SYSTEM AND METHOD FOR ADAPTIVE FILL WELDING USING IMAGE CAPTURE
First Claim
1. A method for method for adaptive fill welding of a seam, the method comprising the steps of:
- a computer obtaining a first image including a first portion of a first edge and a first portion of a second edge, wherein distance between the first portion of the first edge and the first portion of the second edge forms a first width of a seam between the first edge and the second edge;
the computer obtaining a second image including a second portion of the first edge and a second portion of the second edge, wherein distance between the second portion of the first edge and the second portion of the second edge forms a second width of the seam between the first edge and the second edge;
the computer determining a parameter for a welding torch attached to a welding robot to weld a joint for joining the first edge and the second edge along the seam based at least in part on the first image and the second image; and
the computer causing the welding torch attached to the welding robot to weld the joint according to the determined parameter.
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0 Petitions
Accused Products
Abstract
A computer obtains a first image including a first portion of a first edge and a first portion of a second edge, wherein distance between the first portion of the first edge and the first portion of the second edge forms a first width of a seam between the first edge and the second edge. The computer obtains a second image including a second portion of the first edge and a second portion of the second edge, wherein distance between the second portion of the first edge and the second portion of the second edge forms a second width of the seam between the first edge and the second edge. The computer determines a parameter for a welding torch to weld a joint for joining the first edge and the second edge along the seam based at least in part on the first image and the second image.
93 Citations
18 Claims
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1. A method for method for adaptive fill welding of a seam, the method comprising the steps of:
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a computer obtaining a first image including a first portion of a first edge and a first portion of a second edge, wherein distance between the first portion of the first edge and the first portion of the second edge forms a first width of a seam between the first edge and the second edge; the computer obtaining a second image including a second portion of the first edge and a second portion of the second edge, wherein distance between the second portion of the first edge and the second portion of the second edge forms a second width of the seam between the first edge and the second edge; the computer determining a parameter for a welding torch attached to a welding robot to weld a joint for joining the first edge and the second edge along the seam based at least in part on the first image and the second image; and the computer causing the welding torch attached to the welding robot to weld the joint according to the determined parameter. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method for determining parameters for a welding robot to fill weld a workpiece, the method comprising:
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a computer obtaining data representing at least two images including portions of a seam between surfaces of a workpiece and including portions of the surfaces of the workpiece adjacent to the seam, wherein width of the seam varies along the seam; the computer transforming the data representing the at least two images to data representing the width of the seam at the portions of the seam included in the at least two images; and the computer determining a parameter of the welding robot'"'"'s trajectory for a welding torch attached to a welding robot to weld a fill joint along the seam based at least in part on the data representing the width of the seam at the portions of the seam included in the at least two images. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A system for determining parameters for controlling a welding robot for adaptive fill welding, the system comprising:
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means for obtaining, from a camera, a first image including a first portion of a first edge and a first portion of a second edge, wherein distance between the first portion of the first edge and the first portion of the second edge forms a first width of a seam between the first edge and the second edge; means for obtaining, from a camera, a second image including a second portion of the first edge and a second portion of the second edge, wherein distance between the second portion of the first edge and the second portion of the second edge forms a second width of the seam between the first edge and the second edge; means for determining a parameter for a welding torch attached to a welding robot to weld a joint for joining the first edge and the second edge along the seam based at least in part on the first image and the second image; and means for causing the welding torch attached to the welding robot to weld the joint according to the determined parameter. - View Dependent Claims (16, 17, 18)
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Specification