相关申请的交叉引用Cross References to Related Applications
本专利申请是2009年7月8日递交的且题为“用于监控和表征人工焊缝的创建的方法和系统”的美国专利申请序号为No.12/499,687以及2010年12月13日递交的且题为“焊接训练系统”的美国专利申请序号为No.12/966,570的部分继续申请，所述美国专利申请序号为No.12/499,687和所述美国专利申请序号为No.12/966,570的公开内容在此全部通过引用被并入本文，如同在本文被完整地重新叙述一样。This application for patent is U.S. Patent Application Serial No. 12/499,687, filed July 8, 2009 and entitled "Method and System for Monitoring and Characterizing the Creation of Artificial Welds," and filed December 13, 2010 Continuation-in-Part of U.S. Patent Application Serial No. 12/966,570 entitled "Welding Training System," said U.S. Patent Application Serial No. 12/499,687 and said U.S. Patent Application Serial No. 12/966,570 The disclosure of is hereby incorporated by reference in its entirety as if fully re-stated herein.
发明背景Background of the invention
所描述的发明一般地涉及用于表征人工焊接操作的系统，并且更具体地，涉及用于通过这样的方式将有用的信息提供给焊接受训者的系统，所述方式为捕捉、处理并且以可见的格式来呈现由焊接受训者在人工地执行实际焊接时所实时产生的数据。The described invention relates generally to systems for characterizing human welding operations, and more specifically, to systems for providing useful information to welding trainees by capturing, processing, and visually format to present data generated in real-time by welding trainees while manually performing actual welding.
制造业对有效且经济的焊工训练的期望已经在过去的十年里成为了有记录可查的主题，因为在今天的工厂、造船厂和建筑工地，技术焊工严重短缺的现状正变得惊人地明显。迅速退休的劳动力，结合传统的基于指导者的焊工训练的缓慢步伐，已经成为更有效的训练技术发展的推动力。对具体到焊接的人工灵巧技术的加速训练的创新，连同对电弧焊接基本原理的快速教导，正在变为一种必要。本文所公开的表征和训练系统解决了对提高焊工训练的这个至关重要的需求并且能够监控人工焊接过程来确保所述过程是在可允许的限制内，所述限制对满足全行业的质量要求是必要的。迄今为止，多数焊接过程都被人工地执行，然而，该领域仍缺乏实用的、商业上可获得的工具来跟踪这些人工过程的执行。因此，对这样的有效系统存在持续的需求，所述系统用于训练焊工来在各种条件下正确地执行各种类型的焊接。The manufacturing industry's expectations for effective and cost-effective welder training have been a documented subject over the past decade, as the severe shortage of skilled welders in today's factories, shipyards and construction sites is becoming alarmingly obvious. A rapidly retiring workforce, combined with the slow pace of traditional instructor-based welder training, has been a driving force in the development of more effective training techniques. Innovations in accelerated training of manual dexterity techniques specific to welding, together with rapid teaching of arc welding fundamentals, are becoming a necessity. The characterization and training system disclosed herein addresses this critical need for improved welder training and is capable of monitoring the manual welding process to ensure that the process is within allowable limits that are critical to meeting industry-wide quality requirements necessary. To date, most welding processes have been performed manually, however, the field still lacks practical, commercially available tools to track the performance of these manual processes. Accordingly, there is a continuing need for an efficient system for training welders to properly perform various types of welds under various conditions.
发明内容Contents of the invention
以下内容提供本发明的某些示例性实施方案的总结。该总结不是广泛的概述并且不意图来确定本发明的关键的或决定性的方面或元件或者来划定它的范围。The following provides a summary of certain exemplary embodiments of the invention. This summary is not an extensive overview and is not intended to identify key or critical aspects or elements of the invention or to delineate the scope of the invention.
依据本发明的一个方面，用于表征人工和/或半自动焊接操作和练习的系统被提供。该系统包括数据产生部件、数据捕捉部件和数据处理部件。数据产生部件进一步包括固定装置，其中固定装置的几何特征是预先确定的；工件，所述工件被调适来安装在固定装置上，其中工件包括要被焊接的至少一个接头，并且其中沿要被焊接的接头延伸的矢量限定操作路径；至少一个标定装置，其中每个标定装置进一步包括与标定装置一体的至少两个点标记，并且其中点标记和操作路径之间的几何关系是预先确定的；以及焊接工具，其中焊接工具可操作来在要被焊接的接头处形成焊缝，其中焊接工具限定工具点和工具矢量，并且其中焊接工具进一步包括被附着到焊接工具的标靶，其中标靶进一步包括以预先确定的图案被安装在标靶上的多个点标记，并且其中点标记的预先确定的图案可操作来限定刚体。数据捕捉部件进一步包括用于捕捉点标记的图像的成像系统。数据处理部件可操作来接收来自数据捕捉部件的信息并且然后计算操作路径相对于通过成像系统可见的三维空间的位置和定向；工具点相对于刚体的位置以及工具矢量相对于刚体的定向；以及工具点相对于操作路径的位置以及工具矢量相对于操作路径的定向。According to one aspect of the present invention, a system for characterizing manual and/or semi-automatic welding operations and exercises is provided. The system includes a data generation component, a data capture component and a data processing component. The data generation component further comprises a fixture, wherein the geometric characteristics of the fixture are predetermined; a workpiece adapted to be mounted on the fixture, wherein the workpiece includes at least one joint to be welded, and wherein the edge is to be welded The vector of joint extension of the defined operating path; at least one indexing device, wherein each indexing device further comprises at least two point markers integral with the indexing device, and wherein the geometric relationship between the point markers and the operating path is predetermined; and A welding tool, wherein the welding tool is operable to form a weld at a joint to be welded, wherein the welding tool defines a tool point and a tool vector, and wherein the welding tool further comprises a target attached to the welding tool, wherein the target further comprises A plurality of point markers mounted on the target in a predetermined pattern, and wherein the predetermined pattern of point markers is operable to define a rigid body. The data capture component further includes an imaging system for capturing images of the point markers. The data processing component is operable to receive information from the data capture component and then calculate the position and orientation of the manipulation path relative to three-dimensional space visible through the imaging system; the position of the tool point relative to the rigid body and the orientation of the tool vector relative to the rigid body; and the tool The position of the point relative to the operation path and the orientation of the tool vector relative to the operation path.
依据本发明的另一个方面，用于表征人工和/或半自动焊接操作和练习的系统也被提供。该系统包括数据产生部件、数据捕捉部件和数据处理部件。数据产生部件进一步包括固定装置，其中固定装置的几何特征是预先确定的；工件，所述工件被调适来安装在固定装置上，其中工件包括要被焊接的至少一个接头，并且其中沿要被焊接的接头延伸的矢量限定操作路径；至少一个标定装置，其中每个标定装置进一步包括与标定装置一体的至少两个点标记，并且其中点标记和操作路径之间的几何关系是预先确定的；以及焊接工具，其中焊接工具可操作来在要被焊接的接头处形成焊缝，其中焊接工具限定工具点和工具矢量，并且其中焊接工具进一步包括被附着到焊接工具的标靶，其中标靶进一步包括以预先确定的图案被安装在标靶上的多个点标记，并且其中点标记的预先确定的图案可操作来限定刚体。数据捕捉部件进一步包括用于捕捉点标记的图像的成像系统并且成像系统进一步包括多个数码相机。至少一个带通滤波器被并入到多个数码相机中的每个的光学序列中，用于允许仅来自从点标记反射或发出的波长的光，以提高图像信噪比。数据处理部件可操作来接收来自数据捕捉部件的信息并且然后计算操作路径相对于通过成像系统可见的三维空间的位置和定向；工具点相对于刚体的位置以及工具矢量相对于刚体的定向；以及工具点相对于操作路径的位置以及工具矢量相对于操作路径的定向。According to another aspect of the invention, a system for characterizing manual and/or semi-automatic welding operations and exercises is also provided. The system includes a data generation component, a data capture component and a data processing component. The data generation component further comprises a fixture, wherein the geometric characteristics of the fixture are predetermined; a workpiece adapted to be mounted on the fixture, wherein the workpiece includes at least one joint to be welded, and wherein the edge is to be welded The vector of joint extension of the defined operating path; at least one indexing device, wherein each indexing device further comprises at least two point markers integral with the indexing device, and wherein the geometric relationship between the point markers and the operating path is predetermined; and A welding tool, wherein the welding tool is operable to form a weld at a joint to be welded, wherein the welding tool defines a tool point and a tool vector, and wherein the welding tool further comprises a target attached to the welding tool, wherein the target further comprises A plurality of point markers mounted on the target in a predetermined pattern, and wherein the predetermined pattern of point markers is operable to define a rigid body. The data capture component further includes an imaging system for capturing images of the point markers and the imaging system further includes a plurality of digital cameras. At least one bandpass filter is incorporated into the optical train of each of the plurality of digital cameras for allowing light only from wavelengths reflected or emitted from the spot markers to improve the image signal-to-noise ratio. The data processing component is operable to receive information from the data capture component and then calculate the position and orientation of the manipulation path relative to three-dimensional space visible through the imaging system; the position of the tool point relative to the rigid body and the orientation of the tool vector relative to the rigid body; and the tool The position of the point relative to the operation path and the orientation of the tool vector relative to the operation path.
基于阅读和理解下面的示例性实施方案的详细描述，本发明的附加特征和方面对于本领域的技术人员而言将变得明晰。如将被技术人员所理解的，在不脱离本发明的范围和精神的情况下，本发明的进一步的实施方案是可能的。从而，附图和相关联的描述在本质上被认为是图示说明性的而不是限制性的。Additional features and aspects of the invention will become apparent to those of ordinary skill in the art upon reading and understanding the following detailed description of the exemplary embodiments. As will be appreciated by the skilled artisan, further embodiments of the invention are possible without departing from the scope and spirit of the invention. Accordingly, the drawings and associated descriptions are to be regarded as illustrative in nature and not restrictive.
附图简要说明Brief description of the drawings
附图(其被并入到说明书中并且形成说明书的一部分)示意性地图示说明本发明的一个或更多个示例性实施方案以及上面所给出的总的描述和下面所给出的详细描述，用于解释本发明的原理，并且其中：The accompanying drawings, which are incorporated in and form a part of the specification, schematically illustrate one or more exemplary embodiments of the invention, together with the general description given above and the detailed description given below , used to explain the principle of the present invention, and where:
图1是图示说明本发明的示例性实施方案的信息流通过数据处理和可视化部件的流程图；Figure 1 is a flow diagram illustrating the flow of information through data processing and visualization components of an exemplary embodiment of the present invention;
图2提供依据本发明的示例性实施方案的一种用于表征人工焊接操作的便携式或半便携式系统的等距视图；Figure 2 provides an isometric view of a portable or semi-portable system for characterizing manual welding operations in accordance with an exemplary embodiment of the present invention;
图3提供图2的系统的平放组件的等距视图；Figure 3 provides an isometric view of the lay-flat components of the system of Figure 2;
图4提供图2的系统的水平组件的等距视图；Figure 4 provides an isometric view of the horizontal components of the system of Figure 2;
图5提供图2的系统的竖直组件的等距视图；Figure 5 provides an isometric view of the vertical components of the system of Figure 2;
图6图示说明图2的平放组件上的两个点标记的放置；Figure 6 illustrates the placement of two dot markers on the lay flat assembly of Figure 2;
图7图示说明示例性工件操作路径；Figure 7 illustrates an exemplary workpiece manipulation path;
图8图示说明用于确定工件操作路径的示例性工件上的两个主动的或被动的点标记的放置；Figure 8 illustrates the placement of two active or passive point markers on an exemplary workpiece for determining the path of operation of the workpiece;
图9是详述在本发明的第一标定部件的示例性实施方案中所涉及的处理步骤的流程图；Figure 9 is a flowchart detailing the processing steps involved in an exemplary embodiment of the first calibration component of the present invention;
图10图示说明本发明的示例性实施方案的焊接工具，示出被用来限定刚体的点标记的放置；Figure 10 illustrates a welding tool of an exemplary embodiment of the present invention showing the placement of point markers used to define a rigid body;
图11图示说明本发明的示例性实施方案的焊接工具，示出被用来限定工具矢量和刚体的点标记的放置；以及Figure 11 illustrates a welding tool of an exemplary embodiment of the present invention, showing the placement of point markers used to define tool vectors and rigid bodies; and
图12是详述在本发明的第二标定部件的示例性实施方案中所涉及的处理步骤的流程图。Figure 12 is a flowchart detailing the processing steps involved in an exemplary embodiment of the second calibration component of the present invention.
发明的详细描述Detailed description of the invention
现在参照附图描述本发明的示例性实施方案。参考编号在详细描述中自始至终被用来指代各种元件和结构。在其他情况中，出于简化描述的目的，众所周知的结构和装置以方框图的形式被示出。尽管出于图示说明的目的，下面的详细描述包含许多具体的内容，但本领域的技术人员将理解的是，对下面细节的许多变化和变更是在本发明的范围内。从而，本发明下面的实施方案被阐述而没有对所要求保护的发明的一般性造成任何损失并且没有对所要求保护的发明进行限定。Exemplary embodiments of the present invention will now be described with reference to the accompanying drawings. Reference numerals are used throughout the detailed description to refer to various elements and structures. In other instances, well-known structures and devices are shown in block diagram form for the purpose of simplifying the description. While the following detailed description contains many specifics for purposes of illustration, those skilled in the art will appreciate that many changes and modifications to the following details are within the scope of the invention. Accordingly, the following embodiments of the present invention are set forth without any loss of generality and without limitation of the claimed invention.
本发明涉及用于观察和表征人工焊接练习和操作的先进系统。这种系统对于焊接教导和焊工训练而言是特别有用的，所述系统提供这样的可负担的工具，所述工具用于衡量人工焊接技术并且比较所述技术与已建立的规程。本发明的训练应用包括：(i)筛选申请人技术水平；(ii)评价受训者随时间的进步；(iii)提供实时辅导以降低训练时间和成本；以及(iv)利用可量化的结果定期地重新测试焊工技术水平。处理监控和质量控制应用包括：(i)实时确认与优选状况的偏差；(ii)记录并跟踪随时间的与规程的符合度(compliance)；(iii)出于统计过程控制的目的，捕捉过程中的数据(例如，热量输入测量)；以及(iv)确认需要附加训练的焊工。本发明的系统提供这样的独到好处，即能够确定对各种被接收的焊接规程的符合度。The present invention relates to an advanced system for observing and characterizing manual welding exercises and operations. Such a system is particularly useful for welding instruction and welder training, providing an affordable tool for measuring manual welding techniques and comparing them to established procedures. Training applications of the present invention include: (i) screening applicants for skill level; (ii) evaluating trainee progress over time; (iii) providing real-time coaching to reduce training time and cost; To re-test the welder's skill level. Process monitoring and quality control applications include: (i) identifying deviations from preferred conditions in real time; (ii) recording and tracking compliance with procedures over time; (iii) capturing process data in (eg, heat input measurements); and (iv) identifying welders who need additional training. The system of the present invention provides the unique benefit of being able to determine compliance with various accepted welding procedures.
在各种示例性实施方案中，本发明在焊接练习期间基于点云图像分析使用单个或多个相机跟踪系统来测量焊炬动作并且收集过程数据。本发明适用于宽范围的过程，包括但不必限于GMAW、FCAW、SMAW、GTAW以及切割。本发明对于工件配置的范围是可扩展的，包括大尺寸、各种接头类型、管道、板以及复杂的形状。所测量的参数包括工作角度、行进角度、工具间隔、行进速度、焊道布局、摆动、电压、电流、焊丝送进速度以及电弧长度。本发明的训练部件可以被预先植入具体的焊接规程或者可以由指导者来定制。数据被自动地保存并记录，焊后分析记下性能，并且随时间的进步被跟踪。这种系统可以在整个焊接训练程序中自始至终被使用并且可以包括头盔中的和屏幕上的反馈。现在参照附图，本发明的一个或更多个具体的实施方案将被更详细地描述。In various exemplary embodiments, the present invention uses a single or multiple camera tracking system to measure torch motion and collect process data during welding practice based on point cloud image analysis. The invention is applicable to a wide range of processes including, but not necessarily limited to, GMAW, FCAW, SMAW, GTAW, and cutting. The invention is scalable to a range of workpiece configurations, including large sizes, various joint types, pipes, plates, and complex shapes. Parameters measured include working angle, travel angle, tool spacing, travel speed, bead layout, weaving, voltage, current, wire feed speed, and arc length. The training component of the present invention can be pre-implanted for a specific welding procedure or can be customized by the instructor. Data is automatically saved and recorded, post-weld analysis notes performance, and progress is tracked over time. Such a system can be used throughout a welding training program and can include in-helmet and on-screen feedback. Referring now to the accompanying drawings, one or more specific embodiments of the invention will be described in more detail.
如图1所示，在本发明的示例性实施方案中，通过焊接表征系统10的数据产生部件100、数据捕捉部件200以及数据处理(和可视化)部件300的基本信息流发生在六个基本步骤中：(1)图像捕捉110；(2)图像处理112；(3)电弧焊接数据的输入210，例如已知的或优选的焊接参数；(4)数据处理212；(5)数据储存214；以及(5)数据显示310。图像捕捉步骤110包括利用一个或更多个现成的高速视觉相机捕捉标靶98(其典型地包括彼此以固定的几何关系设置的至少两个点标记)的图像，其中输出方面典型地包括以超过每秒100帧创建图像文件。图像处理步骤112的输入方面包括刚体的逐帧点云分析，所述刚体包括三个或更多个点标记(即，标定的标靶)。根据已知刚体的识别，位置和定向相对于相机源和“受训后的(trained)”刚体定向被计算。捕捉并且比较来自两个或更多个相机的图像，允许在三维空间中对刚体位置和定向的基本上精确的确定。图像典型地以多于每秒10次的速率被处理。图像处理步骤112的输出方面包括数据数组的创建，所述数据数组包括x-轴、y-轴和z-轴位置数据以及滚动(roll)、俯仰(pitch)和偏转(yaw)定向数据以及时间戳和软件标识。文本文件可以以所期望的频率来流动或发送。数据处理步骤212的输入方面包括典型地以预先确定的速率请求的原始位置和定向数据，而输出方面包括利用具体到所选的工艺和接头类型的算法将这种原始数据转换为有用的焊接参数。数据储存步骤214的输入方面包括以*.dat文件储存焊接试验数据，而输出方面包括保存数据以用于回顾和跟踪、保存日期以用于稍后在监控器上回顾，和/或稍后回顾学生的进步。学生的进步可以包括总练习时间、总电弧时间、总电弧启动以及随时间的个别的参数特定的性能。数据显示步骤310的输入方面包括焊接试验数据，所述焊接试验数据进一步包括工作角度、行进角度、工具间隔、行进速度、焊道布局、摆动、电压、电流、焊丝送进速度，而输出方面涉及可以在监控器、头盔中的显示器、平视显示器或者它们的组合上查看的数据，其中参数在基于时间的轴上被绘制，并且与上下阈值或优选的变化(例如通过记录专业焊工的动作所训练的那些)相比较。电流和电压可以结合行进速度被测量来确定热量输入，并且焊接工艺参数可以被用来评估电弧长度。位置数据可以被转换为焊缝开始位置、焊缝停止位置、焊缝长度、焊缝顺序、焊接进展或它们的组合，并且电流和电压可以结合行进速度被测量来确定热量输入。As shown in Figure 1, in an exemplary embodiment of the present invention, the basic information flow through the data generation component 100, data capture component 200, and data processing (and visualization) component 300 of the welding characterization system 10 occurs in six basic steps In: (1) image capture 110; (2) image processing 112; (3) input 210 of arc welding data, such as known or preferred welding parameters; (4) data processing 212; (5) data storage 214; and (5) data display 310 . The image capture step 110 includes capturing an image of the target 98 (which typically includes at least two point markers disposed in a fixed geometric relationship to each other) using one or more off-the-shelf high-speed vision cameras, wherein the output aspect typically includes Create image files at 100 frames per second. The input aspect of the image processing step 112 includes frame-by-frame point cloud analysis of a rigid body comprising three or more point markers (ie, calibrated targets). From the identification of known rigid bodies, position and orientation are calculated relative to the camera source and the "trained" rigid body orientation. Capturing and comparing images from two or more cameras allows for substantially accurate determination of rigid body position and orientation in three-dimensional space. Images are typically processed at a rate of more than 10 times per second. The output aspect of the image processing step 112 includes the creation of data arrays including x-axis, y-axis and z-axis position data as well as roll, pitch and yaw orientation data and time stamp and software logo. Text files can be streamed or sent as often as desired. The input aspect of the data processing step 212 includes raw position and orientation data, typically requested at a predetermined rate, while the output aspect includes converting this raw data into useful welding parameters using algorithms specific to the selected process and joint type . The input aspect of the data storage step 214 includes storing welding test data in *.dat files, while the output aspect includes saving the data for review and tracking, saving the date for later review on the monitor, and/or later review student progress. The student's progress may include total practice time, total arc time, total arc starts, and individual parameter-specific performance over time. The input aspect of the data display step 310 includes welding test data which further includes working angle, travel angle, tool spacing, travel speed, bead layout, weaving, voltage, current, wire feed speed, while the output aspect relates to Data that can be viewed on a monitor, in-helmet display, heads-up display, or a combination thereof, where parameters are plotted on a time-based axis and compared to upper and lower thresholds or preferred changes (e.g. trained by recording the movements of professional welders) of those) for comparison. Current and voltage can be measured in conjunction with travel speed to determine heat input, and welding process parameters can be used to assess arc length. Position data can be converted to weld start position, weld stop position, weld length, weld sequence, weld progress, or a combination thereof, and current and voltage can be measured in conjunction with travel speed to determine heat input.
图2-图5提供依据本发明的示例性实施方案的焊接表征系统10的图示说明性视图。如图2所示，便携式训练座20包括用于接触地面或其他水平基材的基本上平坦的基底22、刚性竖直支撑柱24、相机或成像装置支撑体26以及用于调节成像装置支撑体26的高度的齿条和齿轮组件31。在大多数的实施方案中，焊接表征系统10意图是便携的或者至少从一个位置到另一个位置是可移动的，因此基底22的整个覆盖范围是相对小的，以允许对于安装和使用的最大灵活性。如图2-图6所示，焊接表征系统10可以被用来训练练习，所述练习包括平放的、水平或竖直定向的工件。在附图所示的示例性实施方案中，训练座20被描绘为能够支撑系统的其他部件的单一或整合的结构。在其他实施方案中，座20是不存在的，并且系统的各种部件通过可以获得的任何适合的结构性或支撑性装置来支撑。因此，在本发明的上下文中，“座”20被限定为任何单个结构，或者可替换地，能够支撑焊接表征系统10的部件的多个结构。2-5 provide diagrammatic illustration views of a weld characterization system 10 in accordance with an exemplary embodiment of the present invention. As shown in Figure 2, the portable training stand 20 includes a substantially flat base 22 for contacting the ground or other horizontal substrate, a rigid vertical support post 24, a camera or imaging device support 26, and a support for adjusting the imaging device. 26 height rack and pinion assembly 31. In most embodiments, the welding characterization system 10 is intended to be portable or at least movable from one location to another, so the overall footprint of the substrate 22 is relatively small to allow for maximum flexibility in installation and use. flexibility. As shown in FIGS. 2-6 , the welding characterization system 10 may be used to train exercises that include workpieces that are laid flat, horizontally, or vertically. In the exemplary embodiment shown in the figures, training seat 20 is depicted as a unitary or integrated structure capable of supporting the other components of the system. In other embodiments, the seat 20 is absent and the various components of the system are supported by any suitable structural or supportive means available. Thus, in the context of the present invention, a "seat" 20 is defined as any single structure, or alternatively, a plurality of structures capable of supporting components of the welding characterization system 10 .
对于图2-图3，某些焊接练习将利用平放组件30，所述平放组件30通过环状件(collar)34被可滑动地附接到竖直支撑柱24，所述环状件34在支撑柱24上向上或向下滑动。环状件34通过齿条和齿轮31被进一步支撑在柱24上，所述齿条和齿轮31包括用于在支撑柱24上向上或向下移动齿条和齿轮组件31的轴32。平放组件30包括训练平台38，所述训练平台38由一个或更多个支架(不可见)支撑。在一些实施方案中，护罩42被附接到训练平台38，用于保护支撑柱24的表面免遭热量损坏。训练平台38进一步包括至少一个夹持件44，用于将焊接位置特定的固定装置/夹具46固定到训练平台的表面。焊接位置特定的夹具46的结构配置或一般特性基于焊接工艺的类型是可变的，所述焊接工艺的类型是特定焊接练习的主题，并且在图2-图3中，固定装置46被配置用于角接焊缝练习。在图2-图3所示的示例性实施方案中，焊接位置特定的固定装置46的第一(48)和第二(50)结构部件彼此以直角被设置。位置特定的固定装置46可以包括一个或更多个钉47，用于便利固定装置上焊接试样的正确放置。与系统10一起使用的任何焊接试样(工件)54的特性基于人工焊接工艺的类型是可变的，所述人工焊接工艺的类型是特定训练练习的主题，并且在图7-图8所示的示例性实施方案中，焊接试样54的第一(56)和第二(58)部分彼此也以直角被设置。参照图4-图5，某些其他焊接练习将利用水平组件30(见图4)或竖直组件30(见图5)。在图4中，水平组件30支撑对接固定装置46，所述对接固定装置46针对对接焊缝练习将工件54保持在正确的位置。在图5中，竖直组件30支撑竖直固定装置46，所述竖直固定装置46针对搭接焊缝练习将工件54保持在正确的位置。2-3, certain welding exercises will utilize a lay-flat assembly 30 that is slidably attached to the vertical support column 24 by a collar 34 that 34 slides up or down on support column 24. The ring 34 is further supported on the post 24 by a rack and pinion 31 which includes a shaft 32 for moving the rack and pinion assembly 31 up or down on the support post 24 . The lay-flat assembly 30 includes a training platform 38 supported by one or more stands (not visible). In some embodiments, a shroud 42 is attached to the training platform 38 for protecting the surface of the support column 24 from heat damage. The training platform 38 further comprises at least one clamp 44 for securing a welding site specific fixture/clamp 46 to the surface of the training platform. The structural configuration or general characteristics of the welding site specific fixture 46 is variable based on the type of welding process that is the subject of a particular welding exercise, and in FIGS. 2-3 the fixture 46 is configured for Practice on fillet welds. In the exemplary embodiment shown in FIGS. 2-3 , the first ( 48 ) and second ( 50 ) structural components of the welding site-specific fixture 46 are arranged at right angles to each other. The location-specific fixture 46 may include one or more pegs 47 for facilitating proper placement of the welding coupon on the fixture. The characteristics of any welding coupon (workpiece) 54 used with the system 10 are variable based on the type of manual welding process that is the subject of a particular training exercise and is illustrated in FIGS. 7-8 In the exemplary embodiment, the first (56) and second (58) portions of the weld coupon 54 are also disposed at right angles to each other. Referring to FIGS. 4-5 , certain other welding exercises will utilize either the horizontal assembly 30 (see FIG. 4 ) or the vertical assembly 30 (see FIG. 5 ). In FIG. 4 , the horizontal assembly 30 supports a butt fixture 46 that holds a workpiece 54 in the correct position for butt weld practice. In FIG. 5 , the vertical assembly 30 supports a vertical fixture 46 that holds a workpiece 54 in the correct position for lap weld practice.
本发明的数据处理部件300典型地包括至少一个计算机，用于接收和分析由数据捕捉部件200所捕捉的信息，所述数据捕捉部件200自身包括被包含在保护性壳体中的至少一个数码相机。在焊接表征系统10的操作期间，该计算机典型地运行这样的软件，所述软件包括训练规定模块、图像处理和刚体分析模块以及数据处理模块。训练规定模块包括多种焊缝类型和一系列与创建每个焊缝类型相关联的可接受的焊接工艺参数。任何数量的已知的或AWS焊接接头类型和与这些焊接接头类型相关联的可接受的参数可以被包括在训练规定模块中，所述训练规定模块在训练练习开始之前由课程指导者访问并配置。由指导者所选的焊接工艺和/或类型确定哪个焊接工艺特定的固定装置、标定装置和焊接试样被用于任何给定的训练练习。目标识别模块可操作来训练系统识别已知的刚体标靶98(其包括两个或更多个点标记)并且然后在实际的人工焊缝被受训者完成时使用标靶98来计算焊枪90的位置和定向数据。数据处理模块将训练规定模块中的信息与由目标识别模块处理的信息相比较，并且将比较的数据输出至显示装置(例如监控器或平视显示器)。监控器允许受训者实时地看到所处理的数据，并且所看到的数据可操作来给使用者提供关于焊接的特性和质量的有用的反馈。焊接表征系统10的可视界面可以包括与信息的输入、登录、设置、标定、练习、分析以及进步跟踪相关的多种特征。分析屏幕典型地显示建立在训练规定模块中的焊接参数，包括(但不限于)工作角度、行进角度、工具间隔、行进速度、焊道布局、摆动、电压、电流、焊丝送进速度以及电弧长度。在本发明中多种显示变化是可能的。The data processing component 300 of the present invention typically includes at least one computer for receiving and analyzing information captured by the data capture component 200, which itself includes at least one digital camera contained within a protective housing . During operation of the welding characterization system 10, the computer typically runs software including a training prescription module, an image processing and rigid body analysis module, and a data processing module. The training specification module includes a plurality of weld types and a list of acceptable welding process parameters associated with creating each weld type. Any number of known or AWS weld joint types and acceptable parameters associated with those weld joint types may be included in a training provision module that is accessed and configured by the course instructor prior to the beginning of the training exercise . The welding process and/or type selected by the instructor determines which welding process specific fixtures, calibration devices and welding coupons are used for any given training exercise. The target recognition module is operable to train the system to recognize a known rigid body target 98 (which includes two or more point markers) and then use the target 98 to calculate the position of the welding torch 90 when the actual manual weld is completed by the trainee. location and orientation data. The data processing module compares the information in the training prescription module with the information processed by the object recognition module, and outputs the compared data to a display device (such as a monitor or a heads-up display). The monitor allows the trainee to see the processed data in real time, and the seen data is operable to provide the user with useful feedback on the characteristics and quality of the weld. The visual interface of welding characterization system 10 may include a variety of features related to the entry of information, logging, setup, calibration, exercises, analysis, and progress tracking. The analysis screen typically displays welding parameters established in the training prescription module, including (but not limited to) working angle, travel angle, tool spacing, travel speed, bead layout, weaving, voltage, current, wire feed speed, and arc length . Various display variations are possible in the present invention.
在大多数而不是所有的情况下，焊接表征系统10将在使用之前经历一系列标定步骤/过程。系统标定的方面中的一些将典型地在交货到使用者之前由系统10的制造商来执行，而系统标定的其他方面将典型地在任何焊接训练练习之前由焊接表征系统10的使用者来执行。系统标定典型地涉及两个相关的且必不可少的标定过程：(i)针对要在各种焊接训练练习中使用的每个接头/位置组合，确定要被创建在工件上的操作路径的三维位置和定向；以及(ii)通过计算设置在标靶98上的多个反射的(被动的)或光发出的(主动的)点标记与由设置在焊接工具90上的点标记所表示的至少两个关键点之间的关系，确定焊接工具的三维位置和定向。In most but not all cases, the weld characterization system 10 will go through a series of calibration steps/processes prior to use. Some aspects of system calibration will typically be performed by the manufacturer of system 10 prior to delivery to the user, while other aspects of system calibration will typically be performed by the user of welding characterization system 10 prior to any welding training exercise. implement. System calibration typically involves two related and essential calibration processes: (i) determining, for each joint/location combination to be used in the various welding training exercises, the three-dimensional position and orientation; and (ii) by computing a plurality of reflective (passive) or optically emitted (active) point markers placed on the target 98 with at least The relationship between two key points determines the 3D position and orientation of the welding tool.
本发明的第一标定方面典型地涉及焊接操作相对于整体坐标系(即，相对于焊接表征系统10的其他结构部件以及由所述其他结构部件所占据的三维空间)的标定。在跟踪/表征人工焊接练习之前，在任何给定的工件上每个所期望的操作路径(即，矢量)的整体坐标将被确定。在大多数的实施方案中，这是工厂执行的标定过程，所述过程将包括储存在数据处理部件200中的对应的配置文件。为了获得所期望的矢量，包含主动的或被动的标记的标定装置可以在三个可能的平台位置(即，平放的、水平的和竖直的)中的每个中被插入在至少两个定位标记上。图6-图8图示说明在一个可能的平台位置中的这种标定步骤。接头特定的固定装置46分别包括第一和第二结构部件48(水平的)和50(竖直的)。焊接试样或工件54分别包括第一和第二部分56(水平的)和58(竖直的)。工件操作路径59从点X延伸到点Y并且在图7中以断线被示出。定位点标记530和532如图6(和图8)所示被放置并且每个标记的位置使用数据捕捉部件100来获得，这在该实施方案中利用Optitrack Tracking Tools(NaturalPoint有限公司)或者类似的商业上可获得的或专有的硬件/软件系统，所述系统实时地提供三维标记和六自由度目标动作跟踪。这样的技术典型地利用以预先确定的图案布置的反射的和/或光发出的点标记来创建点云，所述点云被系统成像硬件和系统软件解读为“刚体”，尽管其他合适的方法与本发明兼容。The first calibration aspect of the invention typically involves calibration of the welding operation relative to a global coordinate system (ie, relative to other structural components of welding characterization system 10 and the three-dimensional space occupied by such other structural components). Before tracking/characterizing the manual welding exercise, the global coordinates of each desired operating path (ie, vector) on any given workpiece will be determined. In most embodiments, this is a factory-performed calibration process that will include a corresponding configuration file stored in the data processing component 200 . In order to obtain the desired vectors, indexing devices containing active or passive markers can be inserted in at least two of the three possible platform positions (i.e., flat, horizontal and vertical). on the positioning mark. Figures 6-8 illustrate such calibration steps in one possible platform position. The joint-specific fixture 46 includes first and second structural members 48 (horizontal) and 50 (vertical), respectively. Weld coupon or workpiece 54 includes first and second portions 56 (horizontal) and 58 (vertical), respectively. Workpiece handling path 59 extends from point X to point Y and is shown in broken lines in FIG. 7 . Anchor point markers 530 and 532 are placed as shown in FIG. 6 (and FIG. 8 ) and the location of each marker is obtained using data capture component 100, which in this embodiment utilizes Optitrack Tracking Tools (NaturalPoint Inc.) or similar Commercially available or proprietary hardware/software systems that provide 3D markers and 6DOF target motion tracking in real time. Such techniques typically utilize reflective and/or light emitting point markers arranged in a predetermined pattern to create a point cloud that is interpreted as a "rigid body" by the system imaging hardware and system software, although other suitable methods Compatible with the present invention.
在由图9的流程图所表示的标定过程中，在步骤280，表格38被固定到位置i(0,1,2)中；在步骤282，标定装置被放置在定位销上；在步骤284，所有的标记位置被捕捉；在步骤286，定位器位置的坐标被计算；在步骤288，角接操作路径的坐标被计算，并且在步骤290被储存；在步骤292，搭接操作路径的坐标被计算，并且在步骤294被储存；以及在步骤296，坡口操作路径的坐标被计算，并且在步骤298被储存。所有的坐标相对于通过数据捕捉部件200可见的三维空间被计算。In the calibration process represented by the flowchart of Fig. 9, in step 280, table 38 is fixed in the position i (0,1,2); in step 282, the calibration device is placed on the dowel; , all marker positions are captured; in step 286, the coordinates of the locator position are calculated; in step 288, the coordinates of the corner joint operation path are calculated, and are stored in step 290; in step 292, the coordinates of the lap joint operation path is calculated and stored at step 294; and at step 296 the coordinates of the beveling path are calculated and stored at step 298. All coordinates are calculated relative to the three-dimensional space visible through the data capture component 200 .
在本发明的一个实施方案中，工件的位置和定向通过将两个或更多个被动的或主动的点标记应用到标定装置来标定，所述标定装置相对于固定装置以已知的平移的和转动的偏置(offset)被放置，所述固定装置以已知的平移的和转动的偏置来保持工件。在本发明的另一个实施方案中，工件的位置和定向通过将两个或更多个被动的或主动的点标记应用到固定装置来标定，所述固定装置以已知的平移的和转动的偏置来保持工件。仍然在其他实施方案中，工件是非线性的，并且所述工件的位置和定向可以使用具有两个或更多个被动的或主动的点标记的标定工具被标绘并且被储存以备后用。基于整个工作操作中的序列步骤，工件操作路径的位置和定向可以经历从它的原始标定平面的预先确定的平移的和转动的偏置。In one embodiment of the invention, the position and orientation of the workpiece is calibrated by applying two or more passive or active point markers to an indexing device at a known translation relative to the fixture. and rotational offsets are placed, and the fixture holds the workpiece at known translational and rotational offsets. In another embodiment of the invention, the position and orientation of the workpiece is calibrated by applying two or more passive or active point markers to a fixture with known translational and rotational bias to hold the workpiece. In still other embodiments, the workpiece is non-linear and the position and orientation of the workpiece can be plotted using a calibration tool with two or more passive or active point markers and stored for later use. Based on sequential steps throughout the work operation, the position and orientation of the workpiece manipulation path may undergo predetermined translational and rotational offsets from its original nominal plane.
重要的工具操纵参数(例如相对于工件操作路径的位置、定向、速度、加速度以及空间关系)可以从对随时间连续的工具位置和定向以及上面所描述的各种工件操作路径的分析来确定。工具操纵参数可以与预先确定的优选值相比较，以确定与已知的且优选的规程的偏差。工具操纵参数还可以与其他制造工艺参数组合，以确定与优选的规程的偏差，并且这些偏差可以被用于评价技术水平、提供训练反馈、评价朝着技术目标的进步或者出于质量控制目的。出于统计过程控制的目的，所记载的相对于工件操作路径的动作参数可以从多个操作来汇总。出于统计过程控制的目的，与优选的规程的偏差可以从多个操作来汇总。重要的工具操纵参数以及相对于工件操作路径的工具位置和定向也可以被记载，用于建立有经验的操作者的动作的签名以用作评价与优选规程的符合度的基准线。Important tool manipulation parameters such as position, orientation, velocity, acceleration, and spatial relationship relative to the workpiece manipulation path can be determined from analysis of the tool position and orientation over time and the various workpiece manipulation paths described above. Tool manipulation parameters may be compared to predetermined preferred values to determine deviations from known and preferred procedures. Tool handling parameters can also be combined with other manufacturing process parameters to determine deviations from preferred protocols, and these deviations can be used to assess skill level, provide training feedback, evaluate progress toward technical goals, or for quality control purposes. For the purpose of statistical process control, the documented motion parameters relative to the path of the workpiece operation may be aggregated from multiple operations. For statistical process control purposes, deviations from the preferred protocol can be aggregated from multiple operations. Significant tool manipulation parameters as well as tool position and orientation relative to the workpiece manipulation path can also be documented for building a signature of an experienced operator's actions to serve as a baseline for evaluating compliance with preferred practices.
第二标定方面典型地涉及焊接工具90相对于标靶98的标定。“焊接”工具90典型地是焊炬或焊枪或SMAW焊条的夹持器，但也可以是任何数量的其他用具，包括软焊烙铁、切割锯、成形工具、材料移除工具、喷漆枪或扳手。参照图10-图11，焊枪/焊接工具90包括工具点91、喷嘴92、本体94、触发器96以及标靶98。工具标定装置93，其包括在A和B位置(参见图11)的两个被整合的主动的或被动的点标记，被附接到或者被插入到喷嘴92中。刚体点云(即，“刚体”)通过将主动的或被动的点标记502、504和506(以及附加的点标记)附接到标靶98的上表面(其他放置是可能的)来构建。标靶98可以包括电力输入(如果所使用的点标记是主动的)并且需要电源。数据捕捉部件200使用Optitrack Tracking Tools(NaturalPoint有限公司)或者类似的硬件/软件来设置刚体以及点标记522(A)和520(B)，所述点标记表示工具矢量524的位置。这些位置可以由系统10的软件提取并且点标记A和B与刚体之间的关系可以被计算。The second calibration aspect typically involves calibration of bonding tool 90 relative to target 98 . The "welding" tool 90 is typically a holder for a welding torch or gun or SMAW electrode, but could be any number of other implements, including a soldering iron, chop saw, forming tool, material removal tool, paint gun, or wrench . Referring to FIGS. 10-11 , welding gun/welding tool 90 includes tool point 91 , nozzle 92 , body 94 , trigger 96 and target 98 . A tool indexing device 93 , comprising two integrated active or passive point markers at the A and B positions (see FIG. 11 ), is attached to or inserted into the nozzle 92 . A rigid body point cloud (ie, "rigid body") is constructed by attaching active or passive point markers 502, 504, and 506 (and additional point markers) to the upper surface of target 98 (other placements are possible). The target 98 may include a power input (if the spot marker used is active) and requires a power source. Data capture component 200 uses Optitrack Tracking Tools (NaturalPoint Inc.) or similar hardware/software to set up rigid bodies and point markers 522 (A) and 520 (B), which represent the location of tool vector 524 . These positions can be extracted by the software of the system 10 and the relationship between point markers A and B and the rigid body can be calculated.
在由图12的流程图所表示的标定过程中，在步骤250，焊接喷嘴92和导电管(contact tube)被移除；在步骤252，标定装置被插入到本体94中；焊接工具90被放置在工作包络面，并且刚体500(在图11中被指定为“S”)以及点标记A和B被数据捕捉部件100捕捉；在步骤256，A和S与B和S之间的关系被计算；在步骤258，针对AS的关系数据被储存；以及在步骤260，针对BS的关系数据被储存。In the calibration process represented by the flow chart of Figure 12, at step 250, the welding nozzle 92 and contact tube are removed; at step 252, the calibration device is inserted into the body 94; the welding tool 90 is placed At the working envelope, and rigid body 500 (designated "S" in FIG. 11 ) and point markers A and B are captured by data capture component 100; at step 256, the relationship between A and S and B and S is calculation; at step 258, relationship data for AS is stored; and at step 260, relationship data for BS is stored.
在本发明的一个实施方案中，工具点和工具矢量的标定通过在沿工具矢量的位置将两个或更多个被动的或主动的点标记应用到标定装置来执行，所述工具矢量相对于工具点具有已知的偏置。在另一个实施方案中，工具点和工具矢量的标定通过将工具插入到相对于工件具有已知位置和定向的标定块中来执行。关于由点标记(例如，502、504、506)限定的刚体，在一个实施方案中，被动的或主动的点标记以多刻面的方式被附接到工具，以使在成像系统的视场内可以适应宽范围的转动和定向改变。在另一个实施方案中，被动的或主动的点标记以球形的方式被附接到工具，以使在成像系统的视场内可以适应宽范围的转动和定向改变。仍然在另一个实施方案中，被动的或主动的点标记以环形的方式被附接到工具，以使在成像系统的视场内可以适应宽范围的转动和定向改变。In one embodiment of the invention, the calibration of tool points and tool vectors is performed by applying two or more passive or active point markers to the calibration device at positions along the tool vector relative to Tool points have known offsets. In another embodiment, the calibration of tool points and tool vectors is performed by inserting the tool into a calibration block of known position and orientation relative to the workpiece. Regarding the rigid body defined by point markers (e.g., 502, 504, 506), in one embodiment, passive or active point markers are It can accommodate a wide range of rotation and orientation changes. In another embodiment, passive or active point markers are attached to the tool in a spherical fashion so that a wide range of rotational and orientation changes within the field of view of the imaging system can be accommodated. In yet another embodiment, passive or active point markers are attached to the tool in a circular fashion so that a wide range of rotational and orientation changes within the field of view of the imaging system can be accommodated.
大量的附加的有用特征可以被并入本发明。例如，出于图像滤波的目的，带通或高通滤波器可以被并入到数据捕捉部件200中的多个数码相机中的每个的光学序列中，用于允许仅来自从点标记反射或发出的波长的光，以提高图像信噪比。通过仅分析从动态感兴趣区域内获得到图像信息，假信息可以被拒绝，所述动态感兴趣区域具有从之前已知的刚体位置所限制的偏置。这种动态感兴趣区域可以被并入到或者以其他方式被预先限定(即，被预先编程为宽度x和高度y的框体或区域并且中心在标靶98的已知位置上)在每个数码相机的视场内，以使图像信息仅从该预先限定的区域被处理。感兴趣区域将随着刚体移动而改变，并且因此是基于刚体之前已知的位置的。这种方法允许成像系统在寻找点标记时仅观察动态感兴趣区域内的像素而忽视或阻挡未包括在动态感兴趣区域中的较大图像帧中的像素。减少的处理时间是本发明的这个方面的好处。A number of additional useful features can be incorporated into the present invention. For example, band-pass or high-pass filters may be incorporated into the optical train of each of the plurality of digital cameras in the data capture component 200 for image filtering purposes to allow wavelength of light to improve the image signal-to-noise ratio. False information can be rejected by analyzing only image information obtained from within a dynamic region of interest with a constrained offset from a previously known rigid body position. Such a dynamic region of interest may be incorporated into or otherwise pre-defined (i.e., pre-programmed as a box or region of width x and height y and centered on a known location of the target 98) in each within the field of view of a digital camera so that image information is processed only from this pre-defined area. The region of interest will change as the rigid body moves and is therefore based on the rigid body's previously known position. This approach allows the imaging system to look only at pixels within a dynamic region of interest when looking for point markers and to ignore or block out pixels in larger image frames that are not included in the dynamic region of interest. Reduced processing time is a benefit of this aspect of the invention.
尽管已经通过对本发明的示例性实施方案的描述图示说明了本发明，并且尽管已经在某些细节上描述了实施方案，将所附的权利要求的范围限定或以任何方式限制到这样的细节并不是申请人的意图。附加的优点以及更改对于本领域的技术人员而言显得容易理解。因此，本发明在其广泛的方面不被限制到具体的细节、代表性的装置和方法和/或所示出和描述的图示说明性实施例中的任一个。从而，在不脱离申请人的总的发明概念的精神或范围的情况下，可以与这样的细节有所偏离。While the invention has been illustrated by the description of exemplary embodiments of the invention, and although the embodiments have been described in certain details, the scope of the appended claims is to be limited or in any way limited to such details Not the applicant's intent. Additional advantages and modifications will readily appear to those skilled in the art. Therefore, the invention in its broad aspects is not limited to any of the specific details, representative apparatus and methods, and/or illustrative embodiments shown and described. Accordingly, departures may be made from such details without departing from the spirit or scope of applicant's general inventive concept.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710868734.5ACN107731079B (en) | 2012-07-06 | 2012-07-06 | System for characterizing human weld's operation |
| CN201710121652.4ACN107293191B (en) | 2012-07-06 | 2012-07-06 | System for characterizing human weld's operation |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US13/543,240 | 2012-07-06 | ||
| US13/543,240US9221117B2 (en) | 2009-07-08 | 2012-07-06 | System for characterizing manual welding operations |
| PCT/US2012/045776WO2014007830A1 (en) | 2012-07-06 | 2012-07-06 | System for characterizing manual welding operations |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710868734.5ADivisionCN107731079B (en) | 2012-07-06 | 2012-07-06 | System for characterizing human weld's operation |
| CN201710121652.4ADivisionCN107293191B (en) | 2012-07-06 | 2012-07-06 | System for characterizing human weld's operation |
| Publication Number | Publication Date |
|---|---|
| CN104603860A CN104603860A (en) | 2015-05-06 |
| CN104603860Btrue CN104603860B (en) | 2017-10-20 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201280075678.5AExpired - Fee RelatedCN104603860B (en) | 2012-07-06 | 2012-07-06 | A system for characterizing manual welding operations |
| CN201710868734.5AExpired - Fee RelatedCN107731079B (en) | 2012-07-06 | 2012-07-06 | System for characterizing human weld's operation |
| CN201710121652.4AExpired - Fee RelatedCN107293191B (en) | 2012-07-06 | 2012-07-06 | System for characterizing human weld's operation |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710868734.5AExpired - Fee RelatedCN107731079B (en) | 2012-07-06 | 2012-07-06 | System for characterizing human weld's operation |
| CN201710121652.4AExpired - Fee RelatedCN107293191B (en) | 2012-07-06 | 2012-07-06 | System for characterizing human weld's operation |
| Country | Link |
|---|---|
| JP (1) | JP3198723U (en) |
| KR (1) | KR102013475B1 (en) |
| CN (3) | CN104603860B (en) |
| BR (1) | BR112015000235A2 (en) |
| DE (1) | DE202012013151U1 (en) |
| WO (1) | WO2014007830A1 (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9104195B2 (en) | 2006-12-20 | 2015-08-11 | Lincoln Global, Inc. | Welding job sequencer |
| US10994358B2 (en) | 2006-12-20 | 2021-05-04 | Lincoln Global, Inc. | System and method for creating or modifying a welding sequence based on non-real world weld data |
| US9937577B2 (en) | 2006-12-20 | 2018-04-10 | Lincoln Global, Inc. | System for a welding sequencer |
| WO2009146359A1 (en) | 2008-05-28 | 2009-12-03 | Illinois Tool Works Inc. | Welding training system |
| US9196169B2 (en) | 2008-08-21 | 2015-11-24 | Lincoln Global, Inc. | Importing and analyzing external data using a virtual reality welding system |
| US9280913B2 (en) | 2009-07-10 | 2016-03-08 | Lincoln Global, Inc. | Systems and methods providing enhanced education and training in a virtual reality environment |
| US8851896B2 (en) | 2008-08-21 | 2014-10-07 | Lincoln Global, Inc. | Virtual reality GTAW and pipe welding simulator and setup |
| US9483959B2 (en) | 2008-08-21 | 2016-11-01 | Lincoln Global, Inc. | Welding simulator |
| US9318026B2 (en) | 2008-08-21 | 2016-04-19 | Lincoln Global, Inc. | Systems and methods providing an enhanced user experience in a real-time simulated virtual reality welding environment |
| US8274013B2 (en) | 2009-03-09 | 2012-09-25 | Lincoln Global, Inc. | System for tracking and analyzing welding activity |
| US9773429B2 (en) | 2009-07-08 | 2017-09-26 | Lincoln Global, Inc. | System and method for manual welder training |
| US9221117B2 (en) | 2009-07-08 | 2015-12-29 | Lincoln Global, Inc. | System for characterizing manual welding operations |
| US9230449B2 (en) | 2009-07-08 | 2016-01-05 | Lincoln Global, Inc. | Welding training system |
| US9011154B2 (en) | 2009-07-10 | 2015-04-21 | Lincoln Global, Inc. | Virtual welding system |
| US10748447B2 (en) | 2013-05-24 | 2020-08-18 | Lincoln Global, Inc. | Systems and methods providing a computerized eyewear device to aid in welding |
| US8569655B2 (en) | 2009-10-13 | 2013-10-29 | Lincoln Global, Inc. | Welding helmet with integral user interface |
| US9468988B2 (en) | 2009-11-13 | 2016-10-18 | Lincoln Global, Inc. | Systems, methods, and apparatuses for monitoring weld quality |
| US9101994B2 (en) | 2011-08-10 | 2015-08-11 | Illinois Tool Works Inc. | System and device for welding training |
| US9573215B2 (en) | 2012-02-10 | 2017-02-21 | Illinois Tool Works Inc. | Sound-based weld travel speed sensing system and method |
| US20160093233A1 (en) | 2012-07-06 | 2016-03-31 | Lincoln Global, Inc. | System for characterizing manual welding operations on pipe and other curved structures |
| US9767712B2 (en) | 2012-07-10 | 2017-09-19 | Lincoln Global, Inc. | Virtual reality pipe welding simulator and setup |
| US9583014B2 (en) | 2012-11-09 | 2017-02-28 | Illinois Tool Works Inc. | System and device for welding training |
| US9368045B2 (en) | 2012-11-09 | 2016-06-14 | Illinois Tool Works Inc. | System and device for welding training |
| US9713852B2 (en) | 2013-03-15 | 2017-07-25 | Illinois Tool Works Inc. | Welding training systems and devices |
| US9583023B2 (en) | 2013-03-15 | 2017-02-28 | Illinois Tool Works Inc. | Welding torch for a welding training system |
| US9728103B2 (en) | 2013-03-15 | 2017-08-08 | Illinois Tool Works Inc. | Data storage and analysis for a welding training system |
| US9666100B2 (en) | 2013-03-15 | 2017-05-30 | Illinois Tool Works Inc. | Calibration devices for a welding training system |
| US9672757B2 (en) | 2013-03-15 | 2017-06-06 | Illinois Tool Works Inc. | Multi-mode software and method for a welding training system |
| US10930174B2 (en) | 2013-05-24 | 2021-02-23 | Lincoln Global, Inc. | Systems and methods providing a computerized eyewear device to aid in welding |
| US11090753B2 (en) | 2013-06-21 | 2021-08-17 | Illinois Tool Works Inc. | System and method for determining weld travel speed |
| US20150072323A1 (en) | 2013-09-11 | 2015-03-12 | Lincoln Global, Inc. | Learning management system for a real-time simulated virtual reality welding training environment |
| US10083627B2 (en) | 2013-11-05 | 2018-09-25 | Lincoln Global, Inc. | Virtual reality and real welding training system and method |
| US10056010B2 (en) | 2013-12-03 | 2018-08-21 | Illinois Tool Works Inc. | Systems and methods for a weld training system |
| US9589481B2 (en) | 2014-01-07 | 2017-03-07 | Illinois Tool Works Inc. | Welding software for detection and control of devices and for analysis of data |
| US9751149B2 (en) | 2014-01-07 | 2017-09-05 | Illinois Tool Works Inc. | Welding stand for a welding system |
| US9724788B2 (en) | 2014-01-07 | 2017-08-08 | Illinois Tool Works Inc. | Electrical assemblies for a welding system |
| US9757819B2 (en) | 2014-01-07 | 2017-09-12 | Illinois Tool Works Inc. | Calibration tool and method for a welding system |
| US10170019B2 (en) | 2014-01-07 | 2019-01-01 | Illinois Tool Works Inc. | Feedback from a welding torch of a welding system |
| US10105782B2 (en) | 2014-01-07 | 2018-10-23 | Illinois Tool Works Inc. | Feedback from a welding torch of a welding system |
| US9836987B2 (en) | 2014-02-14 | 2017-12-05 | Lincoln Global, Inc. | Virtual reality pipe welding simulator and setup |
| EP3111440A1 (en) | 2014-06-02 | 2017-01-04 | Lincoln Global, Inc. | System and method for manual welder training |
| US9937578B2 (en) | 2014-06-27 | 2018-04-10 | Illinois Tool Works Inc. | System and method for remote welding training |
| US10307853B2 (en) | 2014-06-27 | 2019-06-04 | Illinois Tool Works Inc. | System and method for managing welding data |
| US9862049B2 (en)* | 2014-06-27 | 2018-01-09 | Illinois Tool Works Inc. | System and method of welding system operator identification |
| US10665128B2 (en)* | 2014-06-27 | 2020-05-26 | Illinois Tool Works Inc. | System and method of monitoring welding information |
| US11014183B2 (en) | 2014-08-07 | 2021-05-25 | Illinois Tool Works Inc. | System and method of marking a welding workpiece |
| US9724787B2 (en) | 2014-08-07 | 2017-08-08 | Illinois Tool Works Inc. | System and method of monitoring a welding environment |
| US9875665B2 (en) | 2014-08-18 | 2018-01-23 | Illinois Tool Works Inc. | Weld training system and method |
| US10239147B2 (en) | 2014-10-16 | 2019-03-26 | Illinois Tool Works Inc. | Sensor-based power controls for a welding system |
| US11247289B2 (en) | 2014-10-16 | 2022-02-15 | Illinois Tool Works Inc. | Remote power supply parameter adjustment |
| US10373304B2 (en) | 2014-11-05 | 2019-08-06 | Illinois Tool Works Inc. | System and method of arranging welding device markers |
| US10402959B2 (en) | 2014-11-05 | 2019-09-03 | Illinois Tool Works Inc. | System and method of active torch marker control |
| US10490098B2 (en) | 2014-11-05 | 2019-11-26 | Illinois Tool Works Inc. | System and method of recording multi-run data |
| US10210773B2 (en) | 2014-11-05 | 2019-02-19 | Illinois Tool Works Inc. | System and method for welding torch display |
| US10417934B2 (en) | 2014-11-05 | 2019-09-17 | Illinois Tool Works Inc. | System and method of reviewing weld data |
| US10204406B2 (en) | 2014-11-05 | 2019-02-12 | Illinois Tool Works Inc. | System and method of controlling welding system camera exposure and marker illumination |
| US10427239B2 (en) | 2015-04-02 | 2019-10-01 | Illinois Tool Works Inc. | Systems and methods for tracking weld training arc parameters |
| US10438505B2 (en) | 2015-08-12 | 2019-10-08 | Illinois Tool Works | Welding training system interface |
| US10593230B2 (en) | 2015-08-12 | 2020-03-17 | Illinois Tool Works Inc. | Stick welding electrode holder systems and methods |
| US10657839B2 (en) | 2015-08-12 | 2020-05-19 | Illinois Tool Works Inc. | Stick welding electrode holders with real-time feedback features |
| US10373517B2 (en) | 2015-08-12 | 2019-08-06 | Illinois Tool Works Inc. | Simulation stick welding electrode holder systems and methods |
| CN105118369B (en)* | 2015-08-18 | 2020-08-28 | 沈阳中鹏设备有限公司 | Microcomputer controlled automatic hot spot tracing welding teaching instrument |
| EP3400588A1 (en)* | 2016-01-08 | 2018-11-14 | Illinois Tool Works, Inc. | Systems and methods to provide weld training |
| CA3011154A1 (en) | 2016-01-08 | 2017-07-13 | Illinois Tool Works Inc. | Systems and methods to provide weld training |
| EP3319066A1 (en) | 2016-11-04 | 2018-05-09 | Lincoln Global, Inc. | Magnetic frequency selection for electromagnetic position tracking |
| US10913125B2 (en) | 2016-11-07 | 2021-02-09 | Lincoln Global, Inc. | Welding system providing visual and audio cues to a welding helmet with a display |
| US10878591B2 (en) | 2016-11-07 | 2020-12-29 | Lincoln Global, Inc. | Welding trainer utilizing a head up display to display simulated and real-world objects |
| US10997872B2 (en) | 2017-06-01 | 2021-05-04 | Lincoln Global, Inc. | Spring-loaded tip assembly to support simulated shielded metal arc welding |
| US11557223B2 (en) | 2018-04-19 | 2023-01-17 | Lincoln Global, Inc. | Modular and reconfigurable chassis for simulated welding training |
| US11475792B2 (en) | 2018-04-19 | 2022-10-18 | Lincoln Global, Inc. | Welding simulator with dual-user configuration |
| US11450233B2 (en) | 2019-02-19 | 2022-09-20 | Illinois Tool Works Inc. | Systems for simulating joining operations using mobile devices |
| US11521512B2 (en) | 2019-02-19 | 2022-12-06 | Illinois Tool Works Inc. | Systems for simulating joining operations using mobile devices |
| US11776423B2 (en) | 2019-07-22 | 2023-10-03 | Illinois Tool Works Inc. | Connection boxes for gas tungsten arc welding training systems |
| US11288978B2 (en) | 2019-07-22 | 2022-03-29 | Illinois Tool Works Inc. | Gas tungsten arc welding training systems |
| US11721231B2 (en) | 2019-11-25 | 2023-08-08 | Illinois Tool Works Inc. | Weld training simulations using mobile devices, modular workpieces, and simulated welding equipment |
| US11322037B2 (en) | 2019-11-25 | 2022-05-03 | Illinois Tool Works Inc. | Weld training simulations using mobile devices, modular workpieces, and simulated welding equipment |
| US12198568B2 (en) | 2019-11-25 | 2025-01-14 | Illinois Tool Works Inc. | Weld training simulations using mobile devices, modular workpieces, and simulated welding equipment |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5362962A (en)* | 1993-04-16 | 1994-11-08 | Edison Welding Institute | Method and apparatus for measuring pipeline corrosion |
| US6427352B1 (en)* | 1999-05-07 | 2002-08-06 | Sirona Dental Systems Gmbh | Device to align and mount a workpiece on a holding device |
| US20060241432A1 (en)* | 2005-02-15 | 2006-10-26 | Vanderbilt University | Method and apparatus for calibration, tracking and volume construction data for use in image-guided procedures |
| US20080021311A1 (en)* | 2006-06-23 | 2008-01-24 | Gunter Goldbach | Method for automatically identifying instruments during medical navigation |
| CN100431805C (en)* | 2001-02-19 | 2008-11-12 | 本田技研工业株式会社 | Setting method and setting apparatus for operation path for articulated robot |
| US20080303197A1 (en)* | 2007-06-07 | 2008-12-11 | Doben Limited | Modular welding fixture |
| US20110006047A1 (en)* | 2009-07-08 | 2011-01-13 | Victor Matthew Penrod | Method and system for monitoring and characterizing the creation of a manual weld |
| US20110117527A1 (en)* | 2009-07-08 | 2011-05-19 | Edison Welding Institute, Inc. | Welding training system |
| CN102202836A (en)* | 2008-10-03 | 2011-09-28 | Abb股份公司 | Calibration tool, system and method for automatic calibration and alignment of operating devices |
| CN202053009U (en)* | 2011-03-30 | 2011-11-30 | 唐山开元焊接自动化技术研究所有限公司 | Visual sensor for welding robot remote teaching |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4812614A (en)* | 1987-02-26 | 1989-03-14 | Industrial Technology Research Institute | Machine vision seam tracking method and apparatus for welding robots |
| US6583386B1 (en)* | 2000-12-14 | 2003-06-24 | Impact Engineering, Inc. | Method and system for weld monitoring and tracking |
| CN202167469U (en)* | 2008-06-05 | 2012-03-14 | 库力索法工业公司 | Welding tool with modified working face |
| AT507021B1 (en)* | 2008-07-04 | 2010-04-15 | Fronius Int Gmbh | DEVICE FOR SIMULATING A WELDING PROCESS |
| CN101587659B (en)* | 2009-06-29 | 2011-02-09 | 西安交通大学 | Manual arc welding rod operation simulation training device and arc welding rod detection method |
| CN101770710A (en)* | 2009-12-31 | 2010-07-07 | 哈尔滨工业大学 | Laser-vision sensing assisted remote teaching method for remote welding |
| CN202083580U (en)* | 2011-05-24 | 2011-12-21 | 北京市劳动保护科学研究所 | Gas constant flow sampling device with solid sorbent tube |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5362962A (en)* | 1993-04-16 | 1994-11-08 | Edison Welding Institute | Method and apparatus for measuring pipeline corrosion |
| US6427352B1 (en)* | 1999-05-07 | 2002-08-06 | Sirona Dental Systems Gmbh | Device to align and mount a workpiece on a holding device |
| CN100431805C (en)* | 2001-02-19 | 2008-11-12 | 本田技研工业株式会社 | Setting method and setting apparatus for operation path for articulated robot |
| US20060241432A1 (en)* | 2005-02-15 | 2006-10-26 | Vanderbilt University | Method and apparatus for calibration, tracking and volume construction data for use in image-guided procedures |
| US20080021311A1 (en)* | 2006-06-23 | 2008-01-24 | Gunter Goldbach | Method for automatically identifying instruments during medical navigation |
| US20080303197A1 (en)* | 2007-06-07 | 2008-12-11 | Doben Limited | Modular welding fixture |
| CN102202836A (en)* | 2008-10-03 | 2011-09-28 | Abb股份公司 | Calibration tool, system and method for automatic calibration and alignment of operating devices |
| US20110006047A1 (en)* | 2009-07-08 | 2011-01-13 | Victor Matthew Penrod | Method and system for monitoring and characterizing the creation of a manual weld |
| US20110117527A1 (en)* | 2009-07-08 | 2011-05-19 | Edison Welding Institute, Inc. | Welding training system |
| CN202053009U (en)* | 2011-03-30 | 2011-11-30 | 唐山开元焊接自动化技术研究所有限公司 | Visual sensor for welding robot remote teaching |
| Publication number | Publication date |
|---|---|
| KR20150048715A (en) | 2015-05-07 |
| KR102013475B1 (en) | 2019-08-22 |
| JP3198723U (en) | 2015-07-23 |
| CN104603860A (en) | 2015-05-06 |
| DE202012013151U1 (en) | 2015-02-02 |
| CN107731079B (en) | 2019-11-22 |
| CN107293191A (en) | 2017-10-24 |
| WO2014007830A1 (en) | 2014-01-09 |
| BR112015000235A2 (en) | 2017-06-27 |
| CN107293191B (en) | 2019-07-09 |
| CN107731079A (en) | 2018-02-23 |
| Publication | Publication Date | Title |
|---|---|---|
| CN104603860B (en) | A system for characterizing manual welding operations | |
| US10522055B2 (en) | System for characterizing manual welding operations | |
| US10475353B2 (en) | System for characterizing manual welding operations on pipe and other curved structures | |
| US9221117B2 (en) | System for characterizing manual welding operations | |
| US9269279B2 (en) | Welding training system | |
| US10473447B2 (en) | Magnetic frequency selection for electromagnetic position tracking | |
| CN106232280A (en) | Systems and methods for monitoring and characterizing manual welding operations | |
| KR20230099033A (en) | Manual welding work manual that can reduce working hours efficiently |
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | Granted publication date:20171020 | |
| CF01 | Termination of patent right due to non-payment of annual fee |