# US 10,373,304 B2 · System and method of arranging welding device markers > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,373,304 B2 - Document ID: US10373304B2 - Status: Granted - Kind: B2 - Application number: 14/928,645 - Filed: 2015-10-30 - Published: 2016-05-05 - Granted: 2019-08-06 - Earliest claimed: 2014-11-05 - Assignees: Illinois Tool Works Inc. - Applicants: Illinois Tool Works Inc. - Inventors: William Joshua Becker; Jeffrey Dale Weber - Web page: https://patentgrep.com/patent/US10373304B2 ## CPC - B23K 9/0956: {using sensing means, e.g. optical} - B23K 9/126: {Controlling the spatial relationship between the work and the gas torch (between wire tip and piece B23K9/073)} - B23K 9/322: {Head protecting means} - B23K 37/006: Safety devices for welding or cutting - B23K 37/0435: {Clamps} - B23K 37/0461: {Welding tables} - G06T 7/0004: {Industrial image inspection} - G06T 7/60: Analysis of geometric attributes - G06T 7/73: using feature-based methods - H04N 7/18: Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast - H04N 23/56: provided with illuminating means - G06T 2207/30108: Industrial image inspection - G06T 2207/30204: Marker - 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 - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION ## Abstract A system includes a welding device, one or more cameras, and a controller coupled to the one or more cameras. The welding device includes a first set of visual markers oriented in a first direction and a second set of visual markers oriented in a second direction. Each set of visual markers includes at least three visual markers. The one or more cameras are configured to observe the first set of visual markers when the first direction is directed toward the one or more cameras, and to observe the second set of visual markers when the second direction is directed toward the one or more cameras. The controller is configured to track a position and an orientation of the welding device based at least in part on detection of a threshold quantity of the first set of visual markers or the threshold quantity of the second set of visual markers. ## Claims ### Claim 1 A system comprising: a welding torch comprising a first set of visual markers oriented in a first direction with respect to the welding torch and a second set of visual markers oriented in a second direction with respect to the welding torch, the second direction being different than the first direction, wherein each of the first set of visual markers and the second set of visual markers comprises at least three visual markers; one or more cameras having one or more corresponding fields of view and configured to observe the first set of visual markers when the first direction is directed toward the one or more cameras while the welding torch is within the one or more fields of view of the one or more cameras, and the one or more cameras are configured to observe the second set of visual markers when the second direction is directed toward the one or more cameras while the welding torch is within the one or more fields of view of the one or more cameras; and a controller coupled to the one or more cameras, wherein the controller is configured to track a position and an orientation of the welding torch based at least in part on detection of a threshold quantity of the first set of visual markers or the threshold quantity of the second set of visual markers, wherein the controller is configured to distinguish between the first set of visual markers and the second set of visual markers. ### Claim 2 (depends on 1) The system of claim 1, wherein each visual marker of the first set of visual markers is oriented within approximately 10 degrees or less of the first direction, and each visual marker of the second set of visual markers is oriented within approximately 10 degrees or less of the second direction. ### Claim 3 (depends on 1) The system of claim 1, wherein the first direction is offset from the second direction by approximately 20 degrees or more. ### Claim 4 (depends on 1) The system of claim 1, wherein the welding torch comprises a third set of visual markers oriented in a third direction different from the first direction and the second direction, the third set of visual markers comprises at least three visual markers, the one or more cameras are configured to observe the third set of visual markers when the third direction is directed toward the one or more cameras, and the controller is configured to determine the position and the orientation of the welding torch relative to the one or more cameras based at least in part on detection of the threshold quantity of the first set of visual markers, the threshold quantity of the second set of visual markers, or the threshold quantity of the third set of visual markers. ### Claim 5 (depends on 4) The system of claim 4, wherein the first direction is offset from the second direction by approximately 45 degrees, and the first direction is offset from the third direction by approximately 45 degrees. ### Claim 6 (depends on 1) The system of claim 1, wherein the first set of visual markers and the second set of visual markers are disposed on a neck of the welding torch. ### Claim 7 (depends on 6) The system of claim 6, wherein the first set of visual markers comprises a first visual marker disposed on a first end of the neck opposite a tip of the welding torch, a second visual marker disposed on a second end of the neck proximate the tip of the welding torch, and a third visual marker disposed on a midsection of the neck between the first end and the second end, wherein the second set of visual markers comprises a fourth visual marker disposed on the first end of the neck, a fifth visual marker disposed on the second end of the neck, and a sixth visual marker disposed on the midsection of the neck. ### Claim 8 (depends on 1) The system of claim 1, wherein the visual markers comprise light emitting diodes (LEDs). ### Claim 9 (depends on 8) The system of claim 8, wherein the LEDs are configured to emit infrared light. ### Claim 10 (depends on 1) The system of claim 1, wherein the threshold quantity is equal to a quantity of visual markers of the respective set. ### Claim 11 A welding torch, comprising: a first set of visual markers comprising a first visual marker, a second visual marker, and a third visual marker, wherein each visual marker of the first set of visual markers is oriented in a first direction with respect to the welding torch; and a second set of visual markers comprising a fourth visual marker, a fifth visual marker, and a sixth visual marker, wherein each visual marker of the second set of visual markers is oriented in a second direction offset from the first direction by an angle between approximately 20 to 120 degrees, and the second set of visual markers is visually distinguishable from the first set of visual markers. ### Claim 12 (depends on 11) The welding tool of claim 11, wherein at least one of the first set of visual markers and the second set of visual markers comprises reflective markers. ### Claim 13 (depends on 11) The welding tool of claim 11, wherein at least one of the first set of visual markers and the second set of visual markers comprise light emitting diodes (LEDs) configured to receive power from the welding torch. ### Claim 14 (depends on 13) The welding tool of claim 13, wherein a first wavelength of light emitted from LEDs of the first set of visual markers is different than a second wavelength of light emitted from LEDs of the second set of visual markers. ### Claim 15 (depends on 11) The welding tool of claim 11, comprising a third set of visual markers, wherein the third set of visual markers comprises a seventh visual marker, an eighth visual marker, and a ninth visual marker, wherein each visual marker of the third set of visual markers is oriented in a third direction offset from the second direction by an angle between approximately 20 to 120 degrees. ### Claim 16 (depends on 11) The welding torch of claim 11, wherein a first viewable range of the first set of visual markers overlaps a second viewable range of the second set of visual markers by at least 15 degrees. ### Claim 17 A welding torch, comprising: a neck disposed between a handle and a tip of the welding torch, wherein the neck comprises: a first set of visual markers oriented in a first direction with respect to the neck, wherein the first set of visual markers comprises a first viewable range; a second set of visual markers oriented in a second direction offset from the first direction, wherein the second set of visual markers comprises a second viewable range that overlaps with the first viewable range by at least 5 degrees and is visually distinguishable from the first set of visual markers; and a third set of visual markers oriented in a third direction offset from the first direction and offset from the second direction, wherein the third set of visual markers comprises a third viewable range that overlaps with the first viewable range by at least 5 degrees and is visually distinguishable from the first set of visual markers and from the second set of visual markers; wherein at least one of the first set, the second set, and the third set of visual markers comprises light emitting diodes (LEDs). ### Claim 18 (depends on 17) The welding torch of claim 17, wherein each visual marker of the first set of visual markers is oriented within approximately 10 degrees or less of the first direction, each visual marker of the second set of visual markers is oriented within approximately 10 degrees or less of the second direction, and each visual marker of the third set of visual markers is oriented within approximately 10 degrees or less of the third direction. ### Claim 19 (depends on 17) The welding torch of claim 17, wherein each of the first set of visual markers, the second set of visual markers, and the third set of visual markers comprises at least three visual markers. ### Claim 20 (depends on 17) The welding torch of claim 17, wherein the second direction is offset from the first direction by at least 20 degrees, and the third direction is offset from the first direction and the second direction by at least 20 degrees. ### Claim 21 (depends on 1) The system of claim 1, wherein the first direction comprises a first angular orientation with respect to a coordinate system defined with reference to the welding torch and the second direction comprises a second angular orientation with respect to the coordinate system. ### Claim 22 (depends on 1) The system of claim 1, wherein the controller is configured to distinguish between the first set of visual markers and the second set of visual markers based on at least one of: different respective patterns or arrangements of the first set of visual markers and the second set of visual markers; or different respective colors or wavelengths emitted by the first set of visual markers and the second set of visual markers. ### Claim 23 (depends on 11) The welding torch of claim 11, wherein the first set of visual markers and the second set of visual markers are visually distinguishable based on at least one of: different respective patterns or arrangements of the first set of visual markers and the second set of visual markers; or different respective colors or wavelengths emitted by the first set of visual markers and the second set of visual markers. ### Claim 24 (depends on 17) The welding torch of claim 17, wherein the first set of visual markers, the second set of visual markers, and the third set of visual markers are visually distinguishable based on at least one of: different respective patterns or arrangements of the first set of visual markers, the second set of visual markers, and the third set of visual markers; or different respective colors or wavelengths emitted by the first set of visual markers, the second set of visual markers, and the third set of visual markers.