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WO2012016851A1 - Procédé et dispositif d'assistance à la formation d'un soudeur manuel en utilisant une caméra unique et des sources de lumière supplémentaires - Google Patents

Procédé et dispositif d'assistance à la formation d'un soudeur manuel en utilisant une caméra unique et des sources de lumière supplémentaires Download PDF

Info

Publication number
WO2012016851A1
WO2012016851A1 PCT/EP2011/062600 EP2011062600W WO2012016851A1 WO 2012016851 A1 WO2012016851 A1 WO 2012016851A1 EP 2011062600 W EP2011062600 W EP 2011062600W WO 2012016851 A1 WO2012016851 A1 WO 2012016851A1
Authority
WO
WIPO (PCT)
Prior art keywords
welding torch
camera
light sources
arc
manual welding
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2011/062600
Other languages
German (de)
English (en)
Inventor
Kornelius Iwig
Wilfried Faber
Jörg DEMUS
Christian Plotezki
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SCHWEIßTECHNISCHE LEHR- und VERSUCHSANSTALT HALLE GmbH
Original Assignee
SCHWEIßTECHNISCHE LEHR- und VERSUCHSANSTALT HALLE GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SCHWEIßTECHNISCHE LEHR- und VERSUCHSANSTALT HALLE GmbH filed Critical SCHWEIßTECHNISCHE LEHR- und VERSUCHSANSTALT HALLE GmbH
Publication of WO2012016851A1 publication Critical patent/WO2012016851A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/32—Accessories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/16—Arc welding or cutting making use of shielding gas
    • B23K9/173—Arc welding or cutting making use of shielding gas and of a consumable electrode
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B19/00—Teaching not covered by other main groups of this subclass
    • G09B19/003—Repetitive work cycles; Sequence of movements
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B19/00—Teaching not covered by other main groups of this subclass
    • G09B19/24—Use of tools
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
    • G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery

Definitions

  • the invention relates to a method and a device implementing the method for supporting the training of a hand welder by means of a detection and evaluation of manually performed movements of a manual welding torch, which is used with a low-voltage arc on training workpieces, the recording of the hand welding torch speed and manual torch orientation in the working space by a non-contact , Is carried out based on an image processing technology measurement technique, and recorded together with the arc optically recognizable features of the welding torch in the form of bright points of light from an electronic camera.
  • a manual welding welder analyzes the welding movement, i. the welding torch advance from the detection of a current distribution on the component by receiving the partial currents at the ends of the welding path.
  • the detection of the angle of attack more angle-giving sensors on the burner holder are required.
  • a major disadvantage of this solution is that the detection of a current distribution is comparatively insensitive and dependent on many disturbing factors such as contact properties. For the measurement of the angle of attack additional systems are required.
  • JP2004090041 there is described an apparatus and method for assisting hand welding and training in which the arc length is detected with "information-gathering optical means" and derived therefrom information provided via voice output to the welder to assist the welding movements given the advantage of non-contact information acquisition, details of the burner movement as attack angle in space, however, are disregarded in this solution.
  • a simulation training apparatus for welding under argon protective gas atmosphere is proposed. It describes a device with welding torch, a simulated welding wire and components and in particular two CCD cameras for detecting the positions of TIG welding torch and welding wire. It is emphasized that the invention can be inexpensively implemented with modern technology and the professional welder training can be optimized and thus the costs can be reduced.
  • the position detection on two camera images describes only the classic standard measurement method, the intended use of two cameras, the device does not meet the demand for a cost-effective solution.
  • the invention thus has the aim of overcoming the described disadvantages of the prior art and to provide a method and apparatus for assisting the formation of a hand welder by detecting and evaluating the manual movements of a manual torch in conjunction with a low current arc on reusable practice workpieces.
  • the stated object is achieved on the basis of components of the image processing with punctiform light sources and camera technology according to the method,
  • Transformations the coordinate of the arc is calculated as a position on the mathematically described surface of the troswerkssenes that from the positions of the light points of the additional light sources on the manual torch in the camera image in conjunction with the knowledge of the current position of the arc on the surface of the exercise part, the unique orientation of the manual torch is determined in the room, wherein from the representation of the light spot pattern in the camera image in conjunction with the knowledge of the fixed geometric arrangement of the light sources to each other a straight line in the three-dimensional space is formed, which intersects the mathematically described surface of the troswerkffyes at the determined position of the arc, that during the welding torch movement by evaluating the time sequence of the camera images under real time conditions the path of the welding torch movement including the current welding speed and the Changes in Handbrenneranstellwinkel followed and mapped in the coordinate system ofenteswerk Swisses and fed to a subsequent evaluation and evaluation unit.
  • the manual welding torch is equipped with a group of two or more spatially arranged point light sources with a large radiation angle, preferably ultra-bright light emitting diodes. that the manual welding torch is equipped in particular with only two point-shaped light sources, which together with the burning welding arc exactly on one lie common line, which cuts at the arc focal point the mathematically described surface of the exercise part.
  • Fig. 1 Spatial arrangement of the essential components for detecting the hand welding torch movements
  • a camera with lens 1 is connected via a rigid camera holder 2 with the work table 3.
  • the alignment takes place on the plate-shaped exercise part 4, wherein it is achieved by the choice of the geometric imaging determining components of camera with lens 1, that in addition to the actual exercise part 4 and the manual welding torch 5 is in the field of view of the camera.
  • the manual welding torch 5 has, in extension of its standard design, a light source holder 6 fixed rigidly to it.
  • the light source holder 6 contains two ultra-bright light emitting diodes 7 with a large spatial radiation angle. In conjunction with the light source holder 6, it is realized that both light emitting diodes 7 together with the end of the welding electrode 8 are aligned with each other so that they lie on a straight connecting line.
  • the starting point for carrying out the motion analysis is the exact knowledge of the position of the exercise part 4 in the coordinate system of the rigidly arranged camera 1.
  • the spatial calibration of the camera 1 to the position of the exercise part 4 and thus of the working space, i. the mathematical plane described by the exercise part 4 is determined in the coordinate system of the camera 1.
  • the camera 1 with each image, the three light points of the two light emitting diodes 7 and at the end of the
  • the hand welder learns the basic motor processes with a real arc
  • the main parameters of the sequence of movements such as the course of the weld, the welding speed, the arc length and the burner angle, are recorded continuously and with high precision.

Landscapes

  • Engineering & Computer Science (AREA)
  • Business, Economics & Management (AREA)
  • Physics & Mathematics (AREA)
  • Educational Administration (AREA)
  • Educational Technology (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Entrepreneurship & Innovation (AREA)
  • Plasma & Fusion (AREA)
  • Mechanical Engineering (AREA)
  • Arc Welding In General (AREA)
  • Resistance Welding (AREA)

Abstract

L'invention concerne un procédé et un dispositif d'assistance à la formation d'un soudeur manuel (5) par détection et évaluation des mouvements exécutés manuellement d'un chalumeau de soudage manuel (5) en combinaison avec un arc électrique à courant faible (8) sur des pièces d'exercice. Selon l'invention, l'enregistrement de la vitesse du chalumeau de soudage manuel et de l'orientation du chalumeau de soudage manuel dans l'espace de travail est réalisé par une technique de mesure sans contact basée sur une technique de traitement d'images avec laquelle les caractéristiques optiquement reconnaissables du chalumeau de soudage manuel (5) sont enregistrées conjointement avec l'arc électrique à courant faible sous la forme de points lumineux éclairés (7) par une caméra électronique (1). Les caractéristiques essentielles de l'invention sont notamment qu'une caméra (1) unique détecte simultanément, depuis une disposition quelconque par rapport à la zone de travail du soudeur manuel (5), les positions de l'arc électrique à courant faible (8) en train de brûler et des sources de lumière supplémentaires (7) sur le chalumeau de soudage manuel (5), que la forme géométrique de la pièce d'exercice (4) dans le système de coordonnées de la caméra (1) est détectée une seule fois par un calibrage, que les coordonnées de l'arc électrique à courant faible (8) dans l'image de la caméra sont calculées à partir de la position de celui-ci en tant que position sur la pièce d'exercice (4) pendant le mouvement du chalumeau de soudage, que l'orientation proprement dite du chalumeau de soudage manuel (5) dans l'espace est déterminée à partir des positions des points lumineux des sources de lumière (7) dans l'image de la caméra en combinaison avec la connaissance de la position actuelle de l'arc électrique à courant faible (8) dans l'espace.
PCT/EP2011/062600 2010-08-04 2011-07-22 Procédé et dispositif d'assistance à la formation d'un soudeur manuel en utilisant une caméra unique et des sources de lumière supplémentaires Ceased WO2012016851A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102010038902.1 2010-08-04
DE102010038902A DE102010038902B4 (de) 2010-08-04 2010-08-04 Verfahren und Einrichtung zur Unterstützung der Ausbildung eines Handschweißers

Publications (1)

Publication Number Publication Date
WO2012016851A1 true WO2012016851A1 (fr) 2012-02-09

Family

ID=44503798

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2011/062600 Ceased WO2012016851A1 (fr) 2010-08-04 2011-07-22 Procédé et dispositif d'assistance à la formation d'un soudeur manuel en utilisant une caméra unique et des sources de lumière supplémentaires

Country Status (2)

Country Link
DE (1) DE102010038902B4 (fr)
WO (1) WO2012016851A1 (fr)

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CN104599580A (zh) * 2015-01-19 2015-05-06 西安交通大学青岛研究院 基于位移传感器的触控焊接模拟仿真系统
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
US9685099B2 (en) 2009-07-08 2017-06-20 Lincoln Global, Inc. System for characterizing manual welding operations
US9773429B2 (en) 2009-07-08 2017-09-26 Lincoln Global, Inc. System and method for manual welder training
US9836987B2 (en) 2014-02-14 2017-12-05 Lincoln Global, Inc. Virtual reality pipe welding simulator and setup
US10083627B2 (en) 2013-11-05 2018-09-25 Lincoln Global, Inc. Virtual reality and real welding training system and method
US10198962B2 (en) 2013-09-11 2019-02-05 Lincoln Global, Inc. Learning management system for a real-time simulated virtual reality welding training environment
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US10475353B2 (en) 2014-09-26 2019-11-12 Lincoln Global, Inc. System for characterizing manual welding operations on pipe and other curved structures
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