KR100778242B1 - Weld-line detection apparatus for welding defect inspection - Google Patents

Abstract

The present invention is a system for inspecting a defect of a welding seam, a plurality of proximity sensors for collecting the position information of the welding seam, and the amount of energy and the running time of the ultrasonic waves reflected from a defect existing therein by transmitting ultrasonic waves to the welding seam An ultrasonic probe that analyzes and nondestructively inspects the location and size of the defect; A motor driving to move to the position of the welding line detected by the proximity sensor, and a control board generating a motor driving control signal for driving the motor and transmitting defect information data detected by the ultrasonic probe, An inspection apparatus for automatically following the welding line and inspecting a weld defect by performing ultrasonic probe; And a main control device connected to the inspection apparatus through a communication to control the inspection apparatus and to compare and analyze the information data transmitted from the inspection apparatus, and transmit a welding seam follow-up correction control signal to the inspection apparatus. Characterized in that, by acquiring the position information of the welding line through a plurality of contactless proximity sensors arranged in a zigzag arrangement in the lower portion of the inspection apparatus, when the deviation of the path of the inspection apparatus is detected, the position of the inspection apparatus can be corrected and controlled. As a result, the welding line can be optimally followed, thereby improving the accuracy of the welding line following and defect inspection.

Description

Weld-line detection apparatus for welding defect inspection

1 is an exemplary view of a welding line detection device for welding defect inspection according to the present invention,

2 is a block diagram of a welding line detection device for welding defect inspection according to the present invention,

3A is a layout view of a proximity sensor and a welding line according to the present invention;

3b is a layout view of a proximity sensor according to the present invention;

4a and 4b is an exemplary view of the weld line path following using the proximity sensor according to the present invention,

5A and 5B are set coordinates used in the weld line path following experiment according to the present invention.

Figure 6 is an error graph by the position control iteration experiment according to the invention,

7 is an exemplary view showing a weld line path following experiment according to the present invention;

8 is an exemplary view showing a climbing capability test of the welding line inspection apparatus according to the present invention,

9 is a view illustrating a position correction of the welding line inspection apparatus according to the present invention;

10 is an exemplary view for displaying the execution of the operating program of the welding line detection test apparatus according to the present invention,

11 is a plan view of the welding line inspection apparatus according to the present invention.

* Description of the symbols for the main parts of the drawings *

10: proximity sensor 20: humidity sensor

30: temperature sensor 40: tilt sensor

50: ultrasonic transducer 60: CCD camera

70: lighting 80: motor

100: inspection device 110: power supply

120: proximity sensor amplification unit 130: sensor unit

140: CPU 150: motor drive unit

200: main controller 210: controller

220: input unit 230: display unit

240: LED / DVM unit 160, 250: communication unit

The present invention relates to a welding line detection device for welding defect inspection, and more specifically, by using a high-frequency oscillation type proximity sensor arranged in a zigzag form arranged in the lower portion of the inspection device to inspect the welding line without contact, and obtained through the proximity sensor By correcting and controlling the position of the inspection device when the path deviates through the location information, it is possible to inspect day / night and land / sea without the influence of welding ship detection and defect insolation of large ships and steel structures, and inspection by inspection personnel The present invention relates to a welding line detection device for inspection of weld defects, which can be inspected up to a location where difficulty is difficult to improve accuracy, and has no influence over time.

Welding has been used for about a thousand years, but in actual application, it has been rapidly developed since World War I and World War II, and is used in many fields such as automobile, vehicle, shipbuilding, construction, electric equipment, industrial machinery, metal processing, etc. In particular, it occupies an important position in metal processing technology.

The field of use of welding is increasing more and more, but due to the poor working environment such as strong ultraviolet rays, electric current, harmful gas, etc. generated during the work, it causes problems such as reduction of workers and increase of labor cost.

After such problems and two oil shocks in the 1970s, welding robots replaced humans appeared in the industrial field.In accordance with the gradual advancement of industrialization, welding work is more precise, low cost, high quality, and natural to improve overall productivity. The trend is the use of threaded robots.

In the case of ships, when the ship is built at the shipyard, the welding line and coating state are repeatedly inspected for each assembly process. Welding of each unit block is performed by a welding robot or welder, and the inspection process is partially automated, but inspection after assembly of the entire ship is dependent on the inspection manpower.

In addition, the hull shell weld defects after shipbuilding are also manually inspected in the same way. In addition, ships in operation are inspected at the bottom of the ship every two years to prevent ship safety and deterioration.

That is, as described above, the weld defect inspection method uses a visual inspection method depending on the method using a laser and the inspection personnel. In the case of large ships, some sections are inspected locally, and lasers are affected by solar radiation in the daytime environment.

Accordingly, the conventional method is time-consuming, inefficient, lacks accuracy, and does not perform accurate defect inspection.

The present invention has been made in view of the above-described conditions, and an object of the present invention is to follow a welding line by contactlessly by arranging a plurality of proximity sensors in a zigzag form at the bottom of the inspection apparatus, and obtain the sensor through a proximity sensor. By correcting and controlling the position of the inspection device to follow the welding line at the optimum position through the position information of the welding line, it is possible to improve the accuracy of following the welding line and defect detection and to detect the welding line of large hull and steel structure and the effect of the solar radiation. It can be inspected in day / night and on land / sea without any change.

Another object of the present invention by providing an ultrasonic probe and a CCD camera to ensure the visibility of day and night according to the probe function and inspection device movement, and provides a weld line defect inspection apparatus that can control the inspection device from a remote location.

In order to achieve the above object, the technical means according to the present invention is a system for inspecting the defect of the welding seam, a plurality of proximity sensors for collecting the position information of the welding seam, and ultrasonic waves to the welding seam inside Ultrasonic probe for nondestructive inspection of the location and size of the defect by analyzing the amount of energy and the running time of the ultrasonic wave reflected from the existing defect; A motor driving to move to the position of the welding line detected by the proximity sensor, and a control board generating a motor driving control signal for driving the motor and transmitting defect information data detected by the ultrasonic probe, An inspection apparatus for automatically following the welding line and inspecting a weld defect by performing ultrasonic probe; And a main control unit connected to the inspection apparatus through communication, controlling the inspection apparatus, and comparing and analyzing the information data transmitted from the inspection apparatus to transmit a welding seam follow-up correction control signal to the inspection apparatus. .

According to the present invention, by obtaining the position information of the welding line through a plurality of contactless proximity sensors arranged in a zigzag arrangement arranged in the lower portion of the inspection device, the position of the inspection device according to the path deviation when the path deviation of the inspection device is detected Can be adjusted to control the welding line can be optimally followed, it is possible to increase the precision of the welding line following and defect inspection.

In addition, by detecting the welding line through a contactless proximity sensor using a high-frequency magnetic field generated from the detection coil, it is possible to avoid the effects of daytime solar radiation, there is no effect of changes over time, and inspection equipment using a CCD camera and lighting By acquiring the surrounding image of, it is possible to ensure visibility even in day / night and land / sea, so that the inspection of weld line defects of vessels that are periodically repeated can be performed more effectively.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is an exemplary view of a welding line detection device for welding defect inspection, and FIG. 2 is a configuration diagram of the welding line detection device illustrated in FIG. 1 and includes an inspection device 100 and a main control device 200. A plan view is described with reference to FIG. 11 as follows.

The inspection apparatus 100 is attached to the hull by a plurality of magnet wheels, as shown in Figure 11 to follow the weld seam, and to inspect the defect of the weld seam, the proximity sensor 10, the humidity sensor 20 to the body of the inspection device , Temperature sensor 30, tilt sensor 40, ultrasonic probe 50, CCD camera 60, lighting 70, motor 80 and the control board is mounted, the control board is a power supply 110 , The proximity sensor amplifier 120, the sensor 130, the CPU 140, the motor driving unit 150 and the communication unit 160.

The power supply unit 110 includes a DC-DC converter and a regulator, and includes a control board and a motor driving unit 150 including the proximity sensor amplifier 120, the sensor unit 130, the CPU 140, and the communication unit 160. Supply input power for driving.

A DC-DC converter is a device or circuit that converts the voltage and current of an input DC power source into a predetermined DC power source. In general regulators, the input voltage must be greater than the output voltage. The DC converter can also output higher output voltages than the input voltages. The main circuit converts a general direct current (DC) power source into an AC power source, and the AC is boosted or stepped down using a coil, transformer, or capacitance, and then rectified again to produce a direct current (DC) power source.

A regulator is a collective term for an integrated circuit (IC) or a device that produces a constant output regardless of load current, input voltage, ambient temperature, etc.

Proximity sensor amplification unit 120 is spaced at a predetermined interval in the lower portion of the inspection device 100 when the position information of the welding line detected by the plurality of proximity sensors 10 mounted in a zigzag form is input, the proximity sensor 10 After converting the input analog signal, which is the position information signal input through the digital signal, and transmits the digital signal amplified to a predetermined size to the CPU (140).

The proximity sensor 10 is a sensor for discriminating the presence or absence of a detection object without contact, and has a semi-permanent lifespan. The type of proximity sensor 10 is a high frequency oscillation type proximity sensor using an electromagnetic induction phenomenon of a detection object and a change in capacitance between the detection object and the earth. There is a capacitive proximity sensor using the proximity sensor 10 in the present invention uses a non-contact high-frequency oscillation proximity sensor for detecting a weld line, and the eddy current (that is, the conductor when the weld line is close to the sensor head) Detecting the presence or absence of a welding line using the principle that the current flowing through the closed spiral passage in the inside of the circuit increases, and the oscillation amplitude of the magnetic field detected by the detection coil becomes smaller. do.

The welding line detection algorithm is as follows when the driving of the inspection apparatus is controlled by detecting the presence and location information of the welding line using the proximity sensor.

First, a structure of a proximity sensor and a welding line according to the present invention will be described with reference to FIGS. 3A and 3B.

As shown in FIG. 3A, the average thickness of the welding line to be detected is about 5 mm and the width is about 25.4 mm. In order to detect this, a proximity sensor having a detection distance of about 7 mm is used.

By mounting the plurality of proximity sensors in a zigzag arrangement as shown in FIG. 3b, mutual interference by high frequency magnetic fields occurs between adjacent proximity sensors to ensure a minimum distance for preventing mutual interference.

Proximity sensor used in the above uses the frequency of 3 channels, adjacent sensors with different channels should be spaced 11mm apart, the same channel should be secured at least 23mm.

Proximity sensors of each of the three channels are mounted in a zigzag form as shown in Figure 3b, when sequentially arranged (-1) proximity sensor and (2) proximity sensor becomes the same channel.

The distance between each proximity sensor is set to 2X, the minimum distance between the same channel interference is set to 23mm, and the value of X is obtained by using Equation (1), which is about 6.639mm. Accordingly, the minimum distance between the proximity sensors is 13.27mm. Because of this, proximity sensor spacing is about 15mm.

-(식1)

-(Eq. 1)

In the case of following the welding line through the proximity sensor installed at the set interval, the embodiment of correcting and controlling the position of the inspection apparatus to optimally follow the welding line is as follows, and will be described with reference to FIGS. 4A and 4B. .

When the inspection apparatus is moved to the center of the welding line, three proximity sensors (coordinates -1, 0, 1) are operated, and the welding line path following control is performed based on this state.

When the welding line is oblique to the traveling direction of the inspection apparatus as shown in FIG. 4A, four proximity sensors operate. When the center point of the traveling direction coincides with the center point of the welding line, the welding line is rotated clockwise (30 °) to change the traveling direction to the welding line direction. Move to the same direction as welding line.

When the adjacent three sensors operate as shown in FIG. 4B, the inspection apparatus 100 moves in a straight direction. The absolute value of the center line of the welding line detected by the proximity sensor is the distance to the center of the inspection apparatus, and the sign is the direction of the welding line. It is information.

Following the welding line is corrected by the distance B corresponding to the equation (2), and the rotation angle is fixed at 30 °. Where | coordinate | is the position of the sensor, D is the distance between two neighboring sensors, and is used as the reference distance in the calculation.

The traveling direction is rotated in the reference clockwise direction (30 °), proceeds by the distance (B) in Equation (2) in the following direction, and is rotated counterclockwise (30 °) to coincide the center point of the welding line with the traveling direction. .

B = (| Coordinate | XD) × 2-(Equation 2)

Accordingly, the maximum detection distance measurement and detection results using the proximity sensor in the present invention are as follows.

Although the detection distance specification of the proximity sensor is specified as about 7mm, the actual detection distance can be detected longer, and the interference between the inspection device and the welding line can be prevented during the inspection by maintaining the maximum distance between the proximity sensor and the welding line. have.

In order to prevent the interference between the inspection device and the welding line, the distance between the proximity sensor and the welding line should be kept to the maximum. To measure this maximum distance, the maximum detection distance can be measured by adjusting the trimmer of the proximity sensor amplifier.

Table 1 shows the results of measuring the maximum distance between the proximity sensor and the welding line.

As shown in Table 1, the detection distance is 100% normal to 9mm and 50% normal to 10mm because the proximity sensor has a saturation point near 10mm. Therefore, the stable detection distance is within 9mm, it is preferable to use the proximity sensor and the welding line within 9mm.

No. Detection distance (mm) Ground clearance (mm) Repetition One 2 3 4 5 6 7 8 9 10 One 5 8 4.9 5.0 4.9 4.9 5.1 4.8 5.0 4.9 4.9 4.9 2 6 9 5.8 5.9 5.9 5.8 5.9 6.0 5.9 5.8 5.8 5.9 3 7 10 6.9 7.0 6.8 7.0 6.9 6.9 6.8 6.9 6.9 6.8 4 8 11 7.8 7.9 7.9 7.8 7.9 7.8 7.9 7.8 7.9 7.9 5 9 12 9.0 8.8 8.9 8.9 8.8 9.0 9.0 8.9 8.8 9.0 6 10 13 9.9 x x 9.8 9.9 x x 9.8 x 9.9 7 11 14 x x x x x x x x x x

In order to confirm whether the inspection apparatus accurately follows the welding line path by the welding line path tracking algorithm, two welding line paths as shown in FIGS. 5A and 5B were set and the inspection device was driven.

As shown in Table 2, when the deviation from the reference value in the left and right directions, it can be seen that the path immediately returns to the set path by the algorithm.

Measurement count Experiment (a) Experiment (b) standard result standard result x axis y axis x axis y axis x axis y axis x axis y axis One 10 5 10 5 10 5 10 5 2 10 10 11.2 10 10 10 10.3 10 3 10 15 10.6 15 10 15 10.7 15 4 10 20 9.0 20 10 20 9.4 20 5 10 25 8.4 25 10 25 9.8 25 6 15 30 15.6 30 10 30 9.9 30 7 20 35 21.3 35 15 30 15 29.4 8 20 40 20.4 40 20 30 20 30.9 9 20 45 20.9 45 25 30 25 29.9 10 20 50 19.8 50 30 30 30 30.7

In addition, in the automatic control mode of the inspection apparatus, welding line tracking and welding line defects must be precisely moved at a constant speed in the inspection section to improve the reliability of the inspection.

In order to prove the precision of the position movement of the inspection apparatus according to the welding seam, the position control repeatability test was performed at a distance of 1 m, and FIG. 6 shows the position movement error after the test of the inspection apparatus.

The occurrence error of the inspection device is corrected through the welding line path correction algorithm of the main control device in the automatic inspection mode, and considering that the distance of the hull shell plate is about tens of meters, there is no effect of the error.

In addition, in order to evaluate the welding line path tracking performance using the proximity sensor, a welding line path is manufactured on the iron plate (about 20T) with the same line width as the hull shell welding line (about 25.4mm) to evaluate whether the inspection apparatus follows the welding line path. It was.

As a result of the experiment, there was a time delay to follow the path at the point where the direction of the inspection device changes or crosses. However, the inspection device was found to follow the welding line optimally without deviating from the welding line path.

In addition, in order to evaluate the adhesive force of the magnetic wheel of the inspection apparatus and the motor driving ability in the attached state, the experimental apparatus as shown in Figure 8 was configured and tested.

After the steel plate was installed horizontally and the inspection equipment was attached, the angles of 30 °, 45 °, 60 ° and 90 ° were inclined, and the drive was strong up to 60 °, but slip occurred at 90 ° (vertical wall). The inspection device slipped on the plate. To compensate for this, the secondary battery is used to increase the current capacity to prevent slippage.

Accordingly, the welding line is followed and the defect is detected by the contactless proximity line using the high frequency magnetic field generated by the detection coil, and the welding line following the ship is repeated repeatedly in the day / night and the land / sea without the influence of insolation during the day. Defect inspection can be performed more precisely and effectively.

The ultrasonic probe 50 periodically transmits ultrasonic waves to analyze the amount of energy reflected from the defects present in the hull welding line and the delay time of the ultrasonic waves to detect the position and size of the defects and also measure the distance. Transfer to the CPU. That is, the ultrasonic probe inspects the weld line for defects.

Accordingly, the ultrasonic probe attached to the inspection device detects weld line defects and analyzes the CPU-detected defects to accurately identify abnormal points. Can be done.

The sensor unit 130 includes a humidity sensor 20, a temperature sensor 30, and an inclination sensor 40 and is mounted on one side of the inspection device to detect the state information of the inspection device and transmit the data signal detected by the CPU. do.

The humidity sensor 20 detects whether the inspection apparatus is submerged in water by measuring humidity, and transmits the detected signal to the CPU 140.

In addition, the humidity sensor is a kind of chemical sensor having a wide range of applications, such as public stability, medical, agricultural, industrial and various specific applications. At present, most of the humidity sensors used as electronic components are adsorption types using thermal conductivity (thermistor type), metal oxide ceramics, and the like. If the humidity sensor is classified according to the material, it can be divided into electrolyte sensor, organic polymer sensor, ceramic sensor, microwave moisture sensor, radiation sensor.

The temperature sensor 30 detects an overheating phenomenon by detecting a temperature caused by an excessive load of the inspection apparatus, and transmits the detected signal to the CPU 140.

In addition, in the temperature sensor, the electrical resistance of the conductor changes with the change of temperature. By using this characteristic, the temperature can be measured only by the resistance value which varies according to the resistance variation rate against the unit temperature change. The materials used for temperature measurement are platinum, nickel, and copper. The pureer the material, the larger the temperature coefficient and the more constant.

The tilt sensor 40 is a sensor that detects a path deviation of the inspection apparatus attached to the hull shell by a magnetic wheel, and periodically transmits the detected signal to the CPU 140 and transmits the signal to the CPU 140. The signal is analyzed in comparison with the reference value, and used to correct and control the path deviation of the inspection apparatus when the inspection apparatus leaves the path.

That is, when the inspection apparatus 100 leaves the path due to slip phenomenon or the like during the movement, the inspection apparatus 100 returns to the path by performing the path deviation correction control. In this case, the inclination sensor 40 is used to obtain departure information on the control target value of the inspection apparatus and use the comparison data for the path departure correction control.

The inclination sensor 40 is attached to the inspection apparatus 100 as shown in FIG. 9 to recognize all 360 °. When the inspection apparatus 100 starts moving, initially, the data acquired from the inclination sensor 40 is set as a reference value, and the same value is obtained by comparing and analyzing the values of the inclination sensor 40 periodically acquired during the movement. If the current movement state is maintained and the difference is different, the difference angle θ for correction is equal to the arc length l, so that the path deviation difference angle with respect to the control target value can be corrected by correcting the arc length. The length of the arc is shown in equation (3).

l = 2πr θ / 360 °-(Equation 3)

The CPU 140 performs overall operations of the proximity sensor amplifier 120, the sensor 130, the motor driver 150, the communication unit 160, the ultrasonic probe 50, the CCD camera 60, and the illumination 70. Instruction control.

In more detail, the CPU 140 receives position information of a welding line through a plurality of proximity sensors 10 mounted in a zigzag form at the bottom of the inspection apparatus, and includes a humidity sensor 20, a temperature sensor 30, and the like. An information data signal that detects the state of the inspection apparatus detected by the inclination sensor 40 is input, and ultrasonic probe information, which is a weld line defect detected by the ultrasonic probe 50, is input, and image information obtained through a CCD camera. Is input, the illumination is turned on when the illuminance at the time of acquiring image information through the CCD camera is less than the predetermined illuminance in advance, and when the illuminance is above the predetermined illuminance, the light is turned off, Transmits the information data input from the component, that is, position information data of the proximity sensor, humidity, temperature, inclination data, image information data, ultrasonic probe information data, etc. It transmits a request signal for.

When the correction control signal of the main controller 200 is input through the communication unit 160 after transmitting the correction request signal for various information data, the CPU 140 generates a control signal corresponding to the correction control signal to control each component. Send a signal.

The CPU 140 controls the motor driver according to the movement command of the main controller based on data collected by the sensor unit 130 and the proximity sensor 10, and the movement data of the motor driven under the control of the motor driver is controlled by the motor driver. It is transmitted back to the CPU 140 via 150.

In addition, a control signal for driving the inspection apparatus 100 is generated by an instruction command input from the main controller 200, and correction control is performed based on the state information fed back from the sensor and the magnet wheel attached to the inspection apparatus 100. Send a request signal for the main control device (100).

That is, the CPU 140 controls PWM (Puls Width Modulation) according to a control signal generated and transmitted from the main controller 200 based on the position information of the inspection apparatus detected by the proximity sensor 10. do.

The PWM changes the ratio of turning on the switch for a predetermined time t1 during the process of supplying current to the motor and turning off the switch for the time t2.

The time of t1 is adjusted according to the external source voltage. The degree of adjustment is controlled so that the time of t1 is adjusted from 0 to 100%, and if t1 is 5% of one cycle of on / off, the average value is 5%. If 100% is open, of course it is 100%.

In this way, if the electric current is supplied to the motor only by a certain percentage of t1 which changes the current flowing in the motor at a periodic time (t1 + t2), it is instantaneously supplying 100% of electricity to the motor. One cycle of t1 + t2 has a frequency of about 20khz, which is a high frequency outside the human audible band, and because the time is very fast, the speed at which the motor responds is mechanically limited, so the output corresponds to the average value of t1. Since the on and off operation of the electronic switch is repeated repeatedly, the purpose of controlling the motor speed is achieved only by heat loss caused by the extremely weak internal resistance of the semiconductor without heat loss.

At this time, the control efficiency of the controller shows high efficiency of 95% or more over the entire range from 0 to 100% of the motor speed.

The motor driving unit 150 is a component that drives the motor according to the control signal of the CPU of the inspection apparatus to move the inspection apparatus 100, the main control unit by the data collected by the proximity sensor and the sensor unit 130 ( In accordance with the movement command of 100, the CPU 140 transmits a PWM control signal to control the speed and the direction of the motor to move the inspection apparatus left and right, up and down.

The motor driving unit 150 is configured to change the direction of the motor, an alarm indicating a failure of the motor, a brake to reduce or stop the motor speed, a run / stop to drive / stop the motor, a speed output to output the motor speed, and a direction of the motor. There is a function such as PWM control to change the output voltage in accordance with the direction and instructions of the CPU 140.

The communication unit 160 is a component that communicates data and / or command transmission / reception using a communication method such as RS-232C and the communication unit 250 of the main control device. The CPU 140 receives signals detected by various sensors. In accordance with the instruction of the main control unit 200, and transmits the control command transmitted from the main control device 200 to the inspection device (100).

 The communication unit RS-232C is equipped with a chip called MAX232. MAX232 is used for communication of RS-232C standard, which is serial communication.

RS-232C communication has a basic communication level of -10 to + 10V level. However, since the level of the voltage output from the CPU and the like is within 0 to 5V, serial communication cannot be performed immediately. Therefore, the voltage must be lowered, and the MAX232 does this.

The serial communication signal generated by the CPU 140 transmits and receives after widening the voltage through the MAX232 chip, or likewise changes the received voltage level between -9 and + 9V to a voltage level of 0 to 5V again. To be sent). In addition, it removes noise in the middle as well as voltage, helping to ensure stable communication.

In other words, the MAX232 is a line driver from Maxim that allows the computer to adjust the voltage in the middle to communicate with the microcomputer.

The CCD camera 60 is mounted on one side of the inspection apparatus 10 to acquire an image of the hull and transmit the acquired image information data to the CPU 140.

By using the CCD camera 60, not only the position information of the welding line, but also the image information of the welding portion that cannot be obtained by general non-visual sensors (for example, acoustic sensors, optical sensors, ultrasonic sensors, magnetic sensors, electromagnetic sensors, etc.) There is an advantage that can be obtained by coordinates through the camera.

In addition, the CPU 140 controls the CCD camera 60 connected and connected. That is, according to the instruction command of the CPU 140, the control of the focus of the CCD camera 140, pan, tilt for adjusting the up, down, left and right directions, and zoom for image zoom in / out.

The illumination 70 is mounted on one side of the CCD camera 60 and is turned on / off according to the control signal of the CPU 140. That is, the camera is further provided with an illuminance sensor (not shown), and the illuminance detected by the illuminance sensor is turned on when the predetermined illuminance is set below the predetermined value in the CPU 140, and is turned off when the illuminance is higher than the predetermined illuminance. It is turned on at the time of operation, can be turned off when the CCD camera 60 is stopped, and visibility of the welding line can be secured by further using the CCD camera and illumination.

The main control apparatus 200 transmits an operation instruction control signal to the inspection apparatus 100 remotely so that the inspection apparatus can be automatically driven through communication with the inspection apparatus 100, and the control unit 210 and the input unit 220. ), The display unit 230, the LED / DVM unit 240 and the communication unit 250.

The controller 210 drives the inspection apparatus based on the ultrasonic analysis system unit (not shown) and the image information input from the inspection apparatus 100 to transmit the ultrasonic probe and the analysis result to the inspection apparatus in order to inspect the weld line defect. It is composed of an adjusting unit (not shown) for generating and transmitting an instruction command for.

The controller 210 compares and analyzes various information data transmitted from the test apparatus 100 with preset reference data to instruct a driving command of the test apparatus 100.

The position information of the welding line is obtained by the plurality of proximity sensors 10 mounted on the lower portion of the inspection apparatus, and the position information of the welding line obtained through the proximity sensor is compared with the analysis direction of the inspection apparatus. The position movement data is transmitted to the CPU 140 of the inspection apparatus through the communication unit 250.

At this time, the position information to be moved is movement position data corresponding to the operation of the motor, and transmits a pulse width modulated signal for changing the direction and speed of the motor to the inspection apparatus.

The data collected by the sensors are compared with the preset reference data to generate an error correction signal for correcting the error, and to transmit an error correction control command signal for controlling the motor driver of the inspection apparatus.

The input unit 220 is used to move the test apparatus to a specific position according to a user's arbitrary, and all input apparatuses can be used, but in this embodiment, a joystick is used. The joystick is a pointing device driver that can easily move the cursor in different directions. It cannot enter any other information.

The signal of the input unit 220 input according to a user's arbitrary is input to the control unit 210, and the control unit 210 outputs a motor driving signal corresponding to the moving position of the test apparatus 100 input through the joystick. Transmit to 140.

The signal input to the CPU 140 of the inspection apparatus 100 is transmitted back to the motor driving unit 150, the motor driving unit 150 by driving the motor 80 corresponding to the input movement position information, the inspection apparatus 100 Move () to the position you want or welding line position.

The display 230 displays an execution process and a result of the inspection apparatus driving operation program preset in the controller 210. An example is shown in FIG.

The speed of the inspection apparatus 100 is shifted step by step and the current traveling speed is displayed through the display bar, and the direction indicator displays the traveling direction of the inspection apparatus 100.

The following mode is a "automatic mode setting" button for detecting a weld fault, the motor power mode is a mode for manually turning on / off the power of the motor 80 when the inspection apparatus 100 is abnormally operated, and the command is a main controller. The mode for checking the contents of the command transmitted in the serial communication between the 200 and the test device 100. In addition, status indicators display the speed and direction of the motor.

The LED / DVM (Digital Voltage Meter) unit 240 displays the state values of signals detected by various sensors such as a proximity sensor and a temperature sensor of the inspection apparatus 100 according to the instructions of the controller 210. Indicated by.

The communication unit 250 is a component that performs communication such as data transmission and / or command transmission / reception using a communication method such as RS-232C and the communication unit of the inspection apparatus, and data signals and CCDs of various sensors transmitted from the inspection apparatus 100. When the information data signal such as a camera is transmitted to the control unit 210, and transmits a control command of the inspection device 100 generated by the control unit 210 to the inspection device 100 according to the instructions of the control unit.

The present invention is not limited to the above-described embodiments, and various changes can be made by those skilled in the art without departing from the gist of the present invention as claimed in the following claims.

As described in detail above, the present invention obtains the position information of the welding line through a plurality of contactless proximity sensors arranged in a zigzag form arranged in the lower portion of the inspection device, the path deviation when the path deviation of the inspection device is detected According to the present invention, the position of the inspection apparatus can be corrected and controlled, so that the welding line can be optimally followed, thereby increasing the accuracy of following the welding line, and securing the versatility by modularizing the detection apparatus.

In addition, by detecting the welding line through a contactless proximity sensor using a high-frequency magnetic field generated from the detection coil, it is possible to avoid the effects of daytime solar radiation, there is no effect of changes over time, and inspection equipment using a CCD camera and lighting By acquiring the surrounding image of, it is possible to secure visibility even in day / night and land / sea, so that it is possible to perform the welding line tracking and defect inspection of ships that are periodically repeated more effectively.

In addition, the present invention can obtain the defect inspection result of the welding line through the ultrasonic probe attached to the inspection device to determine whether the defect is a defect of the weld line, to accurately confirm the abnormal location, the remote control method whether the defect of the height that is difficult to access the inspector The inspection can be performed, and the defects of the welding line can be easily inspected to improve the work productivity, prevent the safety accident of the operator, and the accurate quality inspection can be performed to make the subsequent process stable.

Claims (7)

In the system for inspecting the defect of the welding line, Ultrasonic probe for non-destructive inspection of the position and size of the defect by analyzing a plurality of proximity sensors for collecting the position information of the welding line, and the amount of energy and the running time of the ultrasonic wave reflected from the defect present therein by transmitting ultrasonic waves to the welding line ; A motor driving to move to the position of the welding line detected by the proximity sensor, and a control board generating a motor driving control signal for driving the motor and transmitting defect information data detected by the ultrasonic probe, An inspection apparatus for automatically following the welding line and inspecting a weld defect by performing ultrasonic probe; And And a main control device connected to the inspection apparatus through communication to control the inspection apparatus and to compare and analyze the information data transmitted from the inspection apparatus to transmit a welding seam follow-up correction control signal to the inspection apparatus. The proximity sensor is a non-contact high frequency oscillation type, and when the welding line and the sensor head get closer, the eddy current increases and the oscillation amplitude of the magnetic field detected by the detection coil is reduced to obtain the position information by following the welding line. A welding line detection device for welding defect inspection, characterized in that. delete delete delete The method of claim 1, wherein the control board, A power supply unit supplying operation power of each component unit; A sensor unit including a humidity sensor detecting whether the inspection device is flooded, a temperature sensor detecting an overheating phenomenon caused by an excessive load, and a tilt sensor detecting a path deviation of the inspection device; Proximity sensor amplification unit for converting the analog signal transmitted from the plurality of proximity sensors for collecting the position information of the welding seam into a digital signal, amplified to a predetermined size to transmit the amplified digital signal; Instructing and controlling the operation of the proximity sensor amplifier, the sensor unit, the CCD camera, the illumination and the motor driver, and when the sensing data of the proximity sensor amplifier, the sensor unit, the CCD camera and the motor driver are transmitted, the sensing data and A CPU for transmitting a correction command request signal and generating a PWM control signal corresponding to an instruction signal of the main controller and transmitting the generated PWM control signal to the motor driver; A communication unit for transmitting and receiving a data signal between the CPU and the main control device in response to a control signal of the CPU and the main control device; And And a motor driver for driving the motor to move the inspection apparatus to a predetermined position in response to the PWM control signal transmitted from the CPU.  The method of claim 5, wherein the power supply unit A DC-DC converter for converting a voltage input to each component into a predetermined voltage; A welding line detection device for welding defect inspection, characterized by comprising a regulator which makes the voltage input to each component part stable and constant. The method of claim 1, wherein the main control unit The sensor data transmitted from the sensor is analyzed and compared with the previously stored reference data, and the error compensation signal is transmitted to the inspection device, and the position data of the proximity sensor is analyzed and the motor drive correction control signal is transmitted to the inspection device. And a controller configured to generate and transmit the inspection apparatus driving instruction control signal through the image information input from the inspection apparatus. A display unit configured to display an execution process and a result of a test apparatus operating program stored in the control unit so that a user can visually identify the test unit; An LED / DVM unit configured to display data sensed by a sensor mounted on the inspection device in response to an instruction of the controller; An input unit for inputting a user's arbitrary position movement signal to move the inspection apparatus to a specific position; And Welding defect detection apparatus for welding defects comprising a; communication unit for transmitting and receiving data with the inspection device.

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