JPH079320A - Automatic scratch-treating method and device - Google Patents

Abstract

PURPOSE:To realize the labor and time saving by noting an additional data marking as to the quality of scratchs common to a scratch examining process and a scratch treating process beforehand, together with a scratch position marking, on the surface of the member of the caretaking object, data-processing by detecting both markings, and outputting an operation instruction to an automatic caretaking device. CONSTITUTION:A surrounding marking 1 is noted around the scope of scratchs detected in a scratch examining process of a steel plate 10. Furthermore, the data of the depth of the scratch and the like are noted in an additional marking 2, by using the first quadrant to the fourth quadrant of a local coordinate system making the axis in the rolling direction L and the axis in the width direction C orthogonal to the direction L as the coordinate axes, and almost the center of the surrounding marking 1 as the origin. And both markings 1 and 2 are photographed by a camera 3 in a caretaking process. By using the image data, the scratchs are coordinate-processed by an image coordinate process device 4, the three-dimensional operation pattern of a scratch caretaking device is decided by a scratch treating operation deciding device 5, and an automatic treating device 7 is driven and controlled through a control device 6.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and apparatus for attaching a maintenance tool to the hand of a programmable manipulator such as a robot and autonomously controlling its movement to remove flaws such as steel. In, in the flaw inspection process, when a location requiring maintenance is detected, the surface of the material to be treated is directly marked and a maintenance instruction is given, and when this marking is detected and the marking portion is cleaned, The present invention relates to an automatic flaw maintenance method and apparatus for changing the maintenance action according to the type.

[0002]

2. Description of the Related Art In the manufacture of steel materials, defects are generated in the manufacturing process, and it is possible to avoid the expansion of defects in the subsequent manufacturing process (intermediate care) and to ensure the quality of the final product (finish care). Therefore, most of the repair work is done manually. Generally, a grinder is used as a maintenance tool for these, but its mechanization and automation are earnestly studied as a representative work of so-called 3K work in a work where the working environment is not good such as dust generation and noise. However, with the current technology, it is difficult to compactly integrate the inspection / detection and maintenance of defects, and the inspection process and the maintenance process are divided, and when a defect is found in the inspection, the actual mark is made on the defect position of the material to be treated, In most cases, in the next flaw removal step, flaw removal is performed based on the actual marking. Especially when a flaw inspection is conducted by a visual inspection by a person, this maintenance method is often used.

In this case, if automatic flaw maintenance is to be carried out, in the maintenance process, the area required for flaw maintenance, the shape and depth of maintenance, are determined from the marks on the actual marking portion, and this is determined by an automatic flaw maintenance device such as a robot. It is necessary to convert it into a motion command and execute automatic flaw maintenance.

However, in the actual marking that has been conventionally performed, only the marking indicating the maintenance area is performed, and since the technology for expressing the quality information of the flaw other than the degree of the flaw and reading it is not established, the flaw removal depth is not established. There is no information about the quality, it is not possible to decide the operation of the automatic flaw maintenance device,
In the end, it was difficult to use the automatic flaw maintenance device. Therefore, in reality, it is necessary to rely on manual flaw maintenance that can perform maintenance while observing the state of flaw removal.

As a conventional maintenance technique using a robot, as disclosed in Japanese Patent Laid-Open No. 63-63146, rust removal / painting for taking a photograph of the surface to judge a position requiring maintenance and a degree of damage. JP-A-3-281 for facilitating the invention directed to the subject and the teaching of operation to a robot.
As described in Japanese Patent Publication No. 185, there is an invention in which a robot operation command is overwritten on an image processing device and converted into a robot operation program to facilitate the creation of a robot operation program. There is no automatic reading of additional information useful in the flaw removal operation obtained in the flaw inspection process and its information transmission function, and the operation program of the automatic flaw maintenance device cannot be created from the actual marking.

As described above, the plane information can be easily transmitted to the flaw removing device by enclosing the area for carrying out the flaw removal with the actual marking, but this is used for creating the operation program of the automatic flaw maintenance device. As additional information, it is necessary to have a means to convey at least the depth information of the flaw, and moreover, a means to utilize the information judged by the experienced inspector according to the actual condition of the flaw in the automatic flaw maintenance process. .

[0007]

SUMMARY OF THE INVENTION In view of the above situation, the present invention is necessary for removing a flaw in a flaw removal area (planar information) when marking a flaw at a flaw position in a flaw inspection process. The depth (depth information) is added to enable the creation of an operation program for the automatic flaw removal device.

[0008]

According to the method of the present invention, (1) an automatic flaw care method for directly marking a flaw position on the surface of a material to be cared for and detecting the flaw position, and caring for the flaw in the part in advance. On the surface of the material, additional information markings for the flaw properties common to the flaw inspection process and the flaw maintenance process are written together with the markings indicating the flaw position, and both the marking indicating the flaw position and the additional information marking for the flaw property are detected. This is an automatic flaw maintenance method characterized in that the determined operation command is used as the operation instruction of the automatic flaw maintenance device. (2) The additional information marking is the marking indicating the flaw position on the material to be cleaned. Provide a coordinate axis with the point designated by the vicinity or origin marking as the origin, and set it as a local coordinate system, and mark on the four quadrants of the local coordinate system. An automatic flaw care method (1), wherein the symptoms. Further, the apparatus of the present invention is (3) an automatic flaw maintenance device that directly marks a flaw position on the surface of a material to be cared for and detects it and marks the flaw on the portion, and is preliminarily written on the surface of the material to be cared for, Additional information about the flaw property common to the flaw inspection step and the flaw maintenance step A detection section that detects both the marking indicating the flaw position and the information processing section that determines the flaw maintenance operation command by performing the information processing of the marking and the flaw. An automatic flaw maintenance device characterized by comprising a flaw maintenance section for performing a flaw maintenance according to a maintenance operation command, and (4) the direct marking detection section of the maintenance target material is a visual image device. (3) The automatic flaw maintenance device described above. The term "marking" as used herein refers to a mark made up of lines or dots on the surface of the material to be treated with chalk or spray.

That is, according to the present invention, a mark for transmitting information common to the flaw inspection process and the flaw maintenance process is defined, and when the actual marking is performed in the flaw inspection process, in addition to the plane information indicating the flaw maintenance area, , Using the common mark,
It is necessary to remove additional information such as depth and quality level for flaw removal, read this information in the flaw care process, and process the information to determine the area where the flaw should be removed, that is, plane information and the flaw. By obtaining detailed depth information, it became possible to create an operation program for the automatic flaw removal device. Furthermore, pay attention to the fact that there are common coordinate axes, such as the length direction and the width direction, that are common to the flaw inspection process and the flaw maintenance process for the material to be cared for, such as steel, and use the local coordinate representation with these coordinate axes. In addition to plane information, it makes it easier to express additional information such as depth and quality level for flaw removal, and enables simple information processing with few processing errors even if the amount of additional information is large. . Here, the term "local coordinate expression" means that a two-dimensional (for example, XY axis) coordinate system with the vicinity of each flaw position as the origin is provided on each target flaw position surface,
It is meant that the coordinate expression of the marking according to each flaw is performed using the X-Y axis. At this time, the X-axis is the length direction of the target material, the Y-axis is the right-angle direction, and the like. And coordinate axes in the maintenance process.

[0010]

[Examples] Automatic flaws of a steel sheet according to the present invention, in which visual inspection flaw detection is performed by a person and actual marking is performed by a local coordinate expression indicating a flaw position and a flaw depth, and the actual marking is detected to perform maintenance. A care method and its device will be described with reference to the drawings.

As shown in FIG. 1, in a steel plate 10, a rolling direction (hereinafter referred to as L direction) and a width direction (hereinafter referred to as C direction) of rolling perpendicular to the rolling direction are coordinate directions common to each manufacturing process. Therefore, if you look at the actual product, L
The direction axis and the C direction axis can be distinguished. In other words, when an inspector (not shown) detects a flaw in the flaw inspection process,
The area of the flaw is indicated by the surrounding marking 1, and in addition, L
The surrounding marking 1 with the direction axis and the C direction axis as coordinate axes
Defect depth using the 1st to 4th quadrants of the local coordinate system whose origin is approximately the center (centroid or roughly the approximate midpoint of the intersection of the L-direction axis and the C-direction axis that surrounds the marking 1) Additional information is added with additional marking 2. That is, since it is possible to easily make a rough determination of the first to fourth quadrants of the local coordinate system having the origin at substantially the center of the enclosing marking 1,
By using this, by adding the additional marking 2 to each quadrant, it is possible to enter the defect depth information as well as the defect quality information determined by the inspector of 2 4 (4 bits).

In the maintenance process, the flaw position surrounding marking 1 and the additional marking 2 in each quadrant are attached to the camera 3
When viewed as an image, the orientation of the camera 3 and the orientation of the steel plate 10 are determined by the initial setting of the apparatus, so the L-direction axis and the C-direction axis can be set within the camera image, and the approximate center of the enclosing marking 1 can be set. The local coordinate system as the origin can be easily determined, and it is also possible to determine in which quadrant the additional marking 2 is located, and it is possible to correctly read the flaw depth information and the flaw quality information that the inspector intentionally wrote. it can.

That is, when the actual marked steel plate 10 is sent to the maintenance process, the camera 3 images the surrounding marking 1 and the additional marking 2, and the image information is transmitted to the image processing device 4. The image processing device 4 determines the L-direction axis and the C-direction axis based on the arrangement information of the camera 3 and the arrangement information of the steel material 10 given in advance, and image-processes the enclosure marking 1 to perform planar coordinates and origin of the enclosure marking 1. , And the quadrant as a local coordinate where the additional marking 2 is marked is determined, and the additional marking 2 is read as additional information.

These pieces of read information are sent to the information processing device 5 and are compared with the additional information table in which the speed and the posture of the flaw removing operation are determined in advance in relation to the depth and the flaw property, so that the flaw maintenance device A three-dimensional operation pattern is selected and determined, including its moving speed and posture. Next, the three-dimensional operation pattern information of these flaw care devices is transmitted to the control device 6 of the automatic flaw care device 7 and converted into a speed command and position command program for each drive device of the care device to be converted into an automatic flaw care device. 7 is driven to execute the automatic flaw maintenance operation.

As described above, the enclosing marking 1 determines the working area (plane coordinates) of the flaw maintenance device 7, and at the same time, the information of the additional marking 2 is used to include the depth direction within the plane working area determined above. You can determine the motion and speed. FIG. 3 shows the above process flow.

In this example, the example of determining information based on whether or not there is an additional mark in the quadrant has been described. Further, the shape of the additional mark (○, Δ, etc.), the number of lines (I, II, III, etc.), the mark The number and the size of the coordinate (distance from the origin of the coordinate) can also have meaning as information, and more additional information can be entered. On the contrary, when the additional information is small, the local coordinate expression may not be used, and the number and shape of the marks may have a meaning common to the inspection step and the flaw removal step, and this shape may be read and processed.

Further, in the above example, the case where the additional information is depth and operation speed command information is taken up, but if the function of the additional information decoding processing section is changed, the operation pattern selection and speed / speed
It is also possible to use general instruction information such as the pressing force for the operation to the flaw removal device. For example, the first quadrant and the second quadrant are used for the information display of the depth level, and the third quadrant and the fourth quadrant are the flaw information. It is also useful to use an information display combination for effective flaw removal according to the flaw of the target product, such as being used for information display for classifying. Further, the method and the apparatus thereof of the present invention can be applied even if the material to be cared for is other than a steel plate. Furthermore, the origin of the local coordinate system is generally the center of the enclosing marking that indicates the position (centroid obtained by image processing), but it is a long and thin line that cannot be entirely processed with a single camera image. In flaw position marking, etc., a specific mark (such as +) is defined as a mark indicating the origin, and the origin is intentionally marked within the area where image processing can be performed on one screen, and this is set in the local coordinate system for reading additional information. It is also useful to set the origin of the local coordinate system not to the center of the position marking but to one end of the position marking in order to avoid marking on the weld bead when setting the origin or in the defect position marking including the weld bead. is there.

[0018]

As described above, according to the present invention, the information useful for defect removal obtained in the defect inspection process is provided on the product as necessary and sufficient information for creating the operation program of the automatic defect removal device. It is possible to mark and transmit the actual item, and it is possible to use an automatic flaw removal device, which frees manual work from the flaw removal work that can be said to be the representative of 3K work. The effect is not only labor saving but also securing personnel. Is also great.

[Brief description of drawings]

FIG. 1 is a diagram showing an overall configuration of the present invention.

FIG. 2 is a diagram showing an example of a depth level expression of additional information.

FIG. 3 is a flowchart of information processing of the present invention.

[Explanation of symbols]

 1 Enclosure marking (planar information) indicating a maintenance area 2 Additional information marking 3 Marking imaging camera 4 Image processing (coordinate calculation) device 5 Image information processing (decision of scratching operation determination) device 6 Automatic flaw maintenance control device 7 Automatic flaw maintenance device 10 Material to be care (steel plate)

Claims (4)

[Claims] 1. An automatic flaw maintenance method for directly marking a flaw position on a surface of a material to be cared for and detecting the flaw, and performing a flaw inspection of the surface of the material to be cared for in advance in an automatic flaw caring method for caring for the flaw. Additional information markings for common flaw properties are also written along with markings indicating flaw position,
An automatic flaw maintenance method, wherein both the marking indicating the flaw position and the additional information marking regarding the flaw property are detected to perform information processing, and the determined operation command is used as an operation command of the automatic flaw maintenance device. 2. The additional information marking is a local coordinate system provided with a coordinate axis having a point near a marking indicating a flaw position or a point designated by the origin marking as an origin on a material to be cared, and on the four quadrants of the local coordinate system. 2. The automatic flaw maintenance method according to claim 1, wherein the automatic flaw maintenance method is marking. 3. An automatic flaw care device for directly marking a flaw position on the surface of a material to be cared for and detecting the flaw, and performing a flaw care on the part, a flaw inspection step and a flaw marked on the surface of the material to be cared for in advance. Additional information about the flaw property common to the care process The detection unit that detects both the marking that indicates the flaw position and the information processing unit that determines the flaw care operation command by performing the information processing of the marking and the flaw care operation command An automatic flaw maintenance device comprising a flaw maintenance section for performing flaw maintenance. 4. The automatic flaw maintenance device according to claim 3, wherein the detection unit for direct marking of the maintenance target material is a visual image device.