JP2015194491A - Self-traveling inspection device for metal plate, self-traveling inspection method for metal plate and inspection system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a self-traveling inspection device for metal plate and a self-traveling inspection method for metal plate with high position control accuracy, and an inspection system using the device.SOLUTION: An inspection device 300 for traveling by itself on a metal plate on the basis of information from position measurement means and inspecting the metal plate, comprises: a carriage 14 which has at least two wheels 26 capable of normal rotation and reverse rotation and a drive part 27 thereof; a flaw detection head 35 which is mounted on the carriage 14 and has a probe of ultrasonic flaw detection for inspecting the metal plate; and pieces of control means 21, 13 which calculate the deviation between the body position recognized by the position measurement means and the target position, give commands of normal rotation, reverse rotation and stoppage of the wheels 26 to the drive part 27 so that the deviation becomes the minimum, and perform control so that the inspection device autonomously travels to the prescribed target position. The pieces of control means detect any or both of the weight change of the body and slide resistance between the metal plate and the flaw detection head 35, feed back the correction value obtained from the detection value to the commands, and control magnetic force of an electromagnet 49 in accordance with the deviation between the body position and the target position.

Description

  The present invention relates to a self-propelled inspection device for a metal plate, a self-propelled inspection method for a metal plate, and an inspection system using the same.

  Conventionally, in order to assure the quality of a metal plate such as a steel plate, inspection of scratches and internal defects in the steel plate or the like by ultrasonic flaw detection has been performed. For example, a metal plate such as a steel plate conveyed on the feed roller of the production line is inspected automatically by contacting a plurality of parallel ultrasonic flaw detection heads, or a metal plate such as a steel plate outside the production line. The ultrasonic inspection head is brought into contact and inspected manually.

  In general, an ultrasonic flaw detection head is connected to an ultrasonic flaw detector with a cable, a signal measured by the ultrasonic flaw detection head is input to the ultrasonic flaw detector, and an output thereof is input to a data processing device to be processed, and Existence is explored. Moreover, water is sprinkled as an ultrasonic medium on the inspection surface of a metal plate such as a steel plate. Therefore, when inspecting a metal plate manually, the entire surface of the metal plate becomes wet and slippery with this method, and there is a risk that the inspector may fall over when moving on a metal plate with a step. .

  In order to avoid such a risk, an automatic flaw detector (self-propelled inspection device) has been developed. The simplest is a self-propelled carriage that can move on a metal plate with a flaw detection head. In such an inspection apparatus, in order to scan the entire surface of the metal plate, it is necessary to attach a rib plate or the like around the metal plate.

  As shown in FIG. 18, the automatic flaw detection apparatus disclosed in Patent Document 1 travels on a crawler-shaped crawler belt 8a and travels on a laterally moving wheel 8b when moving in a lateral direction. . A metal plate edge detection sensor 2b is provided before and after the crawler truck 8, and a probe 2a for inspecting a scratch on the metal plate is provided on the guide rail. The crawler truck 8 can calculate an exploration position by a measure A provided at the edge of the metal plate 1 and a telescopic measure B provided at a reference point P of the metal plate 1.

  In addition, as a method of measuring the position of the self-running inspection device, a method of installing a guide wire in the travel route, a method of photographing a floor surface and a ceiling surface of the travel route with a TV camera, and image processing the image, A method of calculating the current position by installing a gyro sensor and accumulating the traveling speed and angular velocity at high speed is widely known, and self-runs based on the position measured by the position measuring means based on such a technique. Control the position of the inspection device.

JP-A-5-172798

  By the way, the self-propelled inspection device is configured by mounting an inspection device including a flaw detection head equipped with an inspection sensor for inspecting a scratch on a metal plate on a carriage having wheels, and the position of the inspection device. When performing control, the deviation between the position of the inspection apparatus measured using the position measuring means as described above and a predetermined target position is obtained, and a command is sent from the control unit to the drive unit that drives the wheels according to the deviation. It is generally considered that the carriage is moved to a predetermined target position.

  However, when the inspection apparatus includes a tank that stores water as a medium for ultrasonic flaw detection, the weight of the inspection apparatus changes during the inspection due to watering, and the change in the weight becomes a disturbance of control. In the case of ultrasonic flaw detection, a flaw detection head equipped with an ultrasonic probe is always in contact with a metal plate during inspection, so the flaw detection head depends on the type of metal plate and the surface condition caused by differences in the manufacturing process. The magnitude of the sliding resistance generated between the metal plate and the metal plate changes, which becomes a disturbance of control.

  For this reason, the accuracy of position control of the self-propelled inspection device may be insufficient.

  The present invention has been made in view of such circumstances, and it is an object of the present invention to provide a self-propelled inspection device for metal plates, a self-propelled inspection method for metal plates, and an inspection system using the same with high position control accuracy. And

In order to solve the above problems, the present invention provides the following (1) to (17).
(1) A self-propelled inspection device for a metal plate that self-propels on a metal plate based on information from the position measuring means and inspects for the presence or absence of defects present on the surface or inside of the metal plate,
The inspection device includes at least two wheels capable of normal rotation and reverse rotation, and a carriage having a drive unit that drives the wheels;
A flaw detection head equipped with a probe for ultrasonic flaw detection mounted on a carriage and inspecting a metal plate,
Calculate the deviation between the position of the inspection device recognized by the position measuring means and the target position which is a separately provided inspection point, and forward, reverse and stop the wheels in the drive unit so that the deviation is minimized. And a control means for controlling the inspection apparatus to autonomously travel to a predetermined target position,
The control means detects a change in weight of the inspection apparatus, a sliding resistance between the metal plate and the flaw detection head, or both, and feeds back a correction value obtained from the detected value to the command. A self-propelled inspection apparatus for metal plates, characterized by comprising:

(2) The inspection apparatus includes a water tank that supplies water between the flaw detection head and the metal plate,
The control unit includes a residual water amount sensor that detects a residual water amount in the water tank, and calculates a correction value by obtaining a change in weight of the inspection device from a detection value of the residual water amount sensor (1). ) Self-propelled inspection device for metal plates.

  (3) The inspection apparatus includes a support member that supports the flaw detection head, and the control unit includes a strain gauge that detects a bending stress of the support member, and the sliding is performed based on a detection value of the strain gauge. The self-propelled inspection apparatus for metal plates according to (1) or (2), wherein a correction value is calculated by obtaining a resistance.

  (4) An electromagnet provided on the bottom surface of the flaw detection head is further provided, and the control means detects a deviation between the target position and the self position of the inspection apparatus or a deviation between the target control pattern and the actual result, and according to the detected amount The self-propelled inspection device for metal plates according to any one of (1) to (3), wherein the magnetic force of the electromagnet is controlled.

(5) A self-propelled inspection device for a metal plate that self-travels on the metal plate based on information from the position measuring means and inspects for the presence or absence of defects present on the surface or inside of the metal plate,
The inspection device includes at least two wheels capable of normal rotation and reverse rotation, and a carriage having a drive unit that drives the wheels;
A flaw detection head equipped with a probe for ultrasonic flaw detection mounted on a carriage and inspecting a metal plate,
An electromagnet provided on the bottom surface of the flaw detection head;
Calculate the deviation between the position of the inspection device recognized by the position measuring means and the target position which is a separately provided inspection point, and forward, reverse and stop the wheels in the drive unit so that the deviation is minimized. And a control means for controlling the inspection apparatus to autonomously travel to a predetermined target position,
The control means detects the deviation between the target position and the self position of the inspection apparatus or the deviation between the target control pattern and the actual result, and controls the magnetic force of the electromagnet according to the detected amount. Inspection device.

  (6) It has a support member that supports the flaw detection head, and the support member is supported by the carriage via an elastic body, and the elastic body cancels the sliding resistance between the metal plate and the flaw detection head. (4) or the self-propelled inspection apparatus for metal plates as described in (5) characterized by the above-mentioned.

  (7) The apparatus according to (6), further including a detector that detects the displacement of the elastic body, wherein the control unit controls the magnetic force of the electromagnet based on a detection value of the detector. Self-propelled inspection device for metal plates.

  (8) The flaw detection head can be moved back and forth along the traveling direction of the metal plate self-propelled inspection device. (1) to (7) Self-propelled inspection device.

(9) A self-propelled inspection for a metal plate in which the self-propelled inspection device for a metal plate is self-propelled on the metal plate based on information from the position measuring means and inspects for the presence or absence of defects present on the surface of the metal plate A method,
It is equipped with a flaw detection head equipped with an ultrasonic flaw detection probe that inspects a metal plate on a carriage that drives at least two wheels that can be rotated forward and reverse by a drive unit,
Calculate the deviation between the position of the inspection device recognized by the position measuring means and the target position which is a separately provided inspection point, and forward, reverse and stop the wheels in the drive unit so that the deviation is minimized. And a change in the weight of the inspection device or a sliding resistance between the metal plate and the flaw detection head, or both, are detected, and a correction value obtained from the detected value is fed back to the command. A self-propelled inspection method for metal plates.

  (10) The inspection apparatus includes a water tank that supplies water between the flaw detection head and the metal plate, and the weight of the inspection apparatus is determined from a detection value of a residual water amount sensor that detects a residual water amount of the water tank. The self-propelled inspection method for a metal plate according to (9), wherein a change is obtained.

  (11) The inspection apparatus includes a support member that supports the flaw detection head, and obtains the sliding resistance from a detection value of a strain gauge that detects a bending stress of the support member (9) or (10) The self-propelled inspection method for metal plates as described in (10).

  (12) An electromagnet is provided on the bottom surface of the flaw detection head, detects a deviation between the target position and the self position of the inspection apparatus or a target control pattern and the actual result, and controls the magnetic force of the electromagnet according to the detected amount. The self-propelled inspection method for metal plates according to any one of (9) to (11).

(13) A self-propelled inspection for a metal plate in which the self-propelled inspection device for a metal plate is self-propelled on the metal plate based on the information from the position measuring means and inspects for the presence or absence of a defect existing on the surface of the metal plate or inside. A method,
It is equipped with a flaw detection head equipped with an ultrasonic flaw detection probe that inspects a metal plate on a carriage that drives at least two wheels that can be rotated forward and reverse by a drive unit,
An electromagnet is provided on the bottom surface of the flaw detection head,
Calculate the deviation between the position of the inspection device recognized by the position measuring means and the target position which is a separately provided inspection point, and forward, reverse and stop the wheels in the drive unit so that the deviation is minimized. Self-propelled for a metal plate, characterized by detecting a deviation between the target position of the inspection device and the self-position or a deviation of the target control pattern and the actual result, and controlling the magnetic force of the electromagnet according to the detected amount Expression inspection method.

  (14) The flaw detection head is supported by a support member, the support member is supported by the carriage via an elastic body, and the elastic body cancels the sliding resistance between the metal plate and the flaw detection head. The self-propelled inspection method for metal plates according to (12) or (13), which is characterized.

  (15) The metal plate self-propelled inspection method according to (14), wherein the displacement of the elastic body is detected by a detector, and the magnetic force of the electromagnet is controlled based on the detection value of the detector. .

(16) A self-propelled inspection device for a metal plate that self-propels on a metal plate and inspects for the presence or absence of a defect existing on or inside the metal plate, and a position measuring unit that measures the position of the inspection device. And an inspection system for measuring the metal plate by causing the inspection apparatus to self-run based on the position information measured by the position measuring means,
The inspection system has any one of the constitutions (1) to (8).

  (17) The inspection system according to (16), wherein the position measurement means is an indoor position measurement system that measures the position of the inspection apparatus in an indoor space based on the principle of triangulation.

  According to the present invention, the deviation between the position of the inspection apparatus recognized by the position measuring means and the target position which is the inspection point is calculated, and the forward rotation, reverse rotation, A control unit that gives a stop command and autonomously travels the inspection apparatus to a predetermined target position detects a change in weight of the inspection apparatus, or a sliding resistance between the metal plate and the flaw detection head, or both, Since the correction value obtained from the detected value is fed back to the command, the position control accuracy of the inspection apparatus can be increased. In addition, by detecting the deviation between the target position and the self position of the inspection device or the deviation between the target control pattern and the actual results, and controlling the magnetic force of the electromagnet according to the detected amount, the position control accuracy is high with respect to the target travel route. A self-propelled inspection apparatus for metal plates can be realized.

It is a perspective view which shows the 1st example of the test | inspection system containing the self-propelled test | inspection apparatus for metal plates. It is a perspective view which shows the 2nd example of the inspection system containing the self-propelled inspection apparatus for metal plates. It is a block diagram which shows the self-propelled inspection apparatus for metal plates which concerns on the 1st Embodiment of this invention. It is a side view which shows the main body of the self-propelled inspection apparatus for metal plates which concerns on the 1st Embodiment of this invention. It is a horizontal sectional view by the AA line which shows the main part of the self-propelled inspection device for metal plates concerning a 1st embodiment of the present invention. It is a front view which shows the main body of the self-propelled inspection apparatus for metal plates which concerns on the 1st Embodiment of this invention. It is sectional drawing which expands and shows the drive part of the trolley | bogie used for the self-propelled inspection apparatus for metal plates which concerns on the 1st Embodiment of this invention. It is explanatory drawing for demonstrating the steering pattern which determines the traveling direction of the self-propelled inspection apparatus for metal plates. It is explanatory drawing for demonstrating the difference in the speed pattern by the main body weight in the case of controlling the main body of the self-propelled inspection device for metal plates to the target point when the stepping motor is adopted as the wheel driving motor and the turning motor. is there. It is a block diagram which shows the self-propelled inspection apparatus for metal plates which concerns on the 2nd Embodiment of this invention. It is a side view which shows the main body of the self-propelled inspection apparatus for metal plates which concerns on the 2nd Embodiment of this invention. It is a front view which shows the main body of the self-propelled inspection apparatus for metal plates which concerns on the 2nd Embodiment of this invention. When the stepping motor is used as the wheel driving motor and the turning motor, the difference in speed pattern depending on the presence or absence of sliding resistance when controlling the body of the metal plate self-propelled inspection device to the target point is described. It is explanatory drawing. It is a block diagram which shows the self-propelled inspection apparatus for metal plates which concerns on the 3rd Embodiment of this invention. It is a side view which shows the main body of the self-propelled inspection apparatus for metal plates which concerns on the 3rd Embodiment of this invention. It is a front view which shows the main body of the self-propelled inspection apparatus for metal plates which concerns on the 3rd Embodiment of this invention. Explanation for explaining the difference in speed pattern depending on the presence or absence of magnetic force control when the main body of the self-propelled inspection device for metal plate is controlled to the target point when the stepping motor is adopted as the wheel driving motor and the turning motor. FIG. It is a figure for demonstrating the prior art.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.
<Inspection system including self-propelled inspection device for metal plate>
First, an inspection system including the metal plate self-propelled inspection device according to the present invention will be described.
FIG. 1 is a perspective view showing a first example of an inspection system including a self-propelled inspection device for a metal plate, and FIG. 2 is a perspective view showing a second example of an inspection system including a self-propelled inspection device for a metal plate. is there.

  As shown in FIG. 1, in the first example, the inspection system 100 includes an indoor position measurement system 200 as position measurement means, and a self-propelled inspection device 300 for metal plates (hereinafter referred to as an inspection device 300). Have.

  The indoor position measurement system 200 used in this example performs self-position measurement in an indoor space based on the principle of triangulation. Specifically, the indoor position measurement system 200 includes a plurality of navigation transmitters 11 installed indoors, a navigation receiver 12, and a host computer 13 including position calculation software.

  The inspection device 300 is self-propelled on a metal plate to inspect for the presence or absence of defects on the surface or inside of the metal plate, and a carriage 14 having wheels and a drive unit, and an inspection sensor provided on the carriage 14 The inspection device 15 including the flaw detection head 35 and the ultrasonic flaw detector 32 provided with the ultrasonic probe and the control system for autonomously traveling the inspection apparatus main body to a predetermined target position provided separately. . The control system has an on-board computer 21. The host computer 13 also functions as part of this control system. Other than the inspection device 15 and the host computer 13 of the control system are mounted on the carriage 14 and constitute an inspection device 300. The detailed configuration of the inspection apparatus 300 will be described later.

  For example, an IGPS (Indoor Global Positioning System) can be applied to the indoor position measurement system 200. IGPS is an application of a satellite navigation system (GPS: Global Positioning System) to an indoor position measurement system. IGPS is described in detail in US Pat. No. 6,501,543.

  When IGPS is applied to the indoor position measurement system 200, each navigation transmitter 11 emits a rotating fan beam (fan beam). The rotating fan beam may be a laser fan beam or other light emitting means. The navigation receiver 12 receives the rotating fan beam emitted from the transmitter. At this time, the rotating fan beam is deviated by a predetermined angle, and the three-dimensional coordinate value (hereinafter referred to as “coordinate value”), that is, the position or height of the receiver that receives the rotating fan beam can be measured. The reception information received by the navigation receiver 12 is wirelessly transmitted to the host computer 13, and the host computer 13 calculates the position of the navigation receiver 12 according to the principle of triangulation. By using the signals received from the plurality of transmitters 11 and repeating the calculation, it is possible to obtain the position information of the traveling inspection apparatus 300 equipped with the navigation receiver 12 in real time.

  On the other hand, as shown in FIG. 2, in the second example, the inspection system 100 ′ includes an indoor position measurement system 200 ′ having a configuration different from that of the first example, and an inspection apparatus 300.

  The indoor position measurement system 200 ′ is an indoor position measurement system that performs self-position measurement in an indoor space based on the principle of triangulation. Contrary to the first example, a navigation transmitter is provided on the inspection apparatus 300 side. Is installed. An example of this is laser triangulation technology mounted on a cleaning robot that autonomously runs inside an office building (see, for example, http://robonable.typepad.jp/news/2009/11/25subaru.html) . Specifically, the indoor position measurement system 200 ′ in this example includes a navigation transmitter 12 ′ installed in the main body of the inspection apparatus 300, a plurality of reflectors 11 ′ installed indoors, and position calculation software. And a host computer 13 including the same.

  In this example, the inspection apparatus 300 having the same configuration as that of the first example is used. That is, also in this example, the inspection apparatus 300 includes a carriage 14 that travels on the metal plate 10, and a flaw detection head 35 that is provided on the carriage 14 and includes an ultrasonic probe that is an inspection sensor, and an ultrasonic flaw detector. 32, and a control system for causing the main body to autonomously travel to a predetermined target position.

  In this example, the navigation transmitter 12 ′ of the indoor position measurement system 200 ′ is configured to perform laser triangulation, and the navigation transmitter 12 ′ is provided in the upper part of the inspection apparatus 300 to project and receive a laser. It has a function. Then, the 360 ° laser L is projected from the navigation transmitter (laser triangulation) 12 ′ onto the horizontal plane, the reflected light from the reflector 11 ′ is received, and the inspection device 300 is measured from the time until the reflected light returns. The position and direction of the inspection apparatus 300 are calculated by recognizing the distance to each reflector 11 ′ and the direction of each reflector 11 ′ from the angle of reflected light and comparing them with the coordinate positions of the reflectors registered in advance. It becomes possible.

  As the position measurement means, a device that performs self-position measurement in an indoor space based on the principle of triangulation represented by the first example and the second example can be preferably used, but is not limited thereto. It is not a thing.

<Self-propelled inspection apparatus for metal plates according to the first embodiment>
Next, the inspection apparatus 300 according to the first embodiment of the present invention will be described.

  3 is a block diagram showing the inspection apparatus 300 according to the first embodiment of the present invention, FIG. 4 is a side view of the inspection apparatus 300, FIG. 5 is a horizontal sectional view of the inspection apparatus 300 taken along line AA, FIG. FIG. 7 is a front view of the inspection apparatus 300, and FIG.

  In the present embodiment, as described above, the inspection apparatus 300 uses the carriage 14, the inspection device 15 including the flaw detection head 35 provided with the ultrasonic probe and the ultrasonic flaw detector 32, and the inspection apparatus 300 as a predetermined target. And a control system for autonomously traveling to the position. Further, as shown in the block diagram of FIG. 3, the inspection apparatus 300 includes an edge detection sensor 22 that detects an edge of the metal plate 10, an IO board 23, a scanning actuator 24, a controller and a driver, and includes a control system. A drive control unit 25, a water tank 34 as water supply means, a residual water amount sensor 44 for measuring the residual water amount in the water tank 34, and an amplifier 45 for amplifying a signal from the residual water amount sensor 44, These are mounted on the carriage 14. The IO board 23 guides signals from the edge detection sensor 22 and the amplifier 45 to the on-board computer 21. Further, the carriage 14 includes a traveling wheel 26 and a wheel motor 27 for driving and turning the wheel.

  As shown in FIG. 3, the host computer 13 that also functions as a part of the control system is the position of the navigation receiver 12 of the indoor position measurement system 200 or the navigation transmitter 12 ′ of the indoor position measurement system 200 ′ described above. Current position calculation software 16, and setting / evaluation software 17 for setting target inspection positions and route information, and for evaluating inspection data and inspection position information from the on-board computer 21. Note that the control system of the inspection apparatus 300 may be controlled only by the on-board computer 21 without using the host computer 13.

  The inspection apparatus 300 has two functions: a function of autonomously traveling along the target route and a function of inspecting the metal plate 10.

  With respect to the former function, the on-board computer 21, the drive control unit 25, the wheel 26, and the wheel motor 27 are responsible based on information from position measuring means such as the illustrated indoor position measuring system 200 or 200 '. That is, the position information of the inspection apparatus 300 and the information regarding the target inspection position, which are the calculation results in the host computer 13 described above, are wirelessly transmitted to the onboard computer 21 by wireless communication, and the onboard computer 21 has a deviation of the current position from the target inspection position. Is calculated. A control signal such as a speed command is output from the drive control unit 25 to the wheel motor 27 so that a deviation depending on the position of the inspection apparatus 300 among the deviations becomes zero, and the speed and steering angle feedback of the wheels 26 are output. By performing control, autonomous traveling along the target traveling route is performed. The onboard computer 21 obtains a change in the weight of the inspection device 300 based on the amount of remaining water in the water tank 34 detected by the remaining water amount sensor 44, and feeds it back to a control parameter related to the travel control of the main body. adjust.

  Regarding the latter function, an inspection device 15 including a flaw detection head 35 provided with an ultrasonic probe that is in contact with the metal plate 10, a scanning actuator 24 for scanning the flaw detection head 35 in the horizontal direction, and an on-board computer 21 and the drive control part 25 bear. That is, the necessary scanning amount of the scanning actuator 24 that scans the flaw detection head 35 including the ultrasonic probe that is a component of the inspection device 15 is calculated from the target inspection position and the current position information from the host computer 13 in the onboard computer 21. Then, the drive control unit 25 scans the scanning actuator 24 by the necessary scanning amount. The position information of the scanning actuator 24 is fed back to the onboard computer 21 and is calculated as inspection position information together with the current position information. Inspection data from the inspection device 15 is taken into the on-board computer 21 from the inspection device via the IO board 23 and wirelessly transmitted to the host computer 13 together with the inspection position information. At this time, the position of the flaw detection head 35 may be controlled with respect to the scanning actuator 24 in conjunction with the control of causing the inspection apparatus 300 to autonomously travel, or the position of the flaw detection head 35 may be independent of the autonomous traveling of the inspection apparatus 300. You may control.

  Next, a specific configuration of the main body of the inspection apparatus 300 will be described with reference to FIGS.

  The inspection apparatus 300 is divided into an upper stage part 301a, a middle stage part 301b, and a lower stage part 301c.

  In addition to the on-board computer 21 and the IO board 23, an ultrasonic flaw detector 32 and a wireless communication unit 33 that form part of the inspection device 15, and an amplifier 45 are mounted on the upper stage 301a. Further, the navigation receiver 12 of the position measurement system 200 or the navigation transmitter 12 ′ of the position measurement system 200 ′ is attached to the upper stage 301a.

  The water tank 34 as the water supply means described above is mounted on the middle stage 301b. When inspecting the metal plate 10 by ultrasonic flaw detection, it is necessary to always fill the space between the flaw detection head 35 and the metal plate 10 with water, so that a water supply hose (not shown) is supplied from the water tank 34. Through this, water is constantly supplied between the flaw detection head 35 and the metal plate 10. The water tank 34 is provided with a residual water amount sensor 44 that measures the residual water amount in the water tank 34. In the illustrated example, a float type level meter is used as the residual water amount sensor 44. However, the residual water amount sensor 44 is not limited to the float type level meter and is generally used as an ultrasonic type, a capacitance type, a pressure type, or the like. Can be used.

  A driving wheel 26 and a driving motor 27a and a turning motor 27b as the wheel motor 27 are attached to the lower stage portion 301c. Further, an edge detection sensor 22 and a flaw detection head 35 forming a part of the inspection device 15 are attached around the lower step portion 301c. Further, an edge detection sensor controller 37 and a battery 38 are mounted on the lower stage 301c.

  The flaw detection head 35 has an ultrasonic probe as an inspection sensor. The flaw detection head 35 is attached to a vertical arm 39 via a flaw detection head support mechanism 36, and the vertical arm 39 is a vertical rail 40. Along the vertical direction. Further, the vertical arm 39 is attached to a horizontal rail 42 by a mounting portion 41, and the horizontal rail 42 is provided with a horizontal scanning shaft 43 provided in the inspection apparatus 300 by a scanning actuator 24 (not shown in FIGS. 4, 5, and 6). Is scanned along. At the time of inspection, the flaw detection head 35 is scanned while being in contact with the metal plate 10.

  The edge detection sensor 22 is constituted by, for example, an eddy current sensor, and thereby detects a plate edge when the inspection apparatus 300 is autonomously traveling on the metal plate 10, and the inspection apparatus 300 detects the metal plate 10. Prevent falling from. At the same time, the edge detection sensor 22 is used as a sensor for traveling along the plate edge during flaw detection of the plate edge. For example, as shown in FIG. 5, two edge detection sensors 22 are installed on the same side as the flaw detection head 35 on the side where the flaw detection head 35 is installed. By controlling the traveling direction of the inspection apparatus 300 so that the detection sensor 22 always detects the plate end, the inspection along the plate end is possible. Similarly, two edge detection sensors 22 are also arranged on the side where the flaw detection head 35 is not installed. The edge detection sensor 22 is not limited to the eddy current sensor, and other sensors such as a laser sensor can be used. The number to be installed is not limited to two on each side, and may be increased or decreased as appropriate.

  Four wheels 26 are installed at the bottom of the carriage 14 so as to be capable of turning 90 ° or more with respect to the horizontal plane.

  The drive unit 50 drives each wheel independently, and is provided for each wheel. As shown in FIG. 7, each of the drive units 50 is a wheel motor 27 and a turning motor for steering. And a motor 27b. A pinion gear 51 is attached to the shaft of the turning motor 27b for steering, and the pinion gear 51 is meshed with a rack gear 53 on the outer periphery of the steering turntable 52.

  A housing (not shown) of a wheel drive motor 27a is mounted on the steering turntable 52, and an output rotation shaft 54 of a reduction gear of the wheel drive motor 27a passes through the steering turntable 52 and moves downward. It extends. A first cross shaft gear 55 is coupled to the lower end of the output rotation shaft 54. A second cross shaft gear 56 is engaged with the first cross shaft gear 55, and the second cross shaft gear 56 is coupled to a shaft member 57 of the wheel 26. The shaft member 57 is rotatably supported by a suspension structure 58 that extends downward from the steering turntable 52.

  Accordingly, the wheels 26 are rotated by the drive motor 27a, and the wheels 26 are turned together with the steering turntable 52 and the suspension structure 58 by the turning motor 27b. The wheel drive motor 27a can rotate the wheel forward and backward. The turning motor 27b can turn 90 ° or more around an axis that is offset toward the center of the carriage with respect to the wheel 26.

  As a steering pattern for determining the traveling direction of the inspection apparatus 300, a pattern as shown in FIG. FIG. 8A shows a left-right movement, FIG. 8B shows an oblique movement, FIG. 8C shows a back-and-forth movement, and FIG. Note that the super-spinning turning means that a vehicle having a crawler, such as a hydraulic excavator or a tank, moves in the opposite direction at the same speed on the left and right crawlers and rotates on the spot without moving. This refers to changing the direction, but it can be realized even when there are no tracks and only a plurality of wheels.

  Next, an inspection operation in the inspection apparatus 300 according to the first embodiment will be described.

  When inspecting the metal plate 10, the inspection apparatus 300 configured as described above is run on the metal plate 10 in accordance with a predetermined inspection pattern.

  At this time, the position information of the inspection apparatus 300 and the information related to the target inspection position, which are the calculation results in the host computer 13, are wirelessly transmitted to the onboard computer 21 by wireless communication, and the onboard computer 21 calculates the deviation of the current position from the target inspection position. Calculate. A control signal such as a speed command is output from the drive control unit 25 to the wheel motor 27 so that the deviation depending on the position of the inspection apparatus 300 among the deviations becomes zero, so that the forward rotation / reverse rotation / stop of the wheels 26 is performed. And autonomously traveling along the target travel route by performing feedback control of the speed of the wheel 26 and the steering angle.

  Then, the metal plate 10 is inspected by the inspection device 15 including the flaw detection head 35 provided with an ultrasonic probe that is in contact with the metal plate 10 for inspection. At this time, the flaw detection head 35 is scanned by the scanning actuator 24 as necessary. At this time, the on-board computer 21 calculates the required scanning amount of the scanning actuator 24 that scans the flaw detection head 35 from the target inspection position and the current position information from the host computer 13, and the drive control unit based on the calculation result 25, the scanning actuator 24 is scanned, the position information of the scanning actuator 24 is fed back to the on-board computer 21, and is calculated as inspection position information together with the current position information.

  As a specific inspection pattern, for example, first, flaw detection on the four peripheries (peripheral portions) of the metal plate is performed, and then flaw detection on the inner portion other than the four peripheries is performed at a predetermined pitch.

  In the flaw detection around the four sides of the metal plate, the two edge detection sensors 22 provided so as to be on the same line as the flaw detection head 35 always run while controlling the traveling direction of the apparatus so as to detect the plate end. Perform an inspection. At this time, the flaw detection head 35 is set at a predetermined position by the scanning actuator 24 based on the target inspection position and the inspection path. In this way, when the plate edge on one side is being flawed, if the plate edge position ahead in the running direction approaches, the inspection apparatus 300 starts to decelerate and is installed in front of the inspection apparatus 300. When the two edge detection sensors 22 detect the edge of the metal plate 10, the inspection apparatus 300 is temporarily stopped. Subsequently, the flaw detection head 35 is moved by the scanning actuator 24 until it reaches the plate end position. The turning motor 27b is driven in a state where the inspection apparatus 300 is stopped, and the wheels 26 are steered so as to be in a direction orthogonal to the traveling direction so far. And the inspection apparatus 300 is advanced, and the board edge of the next side is similarly inspected. Thereafter, these operations are repeated until a predetermined four-round flaw detection is completed.

  The inner portion other than the four periphery of the metal plate 10 does not depend on the plate edge, and the inspection is performed based on the above-described target inspection position and inspection path. As the inspection path, for example, the inspection apparatus 300 is first moved in the rolling direction, and when it reaches a predetermined position, it is fed at a predetermined pitch in a direction orthogonal to the rolling direction, and further moved in the direction opposite to the rolling direction. Can be mentioned. At this time, the scanning amount of the scanning actuator 24 is determined according to the target inspection position and the inspection path, and the flaw detection head 35 is moved to a predetermined position based on the determined scanning amount. Then, ultrasonic inspection of the metal plate 10 is performed by the ultrasonic probe constituting the flaw detection head 35 while the inspection apparatus 300 is autonomously traveling.

  The inspection data obtained by the inspection as described above is sent to the mounting computer 21 via the IO board 23, and the mounting computer 21 wirelessly transmits the inspection data together with the inspection position information to the host computer 13.

  In this way, when the metal plate 10 is inspected by ultrasonic flaw detection while the inspection apparatus 300 is running, it is necessary to always fill the space between the flaw detection head 35 and the metal plate 10 with water as described above. A water tank 34 as a water supply means is provided in the middle stage 301b of the inspection apparatus 300, and water is constantly supplied from the water tank 34 to the flaw detection head 35 and the metal plate 10 via a water supply hose. For this reason, immediately after the start of inspection and immediately before the end of inspection, the amount of water remaining in the water tank 34 changes according to the amount of water supplied, and accordingly, the weight of the main body of the inspection apparatus 300 also changes. Becomes a control disturbance.

  As the wheel driving motor 27a and the turning motor 27b constituting the wheel motor 27, the torque in the low speed region is large and inexpensive, and the apparatus can be made compact. A motor is used.

  FIG. 9 is an explanatory diagram for explaining a difference in speed pattern due to the weight of the main body when the stepping motor is employed as the wheel driving motor 27a and the turning motor 27b when the inspection apparatus 300 is controlled to a target point. . FIG. 9A shows a case where water is not present in the water tank 34, and FIG. 9B shows a case where water is present in the water tank 34.

  As described above, the drive control unit 25 sends a speed command to the wheel motor 27 so that the deviation of the position of the main body (cart 14) of the inspection apparatus 300 from the target inspection position calculated in the onboard computer 21 becomes zero. In accordance with this speed command, the motor generates torque according to the voltage and frequency characteristics unique to the motor. At this time, as shown in FIG. 9A, due to the influence of the device weight, that is, the inertial force, the actual travel speed pattern is delayed or overshooted with respect to the speed command at both acceleration and deceleration. Since the deviation in speed becomes the deviation of the self position from the target position, in order to minimize the deviation, the timing of the speed command is changed earlier by Δt in consideration of the delay, or the acceleration in the speed command is changed by Δα. Tuning is necessary.

  When water is present in the water tank 34, the weight (self-weight) of the inspection apparatus 300 is greater than when water is not present in the water tank 34. Therefore, as shown in FIG. The pattern is different from the traveling pattern of FIG. 9A in which no water is present in the water tank 34. That is, an increase in the weight of the main body of the inspection apparatus 300 means an increase in inertial force, thereby reducing the acceleration at the start (acceleration) and stop (deceleration). For this reason, when the parameter adjustment related to the traveling control of the inspection apparatus 300 is performed on the basis of a certain weight, there is a problem that it becomes difficult to reach a predetermined target position due to a difference in its own weight.

  Therefore, in the present embodiment, a remaining water amount sensor 44 for detecting the remaining water amount in the water tank 34 is provided, and a signal from the remaining water amount sensor 44 is taken into the mounted computer 21 via the amplifier 45 and the IO board 23, The parameter relating to the speed command given to the drive control unit 25 by the on-board computer 21 is automatically adjusted.

  In the present embodiment, a float type level meter is employed as the residual water amount sensor 44. The float type level meter is based on the principle that the float moves up and down in the water tank based on the principle of buoyancy, and the reed switch is activated by the magnet in the float and outputs a detection signal. Even so, it becomes possible to measure the amount of residual water, that is, the weight of the main body with an accuracy of ± 10%.

  If the initial speed of the main body of the inspection apparatus 300 is v1, the speed after the time Δt is v2, and the main body weight (mass) is m, if all loads applied to the inspection apparatus during measurement are Fa, = A change in momentum ", Fa [Delta] t = mv2-mv1 holds, and the time [Delta] t required to stop the apparatus from the running state (v1) (v2 = 0) is proportional to the body weight m. Therefore, in the present embodiment, a control is adopted in which the timing of the speed command is changed by Δt (= m · β), which is a value obtained by multiplying the main body weight m calculated based on the measured tank residual water amount by the tuning parameter β. . It should be noted that the tuning parameter β may be determined through several trial runs in which the road surface condition is changed so that the deviation between the target position and the self position is minimized.

  In actual control, for example, based on the state where the water tank 34, which is the initial state of the inspection start, is full, the timing of the speed command is changed by changing the body weight m corresponding to the decrease in the water accompanying the progress of the inspection. Implement control to change

  Thus, according to this embodiment, since the timing of the speed command is controlled by taking into account the change in the weight of the main body of the inspection apparatus 300 accompanying the change in the amount of water in the water tank 34, the inspection system 100 with high position control accuracy. Can be realized. In particular, since the stepping motor employs an open loop method as a control method, the effect of such control is great.

<Self-propelled inspection apparatus for metal plates according to the second embodiment>
FIG. 10 is a block diagram showing an inspection apparatus 300 according to the second embodiment of the present invention, FIG. 11 is a side view of the inspection apparatus 300, and FIG. 12 is a front view of the inspection apparatus 300.

  As shown in FIG. 10, the inspection apparatus 300 according to the present embodiment is basically configured in the same manner as in the first embodiment. However, instead of the remaining water amount sensor 44 and the amplifier 45, a sliding resistance measurement sensor. 46 and the dynamic distortion amplifier 47 are different from the first embodiment. The sliding resistance sensor 46 detects a sliding resistance generated between the flaw detection head 35 and the metal plate 10 when the flaw detection head 35 slides in contact with the metal plate 10. A gauge can be used. The dynamic strain amplifier 47 amplifies the signal from the sliding resistance sensor 46 and guides it to the mounted computer 21 via the IO board 23.

  As shown in FIGS. 11 and 12, the sliding resistance measuring sensor 46 is a strain gauge provided so as to be attached to a vertical arm 39 for supporting a flaw detection head 35 equipped with an ultrasonic probe on a carriage. The bending stress (strain) generated according to the sliding resistance when the flaw detection head 35 slides in contact with the metal plate 10 is measured. The dynamic strain amplifier 47 is mounted on the upper stage 301a of the inspection apparatus 300. In this example, a strain gauge is used as the sliding resistance measurement sensor 46. However, the present invention is not limited to this, and a capacitive force sensor or the like can also be used. Moreover, although the example which provided the strain gauge as the sensor 46 for sliding resistance in one vertical arm 39 was shown, you may provide in both the vertical arms 39, and it is sufficient if it is at least one. Moreover, you may provide in the other position which can detect sliding resistance.

  In the present embodiment, as in the first embodiment, the inspection device 300 has two functions: a function of autonomously traveling along the target route and a function of inspecting the metal plate 10. As for the former function, the position information of the inspection apparatus 300 and the information regarding the target inspection position, which are the calculation results in the host computer 13, are wirelessly transmitted to the onboard computer 21, and the onboard computer 21 calculates the deviation of the current position from the target inspection position. The autonomous traveling along the target traveling route is performed so that the deviation depending on the position of the inspection apparatus 300 among the deviations becomes zero. In addition, the on-board computer 21 obtains the sliding resistance between the flaw detection head 35 and the metal plate 10 by the sliding resistance measuring sensor 46, feeds back to the control parameters related to the traveling control of the main body, and automatically adjusts the control parameters. . The latter function is the same as that of the first embodiment.

  In the inspection apparatus 300 according to the second embodiment configured as described above, the position information of the inspection apparatus 300 itself is acquired and the target inspection position and the inspection path (inspection pattern) are obtained as in the first embodiment. After the setting, the inspection apparatus 300 is run on the metal plate 10 according to the inspection pattern, and the metal plate 10 is inspected.

  As described above, when the metal plate 10 is inspected by ultrasonic flaw detection while the inspection apparatus 300 is running, a sliding resistance is generated between the metal plate 10 to be inspected and the flaw detection head 35. The sliding resistance changes depending on the roughness of the steel sheet surface and the state of rust caused by differences in the type of metal plate and the manufacturing process, and this sliding resistance becomes a disturbance of control. .

  As in the first embodiment, since stepping motors are used as the wheel driving motor 27a and the turning motor 27b constituting the wheel motor 27, the sliding resistance between the metal plate 10 and the flaw detection head 35 is used. This affects the control and makes high-speed and high-precision positioning difficult.

  FIG. 13 is a diagram for explaining the difference in speed pattern depending on the presence or absence of sliding resistance when the stepping motor is used as the wheel driving motor 27a and the turning motor 27b when the inspection apparatus 300 is controlled to a target point. FIG. FIG. 13A shows a case where sliding resistance does not act, and FIG. 13B shows a case where sliding resistance acts.

  As described above, the drive control unit 25 sends a speed command to the wheel motor 27 so that the deviation of the position of the main body (cart 14) of the inspection apparatus 300 from the target inspection position calculated in the onboard computer 21 becomes zero. In accordance with this speed command, the motor is caused to generate torque corresponding to the voltage and frequency characteristics unique to the motor. At this time, as shown in FIG. 13A, due to the influence of the device weight, that is, the inertial force, the actual traveling speed pattern is delayed or overshooted with respect to the speed command both during acceleration and deceleration. Since the deviation in speed becomes the deviation between the target position and the self position, in order to minimize the deviation, the timing of the speed command is changed earlier by Δt in consideration of the delay, or the acceleration in the speed command is changed by Δα. Tuning is necessary.

  When the sliding resistance acts, as shown in FIG. 13 (b), the traveling speed of the inspection apparatus 300 is different from the traveling speed pattern of FIG. 13 (a) where the sliding resistance does not act. That is, since the direction in which the sliding resistance acts is opposite to the traveling direction of the inspection apparatus 300, the inspection apparatus 300 is always in the same state as the brake is acting, and the acceleration at the start of movement (acceleration) decreases. However, the acceleration at the stop (deceleration) increases. For this reason, when the parameter adjustment related to the traveling control of the inspection apparatus 300 is performed on the assumption that the sliding resistance does not act, it becomes difficult to reach the predetermined target position due to the generation of the sliding resistance. The problem arises.

  Therefore, in the present embodiment, a sliding resistance measurement sensor 46 is provided, and a signal from the sliding resistance measurement sensor 46 is taken into the mounted computer 21 via the dynamic strain amplifier 47 and the IO board 23 mounted on the apparatus, The parameter relating to the speed command given to the drive control unit 25 by the on-board computer 21 is automatically adjusted.

  In the present embodiment, a strain gauge attached to a vertical arm 39 that connects the flaw detection head 35 having an ultrasonic probe and the carriage 14 is used as the sliding resistance measurement sensor 46. When the vertical arm 39 is considered as a beam, the beam is bent due to the sliding resistance acting on the tip of the vertical arm 39. Therefore, the bending stress generated according to the sliding resistance by the strain gauge attached to the vertical arm 39 ( Distortion) can be measured.

  Assuming that the initial speed of the main body of the inspection apparatus 300 is v1, the speed after the sliding load Fb is added for the time Δt is v2, and the weight (mass) of the main body is m, FΔt = μFbΔt = mv2−mv1 is established, and the time Δt required to stop the apparatus from the running state (v1) (v2 = 0) is inversely proportional to the sliding load Fb. For this reason, in the present embodiment, control for changing the timing of the speed command by Δt (= 1 / Fb · γ), which is a value obtained by multiplying the reciprocal of the measured sliding load F by the tuning parameter γ, is employed. Note that the tuning parameter γ may be determined through several trial runs in which the road surface condition is changed so that the deviation between the target position and the self position is minimized.

  As described above, according to the present embodiment, since the timing of the speed command is controlled in consideration of the sliding resistance between the metal plate 10 to be inspected and the flaw detection head 35, the inspection system 100 with high position control accuracy. Can be realized.

<Self-propelled inspection apparatus for metal plates according to the third embodiment>
FIG. 14 is a block diagram showing an inspection apparatus 300 according to the third embodiment of the present invention, FIG. 15 is a side view of the inspection apparatus 300, and FIG. 16 is a front view of the inspection apparatus 300.

  As shown in FIG. 14, the inspection apparatus 300 according to the present embodiment is basically configured similarly to the second embodiment. However, instead of the sliding resistance measurement sensor 46 and the dynamic strain amplifier 47, the inspection apparatus 300 is elastic. The point which has the body 48 and the electromagnet 49 differs from 2nd Embodiment. The elastic body 48 is for reducing or eliminating the sliding resistance generated between the flaw detection head 35 and the metal plate 10 when the flaw detection head 35 slides in contact with the metal plate 10. Springs can be used. The electromagnet 49 generates a controllable magnetic force with respect to the metal plate 10 when supplied with current. When the displacement of the elastic body 48 is used for control, it is preferable to install a displacement sensor 48 ′ that can measure the deformation amount of the elastic body 48.

  As shown in FIGS. 15 and 16, the elastic body 48 is basically installed between the support mechanism 36 of the flaw detection head 35 having an ultrasonic probe and the vertical arm 39 for supporting the flaw detection head 35. The sliding resistance is reduced or eliminated by deformation when sliding in contact with the metal plate 10. The electromagnet 49 is basically installed on the bottom surface of the flaw detection head 35. In this example, a general spring is used as the elastic body 48. However, the present invention is not limited to this, and rubber or the like can also be used. Moreover, although the example which provided the spring as the elastic body 48 in one vertical arm 39 was shown, you may provide in both the vertical arms 39, and should just be at least one. Moreover, you may provide in the other position which can adjust sliding resistance. Further, although the displacement sensor 48 'is used to detect the displacement of the elastic body 48, a small force sensor (load cell) that can directly measure the load may be used.

  In the present embodiment, as in the first and second embodiments, the inspection apparatus 300 has two functions: a function of autonomously traveling along the target route and a function of inspecting the metal plate 10. As for the former function, the position information of the inspection apparatus 300 and the information regarding the target inspection position, which are the calculation results in the host computer 13, are wirelessly transmitted to the onboard computer 21, and the onboard computer 21 calculates the deviation of the current position from the target inspection position. The autonomous traveling along the target traveling route is performed so that the deviation depending on the position of the inspection apparatus 300 among the deviations becomes zero. Further, the on-board computer 21 detects a deviation between the target position and the self position of the inspection apparatus or a deviation between the target control pattern and the actual result, and controls the magnetic force of the electromagnet according to the detected amount, and at the same time relates to the traveling control of the main body. Feedback to the control parameters to automatically adjust the control parameters. The latter function is the same as in the first and second embodiments.

  In the inspection apparatus 300 according to the third embodiment configured as described above, as in the first and second embodiments, the position information of the inspection apparatus 300 itself is acquired, and the target inspection position and the inspection path (inspection path) are obtained. After setting the pattern, the inspection apparatus 300 is run on the metal plate 10 according to the inspection pattern, and the metal plate 10 is inspected.

  As described above, when the metal plate 10 is inspected by ultrasonic flaw detection while the inspection apparatus 300 is running, sliding resistance is generated between the metal plate 10 to be inspected and the flaw detection head 35 as described above. The sliding resistance varies depending on the roughness of the steel sheet surface and the state of rust caused by the type of metal plate and the manufacturing process. Become.

  As in the second embodiment, since stepping motors are used as the wheel driving motor 27a and the turning motor 27b constituting the wheel motor 27, the sliding resistance between the metal plate 10 and the flaw detection head 35 is used. This affects the control and makes high-speed and high-precision positioning difficult.

  FIG. 17 illustrates the difference in speed pattern depending on the presence or absence of electromagnet magnetic force control when the inspection device 300 is controlled to a target point when stepping motors are employed as the wheel driving motor 27a and the turning motor 27b. It is explanatory drawing. FIG. 17A shows the case where there is no magnetic force control, and FIG. 17B shows the case where there is magnetic force control.

  As described above, the drive control unit 25 sends a speed command to the wheel motor 27 so that the deviation of the position of the main body (cart 14) of the inspection apparatus 300 from the target inspection position calculated in the onboard computer 21 becomes zero. In accordance with this speed command, the motor is caused to generate torque corresponding to the voltage and frequency characteristics unique to the motor. At this time, as shown in FIG. 17 (a), due to the influence of the device's own weight, that is, the inertial force, the actual traveling speed pattern has a delay or overshoot with respect to the speed command both during acceleration and deceleration. Issue a speed command that takes into account the control delay and overshoot in the speed pattern that you want to achieve. As a result, the actual speed pattern is close to the ideal pattern, but perfect matching is difficult, and the speed deviation is the deviation between the target position and the self-position, so finer to minimize the deviation Tuning is required such that the timing of the speed command is changed earlier by Δt in consideration of the delay in the cycle, or the acceleration in the speed command is changed by Δα. However, as shown in FIG. 17A, there is a case where a speed pattern that is originally desired cannot be obtained.

  When there is a magnetic force control, as shown in FIG. 17B, the traveling speed of the inspection apparatus 300 is different from the traveling speed pattern of FIG. 17A without the magnetic force control. That is, the addition of magnetic force is equivalent to increasing the sliding resistance, and the direction in which the sliding resistance acts is opposite to the traveling direction of the inspection apparatus 300, so that the brake is acting on the inspection apparatus 300. It becomes the same state, the acceleration at the start of movement (acceleration) can be decreased, and the acceleration at the stop (deceleration) can be increased. For this reason, on condition that there is no magnetic force control, when the parameter adjustment related to the traveling control of the inspection apparatus 300 is performed, the magnetic force equivalent to the sliding resistance is finely controlled to match the predetermined target pattern. Will be able to.

  At this time, the sliding resistance between the metal plate 10 and the flaw detection head 35 can be substantially canceled due to the presence of the elastic body 48, so that the sliding resistance can be controlled from almost zero to completely fixed by the magnetic force control by the electromagnet 49. it can.

Hereinafter, control using the displacement amount of the elastic body 48 detected by the displacement sensor 48 'will be described.
A signal from the displacement sensor 48 ′ is taken into the mounted computer 21 via the IO board 23, and parameters relating to the current command given to the electromagnet 49 and the speed command given to the drive control unit 25 by the mounted computer 21 are automatically adjusted.

  In this embodiment, a spring is incorporated in the vertical arm 39 connected to the flaw detection head 35 having an ultrasonic probe and the carriage 14 as the elastic body 48, and the deformation amount of the elastic body 48 can be measured at the same position. Since the displacement sensor 48 'is installed, the restoring force of the spring can be measured by the displacement sensor 48'.

  The sliding resistance F is expressed by F = μN (μ: friction coefficient, N: vertical drag). In consideration of the direction, there is a relationship of N = −Fb (Fb: sliding load). From these two equations, F = −μFb holds. Further, assuming that the electromagnetic force acting between the electromagnet and the metal plate is Fm, the spring coefficient of the elastic body is k, and the amount of change in length is Δl, Fb = Fm−kΔl and Δl = a · Fm (a: proportional constant) and Fb = Since the Fm (1-k · a) and the electromagnetic force Fm can be controlled by the coil current I, the sliding load Fb can be controlled, and thus the sliding resistance F can also be controlled. Assuming that the initial speed of the main body of the inspection apparatus 300 is v1, the speed v2 after the sliding load Fb is added for the time Δt, and the weight (mass) of the main body is m, FΔt = μFbΔt from “impact = change in momentum”. = Mv2-mv1 holds, and the time Δt required to stop the apparatus from the running state (v1) (v2 = 0) is inversely proportional to the sliding load Fb. For this reason, in the present embodiment, control for changing the timing of the speed command by Δt (= 1 / Fb · γ), which is a value obtained by multiplying the reciprocal of the sliding load F by the tuning parameter γ, is employed. Note that the tuning parameter γ may be determined through several trial runs in which the road surface condition is changed so that the deviation between the target position and the self position is minimized.

  Thus, according to the present embodiment, an inspection system with high position control accuracy by actively controlling the sliding resistance between the metal plate 10 to be inspected and the flaw detection head 35 from almost zero to complete adhesion. 100 can be realized.

<Self-propelled inspection apparatus for metal plates according to the fourth embodiment>
In the fourth embodiment, the inspection apparatus 300 is configured by combining two or more of the first to third embodiments.

  That is, both the residual water amount sensor 44 and the sliding resistance measurement sensor 46 are provided, taking into account both the weight change of the main body of the inspection apparatus 300 and the sliding resistance generated between the metal plate 10 and the flaw detection head 35. Thus, the timing of the speed command sent from the drive control unit 25 to the wheel motor 27 is controlled. Alternatively, after providing one or both of the residual water amount sensor 44 and the sliding resistance measurement sensor 46, an elastic body 48 and an electromagnet 49 are further provided, and a speed command sent from the drive control unit 25 to the wheel motor 27 is set. In addition to controlling timing, sliding resistance is directly controlled by magnetic force. Thereby, the position control accuracy of the inspection apparatus 300 can be further increased.

<Effects of Embodiment>
As described above, the deviation from the self position and the target position is calculated, and according to the deviation, normal rotation, reverse rotation, and stop of the wheel are instructed and the metal plate self-propelled inspection device is autonomously driven to the predetermined target position. In the first embodiment, the timing of the speed command is controlled in consideration of the change of its own weight, and in the second embodiment, it occurs between the metal plate to be inspected and the flaw detection head. Since the timing of the speed command is controlled in consideration of the sliding resistance, it is possible to realize a self-propelled inspection apparatus for metal plates that has high position control accuracy with respect to the target travel route. Furthermore, in the third embodiment, the deviation between the target position and the self position of the inspection apparatus or the deviation between the target control pattern and the actual results is detected, and the magnetic force of the electromagnet is controlled according to the detected amount, thereby providing the target travel route. On the other hand, it is possible to realize a self-propelled inspection device for metal plates with high position control accuracy.

  In addition, as the position measurement means, an indoor position measurement system (IGPS or laser triangulation) that performs self-position measurement in an indoor space based on the principle of triangulation is used. Without using it, the position and angle of the carriage on the metal plate can be recognized with high accuracy.

  Furthermore, based on the position information of the inspection apparatus itself measured in advance, the scanning pattern of the flaw detection head that scans the metal plate, and the inspection position and path corresponding to the predetermined pattern are determined, so that the scanning path is achieved. Since the actuator for determining the position of the flaw detection head with respect to the carriage and the target position of the carriage can be determined, various scanning patterns can be handled.

  Furthermore, the cart that travels on the metal plate surface has four wheels that can be rotated forward and backward, a drive unit is provided corresponding to each wheel, and a drive motor that rotates each wheel and a cart are provided. It is composed of a turning motor that can turn the wheel 90 ° or more around an axis that is perpendicular to the traveling metal plate surface and that is offset toward the center of the carriage with respect to the wheel. In addition, it is possible to move diagonally and horizontally while maintaining the direction of the front of the carriage, and further turn on the spot. Fine position adjustment is possible, and straightness with respect to the target travel route can be made extremely high.

  Furthermore, since an edge detection sensor for detecting the edge of the metal plate to be inspected is provided on the carriage traveling on the metal plate surface, the carriage is prevented from protruding from the metal plate and falling. When the edge of the plate is inspected, the inspection along the edge of the metal plate can be performed.

  Furthermore, it is possible to automatically detect flaws and internal defects on the surface of the metal plate in accordance with the product inspection standard of the metal plate, and it is necessary for the inspector to operate the flaw detection head to investigate the flaw on the surface of the metal plate. There is an advantage that it is freed from a fall accident on a metal plate sprayed with water.

<Other applications>
The present invention can be variously modified without being limited to the above embodiment. For example, in the said embodiment, although shown about the example which provided four wheels in the trolley | bogie, the number of wheels is not restricted to four, What is necessary is just two or more. Further, the position measuring means for measuring the position of the self-propelled inspection apparatus for metal plate itself is not limited to an indoor position measuring system that performs self-position measurement in an indoor space based on the principle of triangulation, for example, SLAM ( Other measuring means such as Simulaneous Localization and Mapping) can also be used. Furthermore, as an example of the computer constituting the control system of the self-propelled inspection apparatus for metal plates, an example using a host computer for carrying out cooperative control between the on-board computer mounted on itself and the position measuring means has been shown. Only the on-board computer may be used.

DESCRIPTION OF SYMBOLS 10 Metal plate 11 Navigation transmitter 11 'Reflector 12 Navigation receiver 12' Navigation transmitter 13 Host computer 14 Dolly 15 Inspection equipment 21 On-board computer 22 Edge detection sensor 24 Scan actuator 26 Wheel 27 Motor 27a Drive Motor 27b turning motor 34 water tank 35 flaw detection head (ultrasonic probe (inspection sensor))
44 Residual water sensor (float type level meter)
46 Sensor for sliding resistance measurement (strain gauge)
47 Dynamic strain amplifier 48 Elastic body 48 'Displacement sensor 49 Electromagnet 100, 100' Inspection system 200, 200 'Indoor position measurement system 300 Self-propelled inspection device for metal plate

Claims (17)

A self-propelled inspection device for a metal plate that self-propels on the metal plate based on information from the position measuring means and inspects for the presence or absence of defects existing on or inside the metal plate,
The inspection device includes at least two wheels capable of normal rotation and reverse rotation, and a carriage having a drive unit that drives the wheels;
A flaw detection head equipped with a probe for ultrasonic flaw detection mounted on a carriage and inspecting a metal plate,
Calculate the deviation between the position of the inspection device recognized by the position measuring means and the target position which is a separately provided inspection point, and forward, reverse and stop the wheels in the drive unit so that the deviation is minimized. And a control means for controlling the inspection apparatus to autonomously travel to a predetermined target position,
The control means detects a change in weight of the inspection apparatus, a sliding resistance between the metal plate and the flaw detection head, or both, and feeds back a correction value obtained from the detected value to the command. A self-propelled inspection apparatus for metal plates, characterized by comprising: The inspection apparatus has a water tank for supplying water between the flaw detection head and the metal plate,
The said control means has a residual water amount sensor which detects the residual water amount of the said water tank, calculates | requires the weight change of the said test | inspection apparatus from the detected value of the said residual water amount sensor, and calculates a correction value, The self-propelled inspection apparatus for metal plates according to 1.   The inspection apparatus includes a support member that supports the flaw detection head, and the control unit includes a strain gauge that detects a bending stress of the support member, and obtains the sliding resistance from a detection value of the strain gauge. 3. The self-propelled inspection device for a metal plate according to claim 1, wherein the correction value is calculated.   Further comprising an electromagnet provided on the bottom surface of the flaw detection head, the control means detects a deviation between the target position of the inspection device and the self position or a deviation between the target control pattern and the actual result, and the electromagnet of the electromagnet according to the detected amount. The self-propelled inspection apparatus for metal plates according to any one of claims 1 to 3, wherein magnetic force is controlled. A self-propelled inspection device for a metal plate that self-propels on the metal plate based on information from the position measuring means and inspects for the presence or absence of defects existing on or inside the metal plate,
The inspection device includes at least two wheels capable of normal rotation and reverse rotation, and a carriage having a drive unit that drives the wheels;
A flaw detection head equipped with a probe for ultrasonic flaw detection mounted on a carriage and inspecting a metal plate,
An electromagnet provided on the bottom surface of the flaw detection head;
Calculate the deviation between the position of the inspection device recognized by the position measuring means and the target position which is a separately provided inspection point, and forward, reverse and stop the wheels in the drive unit so that the deviation is minimized. And a control means for controlling the inspection apparatus to autonomously travel to a predetermined target position,
The control means detects the deviation between the target position and the self position of the inspection apparatus or the deviation between the target control pattern and the actual result, and controls the magnetic force of the electromagnet according to the detected amount. Inspection device.   It has a support member that supports the flaw detection head, and the support member is supported by the carriage via an elastic body, and the elastic body cancels the sliding resistance between the metal plate and the flaw detection head. The self-propelled inspection device for a metal plate according to claim 4 or 5.   The metal plate according to claim 6, further comprising a detector that detects a displacement of the elastic body, wherein the control unit controls a magnetic force of the electromagnet based on a detection value of the detector. Self-propelled inspection device.   8. The metal plate self-moving device according to claim 1, wherein the flaw detection head is movable back and forth along the traveling direction of the metal plate self-propelled inspection device. 9. Running inspection device. This is a self-propelled inspection method for metal plates in which a self-propelled inspection device for metal plates is self-propelled on the metal plate based on information from the position measuring means and inspects for the presence or absence of defects present on the surface of the metal plate or inside. And
It is equipped with a flaw detection head equipped with an ultrasonic flaw detection probe that inspects a metal plate on a carriage that drives at least two wheels that can be rotated forward and reverse by a drive unit,
Calculate the deviation between the position of the inspection device recognized by the position measuring means and the target position which is a separately provided inspection point, and forward, reverse and stop the wheels in the drive unit so that the deviation is minimized. And a change in the weight of the inspection device or a sliding resistance between the metal plate and the flaw detection head, or both, are detected, and a correction value obtained from the detected value is fed back to the command. A self-propelled inspection method for metal plates.   The inspection apparatus includes a water tank that supplies water between the flaw detection head and the metal plate, and obtains a weight change of the inspection apparatus from a detection value of a residual water amount sensor that detects a residual water amount of the water tank. The self-propelled inspection method for metal plates according to claim 9.   The said inspection apparatus has a support member which supports the said flaw detection head, and calculates | requires the said sliding resistance from the detected value of the strain gauge which detects the bending stress of the said support member. The self-propelled inspection method for metal plates as described in 1.   An electromagnet is provided on a bottom surface of the flaw detection head, detects a deviation between a target position and a self position of the inspection apparatus or a deviation between a target control pattern and an actual result, and controls the magnetic force of the electromagnet according to the detected amount. The self-propelled inspection method for metal plates according to any one of claims 9 to 11. This is a self-propelled inspection method for metal plates in which a self-propelled inspection device for metal plates is self-propelled on the metal plate based on information from the position measuring means and inspects for the presence or absence of defects present on the surface of the metal plate or inside. And
It is equipped with a flaw detection head equipped with an ultrasonic flaw detection probe that inspects a metal plate on a carriage that drives at least two wheels that can be rotated forward and reverse by a drive unit,
An electromagnet is provided on the bottom surface of the flaw detection head,
Calculate the deviation between the position of the inspection device recognized by the position measuring means and the target position which is a separately provided inspection point, and forward, reverse and stop the wheels in the drive unit so that the deviation is minimized. Self-propelled for a metal plate, characterized by detecting a deviation between the target position of the inspection device and the self-position or a deviation of the target control pattern and the actual result, and controlling the magnetic force of the electromagnet according to the detected amount Expression inspection method.   The flaw detection head is supported by a support member, the support member is supported by the carriage via an elastic body, and the elastic body cancels sliding resistance between the metal plate and the flaw detection head. The self-propelled inspection method for metal plates according to claim 12 or claim 13.   The self-propelled inspection method for a metal plate according to claim 14, wherein a displacement of the elastic body is detected by a detector, and the magnetic force of the electromagnet is controlled based on a detection value of the detector. A self-propelled inspection device for a metal plate that self-propels on a metal plate and inspects for the presence or absence of defects existing on or inside the metal plate, and a position measuring means that measures the position of the inspection device, An inspection system for measuring a metal plate by causing the inspection device to self-run based on position information measured by a position measuring means,
The inspection system has the configuration according to any one of claims 1 to 8.   17. The inspection system according to claim 16, wherein the position measuring means is an indoor position measurement system that measures the position of the inspection apparatus in an indoor space based on the principle of triangulation.

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