System for characterizing manual welding operations

Patent metadata

Field	Value
Publication number	US-9685099-B2
Application number	US-201615077481-A
Country	US
Kind code	B2
Filing date	Mar 22, 2016
Priority date	Jul 8, 2009
Publication date	Jun 20, 2017
Grant date	Jun 20, 2017

Abstract

A system for characterizing manual welding exercises and providing valuable training to welders that includes components for generating, capturing, and processing data. The data generating component further includes a fixture, workpiece, at least one calibration devices each having at least two point markers integral therewith, and a welding tool. The data capturing component further includes an imaging system for capturing images of the point markers and the data processing component is operative to receive information from the data capturing component and perform various position and orientation calculations.

First claim

The invention claimed is:

1. A system for characterizing a manual welding operation; said system comprising:
a stand structure comprising a horizontal welding platform; where said horizontal welding platform comprises a plurality of point markers having a predetermined relationship, and where said horizontal welding platform is configured to hold a workpiece to be welded in a manual welding operation;
a calibration device, said calibration device used to calibrate a position and orientation of an operational path for a weld joint on said workpiece;
a welding tool which is operative to perform said manual welding operation, and where said welding tool includes a plurality of point markers mounted thereon in a predetermined pattern;
an optical camera system comprising a plurality of optical cameras, where said optical camera system is coupled to said stand structure such that said plurality of optical cameras can image said plurality of point markers on said horizontal welding platform and said calibration device during said calibration, and said plurality of point markers on said welding tool during said manual welding operation; and
a data processing component coupled to said optical camera system to receive images from said plurality of optical cameras, where said data processing component determines each of:
the position and orientation of said operational path for said weld joint on said workpiece, where said position and orientation of said operational path is determined using images from said optical camera system regarding the positioning of said plurality of point markers on said horizontal welding platform and said calibration device, and
the 3-D position and orientation of said welding tool relative to said operational path during said manual welding operation, where said position and orientation of said welding tool is determined using images from said optical camera system regarding the position of said plurality of said point markers on said welding tool,

wherein said data processing component determines each of a work angle, a travel angle, a travel speed, a bead placement and a tool standoff distance, where said determinations are based on said determined position and orientation of said welding tool for said manual welding operation.

2. The system of claim 1 , wherein said predetermined pattern of said plurality of point markers on said welding tool defines a rigid body and said data processing components uses said defined rigid body to determine at least one of said work angle, travel angle, travel speed, bead placement and tool standoff distance.

3. The system of claim 1 , wherein said calibration device is in physical contact with said workpiece for said calibration of said position and orientation of said operational path.

4. The system of claim 1 , wherein said plurality of point markers on said welding tool are light emitting point markers.

5. The system of claim 1 , wherein said horizontal welding platform further comprises a plurality of clamps to secure said workpiece for said manual welding operation.

6. The system of claim 1 , wherein said data processing component compares each of said determined work angle, travel angle, travel speed, bead placement and tool standoff distance to upper and lower thresholds for each of said work angle, travel angle, travel speed, bead placement and tool standoff distance, respectively.

7. The system of claim 6 , wherein each of said upper and lower thresholds for each of said work angle, travel angle, travel speed, bead placement and tool standoff distance are pre-programmed into said data processing component.

8. The system of claim 1 , wherein a performance score is determined by said data processing component for said manual welding operation, and where said performance score is determined using each of said determined work angle, travel angle, travel speed, bead placement and tool standoff distance.

9. The system of claim 1 , wherein said data processing component processes said captured images using a frame-by-frame point cloud analysis.

10. The system of claim 1 , wherein said calibration device includes at least one point marker which is imaged by said optical camera system.

11. A system for characterizing a manual welding operation; said system comprising:
a stand structure comprising a horizontal welding platform and a monitor; where said horizontal welding platform comprises a plurality of point markers having a predetermined relationship, and where said horizontal welding platform is configured to hold a workpiece to be welded in a manual welding operation;
a calibration device, said calibration device used to calibrate a position and orientation of an operational path for a weld joint on said workpiece, said calibration device having a point marker;
a welding tool which is operative to perform said manual welding operation, and where said welding tool includes a plurality of light emitting point markers mounted thereon in a predetermined pattern;
an optical camera system comprising a plurality of optical cameras, where said optical camera system is coupled to said stand structure such that said plurality of optical cameras can image said plurality of point markers on said horizontal welding platform and said point marker on said calibration device during said calibration, and said plurality of point markers on said welding tool during said manual welding operation; and
a data processing component coupled to said optical camera system to receive images from said plurality of optical cameras, where said data processing component determines each of:
the position and orientation of said operational path for said weld joint on said workpiece, where said position and orientation of said operational path is determined using images from said optical camera system regarding the positioning of said plurality of point markers on said horizontal welding platform and the positioning of said point marker on said calibration device, and
the 3-D position and orientation of said welding tool relative to said operational path during said manual welding operation, where said position and orientation of said welding tool is determined using images from said optical camera system regarding the position of said plurality of said light emitting point markers on said welding tool,

wherein said data processing component has a predefined rigid body for said plurality of light emitting point markers on said welding tool, and
wherein said data processing component determines each of a work angle, a travel angle, a travel speed, a bead placement and a tool standoff distance, where said determinations are based on said determined position and orientation of said welding tool for said manual welding operation and said predefined rigid body.

12. A method of characterizing a manual welding operation, said method comprising:
providing a plurality of welding parameters for a manual welding operation to a data processing component;
providing a workpiece to be welded by said manual welding operation;
mounting said workpiece on a weld platform of a stand structure, said weld platform including a plurality of point markers positioned in a predetermined pattern;
capturing a plurality of images of said point markers on said weld platform;
using a calibration device to identify a position and orientation of an operational path for said manual welding operation, said calibration device having at least one point marker;
capturing a plurality of images of said at least one point marker on said calibrating device;
processing said plurality of images of said point markers on said weld platform and said plurality of images of said at le

Assignees

• Lincoln Global Inc

Inventors

• Boulware Paul Christopher
• Conrardy Christopher C
• Clark Douglas A
• Forquer M William

Classifications

• B23K9/0956

  using sensing means, e.g. optical · CPC title

• B23K9/10

  Other electric circuits therefor; Protective circuits; Remote controls · CPC title

• G06Q50/00

  Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism (healthcare informatics G16H) · CPC title

• G09B19/24 Primary

  Use of tools · CPC title

• G09B5/02

  with visual presentation of the material to be studied, e.g. using film strip · CPC title