US 2025/0153261 A1 · TECHNIQUES FOR SEAM LOCALIZATION AND GAP MEASUREMENT

Abstract

This disclosure provides systems, methods, and apparatuses, including computer programs encoded on computer storage media, which provide for welding techniques for manufacturing robots, such as seam localization, gap measurement, or both. For example, the welding techniques may include, during illumination of one or more objects by a light source, controlling a camera to capture images of the one or more objects along at least a portion of a length of a seam formed by the one or more objects. The techniques further include differentiating, in the images, the seam from the one or more objects. In a first aspect, the techniques also include triangulating the differentiated seam to identify a position of the seam relative to a reference point. In a second aspect, the techniques also include determining, based on the differentiated seam, gap information along a portion of the seam. Other aspects and features are also claimed and described.

Claims30

Dependent claims

A method of generating instructions for a welding robot by a robot controller of the welding robot, the method comprising:

controlling a light source to emit light at a first object and a second object, the first and second objects positioned to form a weldable seam, wherein controlling the light source comprises controlling one or more light source parameters including an angle of incidence of the emitted light relative to the first object, the second object, or a combination thereof;
during illumination of the first object, the second object, or a combination thereof by the light source, controlling one or more cameras to capture images of the first and second objects along at least a portion of a length of the weldable seam;
differentiating, in the images, the weldable seam from the first and second objects;
triangulating the differentiated weldable seam to generate one or more three-dimensional (3D) representations of the weldable seam;
determining, based on the one or more 3D representations, gap information along the portion of the weldable seam;
and
generating, based on the gap information, welding instructions for a welding tool coupled to the welding robot.

4 more elements

A welding robotic system comprising:

a robot device positioned in a workspace;
a welding tool coupled to the robotic device, the welding tool configured to weld a first object and a second object positioned in the workspace;
a light source coupled to the robotic device;
and
a camera coupled to the robotic device and configured to generate image data associated with the workspace;
a robot controller configured to:
control the light source to emit light at the first object and the second object, the first and second objects positioned to form a weldable seam, wherein controlling the light source to emit the light at the first object and the second object includes controlling the light source to emit a first light on a surface of the first object, the first light having a first characteristic, and a second light on a surface of the second object, the second light having a second characteristic that is different from the first characteristic;
during illumination of the first object, the second object, or a combination thereof by the light source, control the camera to capture images of the first and second objects along at least a portion of a length of the weldable seam;
differentiate, in the images, the weldable seam from the first and second objects;
triangulate the differentiated weldable seam to generate one or more three-dimensional (3D) representations of the weldable seam;
determine, based on the one or more 3D representations, gap information along the portion of the weldable seam;
and
generate welding instructions for the welding tool based on the gap information.

10 more elements

A welding robotic system comprising:

a robot device positioned in a workspace;
a welding tool coupled to the robotic device, the welding tool configured to weld a first object and a second object positioned in the workspace;
a light source coupled to the robotic device;
and
a camera coupled to the robotic device and configured to generate image data associated with the workspace;
a robot controller configured to:
control the light source to emit light at the first object and the second object, the first and second objects positioned to form a weldable seam, wherein controlling the light source to emit the light at the first object and the second object includes controlling lighting parameters comprising an angle of incidence of the emitted light relative to the first object, the second object, or a combination thereof, and at least one of a pose of the light source, a wavelength of the emitted light, a luminosity of the emitted light, a pattern of the emitted light, or a duration of the emitted light;
during illumination of the first object, the second object, or a combination thereof by the light source, control the camera to capture images of the first and second objects along a length of the weldable seam;
differentiate, within the images, the weldable seam from the first and second objects;
triangulate the differentiated weldable seam to identify a position of the weldable seam relative to a reference point associated with the welding tool;
and
generate motion parameters for the welding tool to move the welding tool near the identified position of the weldable seam.

9 more elements

Dependencies are inferred from the claim text.

Techniques for seam localization and gap measurement

Life of this patent

Techniques for seam localization and gap measurement

Life of this patent

Abstract

Claims30