JPH0949827A - Self-traveling inspection device for metallic plate and method for running the device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a self-traveling inspection device for metallic plate which can inspect a metallic plate for flaws and internal defects by using only one inspection sensor without making any special marking on the metallic plate and a method for running the device. SOLUTION: A self-traveling inspection device for metallic plate is constituted by attaching detection sensors 20a-20d, 21a, and 21b for detecting the edge and corner of a metallic plate to a truck equipped with driving wheels 11a and 11b which can be rotated in both the normal and reverse directions and a free wheel 12 and housing a controller 10a and a driving device 10b in a control box 10, and then, attaching a flaw detecting head 19 which can be moved in the horizontal direction to the side face of the box 10. The inspection device automatically detects the flaw and internal defect of the metallic plate while the device is run on the surface of the metallic plate in accordance with inspection standards.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled inspecting apparatus for a metal plate and a traveling method thereof, and more particularly to automating an inspection for quality control in the production of steel sheet. An inspection sensor, for example, an ultrasonic flaw detection head (probe) for an ultrasonic flaw detection test, is a self-propelled inspection apparatus for a metal plate that inspects a steel plate or the like for scratches and internal defects, and The present invention relates to a traveling method of a self-propelled inspection device for a metal plate, which detects a traveling position and an approach angle of the device and corrects a traveling direction of a bogie to travel.

[0002]

2. Description of the Related Art FIG. 26 is a diagram showing an outline of a conventional inspection apparatus for guaranteeing the quality of a steel plate or the like. In the figure, a metal plate 1 such as a steel plate is conveyed in a direction of an arrow by a feed roller of a production line, and a flaw of the metal plate 1 is inspected by using a plurality of ultrasonic testing heads 2 arranged in parallel. It is done in contact with. The ultrasonic flaw detection head 2 is connected to the ultrasonic flaw detector 4 with the flaw detection cable 3, the output searched by the ultrasonic flaw detection head 2 is input to the ultrasonic flaw detector 4, and the output is input to the data processing device 5. Treated and inspected for scratches. To detect flaws on the surface of the metal plate 1, water is sprinkled on the surface of the metal plate 1 from a water source 7 through a hose 6.

Further, FIG. 27 shows a method of inspecting a metal plate 1 such as a steel plate, which is off the production line, by an ultrasonic flaw detection head (probe) 2 for manually inspecting for a flaw. is there. The output of the ultrasonic flaw detection head 2 is input to the ultrasonic flaw detector 4 to inspect the flaw. Also in this inspection, water is sprinkled on the metal plate 1 and the ultrasonic inspection head 2 inspects. Therefore, in this inspection method, the entire surface of the metal plate 1 becomes wet with water and becomes slippery, and there is a risk that the inspector may fall when moving on the metal plate 1 having a step. In order to avoid such a risk, an automatic flaw detection device (self-propelled inspection device) has been developed. The simplest one is a device that can move on a metal plate and is equipped with a flaw detection head. In such an inspection apparatus, it is necessary to attach a rib plate or the like around the inspection plate in order to scan the entire surface of the inspection plate.

Japanese Unexamined Patent Publication No. 5-172798 discloses an automatic flaw detector, which will be described with reference to FIG. 28. The crawler belt truck 8 travels on a caterpillar-shaped crawler belt 8a.
When moving in the lateral direction, the vehicle travels on the laterally moving wheels 8b. Metal plate edge detection sensors 2b are provided in front of and behind the crawler belt carriage 8, and a probe 2a for inspecting a scratch on the metal plate is provided on the guide rail. The crawler belt cart 8 is configured so that an exploration position can be calculated by a measure A provided on the edge of the metal plate 1 and an extendable measure B provided at a reference point P of the metal plate 1.

Further, in order to measure the position of the self-propelled inspection device, a method of installing a guide wire on a traveling route, a floor surface or a ceiling surface of the traveling route is photographed by a television camera, and the image is image-processed. And a method of mounting the gyro sensor, integrating the traveling speed and the angular velocity at high speed, and calculating the current position are widely known. Furthermore, multiple reflection poles are installed outside the traveling range of the moving carriage, and the relative angle between the reflecting pole and the carriage is detected using a laser beam that horizontally rotates from the self-propelled carriage, and the principle of triangulation is measured. A method of calculating the position of a trolley is widely known.

[0006]

The flaw detector shown in FIG. 28 is
Probes 2a capable of scanning over the width of the track truck 8 in a direction orthogonal to the traveling direction of the track truck 8 are provided in front of and behind the track truck 8. The metal plate 1 under the crawler truck 8 is scratched by the two probes 2a. But,
In this flaw detector, the measurement condition is that the detection sensitivities of the two probes 2a are the same, and the adjustment of the sensitivities of the two probes 2a is made uniform by using a standard test metal plate. Has to be inspected.

Further, in this flaw detector, two probes 2a are used.
It is necessary to equip each of them with a flaw detector, which is disadvantageous in that the flaw detector becomes expensive. Further, it is necessary to provide a correction circuit for correcting the flaw detection sensitivity difference of these flaw detectors, and at the time of the inspection, it is troublesome to adjust the correction circuit for equalizing the flaw detection sensitivities of the flaw detectors. In addition, the track truck is always connected with a measure for position measurement, and there is the inconvenience of having to measure the position while pulling out the measure according to the running distance. However, there is a drawback that the position measurement resolution deteriorates and the measurement accuracy deteriorates significantly. Furthermore, the flaw detection method using this flaw detection device has a drawback that flaw detection cannot be performed on the outer periphery of the metal plate because the flaw detection is partially performed by changing the flaw detection pitch with respect to the entire surface of the metal plate, that is, it corresponds to various scanning patterns. There is a drawback that cannot be done.

Next, the position detection of another flaw detector will be described. First, the position detection method using the guide wire has a drawback that the guide wire cannot be installed when the plate to be inspected is a metal plate. Further, in the position detection method using image processing, it is necessary to write information on the metal plate to be inspected on the metal plate every time the inspected object changes, and to erase the marking after the inspection work is completed, which is troublesome. There is Further, in the method of detecting the position by providing the image processing mark on the plate to be inspected, the crane usually runs on the ceiling in such a manufacturing factory, and the image processing mark cannot be used in many cases. Further, when the position is detected by using the gyro sensor, the angular velocity is integrated to calculate the position, and there is a drawback that an error occurs in the position calculation with the passage of time.

The present invention has been made in view of the above problems, and provides a self-propelled inspecting apparatus for a metal plate and a running method thereof capable of inspecting a scratch or an internal defect of the metal plate by one inspection sensor. It is intended to be provided.
It is another object of the present invention to provide a metal plate self-propelled inspection device and a running method thereof capable of detecting scratches and internal defects of a metal plate without special marking on the metal plate. . Further, the present invention provides a self-propelled inspection device for a metal plate and a traveling method thereof capable of inspecting a scratch or an internal defect of a traveling metal plate by correcting a carriage angle of a carriage equipped with the inspection device. It is intended.

[0010]

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and the invention of claim 1 uses a drive wheel capable of forward / reverse rotation and at least one free wheel. A trolley that travels on the plate surface to be inspected, an inspection sensor that is provided on the trolley to inspect the plate to be inspected for damage, and a pair of detection sensors that detect the edge of the plate to be inspected that is provided on the trolley. A self-propelled type for a metal plate, comprising: a control means for instructing normal / reverse / reverse / stop of the drive wheels by signals of the pair of detection sensors to drive the carriage in a predetermined direction. An inspection device, which detects an edge of a plate to be inspected by a pair of detection sensors, and based on an output signal of the detection sensor, a control means instructs the drive wheels to perform normal rotation / reverse rotation / stop and to be inspected. With a self-propelled inspection device for metal plates that self-propels while inspecting for scratches on the plate That.

According to the second aspect of the present invention, the cart that travels on the plate surface to be inspected by the drive wheels that can rotate in the normal and reverse directions and at least one free wheel, and the plate to be inspected provided on the car are inspected for scratches. Inspection sensor, a pair of detection sensors for detecting the edge of the plate to be inspected provided on the trolley, and the forward / reverse rotation / stop of the drive wheel is instructed by signals of the pair of detection sensors. A self-propelled inspection device for a metal plate, comprising: a control means for causing the carriage to travel substantially at right angles to the edge, wherein a pair of sensors for detecting the edge of the plate to be inspected In accordance with the inspection standard of the plate to be inspected, the control means based on the output signal of the detection sensor detects that the drive wheel is forward / reverse so as to enter at a right angle to the edge of the plate to be inspected.・ A metal plate self-propelled unit that self-propels while instructing to stop and inspecting the plate for damage. It is an expression inspection apparatus.

According to a third aspect of the invention, the control means is
A movement amount calculating means for calculating the movement amount of the center position of the carriage traveling toward the edge of the plate to be inspected, and an approach angle for calculating the approach angle of the carriage entering the edge based on the pair of detection sensors. Based on the calculation means, the approach angle obtained from the approach angle calculation means, and the position information of the movement amount calculation means, the pair of the pair of the pair of carriages is arranged so that the traveling direction of the carriage is substantially perpendicular to the edge. 3. A self-propelled inspection apparatus for metal plates according to claim 1, further comprising: a drive wheel control unit that controls rotation of the drive wheel. According to the invention of claim 3, the edge of the plate to be inspected is detected by the pair of detection sensors, and the approach angle calculation means calculates the approach angle of the carriage based on the output signal of the detection sensor.
Equipped with a movement amount calculation means for calculating the movement amount of the dolly,
Based on this information, the drive wheel control means instructs the drive wheels to perform normal rotation, reverse rotation, and stop, and is a self-propelled inspection device for metal plates that is self-propelled while inspecting a scratch on a plate to be inspected.

According to a fourth aspect of the present invention, in the first, second or third aspect of the invention, the inspection sensor is horizontally moved along the traveling direction of the carriage to detect flaws on the plate to be inspected. A self-propelled inspecting device for a metal plate, which is provided with a moving means for obtaining, and the inspection sensor can be moved horizontally, so that the plate to be inspected in the width direction of the bogie when the bogie stops. Can be inspected for

Further, the invention of claim 5 provides an inspection sensor for inspecting a scratch on a plate to be inspected on a carriage traveling on a plate surface to be inspected by a drive wheel capable of forward / reverse rotation and at least one free wheel. In a traveling method of a self-propelled inspection device for a metal plate, the edge of the plate to be inspected is detected by a pair of detection sensors provided in a traveling direction of the carriage to the edge of the carriage. Is a traveling method of the metal plate self-propelled inspection device, characterized in that the traveling direction of the trolley is corrected based on the approach angle. If the time to detect the edge of is different, you can see that it has entered the edge of the plate to be inspected at a certain predetermined angle,
Correct the traveling direction of the trolley based on the approach angle,
This is a running method of a self-propelled inspecting device for a metal plate that is self-propelled while inspecting a plate to be inspected for scratches.

Further, the invention of claim 6 provides an inspection sensor for inspecting a scratch on a plate to be inspected on a carriage traveling on a plate surface to be inspected by a drive wheel capable of forward / reverse rotation and at least one free wheel. In a traveling method of a self-propelled inspection device for a metal plate provided, a movement of a carriage traveling in a direction perpendicular to an edge of the plate to be inspected is detected, and a pair provided in the traveling direction of the carriage. Calculating the approach angle of the carriage that enters the edge of the plate to be inspected by the detection sensor, and correcting the carriage to a predetermined traveling direction when the entrance angle deviates from the predetermined traveling angle of the carriage. A method of running a self-propelled inspecting apparatus for a metal plate, characterized in that, if the time when the pair of detection sensors detect the edge of the plate to be inspected is different, the edge of the plate to be inspected at a predetermined angle. Calculated approach by judging that the vehicle has entered the rim Correct the running direction of the carriage in a predetermined direction based on time, a driving method of a metal plate for a self-propelled inspection apparatus for self while inspecting the flaw of the test plate.

Further, the invention of claim 7 is for inspection for inspecting a scratch on a plate to be inspected for a carriage traveling on the plate surface to be inspected by a pair of drive wheels capable of forward / reverse rotation and at least one free wheel. In a traveling method of a self-propelled inspection apparatus for a metal plate equipped with a sensor, the movement of a carriage traveling in a direction perpendicular to the edge of the plate to be inspected is detected based on the center position of the carriage, and the carriage is The edge of the plate to be inspected is detected by a pair of detection sensors provided in the traveling direction of the vehicle, and the trolley approach angle that projects into the edge of the plate to be inspected is calculated. In the case of deviation, the traveling method of the metal plate self-propelled inspection device is characterized in that the rotation of the pair of drive wheels is controlled to correct the carriage in a predetermined traveling direction. In the invention of claim 7, if the pair of detection sensors detect the edge of the plate to be inspected at different times, it is calculated by judging that the sensor has entered the edge of the plate to be inspected at a predetermined angle. Based on the approach angle, the rotation of the drive wheels is controlled to correct the traveling direction so that the vehicle enters at a right angle to the edge of the plate to be inspected. It is a running method of a self-propelled inspection device for a running metal plate.

The invention according to claim 8 is for inspection for inspecting a scratch on a plate to be inspected on a carriage traveling on the plate surface to be inspected by a pair of drive wheels capable of forward / reverse rotation and at least one free wheel. In a traveling method of a self-propelled inspection apparatus for a metal plate equipped with a sensor, the movement amount of a carriage traveling in a direction perpendicular to an edge of the plate to be inspected is detected and provided in the traveling direction of the carriage. The pair of detection sensors is used to calculate the trolley approach angle that plunges into the edge of the plate to be inspected, and when the approach angle deviates from the predetermined approach angle, the rotation of the pair of drive wheels is controlled. Self-propelled inspection for metal plates, characterized in that the traveling direction of the trolley is corrected to a predetermined traveling direction, and the traveling of the trolley is stopped when the movement amount and the approach angle exceed an allowable range. This is the method of running the device. The invention according to claim 8 is calculated by judging that the pair of detection sensors have entered the edge of the plate to be inspected at a predetermined angle if the time when the pair of detection sensors detect the edge of the plate to be inspected is different. Based on the approach angle, the traveling direction is corrected so as to enter at a right angle to the edge of the inspected plate of the truck, and the rotation of the drive wheels is controlled to correct the traveling direction. And a traveling method of the self-propelled inspection apparatus for metal plates, which stops the traveling of the carriage when the approach angle exceeds the allowable range.

[0018]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic view showing an embodiment of a self-propelled inspection apparatus for metal plates according to the present invention,
1A is a top view thereof, FIG. 1B is a side view thereof, and FIG. 1C is a bottom view thereof. FIG. 2 is a perspective view showing a usage state of the metal plate self-propelled inspection apparatus according to the present invention.
FIG. 3 is a block diagram showing the control circuit system.

In FIG. 1, a self-propelled inspection device for metal plates is a device for automatically detecting scratches and internal defects of a metal plate such as a steel plate. Wheel 1
1a and 11b and the free wheel 12 are attached to the positions shown in FIG. 1C, and as shown in FIGS. 1A and 1B, the cart 9 is provided with a control box 10. In the control box 10, a drive device 10a such as an AC servomotor for rotating the drive wheels 11a and 11b and a horizontal movement of the flaw detection head (probe) 19 are provided.
A control device 10b for controlling a, a water tank 10c for sprinkling water on the surface of the metal plate 1, and the like are stored.
The water tank 10c is used to spray water on the surface of the metal plate at the time of flaw detection, but since the volume provided in the control box 10 is limited, the water source 29 is externally connected as shown in FIG. May be provided.

A flaw detection head 1 is provided on the side surface of the control box 10.
A horizontal rail 14 for horizontally moving 9 is provided, and a horizontal scanning shaft 13 on which the flaw detection head 19 slides parallel to the surface of the metal plate 1 is provided along the horizontal rail 14. The vertical rail 16 is attached to the vertical mounting portion 15 of the horizontal scanning shaft 13.
The vertical rail 16 is provided with a vertical shaft 17 that slides up and down. A flaw detection head support mechanism 18 is provided at the lower end of the vertical shaft 17, and the flaw detection head support mechanism 1 is provided.
8 is provided with a flaw detection head (probe) 19 such as an ultrasonic oscillator.

In front of the carriage 9, there are provided metal plate edge detecting sensors 20a, 20b such as an eddy current sensor for preventing front wheel derailment and detecting the edge of the metal plate 1, and rear wheel rear wheel derailment behind them. Sensors 20c and 20d for detecting the edge of the metal plate 1 by means of an eddy current sensor or the like for detecting the edge of the metal plate 1
Is provided. On the side where the flaw detection head 19 is provided, metal plate edge detecting sensors 21a and 21b such as an eddy current sensor for detecting the edge of the metal plate 1 are provided. These metal plate edge detecting sensors 20a to 20
d is used as a position detection sensor that detects the edge of the metal plate 1.

The flaw detection head 19 is movable in parallel,
As shown in FIG. 1C, the flaw detection head 19 can search the edge 22 portion of the metal plate 1 by moving in parallel from the position where the inspection device is stopped to the position of the edge 22 of the metal plate 1. Reference numeral 23 indicates a range in which the center of the flaw detection head 19 moves, and 24 indicates a radius of the flaw detection head 19. The flaw detection head 19 moves the horizontal scanning shaft 13 along the horizontal rail 14 so that the drive shaft 1 of the drive wheels 11a and 11b is moved.
It is possible to search from a position A exceeding 1c to a position B exceeding the central axis 12a of the free wheel 12.

The sensors 20a, 20 for detecting the edge of the metal plate
b and 21a to 21d are not limited to eddy current sensors, and may be open couplers including a light emitting element and a light receiving element. Further, although the number of free wheels 12 is one in the embodiment shown in FIG. 1, the carriage 9 may be stabilized by providing two or more free wheels 12 in close proximity. Further, the drive wheels 11a and 11b are a structure / control mechanism capable of controlling both forward rotation / reverse rotation / stop at the same time, and
1a and 11b are structures and control mechanisms that can be controlled independently.

In FIG. 2, in the embodiment of the present invention, the metal plate self-propelled inspection device 25 is provided with a water source (water tank) outside the device, not inside the device. Self-propelled inspection device for metal plate 2
5 sprays water from the water source 29 on the surface of the metal plate 1 through the hose 28, and brings the flaw detection head close to the metal plate 1 for flaw detection. The output of the flaw detection head is input to the ultrasonic flaw detector 27 via the flaw detection cable 26 to inspect the surface of the metal plate 1 for flaws. Self-propelled inspection device 25 for metal plate is water source 2
It is the same as the embodiment of FIG. 1 except that 9 is provided outside.

Next, the control circuit system of the metal plate self-propelled inspection apparatus will be described with reference to the block diagram of FIG. The control circuit system includes an inspection sensor 19, metal plate edge detection sensors 20a to 20d, 21a, 21b, and a drive device 10.
a, a control device 10b, and an operation panel 32. In the figure, the drive unit 10a is a drive wheel 1
A right motor Ma for traveling that rotates 1a and 11b, a left motor Mb for traveling, and an auxiliary shaft motor Mc that horizontally moves the flaw detection head (probe) 19 are provided. Control device 10
The central processing unit (CPU) 31 includes a central processing unit (CPU) 31, a storage device 33 in which a control program and a scanning pattern for arithmetic processing are written. The block diagram of the control device 10b shows that the control device 10b is a central processing unit (CP).
U) 31, a storage device 33 in which a control program and a scanning pattern are read, a numerical operation processing device for obtaining a numerical value used when calculating an approach angle at which a carriage (inspection device) enters the edge of a metal plate (APU) 34, motors Ma, M
pulse generator 3 for generating a pulse for controlling b
5, a pulse counter 36 for measuring the traveling distance, a serial communication 37 for mutual communication of data, and a motor controller 38 for generating a control signal for driving the motors Ma, Mb in response to a pulse from the pulse generator 35. ，
39, an interface for receiving outputs from pulse encoders 40, 41, 43 that generate pulses according to rotation, auxiliary shaft motor controller 42, detection sensors 20a to 20d, 21a, 21b, and metal plate flaw detector 45 (I /
F) 44.

Based on the flaw detection start signal input to the CPU 31 from the operation panel 32, the control program is activated and the inspection device starts running to start flaw detection of the metal plate or internal defect. The control device 10b includes a CPU 31 and an A
Data obtained by the PU 34 and the trolley movement amount calculating means for calculating the movement amount of the trolley traveling from one edge of the metal plate to the other edge, and the approach angle calculating means. On the basis of the above, the number of rotations of the left and right drive wheels is controlled to control the straight traveling of the trolley and the trolley angle, and a drive wheel control means for correcting the trolley angle when the trolley deviates from a predetermined traveling direction ing.

Next, the operation of the above-described self-propelled inspection apparatus for metal plates will be described with reference to FIGS. 4 to 25. FIG.
FIG. 5 shows a typical scanning pattern of a metal plate self-propelled inspection apparatus for inspecting a metal plate. Figure 4 shows a metal plate 1
4 is an outer peripheral scanning pattern for inspecting the peripheral edge R of the metal plate 1. FIG. 4 shows a case where the metal plate 1 is inspected by scanning vertically and horizontally traveling along the inspection position L while moving laterally at a pitch of an interval (inspection width) D. 2 shows a rectangular scanning pattern. 6A to 6C are detection sensors 20a to 20d, 21a and 21b, a flaw detection head (inspection sensor) 22, drive wheels 11a and 11b, and a metal plate when traveling along an outer peripheral scanning pattern. FIG. 7 is a diagram for explaining the relationship of No. 1, and FIGS. 7 and 8 are diagrams for explaining traveling along a rectangular scanning pattern. Further, the operation of the self-propelled inspection apparatus for metal plates is performed by the control program written in the storage device 33 of the control device 10b, and FIG. 9 shows an example of the main flow chart thereof. 16 and 17 show examples of individual flowcharts.

First, the inspection of the metal plate by running the outer peripheral scanning pattern shown in FIG. 4 will be described. As shown in FIG. 6A, the self-propelled inspection apparatus for metal plates starts the inspection of the metal plate 1 from the corner 1A of the metal plate 1. The search position 22 of the flaw detection head 19 is on the corner 1A of the metal plate 1, and the drive wheels 11a, 1
The axle position 11c of 1b is located within the edge 1a of the metal plate 1. The self-propelled inspection apparatus for metal plates is driven wheels 11a and 11b while detecting the edge 1b of the metal plate 1 by the metal plate edge detection sensors 20a to 20d and 21a and 21b.
To move forward and stop at the position shown in FIG. 6 (b). When the inspection device is stopped, the inspection position 2 of the flaw detection head 19
2 is on the drive wheel 11b side, and when stopped, the flaw detection head 19 is moved to the position of the corner 1B of the metal plate 1 for inspection.

Subsequently, as shown in FIG. 6 (c), the metal plate self-propelled inspection apparatus is turned by 90 degrees. This turning operation is performed by controlling the drive wheels 11a and 11b, and is performed according to a predetermined control program. For example, the drive wheels 11a and 11b are repeatedly moved forward and backward, and the edge 1b is detected by the metal plate edge detection sensors 20c and 20d.
Is detected so that the drive wheels 11a and 11b do not fall off. After turning 90 degrees, the sensor 21 for detecting the end of the metal plate
While detecting the edge 1c at a and 21b, it is advanced to inspect the peripheral edge of the metal plate 1. When inspecting the peripheral edge R of the metal plate 1 shown in FIG. 4, when the effective range of the inspection sensor is narrower than the width of the peripheral edge R, the inspection position shown in FIG. The edge may be inspected by moving the bogie forward or backward.

As a matter of course, the operation of rotating the self-propelled inspection apparatus for metal plates by 90 degrees is such that the drive wheel 11a is stopped, the drive wheel 11b is rotated, and the end edge 1c is detected while moving backward. Alternatively, as will be described in detail below, the wheels may be turned by driving the wheels at a predetermined ratio.

Next, the traveling of the rectangular scanning pattern shown in FIG. 5 will be described with reference to FIGS. 7 and 8. Figure 7
(A) shows the initial setting position of the self-propelled inspection apparatus for metal plates, the inspection position 22 by the flaw detection head 19 is at the corner 1A of the metal plate 1, and the axle positions 11 of the drive wheels 11a, 11b.
c is within the edge 1a of the metal plate 1. The metal plate edge detection sensors 21a and 21b are located on the edge 1b of the metal plate 1. The metal plate 1 is detected by the metal plate edge detection sensors 21a and 21b.
The drive wheels 11a and 11b are rotated while traveling the front while detecting the edge 1b.

FIG. 7 (b) shows a case where the inspection device travels along the edge 1b for inspection, and the inspection device has a corner 1a.
When reaching the position B, if the inspection device enters at a right angle to the edge 1c, the metal plate edge detecting sensor 20a,
The output of 20b is inverted at the same time (inverted from "0" to "1")
Then, the edge 1c of the metal plate 1 is detected, and the drive wheels 11a,
Stop 11b. The inspection position 22 of the flaw detection head 19 is horizontally moved to another corner 1B of the metal plate 1 to inspect for scratches on the surface of the metal plate 1.

Subsequently, a self-propelled inspection device for metal plates is shown in FIG.
It is moved laterally to the position of (c). In this lateral movement, for example, the drive wheels 11a and 11b are reversely rotated and moved backward and forward to an inspection position of a preset distance D and moved to the position shown in FIG. 7C. Then, the metal plate 1 is inspected by moving the metal plate self-propelled inspection device backward to the position of FIG. Drive wheel 11
The metal plate edge detection sensors 20c and 20d detect the edge 1a so that the wheels a and 11b do not come off the metal plate 1 and are stopped. The same operation is performed again to inspect the metal plate.

When the self-propelled inspecting apparatus for metal plate is run to the position shown in FIG. 8B, the inspecting apparatus is turned 180 degrees and the flaw detection head 19 is moved to the corner 1C, and then the metal is moved. The edge 1d of the metal plate 1 is caused by running the plate self-propelled inspection device.
The metal plate 1 is inspected along. For inspection of the edge 1c of the metal plate 1, after rotating the inspection device at the position of FIG. 8 (b) by 90 degrees, the inspection device is moved to the position of FIG. 8 (b),
The flaw detection head 19 can be moved in parallel for detection.

Incidentally, the detection of the edge or the corner of the metal plate 1 is performed by detecting the metal plate edge detecting sensors 20a to 20d and 21a, 2.
The presence or absence of the metal plate 1 is detected by 1b. That is, the edge or corner of the metal plate 1 can be detected by the combination of the outputs "1" and "0" of the metal plate edge detection sensors. For example, in detecting the edge of the metal plate 1, the metal plate edge detection sensors 20a to 20d detect the metal plate 1, and the metal plate edge detection sensors 21a and 21b detect the metal plate 1.
Can be done by detecting the outer peripheral space of If the outputs of the metal plate edge detecting sensors 20a to 20d are "1" and the outputs of the metal plate edge detecting sensors 21a and 21b are "0", the metal plate self-propelled inspection apparatus. It can be detected that the vehicle is running along the edge of the metal plate 1.

Further, the detection of the corner of the metal plate 1 can be carried out, for example, by referring to FIG.
At the corner 1A shown in (a), the metal plate edge detection sensor 20
c, 20d, 21a and 21b detect the space, their outputs are "0", and the metal plate edge detection sensor 20a,
Since 20b detects the metal plate 1, its output is "1". Further, in the corner 1B shown in FIG. 6B, the outputs of the metal plate edge detecting sensors 20a, 20b, 21a, 21b are "0", and the outputs of the metal plate edge detecting sensors 20c, 20d are "1". Becomes Further, the metal plate edge detection sensor 20a,
By issuing a stop command for the metal plate self-propelled inspection device when the output of 20b or 20c, 20d reverses from "1" to "0", the metal plate self-propelled inspection device is not removed. It can be stopped.

Of course, "1" and "0" for determining the edge and the corner of the metal plate 1 by the arrangement of the sensor for detecting the end of the metal plate.
It is clear that the combinations of are different.

Next, FIG. 9 is a flow chart showing the outline of the inspection of the metal plate by the self-propelled inspection apparatus for metal plate.
First, in step S1, there is a step of mounting a flaw detection sensor such as an ultrasonic wave or a magnetic flaw detector on the inspection device as an inspection sensor of the inspection device, and adjusting the attached flaw detection sensor such as sensitivity adjustment. Proceed to S2. In step S2, the inspection device is set to the initial position where the inspection of the metal plate 1 is started. Proceeding to step S3, the metal plate edge inspection is started in accordance with the outer peripheral scanning pattern of FIG. 4, and when the metal plate edge inspection step is completed, step S4
Proceed to. Step S4 is a step of traveling along the rectangular traveling pattern shown in FIG. 5, in which the metal plate internal inspection along the rectangular traveling pattern is started, and when the lateral metal plate internal inspection is completed, the process proceeds to step S5. In step S5, the inspection device is turned 90 degrees, and the process proceeds to step S6. In step S6, the metal plate inside inspection in the vertical direction is started, the vertical scanning is repeated, and the metal plate edge inspection process is ended.

Next, regarding the initialization of the carriage position in FIG.
Description will be made with reference to FIG. As shown in FIG. 11A, the inspection device (carriage) is placed near the inspection start point (a) of the metal plate 1. As shown in step S11, the carriage advances in the direction of arrow A ₁ and stops at the position (b).
Succeedingly, in a step S12, the bogie is turned 90 degrees in a direction of an arrow A ₂ to move the edge position along the metal steel plate 1 (c).
Then, in step S13, the carriage is retracted in the direction of arrow A ₃ to the edge portion, and the flaw detection head (inspection sensor) 19 is stopped at a corner position. This position is set as the inspection start position, and the cart position initialization is completed.

Next, the metal plate edge inspection of FIG.
A description will be given with reference to FIGS. 13 and 14. FIG. 13 (a)
As shown in, the carriage at the inspection start position (a) is
The head (inspection sensor) 19 is at a distance from the edge of the metal plate 1.
The arrow A is controlled to keep T1 ₁In the direction
The metal plate 1 is inspected by the flaw detection head 19. Edge
When traveling, the metal plate edge detection sensors 21a and 21b are
Is always controlled to be "0". For example, for detection
When the output of the sensor 21a becomes "1", the tip of the trolley moves to the right.
This means that the drive wheel 11a on the right side has increased its rotational speed.
Then, the output of the detection sensor 21a becomes "0".
At this time, the rotation speeds of the drive wheels 11a and 11b should be equal.
In this way, move forward while maintaining the distance T1 from the edge.
Let it. When the carriage reaches the position of (b), the drive wheels 1
The rotation of 1a and 11b is stopped. At the same time, flaw detection head 1
While moving 9 forward, scratches and internal defects on the edge of the metal plate 1
Inspect the pit. Or you can measure the distance to the edge of the metal plate.
Image processing technology using a sensor, for example, a camera
To set the distance between the inspection sensor and the edge to a specified distance.
The dolly may be moved forward so as to be kept.

Then, in step S22, the metal plate 1
Judging whether the number of inspections on one side has reached the 4th time,
If it has not reached the fourth time, the process proceeds to step S23,
Turn the dolly 90 degrees in the direction of arrow A ₂ . The metal plate 1 is not inspected when turning to set the position of the carriage. Then, the process proceeds to step S24, and retracting the carriage to the arrow A ₃ direction, the flow returns to step S21. 14 (a), 14 (b)
As shown in, the carriage is scanned in the direction of the arrow. In step S22, when it is detected that the traveling along the edge of the metal plate 1 has reached the fourth time, the inspection process for the scratches and internal defects on the entire circumference of the edge of the metal plate 1 is completed.

When the inspection of the edge of the entire circumference of the metal plate is completed,
The internal inspection of the metal plate is started based on the flowchart of FIG. FIG. 15 includes steps S31 to S33 (horizontal scanning process), 180 ° inversion operation of the carriage in step S34, and steps S35 to S37 (vertical scanning process). The horizontal scanning process is performed in the steps of FIGS.
The 180-degree inversion operation is shown in FIG. 20, and the vertical scanning process is shown in FIG.

The inspection width is moved in step S31, and the process proceeds to step S32. In step S32, it is determined whether or not the bogie has detected the edge of the metal plate 1 on the side of the bogie, and if the edge of the side of the bogie is not detected, the process proceeds to step S33 to move the bogie in the traveling direction of the bogie. After moving to the edge of the metal plate 1, the process returns to step S31 and the inspection width is moved. When the edge of the metal plate 1 on the side of the truck is detected in step S32, the process proceeds to step S34. In step S34, the carriage is turned 180 times and the process proceeds to step S35. In steps S35 to S37, the same operation as described above is repeated to inspect the metal plate.

Next, with reference to the flow chart of FIG. 16, the cart inspection width lateral movement will be described. FIG. 18, FIG.
The movement state is shown in FIG. 9, and this scanning is a step for laterally moving the carriage along the inspection position L as shown in FIG. Step S41 is shown in FIG.
As shown in (a), the carriage is moved backward from the position (a) in the direction of arrow A ₁ . In step S42, the traveling angle α for moving to the inspection position is calculated. Step S43
At, the dolly is turned by the angle α and the dolly position (b)
And In step S44, when the edge is detected during turning, the process proceeds to step S48. In step S48, the angle before turning is returned to the original value, and then step S49 is performed to stop the lateral movement. If the end is not detected during the turning, the process proceeds to step S45, and the end portion is moved by the distance β in the direction of the arrow A ₂ . Distance β is (inspection width D) / sin
It is represented by (α). In step S46, as shown in FIG.
(B), the back to pivot the carriage forward angle-.alpha., the process proceeds to step S47, the return of the arrow A ₃ direction carriage to the end of the metal plate 1.

Next, with reference to FIG. 17, the step of advancing the carriage to move it to the edge will be described.
A step S51 initializes a counter for measuring the distance by resetting or the like, and proceeds to a step S52. In step S52, the movement of the carriage is started, and at the same time, the pulse measurement by the counter is started to measure the movement distance. In step S53, it is determined whether or not an emergency stop has been made, and if it is in the emergency stop state, the process proceeds to step S54 to perform the emergency stop process.
Go to 55. In step S55, the inspection sensor 20a,
It is determined whether or not one of 20b (20c, 20d) has detected the metal plate end portion, and if detected (YES), the process proceeds to step S57, and if neither is detected (NO).
Advances to step S56. In step S56, the count value of the counter is read, and in step S511, the carriage position (P
1) is calculated. In step S57, the sensor L (20
a) determines whether or not the edge portion of the metal plate is detected, and if detected (YES), the process proceeds to step S58, and the count value of the counter at the time when the sensor L detects the edge portion is read, It is stored in the storage device 33. If not detected (N
O) advances to step S59. In step S59, it is determined whether or not the sensor R (20b) has detected the edge portion of the metal plate, and if not detected (NO), step S512.
Proceed to. If detected (YES), step S510.
To the counter 3 when the sensor L detects the edge portion.
The count value of 6 is read and stored in the storage device 33.

In step S512, it is determined whether or not both sensors have detected the edges of the metal plate, and if both edges of the metal plate have been detected (YES), step S51.
In step 5 (NO), if both edges of the metal plate are not detected (NO), the process proceeds to step S513. Step S513
When it is determined that the maximum movement range is exceeded, the process proceeds to step S514 and the carriage is stopped. Step S515
Then, the carriage is stopped, and the process proceeds to step S516, where the sensor R (20a, 20c) or the sensor L (20b, 20c
The distance L2 of the trolley center position P2 on the side detected first in any of d) is calculated, and the process proceeds to step S517, where the distance R3 of the trolley position P3 at the time when the output of the sensor is reversed is calculated. In step S518, the relative angle is calculated, and it is determined whether the angle is within the proper range. If it is within the proper range, the process proceeds to step S520. Step S520
Then, an angle correction operation is performed, and in step S521, an X direction correction operation is performed.

Next, the measurement of the traveling distance and the correction of the traveling direction angle of the carriage in this embodiment will be described with reference to FIGS.
This will be described with reference to FIG. The angle correction of the deviation in the traveling direction due to the slipping of the wheels of the carriage is performed by the central processing unit 31 of FIG. 3 and the numerical processing unit 34 which is an additional calculation function for increasing the calculation speed. Central processing unit 31
The control data obtained by arithmetic processing in the pulse generator 3
5 and drives the traveling motors Ma, Mb via the motor controllers 38, 39 to drive the drive wheels 11a,
11b is rotated to move the carriage forward, backward, and turn.
Pulse encoders 40 and 41 are attached to the drive wheels 11a and 11b, respectively, and pulses are generated from the pulse encoders 40 and 41 in accordance with the rotation of these wheels.
By measuring the pulse, the traveling distance of the truck is measured.

That is, the central processing unit 31 includes a moving amount calculating means for calculating the moving amount of the bogie center position G ₁ of the bogie traveling toward the edge of the metal plate 1, and the pair of detection sensors 2.
0a, 20b, based on the approach angle calculating means for calculating the approach angle of the trolley that enters the edge of the metal plate 1, the approach angle obtained from the approach angle calculating means, and the position information of the movement amount calculating means, Drive wheel control means for controlling the rotation of each of the pair of drive wheels 11a and 11b is provided so that the traveling direction of the carriage is substantially perpendicular to the edge, and a rotation control signal from the drive wheel control means is provided. Is supplied to the motor controllers 38 and 39 to correct the carriage angle.

Turning for correcting the angle of the carriage will be described with reference to FIGS. 22 (a) and 22 (b). In the turning of the carriage, the central processing unit 31 supplies a control signal corresponding to the wheel rotation angle within a minute time to the pulse generation unit 35, supplies the output to the motor controllers 38 and 39, and the motor controllers 38 and 39 The driving motors Ma and Mb are driven in accordance with the control signal. Drive wheels 11a, 1
The dolly can be turned by rotating 1b at a ratio according to the rotation angle. Travel distance of each wheel C _L, C
_R can be calculated from the counter value P _L, P _R, pulse number P _A of 1 per revolution of the drive wheels, and the diameter D of the driving wheels. The calculation formula is expressed as the following formula.

[0050] _{C L = P L / P A} × D × π ........................... (1) C R = P R / P A × D × π ........................... (2 ) Where P _{A is the} number of pulses per one rotation of the drive wheel, D:
Driving wheel diameter, π: Pi

Incidentally, when the cart travels straight, the moving distances C _L and C _R of the wheels are equal. That is, C _R -C _L = 0
Becomes By supplying equal counter values P _L and P _R to the motor controllers 38 and 39, it is possible to move the cart straight. However, since the drive wheels 11a and 11b are slippery, the carriage does not always go straight. In addition, the rotation angle φ is, as shown in FIG.
_The following relational expressions are established among _L , C _R , the distance R between the bogie center G and the rotation center S, and the width W of the drive wheels 11a, 11b. φ = C _L / (R−W / 2) = C _R / (R + W / 2) (3)

Therefore, the moving distance R of the carriage center G is
From the equation (3), it can be expressed as follows. _{R = W (C R + C} L) / 2 (C R -C L) ............... (4) when the bogie is traveling straight _{(C R -C L = 0)} , the moving distance R by equation (4) , It is infinite in the calculation, but the data processing is performed so that it is considered that the dolly has gone straight. When the value of the moving distance R takes a positive or negative value, it means that the cart has changed its traveling direction from right to left.

Next, the movement center position of the carriage will be described. As shown in FIG. 22B, the x-axis and the y-axis are orthogonal coordinates, and the carriage is oriented at an angle θ ₁ with respect to the x-axis. It is assumed that the bogie center position G ₁ before the movement is at G ₁ (x ₁ , y ₁ ), the bogie has the rotation angle φ, and the bogie center position moves to G ₂ . The movement amount in the x-axis and y-axis directions is dx, dy, and the change amount dθ of the rotation angle is expressed as follows. Therefore, the trolley center position before the start of movement is G ₁ (x ₁ , y ₁ ), and the trolley center position after the movement is G ₂ (x ₁ + dx, y _1).
+ Dy). Further, dθ is equal to the rotation angle φ.

The movement amounts dx and dy and the change amount dθ are expressed by the following equations. dx = (R · sin φ) · cos θ− (R−R · cos φ) · sin θ = R · (−sin θ + sin (θ + φ)) (5) dx = (R · sin φ) / sin θ + (R−R ·) cosφ) · cosθ = R · (cosθ−cos (θ + φ)) ………… (6) dθ = φ ……………………………… (7)

Therefore, the center position of the carriage after the movement is G
₂ (x ₁ + dx, y ₁ + dy). That is, the integrated value of the trolley center position G ₁ (x ₁ , y ₁ ) and the movement amounts dx, dy is calculated by the CPU 31. The trolley center position G ₁ (x ₁ , y ₁ ) is the movement amount dx,
dy can be constantly calculated by measuring the pulses from the pulse encoders 40 and 41. The trolley center position G ₁ is stored in the storage device 33 and updated at a predetermined cycle. When calculating the cart center position G ₂ , each value of G ₁ (x ₁ , y ₁ ) is called from the storage device 33,
It can be obtained by adding the movement amounts dx and dy by the central processing unit 31.

As shown in FIG. 23, as shown in FIG. 23 (a), the center of the carriage is used as the coordinate origin, and the detection sensor 20b is orthogonal to the p-axis and the q-axis, which are orthogonal to each other. ps, qs). Further, assuming that the cart exists in the Cartesian coordinates (x, y), the cart faces the direction of the angle θ with respect to the x-axis direction, and the position of the detection sensor 20b is defined as the Cartesian coordinates (xs, ys). Then, it is expressed as the following equation. xs = x + ps · cos θ−qs · sin θ ………… (8) ys = y + ps · sin θ + qs · cos θ ………… (9)

Next, the calculation of the relative position between the metal edge and the carriage will be described with reference to FIGS. 24 and 25. FIG.
In (a), the carriage is located at the origin of the x, y coordinates and goes straight along the x axis. However, in reality, the drive wheels 11a, 1
The slip or deformation of 1b may deviate from the x-axis. Since the amount of slippage cannot be measured by the control device of the truck, the traveling direction cannot be corrected each time the vehicle is traveling. Therefore, FIG.
As shown in FIG. 4 (b), the carriage travels on the x-axis deviated from the x'axis. When the trolley deviates from the x-axis which is the initial traveling position, the trolley center position is constantly calculated until any sensor provided in the traveling direction detects the edge of the metal plate,
The updated distance data is stored.

FIG. 24 (c) shows the time when the carriage further advances and the sensor 20b detects the edge portion of the metal plate. The counter value at the time when the trolley center position P ₂ is reached is stored, and the distance L2 is calculated and stored. Furthermore, FIG.
As shown in (a), the carriage advances and the sensor 20a detects the edge portion of the metal plate. Bogie center position P ₃ at that time
The counter value is stored, the distance R3 is calculated, and the calculated value is stored. If the dolly is stopped at this point, the dolly will move slightly forward due to inertia and then stop. Bogie center position P at that time
Store the counter value of ₄ .

The angle correction amount for making the carriage perpendicular to the edge of the metal plate is the orthogonal line to the traveling direction (x axis) of the carriage and the detection position L2 at which each sensor 20c, 20b detects the edge. , R3 with respect to the straight line connecting R3 and the angle θ of the carriage position P4 with respect to the x ′ axis.
The values of the x-axis and the y-axis of the position P4 are (R3x, R3y), (L
2x, L2y). tan (δ + θ) = [(R3x−L2x) / (L2y−R3y)] ………… (10) δ = tan ⁻¹ [(R3x−L2x) / (L2y−R3y)] − θ ……… (11)

If the angle θ of the carriage is obtained from the above equation, the driving wheels 11a and 11b are rotated at a predetermined ratio via the motor controllers 40 and 41 based on the angle θ, so that the carriage angle of the metal plate is changed. The orientation of the carriage can be modified so that it enters at a right angle to the edge. Of course, by controlling the rotation ratio of both drive wheels of the carriage, the turning and movement of the carriage can be set arbitrarily, so that a certain angle can be given to the edge of the metal plate. It should be noted that the angle θ is zero when the cart travels straight. Further, by writing the rotation ratios of both drive wheels with respect to the angle θ in the storage device 33, it is possible to operate both drive wheels instantaneously only by selecting the rotation ratio of both drive wheels corresponding to the angle θ.

As described above, according to the present invention, the cart is normally rotated.
Drive wheels for reverse rotation / stop, free wheels, a pair of detection sensors (eddy current sensors) provided in the traveling direction for detecting the edge of the metal plate, and based on signals from these detection sensors It is equipped with a control means for controlling the drive wheels and the free wheels of, and an inspection sensor (a flaw detection head),
A pair of detection sensors detect the approach angle of the trolley to the edge of the plate to be inspected, correct the trolley angle based on the information about the distance traveled by the trolley, and perform a predetermined inspection on the plate to be inspected. It is possible to automatically inspect for location scratches and internal defects.

The control means has a function of setting the timing for operating the flaw detection head. In addition, when the metal plate surface is inspected for scratches by running a self-propelled inspection device for metal plates, the flaw detection head inspects the metal plate surface for water while spraying water on the metal plate surface. The control means also has a function of setting the timing of watering. Of course, the timing of watering may be controlled externally.

Further, the cart has an inspection sensor (a flaw detection head).
Is attached with a drive mechanism that can move parallel to the plate to be inspected, and when the carriage stops, by serial communication,
By controlling this drive mechanism, the inspection sensor can be moved back and forth, and the inspection sensor can be moved up and down. Therefore, the inspection sensor can be brought into contact with the surface of the inspection plate regardless of the unevenness of the inspection plate, so that the detection sensitivity of the inspection sensor can be made constant for the inspection of the scratch on the metal plate. Of course, the drive mechanism of the flaw detection head may be controlled by the CPU 31.

The inspection sensor (flaw detection head) is installed on the outside of the polygon connecting the points where the drive wheel and the free wheel come into contact with the plate to be inspected, that is, the side portion of the trolley, and the drive wheel. And without being bound by the free wheels, the structure is such that the metal plate can be inspected for scratches when the truck stops.
Further, the trolley center position G is actually shifted to the inspection sensor side due to the mounting of the inspection sensor (flaw detection head), but it is assumed that the trolley center position G exists at any position on the wheel shaft. Similarly, the dolly angle can be corrected. Further, a pre-programmed scanning pattern is written in this control circuit, and the drive wheels are controlled in accordance with the scanning pattern. By selecting one of various scanning patterns for the self-propelled inspection device, the inspection target plate can be scanned, and the scanning pattern can be set arbitrarily.

[0065]

As described above, according to the present invention,
A pair of detection sensors and a pair of detection sensors for traveling along the edges are provided in the traveling direction of the trolley, and these detection sensors detect the corners and edges of the metal plate to detect the edges of the metal plate. It has a function to correct the trolley angle so that the traveling direction enters at a right angle to the edge while detecting the approach angle to the trolley. There is an advantage that it is not necessary to provide a rib plate on the outer periphery of the metal plate. Further, it is not necessary to provide a guide wire or a measure for self-propelling the inspection device, and there is an advantage that the metal plate can be surely inspected.

Further, according to the present invention, the carriage is provided with the drive wheels for normal rotation / reverse rotation / stop and the free wheels, and the position of the carriage on the plate to be inspected is controlled by independently controlling the drive wheels. The trolley angle can be set arbitrarily, and the detection sensors (eddy current sensors) are installed in front of and behind the trolley to prevent wheel removal during forward / backward movement of the self-propelled inspection device, and Two detection sensors for self-propelling along the edge are provided on the inspection sensor side and are used for traveling along the edge of the metal plate. Therefore, since it is possible to surely perform traveling at a right angle to the edge on the metal plate, traveling at an arbitrary angle, and swiveling motion of 90 degrees or 180 degrees, the carriage can freely travel on the surface of the metal plate and perform arbitrary scanning. There is an advantage that a pattern can be set, and there is an advantage that a single inspection sensor (a flaw detection head) can efficiently inspect scratches and internal defects on the surface of the metal plate over the entire surface of the metal plate.

Further, according to the present invention, 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 the inspector operates the flaw detection head to detect the metal. There is no need to search for scratches on the plate surface, and there is an advantage that it can be freed from a fall accident on a metal plate sprayed with water.

[Brief description of drawings]

FIG. 1 shows an implementation of a self-propelled inspection apparatus for metal plates according to the present invention, (a) is a top view, (b) is a side view, and (c).
Is a bottom view.

FIG. 2 is a perspective view showing another embodiment of the self-propelled inspection apparatus for metal plates according to the present invention.

FIG. 3 is a block diagram of a control device of the self-propelled inspection apparatus for metal plates according to the present invention.

FIG. 4 is a diagram showing a peripheral scanning pattern on a metal plate.

FIG. 5 is a diagram showing a rectangular scanning pattern on a metal plate.

6 (a) to 6 (c) are diagrams illustrating traveling along an outer periphery scanning pattern.

7 (a) to 7 (c) are diagrams illustrating traveling along a rectangular scanning pattern.

FIG. 8A to FIG. 8C are diagrams for explaining traveling, following FIG. 6C.

FIG. 9 is a diagram showing a flowchart of a metal plate inspection.

FIG. 10 is a diagram showing a flow chart of a bogie position initialization.

FIG. 11 is a diagram showing an operation for initializing a carriage position.

FIG. 12 is a view showing a flowchart for starting the inspection of the edge portion of the metal plate.

FIG. 13 is a diagram showing an operation for inspecting an edge portion of a metal plate.

FIG. 14 is a diagram showing an operation for inspecting an edge portion of a metal plate.

FIG. 15 is a view showing a flowchart for starting the inspection of the inside of the metal plate.

FIG. 16 is a diagram showing a flowchart for moving the inspection width.

FIG. 17 is a diagram showing a flowchart for moving an edge portion.

FIG. 18 is a diagram showing movement of the inner surface of the metal plate.

FIG. 19 is a diagram showing movement of the inner surface of the metal plate.

FIG. 20 is a diagram showing movement of the inner surface of the metal plate.

FIG. 21 is a diagram showing movement of the inner surface of the metal plate.

FIG. 22 is an explanatory diagram for explaining the angular movement of the carriage.

FIG. 23 is an explanatory diagram showing a relationship between a trolley center position and a sensor position.

FIG. 24 is an explanatory diagram showing a shift in a traveling direction due to slippage of driving wheels.

FIG. 25 is an explanatory diagram showing a shift in a traveling direction due to slippage of driving wheels.

FIG. 26 is a diagram showing a conventional method for manually detecting scratches on a steel plate surface.

FIG. 27 is a diagram showing a conventional method for detecting scratches on a steel plate.

FIG. 28 is a diagram showing a conventional method for detecting scratches on a steel plate surface.

[Explanation of symbols]

9 trolley 10 control box 10a drive device 10b control device 11a, 11b drive wheel 12 free wheel 13 horizontal rail 14 horizontal scanning axis 15 vertical mounting portion 16 vertical rail 17 vertical axis 18 flaw detection head support mechanism 19 flaw detection head (probe, inspection) Sensor 20a-20d Metal plate edge detection sensor (eddy current sensor, detection sensor) 21a, 21b Metal plate edge detection sensor (eddy current sensor, detection sensor) 25 Self-propelled inspection device for metal plate 26 flaw detection cable 27 ultrasonic flaw detector 28 hose 30 ultrasonic flaw detector 31 central processing unit (CPU) 32 operation panel 33 storage device 34 numerical operation processing device 35 pulse generator 36 pulse counter 37 serial communication 38, 39 motor controller 40, 41,43 Pulse encoder 42 Auxiliary shaft motor Controller Ma traveling right motor Mb running left motor Mc auxiliary shaft motor

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Yu Nakajima Marunouchi 1-2-2 Marunouchi, Chiyoda-ku, Tokyo Inside Nippon Steel Tube Co., Ltd. (72) Katsumi Ikusawa 1-2-1 Marunouchi, Chiyoda-ku, Tokyo Nippon Steel Tube Co., Ltd.

Claims (8)

[Claims] 1. A trolley that travels on a plate surface to be inspected by at least one free wheel that can rotate forward / reversely, and an inspection sensor that is provided on the trolley to inspect a plate to be inspected for damage. A pair of detection sensors for detecting the edge of the plate to be inspected provided on the trolley, and signals of the pair of detection sensors are used to instruct normal rotation / reverse rotation / stop of the drive wheels to move the trolley to a predetermined position. A self-propelled inspection device for a metal plate, comprising: a control means for traveling in a predetermined direction. 2. A trolley that travels on the plate surface to be inspected by at least one free wheel that can rotate forward and reverse, and a sensor for inspecting the plate to be inspected for damage on the plate to be inspected. A pair of detection sensors for detecting the edge of the plate to be inspected provided on the trolley, and signals of the pair of detection sensors to instruct normal rotation, reverse rotation, and stop of the drive wheel to the edge. A self-propelled inspection device for a metal plate, comprising: 3. The movement amount calculation means for calculating the movement amount of the center position of the carriage traveling toward the edge of the plate to be inspected, and the control means plunging into the edge based on the pair of detection sensors. Based on the approach angle calculating means for calculating the approach angle of the trolley and the approach angle obtained from the approach angle calculating means and the position information of the movement amount calculating means, the traveling direction of the trolley is relative to the edge. 3. A self-propelled inspection apparatus for metal plates according to claim 1 or 2, further comprising drive wheel control means for controlling rotation of the pair of drive wheels so as to be substantially right angles. 4. The moving means for moving the inspection sensor horizontally along the traveling direction of the carriage to detect flaws on the plate to be inspected, according to claim 1, 2, or 3. Self-propelled inspection device for metal plates. 5. A metal plate self-propelled vehicle equipped with an inspection sensor for inspecting a scratch on a plate to be inspected by a trolley traveling on the plate surface to be inspected by a drive wheel capable of forward / reverse rotation and at least one free wheel. In the traveling method of the type inspection device, a pair of detection sensors provided in a traveling direction of the truck detects an edge of the plate to be inspected to calculate an approach angle of the truck to the edge. A traveling method of a self-propelled inspection device for a metal plate, characterized in that the traveling direction of the trolley is corrected based on the approach angle. 6. A metal plate self-propelled vehicle provided with an inspection sensor for inspecting a scratch on a plate to be inspected on a trolley that travels on the plate to be inspected by a drive wheel capable of forward / reverse rotation and at least one free wheel. In a traveling method of a type inspection device, the movement of a carriage traveling in a direction perpendicular to the edge of the plate to be inspected is detected, and the pair of detection sensors provided in the traveling direction of the carriage detects the movement of the carriage. A metal which calculates an approach angle of the trolley that enters the edge of the inspection plate, and corrects the trolley to a predetermined traveling direction when the approach angle deviates from a predetermined traveling angle of the trolley. Running method of self-propelled inspection device for board. 7. A metal plate provided with an inspection sensor for inspecting a scratch on a plate to be inspected on a carriage traveling on the plate surface to be inspected by a pair of drive wheels capable of forward / reverse rotation and at least one free wheel. In the traveling method of the self-propelled inspection device, the movement of the carriage traveling in a direction perpendicular to the edge of the plate to be inspected is detected based on the center position of the carriage, and is provided in the traveling direction of the carriage. The edge of the plate to be inspected is detected by a pair of detection sensors, a trolley approach angle that projects into the edge of the plate to be inspected is calculated, and if the approach angle deviates from a predetermined approach angle, the pair of A method of traveling a self-propelled inspection device for metal plates, characterized in that the rotation of the drive wheels of the vehicle is controlled to correct the carriage in a predetermined traveling direction. 8. A metal plate provided with an inspection sensor for inspecting a scratch on a plate to be inspected on a carriage traveling on the plate surface to be inspected by a pair of drive wheels capable of forward / reverse rotation and at least one free wheel. In a traveling method of a self-propelled inspection device, a pair of detection sensors provided in the traveling direction of the trolley as well as detecting a movement amount of a trolley traveling in a direction perpendicular to an edge of the plate to be inspected According to the above, the trolley approaching angle that plunges into the edge of the plate to be inspected is calculated, and when the approaching angle deviates from the predetermined approaching angle, the rotation of the pair of drive wheels is controlled to change the traveling direction of the trolley A traveling method for a self-propelled inspecting apparatus for metal plates, which is corrected in a predetermined traveling direction, and when the movement amount and the approach angle exceed an allowable range, the traveling of the carriage is stopped.