System for characterizing manual welding operations

• US 9,685,099 B2
• Filed: 03/22/2016
• Issued: 06/20/2017
• Est. Priority Date: 07/08/2009
• Status: Active Grant

• Current Assignee: Lincoln Global Incorporated (Lincoln Electric Holdings Incorporated)
• Original Assignee: Lincoln Global Incorporated (Lincoln Electric Holdings Incorporated)
• Inventors: Boulware, Paul Christopher, Clark, Douglas A., Forquer, M. William, Conrardy, Christopher C.
• Primary Examiner(s): Iwamaye, Andrew
• Assistant Examiner(s): Fletcher, Jerry-Daryl
• Application Number:
  US15/077,481
• Publication Number:
  US 20160203734A1
• Time in Patent Office: 455 Days
• Field of Search: 434219, 434234, 434260, 434592, 228176, 345592, 382275
• CPC Class Codes: B23K 9/0956 using sensing means, e.g. optical
• CPC Class Codes: B23K 9/10 Other electric circuits therefor; Protective circuits; Remote controls
• CPC Class Codes: G09B 19/24 Use of tools
• CPC Class Codes: G09B 5/02 with visual presentation of the material to be studied, e.g. using film strip

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.

Claims

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 least one point marker on said calibration device to determine the position and orientation of said operational path of said manual welding operation;

providing a welding tool having a plurality of light emitting point markers, where said light emitting point markers are positioned in a predetermined pattern;

manually welding said workpiece with said welding tool;

capturing a plurality of images of said light emitting point markers on said welding tool during said manual welding operation;

processing said plurality of images of said light emitting point markers on said welding tool to determine a 3-D orientation and position of said welding tool during said manual welding operation; and

determining each of a welding tool work angle, welding tool travel angle, welding tool travel speed, bead placement and welding tool standoff distance for said manual welding operation, where each of said determinations is based on said determined 3-D orientation and position of said welding tool and said determined position and orientation of said operational path.

13. The method of claim 12, further comprising placing said calibration device in physical contact with said workpiece for said calibration.

14. The method of claim 12, further comprising comparing 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.

15. The method of claim 12, further comprising determining a performance score 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.

16. The method of claim 12, further comprising comparing each of said determined work angle, travel angle, travel speed, bead placement and tool standoff distance to a preferred value for each of said work angle, travel angle, travel speed, bead placement and tool standoff distance, respectively.

17. The method of claim 12, wherein at least one of said processing steps uses a frame-by-frame point cloud analysis.

18. The method of claim 12, further comprising determining a quality of a weld created by said manual welding operation.

19. The method of claim 12, further comprising determining global coordinates for said operational path.

20. The method of claim 12, further comprising defining a rigid body based on said plurality of light emitting point markers on said welding tool and using said defined rigid body in said determination of each of said welding tool work angle, welding tool travel angle, welding tool travel speed, bead placement and welding tool standoff distance for said manual welding operation.

21. 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 a weld joint on said workpiece, said weld joint having an operational path;

a welding tool to perform said manual welding operation, and where said welding tool includes a plurality of point markers mounted thereon in a predetermined pattern;

a camera system comprising a plurality of cameras, where said camera system is coupled to said stand structure such that said plurality of 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 camera system to receive data from said camera system, 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 data from said 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 data from said 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, and a travel speed, where said determinations are based on said determined position and orientation of said welding tool for said manual welding operation.

22. The system of claim 21, 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, and travel speed.

23. The system of claim 21, wherein said calibration device is in physical contact with said workpiece for said calibration of said position and orientation of said operational path.

24. The system of claim 21, wherein said plurality of point markers on said welding tool are light emitting point markers.

25. The system of claim 21, wherein said horizontal welding platform further comprises a plurality of clamps to secure said workpiece for said manual welding operation.

26. The system of claim 21, wherein said data processing component compares each of said determined work angle, travel angle, and travel speed to upper and lower thresholds for each of said work angle, travel angle, and travel speed, respectively.

27. The system of claim 26, wherein each of said upper and lower thresholds for each of said work angle, travel angle, and travel speed are pre-programmed into said data processing component.

28. The system of claim 21, 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, and travel speed.

29. The system of claim 21, wherein said data corresponds to a plurality of images captured by said camera system, and where said data processing component processes the captured images using a frame-by-frame point cloud analysis.

30. The system of claim 21, wherein said calibration device includes at least one point marker which is imaged by said camera system.