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公开(公告)号：KR1020110046767A
公开(公告)日：2011-05-06
申请号：KR1020090103414
申请日：2009-10-29
Applicant: 대우조선해양 주식회사
IPC: B23K37/00
Abstract: PURPOSE: A jig for calibration between a robot and a laser vision system and a calibration method using the same are provided to improve productivity by automating a calibration process. CONSTITUTION: A jig for calibration between a robot and a laser vision system comprises an insertion unit(110). The insertion unit is formed in a conical shape and has one peak. The vertical cross section of the insertion unit is an isosceles triangular shape. The insertion unit comprises a supporting unit(120). The supporting unit is installed in the bottom of the insertion unit and supports the insertion unit.
Abstract translation: 目的：提供机器人与激光视觉系统之间校准的夹具以及使用其的校准方法，以通过自动化校准过程来提高生产率。 构成：用于机器人和激光视觉系统之间校准的夹具包括插入单元（110）。 插入单元形成为圆锥形并具有一个峰。 插入单元的垂直截面是等腰三角形。 插入单元包括支撑单元（120）。 支撑单元安装在插入单元的底部并支撑插入单元。
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公开(公告)号：KR101637977B1
公开(公告)日：2016-07-08
申请号：KR1020100097860
申请日：2010-10-07
Applicant: 대우조선해양 주식회사
Abstract: 본발명은레이저비전시스템을이용한용접조인트의특징점검출방법에관한것으로서, 레이저비전시스템을통해획득한용접대상물의영상을이진화하는과정과; 상기이진화한영상에에지추출알고리즘을적용하여특징점이발생할수 있는후보점들을검출하는과정과; 상기검출한후보점들의중심을검출하는과정과; 상기검출한후보점들의중심으로주변부이진화영상을비교하여후보점들이특징점인지의여부를결정하는과정을포함하여이루어진것을특징으로한다. 본발명에따르면, 레이저비전시스템에서측정한용접조인트영상에서용접조인트의특징점을검출할때 사용자의추가적인설정없이자동으로용접조인트의특징점을검출할수가있으며스패터나반사광등의노이즈가있는영상에서도특징점을추가적인연산없이검출할수가있다.
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公开(公告)号：KR101622659B1
公开(公告)日：2016-05-20
申请号：KR1020090103414
申请日：2009-10-29
Applicant: 대우조선해양 주식회사
IPC: B23K37/00
Abstract: 본발명은로봇과레이저비전시스템간의캘리브레이션방법에관한것으로서, 하나의정점을갖는원뿔형태의입설부를갖는지그를이용하여로봇의로봇툴과로봇툴의측면에장착되는레이저비전시스템간의위치를캘리브레이션하기위한방법으로서, 로봇툴을지그의정점에위치시키고, 레이저비전시스템으로지그를측정하는단계와; 상기로봇툴을 x 방향으로이동시키면서레이저비전시스템에서조사되는레이저가지그의정점통과전, 통과시 및통과후의로봇툴의위치에서레이저비전시스템으로지그를각각측정하는단계와; 상기레이저비전시스템으로측정한지그영상들을이용하여로봇툴과레이저비전시스템간의위치정보를산출하는단계를포함하고, 상기지그의입설부의크기는레이저비전시스템의측정영역과로봇툴이지그의정점위치시의로봇툴의 x성분과레이저비전시스템에서조사되는레이저가지그의정점통과시의로봇툴의 x성분의차인선행측정거리에따라결정하는것을특징으로한다. 본발명에따르면, 로봇과레이저비전시스템간의캘리브레이션과정을자동화함으로써신뢰성을향상시킬수 있고시간을절약하여생산성을향상시킬수 있는이점이있다.
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公开(公告)号：KR101220877B1
公开(公告)日：2013-01-11
申请号：KR1020100110134
申请日：2010-11-08
Applicant: 대우조선해양 주식회사
Abstract: 본 발명은 로봇 TCP 오차 보상 방법에 관한 것으로서, 로봇 툴과 로봇 툴의 측면에 장착되는 레이저 비전 시스템을 구비한 로봇에서 로봇 TCP 오차에 의해 발생하는 로봇 툴 끝단의 오차를 보상하는 방법으로서, 로봇을 용접 대상물인 러그를 따라 이동시키면서 각 위치에 대한 로봇과 레이저 비전 시스템 간의 캘리브레이션을 수행하여 위치별 캘리브레이션 데이터를 생성 저장하는 단계와; 로봇 이동에 따른 로봇 TCP 오차에 의한 로봇 툴 끝단의 좌표가 변화하여 오차 발생시, 로봇 위치에 가장 근접한 위치에서 생성되어 저장된 캘리브레이션 데이터를 이용하여 로봇 툴 끝단에서 발생하는 오차를 보상하는 단계를 포함하여 이루어진 것을 특징으로 한다. 본 발명에 따르면, 로봇 위치에 따라 미리 생성한 로봇과 레이저 비전 시스템 간의 캘리브레이션 데이터 중에서 최적의 데이터를 사용함으로써 로봇 TCP 오차에 의해 발생하는 로봇 툴 끝 단의 오차를 정확히 보상할 수 있는 이점이 있다.
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公开(公告)号：KR1020110135666A
公开(公告)日：2011-12-19
申请号：KR1020100055521
申请日：2010-06-11
Applicant: 대우조선해양 주식회사
CPC classification number: B25J9/1692 , B25J9/1674 , B25J9/1694 , B25J19/022 , G05B2219/36404
Abstract: PURPOSE: A calibration device for between a robot and an LDS(Laser Displacement Sensor) and a calibration method using the same are provided to improve accuracy and precision of calibration and reduce work time by automating a calibration process. CONSTITUTION: A calibration device for between a robot and an LDS comprises a measuring jig(30) and a controller. The measuring jig is formed in a circular plate shape and parallelly moved relative to a robot tool(10). The controller controls the driving of the robot tool to measure the position of each apex of a rectangle inscribed to a circle of the measuring jig.
Abstract translation: 目的：提供机器人与LDS（激光位移传感器）之间的校准装置和使用其的校准方法，以提高校准的精度和精度，并通过自动校准过程减少工作时间。 构成：用于机器人和LDS之间的校准装置包括测量夹具（30）和控制器。 测量夹具形成为圆板形并相对于机器人工具（10）平行移动。 控制器控制机器人工具的驱动，以测量刻在测量夹具圆上的矩形的每个顶点的位置。
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Patent Agency Ranking
公开(公告)号：KR1020110019011A
公开(公告)日：2011-02-25
申请号：KR1020090076543
申请日：2009-08-19
Applicant: 대우조선해양 주식회사
Abstract: PURPOSE: A calibration method and calibration jig between robot TCP and LVS is provided to reduce the cost and time for calibration by performing precision calibration regardless of the mechanical deformation of a LVS or a LVS jig. CONSTITUTION: A calibration jig between robot TCP and LVS comprises a laser flat angle measurement plate(1), a scale(2), a height control lever(3), a joint(4) and a LVS monitor(5). The laser flat angle measurement plate is vertically formed on the bottom surface of a calibration jig. The height control lever controls the height of the calibration jig.
Abstract translation: 目的：提供机器人TCP和LVS之间的校准方法和校准夹具，通过执行精密校准来降低校准的成本和时间，无论LVS或LVS夹具的机械变形如何。 构成：机器人TCP和LVS之间的校准夹具包括激光平角测量板（1），刻度（2），高度控制杆（3），接头（4）和LVS监视器（5）。 激光平角测量板垂直形成在校准夹具的底面上。 高度控制杆控制校准夹具的高度。
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公开(公告)号：KR1020120048779A
公开(公告)日：2012-05-16
申请号：KR1020100110134
申请日：2010-11-08
Applicant: 대우조선해양 주식회사
Abstract: PURPOSE: A method for compensating a TCP(Tool Center Point) error of a robot is provided to accurately compensate an error of a tool tip of a robot using the optimum calibration data between the robot and a laser vision system. CONSTITUTION: A method for compensating a TCP error of a robot comprises the steps of: creating and storing calibration data according to position by moving a robot along a lug to be welded and implementing calibration between the robot and a laser vision system for each position(S110) and, in case of an error due to changes in the coordinates of the tool tip of the robot, compensating the error using the calibration data created and stored from the closest position to the robot(S120).
Abstract translation: 目的：提供一种用于补偿机器人的TCP（刀具中心点）错误的方法，以使用机器人和激光视觉系统之间的最佳校准数据来精确地补偿机器人刀尖的误差。 构成：用于补偿机器人的TCP错误的方法包括以下步骤：通过沿着待焊接的凸起移动机器人来根据位置创建和存储校准数据，并且实现机器人与每个位置的激光视觉系统之间的校准（ S110），并且在由于机器人的工具尖端的坐标变化而发生错误的情况下，使用从与机器人的最近位置创建和存储的校准数据来补偿误差（S120）。
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公开(公告)号：KR1020120039801A
公开(公告)日：2012-04-26
申请号：KR1020100101212
申请日：2010-10-18
Applicant: 대우조선해양 주식회사
CPC classification number: B23K9/127 , B25J9/1684 , B25J19/021 , G01B11/24
Abstract: PURPOSE: A submerged arc welding system for tracking a welding line and a method for processing images for the welding line tracking of the system are provided to track the welding line from divided three images obtained form a laser vision system. CONSTITUTION: A submerged arc welding system(100) for tracking a welding line is composed of a welding robot(110), a laser vision system(120), and an image filter(130). The welding robot implements a welding operation. The vision system is installed at one side of the welding robot and processes images obtained by irradiating laser to a welding member to be a welding target. The geometrical shape of the welding member is measured. An image filter is installed at the front of the laser vision system in order to obtain divided three images along the processing direction of the welding system.
Abstract translation: 目的：提供一种用于跟踪焊接线的埋弧焊系统和用于处理系统焊接线跟踪的图像的方法，用于从激光视觉系统获得的三个图像中追踪焊接线。 构成：用于跟踪焊接线的埋弧焊系统（100）由焊接机器人（110），激光视觉系统（120）和图像过滤器（130）组成。 焊接机器人进行焊接操作。 视觉系统安装在焊接机器人的一侧，并且将通过将激光照射到作为焊接对象的焊接部件获得的图像进行处理。 测量焊接部件的几何形状。 图像滤波器安装在激光视觉系统的前面，以便沿着焊接系统的加工方向获得分割的三个图像。
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公开(公告)号：KR101155446B1
公开(公告)日：2012-06-15
申请号：KR1020100107639
申请日：2010-11-01
Applicant: 대우조선해양 주식회사
Abstract: PURPOSE: A calibration method between a robot and an LVS(Laser Vision System) using a lug is provided to improve the speed and accuracy of work by locating a robot in a set initial position by a worker so that the robot automatically implement successive processes. CONSTITUTION: A calibration method between a robot and an LVS(102) using a lug(1) comprises the steps of: locating a robot in the initial position of the lug, moving the robot to a measurement position of a touch sensor(101), implementing three-point measurement by the touch sensor in order to measure boundary feature points of the lug, moving the robot to a measurement position of the LVS, setting the joint type of the LVS into a simple fellet shape, and continuously measuring the feature points using the LVS by horizontally moving the robot along the boundary of the lug.
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公开(公告)号：KR1020120045821A
公开(公告)日：2012-05-09
申请号：KR1020100107639
申请日：2010-11-01
Applicant: 대우조선해양 주식회사
Abstract: PURPOSE: A calibration method between a robot and an LVS(Laser Vision System) using a lug is provided to improve the speed and accuracy of work by locating a robot in a set initial position by a worker so that the robot automatically implement successive processes. CONSTITUTION: A calibration method between a robot and an LVS(102) using a lug(1) comprises the steps of: locating a robot in the initial position of the lug, moving the robot to a measurement position of a touch sensor(101), implementing three-point measurement by the touch sensor in order to measure boundary feature points of the lug, moving the robot to a measurement position of the LVS, setting the joint type of the LVS into a simple fellet shape, and continuously measuring the feature points using the LVS by horizontally moving the robot along the boundary of the lug.
Abstract translation: 目的：提供使用凸耳的机器人和LVS（激光视觉系统）之间的校准方法，以通过将机器人定位在工作人员设定的初始位置来提高工作的速度和精度，从而使机器人自动执行连续的过程。 构成：使用凸耳（1）的机器人和LVS（102）之间的校准方法包括以下步骤：将机器人定位在凸耳的初始位置，将机器人移动到触摸传感器（101）的测量位置， 通过触摸传感器实现三点测量，以测量凸耳的边界特征点，将机器人移动到LVS的测量位置，将LVS的关节类型设置为简单的绒毛形状，并连续测量特征 通过沿着凸缘的边界水平移动机器人，使用LVS的点。
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