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WO2014184710A2 - Simulateur de soudure à base de réalité virtuelle - Google Patents

Simulateur de soudure à base de réalité virtuelle Download PDF

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Publication number
WO2014184710A2
WO2014184710A2 PCT/IB2014/061240 IB2014061240W WO2014184710A2 WO 2014184710 A2 WO2014184710 A2 WO 2014184710A2 IB 2014061240 W IB2014061240 W IB 2014061240W WO 2014184710 A2 WO2014184710 A2 WO 2014184710A2
Authority
WO
WIPO (PCT)
Prior art keywords
welding
user
orientation
mechanical linkage
monitor
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/IB2014/061240
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English (en)
Other versions
WO2014184710A3 (fr
Inventor
Sudarshan RAMACHANDRAIAH
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.)
VIRTUAL LOGIC SYSTEMS PVTLTD
Original Assignee
VIRTUAL LOGIC SYSTEMS PVTLTD
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 VIRTUAL LOGIC SYSTEMS PVTLTD filed Critical VIRTUAL LOGIC SYSTEMS PVTLTD
Publication of WO2014184710A2 publication Critical patent/WO2014184710A2/fr
Publication of WO2014184710A3 publication Critical patent/WO2014184710A3/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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

Definitions

  • the present disclosure pertains to systems for emulating a virtual welding environment, and more particularly to virtual welding environments that emulate welding of a three- dimensional work piece created virtually on a monitor.
  • Welding is a value added operation in various industries such as automobile industries, equipment production, small part fabrication, etc.
  • companies have been teaching welding skills.
  • welding has been taught in a real world setting, that is to say that welding has been taught by actually striking an arc with an electrode on a piece of metal.
  • Instructors skilled in the art, oversee the training process making corrections in some cases as the trainee performs a weld.
  • a new trainee learns how to weld using one or more processes.
  • costs are incurred with every weld performed, which varies depending on the welding process being taught.
  • the numbers expressing quantities of ingredients, properties such as concentration, reaction conditions, and so forth, used to describe and claim certain embodiments of the invention are to be understood as being modified in some instances by the term "about.” Accordingly, in some embodiments, the numerical parameters set forth in the written description and attached claims are approximations that can vary depending upon the desired properties sought to be obtained by a particular embodiment. In some embodiments, the numerical parameters should be construed in light of the number of reported significant digits and by applying ordinary rounding techniques. Notwithstanding that the numerical ranges and parameters setting forth the broad scope of some embodiments of the invention are approximations, the numerical values set forth in the specific examples are reported as precisely as practicable. The numerical values presented in some embodiments of the invention may contain certain errors necessarily resulting from the standard deviation found in their respective testing measurements.
  • 3D view of the work piece on the monitor/display based on the perspective/orientation of the user and/or welding gun held by the user.
  • inventive subject matter of the present disclosure provides apparatus, systems, and methods for conducting welding simulation. Systems and method further relate to virtual welding environments that emulate welding of a three-dimensional work piece created virtually on a monitor.
  • welding simulator also serves as a first electrode [0018]
  • system hereinafter can include a camera based tracking means and a mechanical linkage means, wherein the mechanical linkage means is mounted on a support and is operatively coupled with a welding gun configured to enable a user to hold the gun in hand.
  • the mechanical linkage means include a plurality of sensors configured to assess movement/position/orientation of the user's hand.
  • welding simulator apparatus of the present disclosure can include a monitor/display unit configured on a motorized mechanism in order to adjust the height/orientation/position of the monitor.
  • a work piece to be welded can be rendered in a three-dimensional (3D) representation on the monitor, wherein a user can, using 3D compatible goggles such as stereoscopic goggles, view the 3D rendered work piece on the display unit.
  • the display can appear as if the weld piece is placed on the surface of the monitor and is projecting outwards giving illusion of a 3D work piece.
  • welding simulator apparatus of the present disclosure can be configured to incorporate a perspective correction
  • FIGs. 1(a) and 1(b) illustrate an exemplary representation 100 of a welding simulation architecture in accordance with an embodiment of the present disclosure.
  • FIG. 2 illustrates horizontal welding position of the system in accordance with an
  • FIG. 3 illustrates vertical welding position of the system in accordance with an
  • FIG. 4 illustrates overhead welding position of the system in accordance with an
  • inventive subject matter provides many example embodiments of the inventive subject matter. Although each embodiment represents a single combination of inventive elements, the inventive subject matter is considered to include all possible combinations of the disclosed elements. Thus if one embodiment comprises elements A, B, and C, and a second embodiment comprises elements B and D, then the inventive subject matter is also considered to include other remaining combinations of A, B, C, or D, even if not explicitly disclosed.
  • inventive subject matter of the present disclosure provides apparatus, systems, and methods for conducting welding simulation. Systems and method further relate to virtual welding environments that emulate welding of a three-dimensional work piece created virtually on a monitor.
  • FIGs. 1(a) and 1(b) illustrate an exemplary representation 100 of a welding simulation architecture in accordance with an embodiment of the present disclosure.
  • welding simulator also completely or partially interchangeably referred to as system hereinafter, can include a camera based tracking means 1 and a mechanical linkage means 2, wherein the mechanical linkage means 2 can be mounted on a support 4 and can be operatively coupled with a welding gun 3 that is configured to enable a user to hold the gun 3 in hand.
  • the mechanical linkage means 2 can include a plurality of sensors configured to assess movement/position/orientation of the user's hand.
  • a plurality of mechanical linkage means 2 can be configured, so that both hands, for instance, can use two or more mechanical linkage means 2 for the welding operation.
  • a plurality of different or same supports can be configured for the two or more mechanical linkage means 2 to enable a user to, for instance, conduct TIG (GTAW) welding where the user uses the left hand to feed the filler material, and the right hand to use the welding gun. Therefore, means for tracking both the hands and the positions and/or orientations of the filler material and the welding gun can be performed/required.
  • multiple mechanism linkage means 2 and supports 4 can also be configured so as to track multiple people welding on the same virtual weld piece.
  • mechanical linkage system 2 can have a provision for interchanging welding gun 3 for different types of welding.
  • this interchanging provision could have sensors that detect which welding gun is loaded.
  • welding simulator apparatus 100 of the present disclosure can include a monitor/display unit 5 configured on a motorized mechanism in order to adjust the height/orientation/position of the monitor.
  • the motorized mechanism can include a plurality of motors 6, screw rods 7, bushing assembly 8, guide 9, and a link assembly 10 for tilting and moving the monitor/display unit 5 in various positions, including but not limited to, horizontal, vertical, overhead, among other orientations.
  • the monitor 5 can therefore be rotated from 0 degrees at horizontal to 180 degree when rotated at flipped down position, and 90 degrees for vertical positions.
  • forklift type of mechanism can be used whereas for lifting the monitor 5, crank and slider mechanism can be used.
  • a work piece to be welded can be rendered in a three- dimensional (3D) representation on the monitor 5, wherein a user can, using 3D compatible goggles such as stereoscopic goggles, view the 3D rendered work piece on the display unit 5.
  • the display 5 can appear as if the weld piece is placed on the surface of the monitor and is projecting outwards giving illusion of a 3D work piece.
  • welding simulator apparatus 100 of the present disclosure can be configured to incorporate a perspective correction
  • FIG. 2 illustrates horizontal welding position 200 of the system in accordance with an embodiment of the present disclosure.
  • Horizontal position 200 relates to the position of the monitor/display unit 5 that can be provided to the user at the beginning of the training session. In this position, various work pieces can be placed horizontally upon the monitor/display and the user can perform welding by standing horizontally or in a seated position.
  • FIG. 3 illustrates vertical welding position 300 of the system in accordance with an
  • the welding piece In vertical position, the welding piece can be placed perpendicular to the monitor/display unit facing the user, which is different from the horizontal position and is comparatively difficult. This exercise can be provided to the user after completion of welding in horizontal position.
  • FIG. 4 illustrates overhead welding position 400 of the system in accordance with an embodiment of the present disclosure. This is a difficult and different position when compared with the horizontal and vertical positions and can be provided to the user after practicing welding in horizontal and vertical positions.
  • welding can be performed on standard work pieces with various joints like butt joint, fillet joint, T joint, etc.
  • the virtual welding technique can include one or a combination of flux cored arc welding (FCAW), gas metal arc welding (GMAW), gas tungsten arc welding (GTAW), and shielded metal arc welding (SMAW).
  • FCAW flux cored arc welding
  • GMAW gas metal arc welding
  • GTAW gas tungsten arc welding
  • SMAW shielded metal arc welding
  • display 5 of the present disclosure can be touch-sensitive display, which can be operatively coupled with a memory for storing at least one welding application providing at least one welding process/technique.
  • sensors of the mechanical linkage means 2 can be configured to detect position of the welding gun 3 with respect to the 3D rendering of the work piece on the display 5.
  • the sensor can include a magnetic sensor to detect proximity of the welding gun to the simulated surface on the display.
  • implementation of a simulated work-piece and sensors allows for the user to practice in three dimensions, and be accordingly assessed following the processing and presentation of the sensor data.
  • the sensors can include one or more Hall Effect sensors that allow the welding simulator to ascertain location of an object by the strength of its magnetic field. Thus, there can be no need for supplementary location sensors. Hall Effect sensors can be particularly appropriate sensors for use in magnetic tracking.
  • sensors can include one or more optical encoder sensors that allow the welding simulator to ascertain location of an object by measuring the angles between mechanical linkages.
  • optical encoder sensors can be particularly appropriate sensors for use in locations where there is magnetic interferrence.
  • welding gun can be telescopic, wherein such a gun may be used to simulate a consumable electrode of the sort used in Stick or MIG welding.
  • the rate at which the consumable electrode is fed into the welding site is of importance to the strength of the weld, and it is important that the trainee welder has the opportunity to practice feeding the electrode into the weld at the correct speed and in the correct manner.
  • this feature can further enhances the realism of the simulator.
  • welding gun 3 of the present disclosure can further include an inclinometer, wherein the provision of an inclinometer can allow for the monitoring and/or production of data relating to the angle at which the simulating welding gun is held. There is a desirable angle at which to hold a welding rod, and this can be analysed and corrected through the use and observation of the inclinometer.
  • the proposed welding simulation architecture enables seamless integration of virtual world and physical world, wherein the virtual world comprises of 3D rendering of work pieces/objects to be welded, which may be anonymized with or without 3D stereo, on a monitor/TV 5, and wherein the physical world comprises of real welding torch/gun 3 help by the trainee. Based on the movement of the gun the physical world, virtual objects can be welded with a weld bead being formed in the virtual environment.
  • the proposed simulation environment does not use the typically used head mounter displays (HMD), there is neither a restricted field of view nor does the virtual object appear at a distance greater than that of the physical world. Furthermore, there is no additional weight on the user's head.
  • HMD head mounter displays
  • HMDs completely cover the user's eye, and prevent the user from establishing references to the physical world, causing loss of balance, increased changes of simulator sickness, among other issues.
  • the proposed architecture further enables the welder to have the welding gun to be in the line of sight while performing the welding action.
  • mechanical linkage system 2 of the present disclosure can have six degrees of freedom (DOF), which can be used to track the position and orientation of the welding gun/user's arm and allow movement and easy rotation in defined three dimensional work space.
  • sensors in the mechanical linkage system 2 can be configured on the joints between individual linkages.
  • an end effector can be fitted with artificial smoke generating device or compressed air nozzle to simulate real world effects of welding operation.
  • the end effector can be fitted with any kind of force generating actuators or motors to generate real world forces and vibrations that are felt by the user during actual welding or any other real world operation of any equipment. Therefore, smoke, pressure, forces, and vibration can be generated as per the simulation.
  • System of the present disclosure can also include means to evaluate the type of
  • Coupled to and “coupled with” are used synonymously.
  • Coupled to and “coupled with” are also used euphemistically to mean “communicatively coupled with” over a network, where two or more devices are able to exchange data with each other over the network, possibly via one or more intermediary device.
  • the present disclosure provides cost-effective training to trainees intending to learn welding operations.
  • the present disclosure provides a welding simulator system for welding using techniques such as gas metal arc welding, gas tungsten arc welding, stick metal arcs, among other like welding technologies known in the art.
  • the present disclosure provides a welding simulator for welding of work piece that is created virtually on a monitor/display unit, wherein the work piece can be rendered in three dimensions.
  • the present disclosure provides a welding simulator that presents the 3D view of the work piece on the monitor/display based on the perspective/orientation of the user and/or welding gun held by the user. [0048] The present disclosure provides a welding simulator that updates the 3D rendering of the virtual work piece in real-time based on position and/or orientation of the user and/or head thereof.
  • the present disclosure provides a welding simulator that presents 3D rendering of the virtual work piece to enable user to perceive true size of the work piece.

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  • Engineering & Computer Science (AREA)
  • Entrepreneurship & Innovation (AREA)
  • Physics & Mathematics (AREA)
  • Educational Administration (AREA)
  • Educational Technology (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)
  • Numerical Control (AREA)
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Abstract

L'invention concerne un appareil, des systèmes et des procédés pour effectuer une simulation de soudure. Les systèmes et les procédés concernent des environnements de soudure virtuelle qui émulent la soudure d'une pièce tridimensionnelle créée virtuellement sur un moniteur.
PCT/IB2014/061240 2013-05-11 2014-05-06 Simulateur de soudure à base de réalité virtuelle Ceased WO2014184710A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IN1020CH2013 2013-05-11
IN1020/CHE/2013 2013-05-11

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WO2014184710A2 true WO2014184710A2 (fr) 2014-11-20
WO2014184710A3 WO2014184710A3 (fr) 2015-01-22

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Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
US20180152657A1 (en) * 2015-05-15 2018-05-31 Sony Corporation Solid-state imaging apparatus, manufacturing method of the same, and electronic device
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
US10473447B2 (en) 2016-11-04 2019-11-12 Lincoln Global, Inc. Magnetic frequency selection for electromagnetic position tracking
US10475353B2 (en) 2014-09-26 2019-11-12 Lincoln Global, Inc. System for characterizing manual welding operations on pipe and other curved structures
CN110982385A (zh) * 2019-12-25 2020-04-10 上海中如智慧能源集团有限公司 一种蓄热储罐内防腐专用耐温涂料
US10803770B2 (en) 2008-08-21 2020-10-13 Lincoln Global, Inc. Importing and analyzing external data using a virtual reality welding system
US11475792B2 (en) 2018-04-19 2022-10-18 Lincoln Global, Inc. Welding simulator with dual-user configuration
US11557223B2 (en) 2018-04-19 2023-01-17 Lincoln Global, Inc. Modular and reconfigurable chassis for simulated welding training
CN117369244A (zh) * 2023-11-08 2024-01-09 重庆衍数自动化设备有限公司 一种基于焊接机器人焊枪位置控制优化方法

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8747116B2 (en) * 2008-08-21 2014-06-10 Lincoln Global, Inc. System and method providing arc welding training in a real-time simulated virtual reality environment using real-time weld puddle feedback

Cited By (29)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10803770B2 (en) 2008-08-21 2020-10-13 Lincoln Global, Inc. Importing and analyzing external data using a virtual reality welding system
US12136353B2 (en) 2008-08-21 2024-11-05 Lincoln Global, Inc. Importing and analyzing external data using a virtual reality welding system
US11715388B2 (en) 2008-08-21 2023-08-01 Lincoln Global, Inc. Importing and analyzing external data using a virtual reality welding system
US11521513B2 (en) 2008-08-21 2022-12-06 Lincoln Global, Inc. Importing and analyzing external data using a virtual reality welding system
US11030920B2 (en) 2008-08-21 2021-06-08 Lincoln Global, Inc. Importing and analyzing external data using a virtual reality welding system
US10522055B2 (en) 2009-07-08 2019-12-31 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
US10068495B2 (en) 2009-07-08 2018-09-04 Lincoln Global, Inc. System for characterizing manual welding operations
US9230449B2 (en) 2009-07-08 2016-01-05 Lincoln Global, Inc. Welding training system
US10347154B2 (en) 2009-07-08 2019-07-09 Lincoln Global, Inc. System for characterizing manual welding operations
US9685099B2 (en) 2009-07-08 2017-06-20 Lincoln Global, Inc. System for characterizing manual welding operations
US9221117B2 (en) 2009-07-08 2015-12-29 Lincoln Global, Inc. System for characterizing manual welding operations
US9269279B2 (en) 2010-12-13 2016-02-23 Lincoln Global, Inc. Welding training system
US10198962B2 (en) 2013-09-11 2019-02-05 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
US11100812B2 (en) 2013-11-05 2021-08-24 Lincoln Global, Inc. Virtual reality and real welding training system and method
US10720074B2 (en) 2014-02-14 2020-07-21 Lincoln Global, Inc. Welding simulator
US9836987B2 (en) 2014-02-14 2017-12-05 Lincoln Global, Inc. Virtual reality pipe welding simulator and setup
US10475353B2 (en) 2014-09-26 2019-11-12 Lincoln Global, Inc. System for characterizing manual welding operations on pipe and other curved structures
US20180152657A1 (en) * 2015-05-15 2018-05-31 Sony Corporation Solid-state imaging apparatus, manufacturing method of the same, and electronic device
US11438540B2 (en) 2015-05-15 2022-09-06 Sony Corporation Solid-state imaging apparatus, manufacturing method of the same, and electronic device
US11991468B2 (en) 2015-05-15 2024-05-21 Sony Group Corporation Solid-state imaging apparatus, manufacturing method of the same, and electronic device
US10321079B2 (en) * 2015-05-15 2019-06-11 Sony Corporation Solid-state imaging apparatus having multiple structures to reduce the apparatus size, manufacturing method of the same, and electronic device
US10473447B2 (en) 2016-11-04 2019-11-12 Lincoln Global, Inc. Magnetic frequency selection for electromagnetic position tracking
US11475792B2 (en) 2018-04-19 2022-10-18 Lincoln Global, Inc. Welding simulator with dual-user configuration
US11557223B2 (en) 2018-04-19 2023-01-17 Lincoln Global, Inc. Modular and reconfigurable chassis for simulated welding training
CN110982385A (zh) * 2019-12-25 2020-04-10 上海中如智慧能源集团有限公司 一种蓄热储罐内防腐专用耐温涂料
CN110982385B (zh) * 2019-12-25 2021-11-16 上海中如智慧能源集团有限公司 一种蓄热储罐内防腐专用耐温涂料
CN117369244A (zh) * 2023-11-08 2024-01-09 重庆衍数自动化设备有限公司 一种基于焊接机器人焊枪位置控制优化方法

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