JPH03160507A - Device for traveling truck along wall surface with non-contact - Google Patents

Abstract

PURPOSE:To more enlarge a range to be inspected by a measuring instrument by automatically guiding a traveling truck along a target travel line, which can be arbitrarily set, with non-contact even at a position distant from a wall surface. CONSTITUTION:The incident angle of reflected light from a projected image, which is projected from a light source to the wall surface, is detected by optical sensors 20 and 21 and from the detected value of the incident angle, a light source distance arithmetic means 23 calculates a light source distance between the light source and the wall surface. From this light source distance, an inclination angle arithmetic means 24 calculates the inclination angle of a reference line for a traveling truck to the wall surface and a truck distance arithmetic means 25 calculates a truck distance. From the inclination angle and the truck distance, a steering angle arithmetic means 26 calculates the steering angle of the traveling truck so that the traveling truck can be traveled on the target travel line set in advance. By executing control based on these values, the traveling truck can be traveled with non-contact on a panel to be inspected. Thus, the range to be inspected by the measuring instrument is enlarged.

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention relates to a non-contact wall surface tracing traveling device for a movable cart for moving a measuring device such as an ultrasonic inspection device.

(Prior art) For example, when inspecting the bottom plate of an oil tank, a measuring device for inspecting the plate thickness and flaws is mounted on a movable trolley, and the movable trolley is run on the bottom slope. The bottom plate is being inspected. As a conventional example of a device for running a movable trolley used for such bottom plate inspection work, there is a contact type that guides the movable trolley while detecting targets and side plates provided on the bottom slope. can.

(Problem to be Solved by the Invention) However, in the contact type conventional example, the range in which the movable cart can be guided is limited, and the movable cart is run over a wide range on the bottom slope, and the bottom plate is inspected using the measuring device. There is a problem in that it is difficult to do the following.

The present invention has been made to solve the above-mentioned conventional problems, and its purpose is to provide a non-contact wall surface tracing traveling device for a movable trolley that can guide the movable trolley over a wider range.

(Means for Solving the Problem) Therefore, in the non-contact wall surface tracing traveling device for a movable cart according to the first aspect, a wall surface formed on a plate to be measured is traced in a non-contact manner, and a measuring device is moved along the wall surface. A non-contact wall tracing traveling device for a movable trolley, comprising a pair of light sources arranged a predetermined distance apart in the front-rear direction of the movable trolley and projecting light onto the wall surface, and arranged at a distance from each light source, An optical sensor captures the projected image on the wall and detects the angle of incidence of the reflected light with respect to a linear reference line along the moving direction of the moving trolley. a light source distance calculation means for calculating a light source distance between the light source distance, an inclination angle calculation means for calculating an inclination angle of a reference line of the movable cart with respect to the wall surface from the light source distance, and a light source distance calculation means for calculating the inclination angle of the reference line of the movable trolley with respect to the wall surface from the light source distance; A trolley distance calculating means for calculating the distance between the trolley and the reference point, and a steering angle of the moving trolley so that the moving trolley travels on a preset target travel line based on the above-mentioned inclination angle and the trolley distance. and a steering angle calculation means.

Further, in the second claim, the light source is configured to emit blinking infrared light, and the optical sensor receives the reflected light through a filter for blocking external light, and the blinking period is set as the center frequency. It is configured to perform selection using a bandpass filter.

(Operation) In the first claim, the incident angle of the reflected light of the projected image projected from the light source onto the wall surface is detected by an optical sensor, and the light source distance calculation means is used to detect the incident angle from the incident angle detection value. Calculate the distance between the light source and the wall. From this light source distance, the inclination angle calculation means calculates the inclination angle of the movable cart with respect to the wall surface of the reference line, and the cart distance calculation means calculates the cart distance.

Then, the steering angle calculating means calculates the steering angle of the movable trolley from the above-mentioned inclination angle and the trolley distance so that the movable trolley travels on a preset target travel line.

By performing control based on these, it becomes possible to run the movable cart over the board to be inspected without contact. As a result, the movable trolley is automatically guided even when located far from the wall, allowing the movable trolley to travel over a wider range, increasing the range that can be inspected by the measuring device. .

Further, in the second claim, the light source emits blinking infrared light, the optical sensor blocks extraneous light with a filter, and the infrared light from the light source is filtered by a bandpass filter having a center frequency of the blinking period. Since it becomes possible to detect only the external light, the optical sensor is prevented from malfunctioning due to external light, and the reliability of the device is improved.

(Example) Next, a specific example of the non-contact wall surface tracing traveling device for a movable trolley according to the present invention will be described in detail with reference to the drawings.

In Fig. 2, bottom plate 2 of oil tank 1 (tested #i)
On the periphery of the wall, side surface 3 (wall surface) is marked. A target travel line 4 is set in advance along this side surface 3,
The movable trolley 10 is configured to be able to travel in the traveling direction of arrow 8. The mobile cart 1o is equipped with a measuring device 11, and the measuring device 11 is used to inspect the thickness and flaws of the bottom plate 2. The mobile trolley IO is equipped with a steering drive system for steering the steering wheels.

At both ends of the moving cart 10 in the front and back direction, there are a pair of light sources l2,
The LEDs built into the light sources 12 and 13 project infrared light 14 and 15 toward the side surface 3 while blinking at a frequency of IKHz, thereby creating a projected image on the side surface 3. It is configured to connect l6 and 17. The movable cart 10 includes an optical sensor 20 that uses a one-dimensional camera that photographs the projected images 16 and 17 from an oblique direction;
21, and the optical sensors 20 and 21 detect the incident angles θf and θr of the reflected light reflected from the projected images 16 and 17 with respect to the side surface of the movable trolley 10. Note that the side surface of the mobile cart 10 is aligned with the center line CL shown in FIG.
(reference line), and therefore the above-mentioned incident angle θf1θr is an angle with respect to the above-mentioned center line CL. The optical sensors 20 and 21 are equipped with a filter for blocking external light and a bandpass filter (not shown) with a center frequency of IKHz. Note that the optical sensors 20 and 2l are not limited to being disposed outside the light sources l2 and l3 as shown in FIG.
, J3. And mobile trolley IO
is equipped with a non-contact copying device 22 shown in FIG.
The non-contact copying device 22 including the light sources 12 and 13 and the optical sensors 20 and 2l has a light source distance calculation means 23, an inclination angle calculation means 24, a truck distance calculation means 25, and a steering angle calculation means 26. Parameters a to dli are input to each of these calculation means 23 to 26, as shown in the figure.

Next, the control process of the non-contact copying device 22 will be explained.
As shown in the figure, the light source distance calculating means 23 has an incident angle θf,
It has a function of calculating the light source distances df, dr between the light sources 12, 13 and the side surface 3 from θr. In other words, the light source distances df and dr are as follows, where a is the distance between the light sources 12 and 13 and the optical sensors 20 and 2l, df=a-tan/lf...11) dr=a
-tan θr...l2), the light source distance calculation means 23 calculates the distance.

Then, based on the light source distances df and dr, the inclination angle calculating means 2.4 calculates the relative inclination angle of the movable trolley 10 with respect to the side surface 3, that is, the inclination angle θdir of the center line CL of the movable trolley lO with respect to the side plate 3. (Figure 5). In the inclination angle calculation means 24, if the difference between the light source distances df and drO is C, and the distance between the light sources 12 and 13 is b, then tan θdir − c / b = (df−dr
) / b, so θdir = tan −' ( (df-dr) /
b) By performing the calculation in (3), the inclination angle θdir is obtained.

On the other hand, in the trolley distance calculation means 25, the light source distances df, dr
Based on this, the truck distance dof is calculated as shown in FIG. First, the trolley distance calculation means 25 calculates the following equation: do-((df+dr)/2)+e...
4) is performed to calculate do. Furthermore, as shown in FIG. 7, the bogie distance calculation stage 25 obtains the target bogie distance #d of from dof=do.cos θdir (5).

Finally, in the steering angle calculation means 26 that calculates the steering angle θS of the movable trolley 10, as shown in FIG. dli) -β・θdir
The steering angle θS is obtained by calculating H I H (6) (where α and β are coefficients of α>O and β>O).

The above control system is configured as shown in FIG.
The control gain of r, 32 is the control gain of the truck distance dof.

Next, the operating state of the above embodiment device will be explained in itemized form.

■First, from the front and rear light sources 12 and 13 of the mobile cart IO to the side 3
A spot of infrared light is emitted toward the target.

(2) The projected images 16 and 17 are captured by optical sensors 20 and 21, and the incident angles θr and θr are detected.

(1) (2) The light source distance calculation means 23 calculates the light source distances df and dr.

(2) The inclination angle θdir is determined by the inclination angle calculation means 24 from equation (3).

(4) The truck distance calculation means 25 calculates the truck distance dof from equations (4) and (5).

- The steering angle θS is determined by the steering angle calculation means 26 from the formula (6), and the steering angle θS is determined by the steering drive system 30 shown in FIG.
is guided onto the target travel line 4.

In the above-described embodiment device, the movable trolley 10 is guided non-contact on the target travel line 4 which can be set arbitrarily, so that the movable trolley 10 can travel even at a position far away from the side surface 3. As a result, the measuring device l1 of the movable trolley 10 can inspect the bottom 2 over a wider range of 6 times than before. Furthermore, the light sources I2 and I3 emit blinking infrared light 14 and 15, and the optical sensors 20 and 2l receive the light through a filter that blocks extraneous light, and the light is sorted by a bandpass filter whose center frequency is the blinking period. ,
The optical sensors 20, 2l do not malfunction due to external light, and the reliability of the device is improved.

Although specific embodiments of the non-contact wall surface tracing traveling device for a movable trolley according to the present invention have been described above, this invention is not limited to the above embodiments, and can be implemented with various modifications within the scope of the present invention. It is possible to do so. For example, in the above embodiment, the present invention is applied to inspecting the bottom plate of an oil tank, but it can also be applied to other plates to be measured.

(Effects of the Invention) As described above, in the non-contact wall surface tracing travel device for a movable trolley according to the first aspect of the present invention, the movable trolley can be moved along a target travel line that can be arbitrarily set even at a position far from the wall surface. Since the movable trolley can be automatically guided in a non-contact manner and can travel over a wider range, the range that can be inspected by the measuring device can be expanded.

Further, in the non-contact wall surface tracing traveling device for a movable trolley according to the second aspect, it is possible to prevent the optical sensor from malfunctioning due to external light, and the reliability of the device is improved.

[Brief explanation of the drawing]

Fig. 1 is a functional block diagram showing the configuration of the present invention, Fig. 2 is a plan view of a moving cart, Fig. 3 is a partial plan view showing a modification of the moving cart, Figs. 4, 5, and 6. , FIG. 7, and FIG. 8 are structural diagrams showing the control process, and FIG. 9 is a structural diagram showing the control system. 2...Bottom plate, 3...Side surface, 4...Target travel line, 10...Moving trolley, l1...Measuring device, l2, l
3... Light source, 2o, 2l... Optical sensor, 23...
-Light source distance calculation means, 24...Inclination angle calculation means, 25
. . . Bogie distance calculation means, 26 . . . Steering angle calculation means. Patent source Kawasaki Heavy Industries, Ltd. 1 Figure 4 Figure 2 Figure 3 Figure 3 Figure 5 10 Figure 6 7 Figure 10 Figure 8 Figure 9 Continued from page 1 @ Inventor @ Inventor @ Inventor @ Inventor Takamita Itoga Harada Yutaka Tomoko Utetsuzo Katsuji Yutaka Kobe Factory Co., Ltd. 3-1-1 Higashikawasaki-cho, Chuo-ku, Kobe, Hyogo Prefecture 3-1-1 Higashikawasaki-cho, Chuo-ku, Kobe, Hyogo Prefecture - Bis 3-1-1 Higashikawasaki-cho, Chuo-ku, Kobe, Hyogo Prefecture, Uchi-bis Co., Ltd. - 3-1-1 Higashi-Kawasaki-cho, Chuo-ku, Kobe, Hyogo Prefecture - Bis Co., Ltd. Uchikawasaki Heavy Industries River Heavy Inspection Sakawa Heavy Inspection Inspection service

Claims (1)

[Scope of Claims] 1. A non-contact wall surface tracing traveling device for a movable trolley that traces a wall surface formed on a plate to be measured in a non-contact manner and moves a measuring device along the wall surface, which includes: a pair of light sources that are placed a predetermined distance apart in the direction and project light onto the wall surface; and a pair of light sources that are placed apart from each light source and capture the projected image on the wall surface in a straight line along the traveling direction of the mobile cart. an optical sensor that detects the incident angle of the reflected light with respect to a reference line; a light source distance calculation means that calculates the light source distance between the light source and the wall surface from the incident angle detection value of the optical sensor; and a mobile trolley from the light source distance. an inclination angle calculation means for calculating the inclination angle of the reference line of the reference line with respect to the wall surface; a cart distance calculation means for calculating the cart distance between the wall surface and a reference point specified on the movable cart from the light source distance; A non-contact wall surface of a movable trolley, comprising a steering angle calculation means for calculating a steering angle of the movable trolley so that the movable trolley travels on a target traveling line preset based on the angle and the trolley distance. Tracing traveling device. 2. The light source is configured to emit flashing infrared light;
The movement according to claim 1, wherein the optical sensor is configured to receive the reflected light through a filter for blocking extraneous light, and to select the reflected light using a bandpass filter whose center frequency is a blinking period. A non-contact wall tracing device for trolleys.