Helmet-integrated weld travel speed sensing system and method

• US 10,596,650 B2
• Filed: 12/05/2016
• Issued: 03/24/2020
• Est. Priority Date: 02/10/2012
• Status: Active Grant

• Current Assignee: Illinois Tool Works Inc.
• Original Assignee: Illinois Tool Works Inc.
• Inventors: Pfeifer, Kyle Andrew, Watson, William Todd, Hutchison, Richard Martin, Becker, William Joshua
• Primary Examiner(s): Tran, Thien S
• Application Number:
  US15/369,474
• Publication Number:
  US 20170080509A1
• Time in Patent Office: 1,205 Days
• Field of Search: 21913001, 219137 R, 434234
• CPC Class Codes: B23K 9/095 Monitoring or automatic control of welding parameters
• CPC Class Codes: B23K 9/0953 using computing means
• CPC Class Codes: B23K 9/0956 using sensing means, e.g. optical
• CPC Class Codes: G01P 3/36 Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light G01P3/68 takes precedence; gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams G01C19/64
• CPC Class Codes: G01P 3/38 using photographic means
• CPC Class Codes: G01S 11/12 using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 11/14 using ultrasonic, sonic, or infrasonic waves
• CPC Class Codes: G01S 17/58 Velocity or trajectory determination systems; Sense-of-movement determination systems

Abstract

A welding system includes a first sensor associated with a welding helmet and configured to sense a parameter indicative of a position of a welding torch relative to the welding helmet. The travel speed sensing system also includes a processing system communicatively coupled to the first sensor and configured to determine a position of the welding torch relative to a workpiece based on the sensed first parameter.

Claims

1. A system, comprising:

a sensor system disposed on a welding helmet and configured to detect a first position of a first marking on a welding torch relative to the welding helmet, and to detect a second position of a second marking on a workpiece relative to the welding helmet; and

a processing system configured to determine a position of the welding torch relative to the workpiece based at least in part on detection of the first and second positions of the first and second markings relative to the welding helmet.

2. The system of claim 1, wherein the processing system is configured to determine a travel speed of the welding torch relative to the workpiece based on the determined position of the welding torch relative to the workpiece.

3. The system of claim 2, wherein the processing system is configured to adjust the determined travel speed of the welding torch to compensate for weaving of the welding torch with respect to the workpiece.

4. The system of claim 1, wherein the sensor system comprises an optical sensor configured to detect light emitted from an arc produced by the welding torch, the first marking on the welding torch, the second marking on the workpiece, or a combination thereof.

5. The system of claim 1, wherein the sensor system comprises an optical sensor configured to acquire images of the welding torch and the workpiece, and wherein the processing system is configured to process the acquired images to determine the first and second positions of the first and second markings relative to the welding helmet based on the acquired images.

6. The system of claim 5, wherein the processing system is configured to extrapolate between the acquired images when the processing system determines that an image of the acquired images is blocked from view.

7. The system of claim 1, wherein the welding helmet comprises a display configured to provide a visualization to an operator based on the determined position of the welding torch relative to the workpiece.

8. A method, comprising:

detecting a first position of a first marking on a welding torch relative to a welding helmet;

detecting a second position of a second marking on a workpiece relative to the welding helmet; and

calculating, with a processing system, a position of the welding torch relative to the workpiece based at least in part on detection of the first and second positions of the first and second markings, respectively, relative to the welding helmet.

9. The method of claim 8, comprising:

detecting the first position of the first marking on the welding torch relative to the welding helmet with a first sensor; and

detecting the second position of the second marking on the workpiece relative to the welding helmet with a second sensor.

10. The method of claim 8, comprising calculating, with the processing system, a travel speed of the welding torch relative to the workpiece based on the calculated position of the welding torch relative to the workpiece.

11. The method of claim 10, comprising adjusting the calculated travel speed of the welding torch to compensate for weaving of the welding torch with respect to the workpiece.

12. The method of claim 8, comprising

acquiring images of the welding torch and the workpiece with an optical sensor;

and

processing the acquired images to determine the first and second positions of the first and second markings relative to the welding helmet based on the acquired images.

13. The method of claim 12, comprising extrapolating between the acquired images when the processing system determines that an image of the acquired images is blocked from view.

14. The method of claim 8, comprising displaying a visualization based on the determined position of the welding torch relative to the workpiece on a display of a welding helmet.

15. A weld travel speed sensing system, comprising:

a welding helmet comprising a first sensor system configured to detect a first position of a first marking on a welding torch relative to the welding helmet, and to detect a second position of a second marking on a workpiece relative to the welding helmet;

a second sensor system separate from the welding helmet, wherein the second sensor system is configured to detect a third position of a third marking on the welding helmet; and

a processing system configured to determine a position of the welding torch relative to the workpiece based at least in part on detection of the first and second positions of the first and second markings relative to the welding helmet and based at least in part on detection of the third position of the third marking on the welding helmet.

16. The weld travel speed sensing system of claim 15, wherein the processing system is configured to determine a travel speed of the welding torch relative to the workpiece based on the determined position of the welding torch relative to the workpiece.

17. The weld travel speed sensing system of claim 15, wherein the second sensor system comprises a stereo vision camera.

18. The weld travel speed sensing system of claim 15, wherein the second sensor system is configured to detect a fourth position of a geometric feature of the welding helmet, and wherein the processing system is configured to determine a position of the welding torch relative to the workpiece based at least in part on detection of the fourth position of the geometric feature.

19. The weld travel speed sensing system of claim 15, wherein the second sensor system comprises an optical sensor and a light source, wherein the optical sensor is configured to detect structured light projected onto the welding helmet by the light source.

20. The weld travel speed sensing system of claim 15, wherein the first sensor system comprises an accelerometer coupled to the welding helmet, wherein the processing system is configured to determine an orientation of the welding helmet based on a measurement of the accelerometer.