by the server may also be performed by a terminal, apparatus, or device connected to the server.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings.

1 is a connection schematic diagram of a lidar-based smart welding system configuration using an intelligent welding watch and helmet device according to an embodiment of the present invention, and FIG. 2 is a lidar using an intelligent welding watch and helmet device according to an embodiment of the present invention It is a schematic diagram of the network connection of the block configuration of the based smart welding system.

As shown in Figure 1, a lidar-based smart welding system using an intelligent welding watch and helmet device according to an embodiment of the present invention, a welding gun 110 for injecting an electric arc into a welding region of a base material; A power feeder unit 150 supplying current to the welding gun 110 and connecting the ground to the base material; a central control unit 200 connected to the power feeder unit 150 by wire or wirelessly and controlling the power feeder unit 150 and welding conditions; A welding smart watch 170 worn on a user's wrist, wirelessly connected to the central control unit 200 to control the welding conditions and display welding information; A welding smart helmet 180 that is worn on the user's face and is wirelessly connected to the central control unit to control the welding conditions and display the welding information; and a camera unit 130 wirelessly connected to the central control unit 200 and photographing the welding portion of the base material in real time. And it may be configured to include a lidar 160 for measuring the location and welding conditions of the welding area.

As such, in the embodiment of the present invention, the user can easily and quickly manipulate the welding conditions without leaving the work site through the smart watch 170 and the smart helmet 180, and the welding area using the camera and lidar 160 It provides a smart welding system that can increase work efficiency by easily monitoring welding information such as the status of in real time.

In addition, the smart welding system according to an embodiment of the present invention is provided with a camera and lidar 160 in the welding gun 110, and is connected to the power feeder unit 150 through wireless communication to determine the welding position and welding conditions. Along with the central control unit 200 that stores or controls welding information, including a smart watch 170 and a smart helmet 180 that perform functions such as setting welding conditions and displaying welding information, Provided is a system that can increase the efficiency of welding work through a camera unit 130 and a lidar 160 that quickly set and manipulate welding conditions, monitor detailed welding conditions, and photograph and measure welding parts in real time.

Generally speaking, welding refers to a metallurgical joining method. The arc welding method is a fusion welding method using an arc as a heat source and is currently the most widely used seam method. The configuration of the arc welding device 100 may include a power feeder unit 150 including an arc generator, primary and secondary wiring, and an automatic electric shock prevention device, and a welding sword composed of a holder and a welding rod. . Arc generators for generating arcs for welding include direct current and alternating current, and since alternating current arc generators are widely used, the smart welding system according to an embodiment of the present invention may include an arc welding device.

In addition, as shown in FIG. 1, the camera unit 130 and lidar 160 mounted on the head of the welding gun 110 to photograph and measure the welding area are provided with wireless communication devices, and the central control unit 200 and It can communicate with the smart watch 170 and the smart helmet 180, and when in a welding state, take a picture of the welding part in real time to obtain an image of the welding state, transmit it to the central control unit 200, and central control unit ( 200) may store the received image in a database, and may transmit image data to the smart watch 170 and the smart helmet 180 as needed.

Here, the wireless communication device for communication between components applied to the embodiment of the present invention is preferably a short-distance wireless communication device, which has a short distance between devices, is inexpensive, and provides control signals for device operation. Because it is suitable for communication. A short-distance wireless communication device may include Radio-Frequency Identification (RFID), Bluetooth, and a beacon device. In addition, in the embodiment of the present invention, the camera unit 130 communicates image data captured and measured based on the lidar 160 and other various welding information through network communication such as the Internet for stable communication, smart watch 170, the smart helmet 180 and the central control unit 200 can communicate, of course.

The camera unit 130 and the lidar 160 are devices that measure and obtain a two-dimensional image of a welding area and welding conditions, and wirelessly communicate with the central control unit 200 or the smart watch 170 and the smart helmet 180 Its operation can be controlled, that is, the two-dimensional image data obtained through the camera mounted on the head of the welding gun 110 is transmitted to the central controller 200, and the central controller 200 drives and operates the camera. and shooting conditions, etc., as well as controlling the camera unit 130 and lidar 160 by communicating with the central controller 200 through the smart watch 170 and the smart helmet 180. Here, installing the camera unit 130 and lidar 160 to the welding gun 110 makes it easy to shoot the camera because the welding gun 110 works close to the welding part, and the lidar sensor is welded This is because the direction can be directed to the welding area to facilitate environmental condition analysis.

Here, Lidar 160 is a technology that uses a laser signal to recognize surrounding objects. When the pulse laser signal emitted from the lidar 360 collides with a nearby object and returns, it analyzes the position of the object. B. As a device for checking movement direction, speed, distance information and status information, in the embodiment of the present invention, the laser beam is detected to scan the model of the product to be welded, and the speed and direction of the robot/welding gun, the temperature of the welded material, etc. Welding condition information can be obtained by analyzing the state of

In addition, the smart watch 170 and the smart helmet 180 applied to the smart welding system according to the embodiment of the present invention can execute application programs such as firmware and perform wireless communication with external devices Wireless communication As a mobile device having a device, a plurality of functions or operations are controlled by rotation of a circular bezel installed on the outer circumference of the smart watch 170, or a button installed on the outer side of the smart watch 170 or the outer side of the smart helmet 180 Multiple functions or operations can be controlled with the buttons installed on the .

In addition, the smart watch 170 and the smart helmet 180 install control software or applications consisting of a UI for controlling the operation of the power feeder unit 150 and the welding gun 110, and UI buttons for various functions or operations. It can be provided with a touch screen that can be controlled through a touch method, and according to the selection, the camera unit 150 and the lidar 160 photograph the welding area and analyze the acquired video or image and welding conditions and store the data in the center. By communicating with the control unit 200 and displaying it, the user can monitor the welding state. Here, the welding condition information may include not only information such as voltage, current, speed, and arc characteristics provided by the power feeder unit 150, but also information on the thickness, material, tempering quality, wire speed, gas flow rate, temperature, and time of the welding base material. It is of course possible to include all welding information such as welding procedures or specifications.

In addition, the power feeder unit 150 is an intelligent network device, and is equipped with a wireless transmission and reception device to communicate control signals with the smart watch 170 and the smart helmet 180, and communicates with the central control unit 200 through the network can do. Here, the central control unit 200 is a computing device capable of network communication by being connected to a network such as the Internet and storing a large amount of data, and may include a PC, a laptop computer, and the like.

Figure 2 is a network connection schematic diagram of a block configuration of a LiDAR-based smart welding system using an intelligent welding watch and helmet device according to an embodiment of the present invention, hereinafter using an intelligent welding watch and helmet device according to an embodiment of the present invention The connection configuration will be described in detail, focusing on the control and image data communication process of the LIDAR-based smart welding system.

As shown in FIG. 2, the LiDAR-based smart welding system using the intelligent welding watch and helmet device according to an embodiment of the present invention includes a welding gun 110, a camera unit 130, a power feeder unit 150, a smart It may include a welding device 100 provided including a watch 170 and a smart helmet 180 and a central control unit 200 connected through a network. Here, communication between the welding gun 110, the camera unit 130, the power feeder unit 150, the smart watch 170 and the smart helmet 180 can be performed through a short-range wireless communication device that can be installed at a simple and low cost. can

That is, the welding gun 110, the camera unit 130 and the power feeder unit 150 through the smart watch 170 and the smart helmet 180 worn by the user of the welding apparatus 100 applied to the embodiment of the present invention ) operation and welding conditions, etc. are set by button or touch operation, and prepare for welding work on the base material. When the power feeder unit 150, the camera unit 130, and the welding gun 110 are operated and welding starts at the welding site, the camera unit 130 photographs the welding state in real time and transmits acquired image data through the network. It is transmitted to the central control unit 200. In addition, the central control unit 200 may store the welding state image data received through the camera in a database, and the smart watch 170 and the smart helmet 180 selectively check the welding state from the central control unit 200 through a network. Welding can be monitored by receiving video information.

Figure 3 is another embodiment of the present invention, a connection schematic diagram of the lidar-based smart welding system configuration using an intelligent welding watch and helmet device, Figure 4 is an intelligent welding watch and helmet device according to another embodiment of the present invention It is a schematic diagram of the network connection of the block configuration of the used lidar-based smart welding system.

As shown in FIG. 3, a lidar-based smart welding system using an intelligent welding watch and helmet device according to another embodiment of the present invention includes a welding robot 310; a central control unit 500 connected to the welding robot 310 through a wired or wireless network and controlling the welding robot 310; A camera unit 350 installed on the head of the welding robot 310 to photograph the welding process of the welding part; Lidar 360 for measuring the position of the welding area and welding conditions; A smart controller 400 connected to the central controller 500 through a wired or wireless network to monitor welding information or control welding conditions; Wearing on the user's wrist, wirelessly connected to the central control unit 500 to control the welding conditions and displaying welding information, welding smart watch 370 and worn on the user's face, wirelessly with the central control unit It may include a welding smart helmet 380 connected to control the welding conditions and display welding information.

As such, the lidar-based smart welding system using the intelligent welding watch and helmet device according to the embodiment of the present invention allows the user to conveniently and quickly operate the welding robot 310 through the smart watch, and the camera unit 250 It is possible to provide a lidar-based smart welding system using an intelligent welding watch and helmet device capable of automatically detecting a video image of a welding part and welding conditions through a lidar 360 device and monitoring a welding condition in real time.

Here, the welding robot 310 applied to the embodiment of the present invention is a structure formed of a multi-joint structure, and may be a multi-axis structure, and the multi-joint structure is connected by a plurality of arm parts 310 and joint parts 330. It performs linear motion or rotational motion, respectively.

As a detailed configuration of the welding robot 310, the arm unit 310 may include a hollow motor for passing the wire, a feeding roller for feeding the wire, and a speed sensor for detecting the feeding speed of the wire. The motor is an integral joint structure for driving a shaft system, and may have a through hole having a constant diameter on a central axis to allow passage of wires. The feed roller is connected to a separate motor and provides feed force by friction, and the speed sensor can be configured in a non-contact manner so as not to increase the wire feed load. (not shown)

That is, the welding robot 310 applied to the embodiment of the present invention has a multi-joint structure, and the fine three-dimensional motion by linear movement and rotational movement of the head welding rod 315 can be operated by driving a motor connected by a wire, A welding operation may be performed by connecting the main body of the welding robot 310 to the power feeder unit. The welding robot 310 illustrated in the embodiment of the present invention exemplifies a configuration including a main body of the welding robot 310 and a power feeder unit.

A head portion of the welding robot 310 may include a camera unit 350 for photographing the welding area and a lidar 360 for detecting the location and welding conditions of the welding area. That is, the welding robot 310 moves to the base material to be welded, detects the welding location and welding conditions through the lidar 360, and welding information such as welding conditions and welding targets set in advance based on the detected location information. Welding can be performed through, and settings such as such welding conditions are conveniently set through the smart watch 370 worn on the user's wrist or the smart helmet 380 worn on the user's face, and the welding robot ( 310) can be controlled.

Here, the LiDAR-based smart welding system using the intelligent welding watch and helmet device according to the embodiment of the present invention measures and obtains welding conditions as well as distance and location information about the welding target through the lidar 360 have. Lidar 360 (Lidar) is a technology that uses laser signals to recognize surrounding objects. When the pulse laser signal emitted from the lidar 360 collides with nearby objects and returns, it is analyzed to determine the location or location of objects. A device for checking state information such as welding conditions along with distance and location information such as movement direction and speed. It is an essential device that detects the distance to the welding part, the position of the welding part and the welding conditions, and automatically performs the welding operation on the base material to be welded through the detected information.

And, as shown in FIG. 3, the lidar-based smart welding system using the intelligent welding watch and helmet device according to an embodiment of the present invention uses a camera unit 350 and a lidar 360 to detect product thickness, material, Detects information such as tempering, wire speed, current, arc length, voltage, gas flow rate, temperature, time, etc. and automatically recognizes welding condition information, and the smart watch 370, smart helmet 380, central control unit 500 or It is also possible to operate by automatically controlling the smart controller 400 and intelligent network communication.

In addition, as shown in FIG. 4, the central control unit 500 is connected to the welding robot 310 and the smart control unit 400 through a network, and provides welding information including welding conditions, welding procedures, and specifications in real time. Communicate with and may have a database for storing the welding information.

That is, unlike the embodiment of FIG. 1, the lidar-based smart welding system using the intelligent welding watch and helmet device according to an embodiment of the present invention includes the welding robot 310, the camera 350, the lidar 360, and the smart It may include a welding device 100 including a watch 370 and a smart helmet 380, a smart controller 400 connected to a network, and a central controller 500. Here, functions and roles of the smart watch 370, the smart helmet 380, the camera 350, and the central control unit 500 are the same as those of the embodiment of FIG. 1, and thus descriptions are omitted.

The smart controller 400 shown in FIGS. 3 and 4 is connected to the welding robot 310 through wireless communication or network communication to control the welding robot 310 or monitor an image captured by the camera 350 in real time. It may be a computing device that can be used, and may be a mobile device such as a smart phone or a tablet PC that can be conveniently carried.

In this way, the LiDAR-based smart welding system using the intelligent welding watch and helmet device according to the embodiment of the present invention is provided with a camera unit 350 and a lidar 360 device in the welding gun or welding robot head to provide a welding video image or Welding in that it implements automatic welding using the data obtained by measuring and analyzing the welding position and welding conditions, and can set various welding conditions with simple manipulation and control the operation through the smart watch 370 and smart helmet 380 By monitoring the process in real time, it provides a welding system that enables more detailed and sophisticated welding and shortens welding time to increase welding efficiency.

The above description of the present invention is for illustrative purposes, and those skilled in the art can understand that it can be easily modified into other specific forms without changing the technical spirit or essential features of the present invention. will be. Therefore, the embodiments described above should be understood as illustrative in all respects and not limiting. For example, each component described as a single type may be implemented in a distributed manner, and similarly, components described as distributed may be implemented in a combined form.

The scope of the present invention is indicated by the following claims rather than the detailed description above, and all changes or modifications derived from the meaning and scope of the claims and equivalent concepts should be construed as being included in the scope of the present invention. do.

100, 300: welding device
110: welding gun
130, 350: camera
150: power feeder unit
170,370: smart watch
180, 380: smart helmet
160, 360: Lida
200, 500: central control unit
400: smart control

Claims (6)

A welding gun that injects an electric arc into a welding part of a base material;
a power feeder unit supplying current to the welding gun and connecting the ground to the base material;
a central control unit that is connected to the power feeder unit by wire or wirelessly and controls the power feeder unit and welding conditions;
A welding smart watch worn on a user's wrist, wirelessly connected to the central control unit to control the welding conditions and display welding information;
A welding smart helmet that is worn on the user's face and is wirelessly connected to the central control unit to control the welding conditions and display the welding information;
a camera unit wirelessly connected to the central control unit and photographing the welding portion of the base material in real time; and
Including lidar for measuring the location and welding conditions of the welding area,
The welding smart watch and the welding smart helmet,
Controlling multiple functions by rotating a circular bezel installed on the outer circumference of the welding smart watch, or controlling multiple functions with buttons installed on the outside of the welding smart watch or buttons installed on the outside of the welding smart helmet LiDAR-based smart welding system using intelligent welding watch and helmet device. welding robot;
a central control unit that is connected to the welding robot through a wired or wireless network and controls the welding robot;
A camera unit installed in the welding robot head to photograph the welding process of the welding part;
lidar for measuring the position of the welded area and welding conditions;
A smart control unit connected to the central control unit through a wired or wireless network to monitor welding information or control welding conditions;
A welding smart watch worn on a user's wrist, wirelessly connected to the central control unit to control the welding conditions and display welding information; and
It is worn on the user's face, and includes a welding smart helmet that is wirelessly connected to the central control unit to control the welding conditions and display welding information,
The welding smart watch and the welding smart helmet,
Controlling multiple functions by rotating a circular bezel installed on the outer circumference of the welding smart watch, or controlling multiple functions with buttons installed on the outside of the welding smart watch and the welding smart helmet Intelligent welding watch, characterized in that and a lidar-based smart welding system using a helmet device. delete According to claim 1,
The power feeder unit,
As an intelligent network equipment, a lidar-based smart welding system using an intelligent welding watch and helmet device, characterized in that it has a wireless transmission and reception device. According to claim 1 or 2,
The welding conditions are
A lidar-based smart welding system using an intelligent welding watch and helmet device, characterized by including welding base material thickness, material, tempering, wire speed, current, arc length, voltage, gas flow rate, temperature and time information. According to claim 1,
The central control unit,
An intelligent welding watch and helmet device further comprising a server having a database that communicates welding information including welding conditions, welding procedures and specifications with the smart watch and smart helmet in real time and stores the welding information LiDAR-based smart welding system using

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