JP2005283449A - Radioscopic system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a radioscopic system using a robot capable of being systematically operated with a high degree of freedom, improving versatility, and relatively easily performing action changes, addition, etc. of the system. <P>SOLUTION: The radioscopic system includes a computer 6 provided with both a format of operation for writing data on a series of acting procedures and acting conditions for controlling the overall system including an X-ray source 1; an image processing device 4; and the robot 8 and its edit program. The action format in which data from the computer 6 is written is transferred to a robot controller 9. The robot controller 9 interlocks the overall system by controlling the robot 8 according to the transferred data and controlling the robot 8 in such a way as to act according to quality determination signals of objects W to be inspected supplied for an input/output port 9a of the robot controller 9. Teachings etc. of the robot 8 are performed by data writing in the action format of the computer 6. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to an X-ray fluoroscopy system for performing a fluoroscopic inspection of, for example, an industrial product, and more particularly to an X-ray fluoroscopy system that grips an inspection object with a robot and positions the inspection object at a fluoroscopic position.

  In an X-ray fluoroscopic apparatus for performing a fluoroscopic inspection of industrial products or the like, generally, an X-ray detector composed of, for example, an image intensifier and a CCD camera is disposed opposite to an X-ray source, and an inspection object is interposed between them. And at least two planes orthogonal to each other on a plane intersecting the X-ray optical axis, or in addition to this, it is possible to move in the X-ray optical axis direction. A structure in which a sample stage that can rotate around an axis is arranged. In addition, there is also known an apparatus having a structure for tilting the X-ray detector with respect to the sample stage (see, for example, Patent Document 1).

  By the way, when performing a fluoroscopic inspection to inspect defects in aluminum castings of complex shapes and welded parts of welded articles, the sample stage as described above can cope with changes in the thickness of the casting and internal defects in the beads. It may not be possible.

  Therefore, in such a fluoroscopic inspection of an article, the inspection object using an industrial robot is grasped and moved to a position where the inspection object is to be viewed so that the inspection object can be freely moved between the X-ray source and the X-ray detector. A system that can be transported and changed to a required posture is being put into practical use, and by constructing such a system, it has become possible to find complicated internal defects of an aluminum casting.

An example of a system combining such an industrial robot and an X-ray fluoroscope is shown in FIG. An X-ray source 31 and an X-ray detector 32 are arranged to face each other, the X-ray source 31 is placed under the control of the X-ray controller 33, and the output of the X-ray detector 32 is taken into the image processing device 34 to obtain an image. The X-ray fluoroscopic image of the inspection object W is displayed on the display device 35 for processing. An industrial robot 36 is disposed adjacent to the X-ray fluoroscope 30 having such a configuration. The industrial robot 36 is a general-purpose robot controlled by a robot controller 37, and can move the inspection object W to a plurality of points taught in advance. It is possible to obtain a fluoroscopic image from any position and any direction.
JP 2001-249086 A

  By the way, in the conventional system in which the inspection object is grasped and moved between the X-ray source and the X-ray detector by the industrial robot as described above, as shown in FIG. A robot is simply a combination of substantially individual devices, and an industrial robot only transports an inspection object to a designated fluoroscopic point. The fluoroscopic point is a fixed point, and the robot program must be changed to change the fluoroscopic point or to add or delete the fluoroscopic point. That is, teaching data and operation patterns for controlling the robot 36 are stored only in the robot controller 37, and in order to change them, it is necessary to use a dedicated language tool.

  For this reason, even if a host computer is provided, it is a device that performs pass / fail determination of an inspection object, for example, by changing the movement of the robot in response to a user instruction or an instruction from the image processing device, Distribute acceptable products to different positions, or link the robot operation with the X-ray source ON / OFF, and also, for example, a peripheral device such as a conveyor that transports the inspection object adjacent to the robot at the same time It is not easy to perform a systematic operation with a higher degree of freedom such as control.

  Also, since robot teaching work is usually performed using a teaching box or the like of each manufacturer's robot manufacturer, there is a problem that an operator needs experience in teaching and re-teaching by a general user is difficult.

  The present invention has been made in view of such circumstances, and it is possible to systematically operate an X-ray fluoroscopic system using a robot with a higher degree of freedom, and at the same time, increase generalization and relatively easily. Another object of the present invention is to provide an X-ray fluoroscopy system that can change or add to the operation of the system.

  In order to solve the above-described problems, the X-ray fluoroscopic apparatus of the present invention uses the X-ray source, the X-ray detector disposed opposite to the X-ray source, and the output from the X-ray detector, to An image processing means for constructing an X-ray fluoroscopic image of an object existing between the X-ray source and the X-ray detector is provided, and an inspection object is grasped in advance between the X-ray source and the X-ray detector. An X-ray fluoroscopy system including a robot that changes a plurality of set positions and / or postures, the robot controller controlling the robot, the X-ray controller controlling the X-ray source, and the image processing means A computer capable of transmitting and receiving signals to and from the computer, and the computer controls the entire system including the robot, the X-ray source, and the image processing means. The operation format in which the data is written is transferred to the robot controller, and the robot controller controls the robot in accordance with the transferred data and controls the robot. In this case, the robot is characterized by controlling the robot to perform a corresponding operation according to the pass / fail judgment signal of the inspection object supplied to the input / output port of the robot controller.

  Here, in the present invention, there is provided another transfer means that operates in conjunction with the robot, and the robot controller is provided in the robot controller in accordance with the data written in the transferred operation format. A control signal for the conveying means can be supplied through the input / output port (claim 2).

  In the X-ray fluoroscopy system for performing a fluoroscopic inspection by moving an inspection object between an X-ray source and an X-ray detector by a robot, The robot controller controls the robot according to the data transferred from the host computer, and also according to the pass / fail judgment signal of the inspection object supplied through the input / output port. It is intended to solve the problem by controlling the robot so as to perform the operations defined for each.

  That is, the operation procedure and operation conditions of the entire system including the operation of the robot are created in a predetermined format in the computer and transferred to the robot controller. The robot controller controls the robot according to the transferred data. In this control, the robot is controlled so as to perform the operations determined for pass and fail according to the pass / fail judgment signal of the inspection object W supplied to the robot controller via its input / output port. Moreover, since the editing function of the operation format is given to the computer, for example, when changing the teaching point of the robot, the data written in the operation format of the computer is not used for the robot controller without using a teaching box or the like. Done by changing.

  In addition, when other transport means such as a belt conveyor is provided in conjunction with the robot, the robot controller is connected to the robot controller according to the operation format data transferred from the computer as in the invention according to claim 2. By configuring so as to supply a control signal to the conveying means via the attached input / output port, a sequencer or the like for controlling the conveying means becomes unnecessary.

  According to the present invention, the operation procedure and operation conditions of the entire system including the robot are created in a computer based on a predetermined format (operation format), so that the format is transferred to the robot controller, and the transferred data The operation format can be freely edited by the editing function of the computer and the entire system can be systematized with a higher degree of freedom compared to this type of conventional system. It can be operated. In addition, when changing the robot's motion or adding motion, it is relatively easy to operate by changing the data in the motion format without requiring special experience as in the case of re-teaching using a teaching pendant. Changes can be made.

  Further, as in the invention according to claim 2, in the case where a transport unit other than the robot is provided, the control signal of the transport unit is supplied from the input / output port according to the data written in the operation format by the robot controller. This eliminates the need for a control device such as a sequencer for the conveying means.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a configuration diagram of an embodiment of the present invention.

  Opposite to the X-ray source 1, an X-ray detector 2 comprising, for example, an image intensifier and a CCD is disposed. The X-ray source 1 outputs X-rays corresponding to the tube current and tube voltage supplied from the X-ray controller 3. The output of the X-ray detector 2 is taken into the image processing device 4. The image processing apparatus 4 includes an image capturing circuit 5 such as a capture board and an image processing unit 61 of a personal computer 6. Note that the image processing unit 61 in the personal computer 6 and a communication / control unit 63 to be described later represent functions that are actually realized by executing programs corresponding to the respective programs installed in the personal computer 6. In the figure, for the convenience of explanation, each function is indicated by a block.

  In the image processing device 4, each pixel output from the X-ray detector 2 is used to perform image processing specified by an operation format, which will be described later, and an X-ray fluoroscopic image of the inspection object W is constructed and displayed on the display 7. To do.

  A robot 8 is disposed adjacent to the X-ray source 1 and the X-ray detector 2. The robot 8 grips the inspection object W in accordance with a drive control signal from the robot controller 9, and a plurality of teaching points (preliminarily set in the space between the X-ray current 1 and the X-ray detector 2 ( Position and posture). Further, another transfer device (not shown) such as a belt conveyor is disposed adjacent to the robot 8, and a control signal for the transfer device is an input / output port 9 a provided in the robot controller 9. In addition, the output of a sensor (not shown) provided on the transport device for detecting the presence or absence of the inspection object W is also input to the robot controller 9 through the input / output port 9a. Further, the input / output port 9a is supplied with a pass / fail judgment signal generated by an operator who views the X-ray fluoroscopic image of the inspection object W on the display 7 operating the pass / fail judgment switch 10. The

  The personal computer 6 includes a data storage unit 62 such as a hard disk, and the ON / OFF of the robot 8 and the X-ray source 1 or a transport device such as a belt conveyor disposed adjacent to the robot 8. Data relating to the operation procedure and operation conditions is written in a predetermined format (operation format). Each device in the system is controlled in accordance with this operation format. For the devices other than the image processing device 4 and the X-ray controller 3, that is, the robot 8 and the transport device disposed adjacent thereto, the robot controller 9 through.

  That is, the data of the operation format of the personal computer 6 is transferred to the robot controller 9 using TCP / IP communication. The robot controller 9 controls the robot 8 according to the transferred data, and supplies a control signal to the transfer device through the input / output port 9a.

  The operation format is a style as shown in [Table 1]. That is, step no. It has labels, robot point (position) data, operation numbers, and operation arguments 1-5. Note that the download of argument 1 is accepted only when the step is stopped and when it is not during automatic operation, and the other nine pieces of data are stored on the personal computer 6 side for the necessary steps.

  What should be noted in this operation format is that the argument No. In this example, 20 types of robot operations are set. Among these, 1 to 7 are necessary for the basic operation of the robot 8. “30: Judgment” required for the above pass / fail judgment, “14: Contact output” necessary for performing output from the input / output port 9a necessary for controlling peripheral transport devices, Inputs the sensor output provided in the above-mentioned transport device for detecting the presence or absence of the inspection object W through the input / output port 9a. If the inspection object W exists, the robot is operated. "11: Contact branching" necessary for driving is set.

  Argument No. in [Table 1]. 6 to 10 “arguments 1 to 5 for the operation command of the argument 5” are the argument numbers “No. 5 argument (parameter) of “point operation” is given. For example, the argument “11: contact branching” includes the contact number assigned to the input / output port 9a as the argument 6 and the argument 7 when the contact of the argument 6 is 0 (L level). Three arguments, the jump destination label and the jump destination label when the contact of the argument 6 is 1 (H level), are entered in the argument 7. Further, the argument of “30: Judgment” includes a jump destination label when the pass / fail judgment signal is “No”, and thus the nest when the pass / fail judgment signal is “Go”. It is possible to make the difference between the operation of “No” and “No” and the operation in the case of “No”, for example, an operation such as transporting the inspection object “No” to a specific place. In this way, when there is data necessary for each point operation, these are set as argument numbers. Written to 6-10.

  By using such an operation format, the movement of the robot 8, standby, conditional branching, operation of peripheral transfer devices by output from the input / output port 9a, etc. can be performed on the GUI of the application of the personal computer 6 without changing the robot program. Can be changed. Further, by including the position coordinates of the robot 8 in the operation format, by managing the operation format on the personal computer 6, it is possible to save more data than can be stored in the robot controller 9. Furthermore, since backup is easy, it can be expected that the possibility of data loss will be reduced by storing it in various media.

  FIG. 2 is a diagram showing a display example of a program edit screen of an application that can collectively manage and edit the operation format by the personal computer 6. In the figure, “step” indicates the step number of each operation. “Operation” is the operation setting content on the robot side that can be registered in each step. “Label” is an alias that is individually assigned to each step. For example, a “label” of a jump destination is designated as an operation parameter of “jump”. “Macro” is a macro No. of the image processing operation of the image processing apparatus 4 (image processing unit 61). Is shown. Further, “bar length” is a setting column for a length serving as a reference for a scale displayed on the display unit 7 together with the fluoroscopic image. By operating the input unit 64 such as a keyboard or a mouse of the personal computer 6 to select each step in the display field A and writing and setting in a corresponding part of the setting field B, each step of the program is changed. Can do. Due to this program change, the changed data is transferred to the robot controller 9 when the system is started up, and thereafter, the operation of the system including the robot 8 is changed. Further, in this editing function, a new step can be inserted between steps, and the work of increasing the inspection points and changing the position can be performed very easily.

  Furthermore, the robot 8 can be re-teached during automatic operation. This is a step set as “2: Stop” in the operation format, and the robot 8 temporarily stops at this step during automatic operation. Normally, image processing, automatic and manual determination are performed at this “stop” point, but the robot 8 can be moved minutely by communication from the personal computer 6 as an additional function. Therefore, if you want to change the position for automatic determination slightly, operate the robot with software that has the same function as the teaching box on the personal computer 8 to rotate up, down, left, and right, and around each axis. You can re-register the location with the registration button. As a result, the automatic operation mode can be switched to the manual operation mode in the conventional system of this type, and the re-teaching operation performed by the teaching box can be dramatically improved.

  Furthermore, even when an industrial robot of another manufacturer is incorporated in this system, it is possible to cope with the application without changing the application on the personal computer 6 side by using this operation format almost as it is. Regarding the robot position coordinates, the data type is different for each manufacturer, so it seems that data conversion software is required, but it is clear that the data can be diverted.

  The pass / fail determination based on the X-ray fluoroscopic image of the inspection object W may be performed by an operator operating a switch or the like based on the image displayed on the display unit 7, or image processing by the image processing device 4. Of course, this may be done automatically.

It is a block diagram of embodiment of this invention. It is explanatory drawing of the example of a display of the program edit screen in the personal computer of embodiment of this invention. It is a figure which shows the structural example of the X-ray fluoroscopy system provided with the conventional robot.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 X-ray source 2 X-ray detector 3 X-ray controller 4 Image processing apparatus 5 Image acquisition circuit 6 Personal computer 61 Image processing part 62 Data storage part 63 Communication / control part 64 Input part 7 Display 8 Robot 9 Robot controller 9a On Output port 10 Go / Negation judgment switch W Inspection object

Claims (2)

X-ray fluoroscopy of an object existing between the X-ray source and the X-ray detector using an X-ray source, an X-ray detector disposed opposite to the X-ray source, and an output from the X-ray detector In addition to image processing means for constructing an image, a robot for grasping an inspection object and changing it to a plurality of preset positions and / or postures between the X-ray source and the X-ray detector is provided. A fluoroscopic system,
A robot controller for controlling the robot, an X-ray controller for controlling the X-ray source, and a computer capable of transmitting and receiving signals to the image processing means, the computer comprising the robot, the X-ray source and the image processing means. In order to control the entire system, including an operation format for writing data related to the series of operation procedures and operation conditions and an editing program thereof, the operation format in which the data is written is transferred to the robot controller, and this The robot controller controls the robot in accordance with the transferred data. In this control, the robot responds according to the pass / fail judgment signal of the inspection object supplied to the input / output port of the robot controller. Control to do the action X-ray inspection system for the butterflies.   In addition to other transfer means that are linked to the robot, the robot controller is connected to the transfer means through an input / output port provided in the robot controller in accordance with the data written in the transferred operation format. The X-ray fluoroscopic apparatus according to claim 1, wherein the X-ray fluoroscopic apparatus is configured to supply a control signal.

Images