KR101487169B1 - Robot Working Quality Monitoring System - Google Patents

Robot Working Quality Monitoring System Download PDF

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Publication number
KR101487169B1
KR101487169B1 KR20140064325A KR20140064325A KR101487169B1 KR 101487169 B1 KR101487169 B1 KR 101487169B1 KR 20140064325 A KR20140064325 A KR 20140064325A KR 20140064325 A KR20140064325 A KR 20140064325A KR 101487169 B1 KR101487169 B1 KR 101487169B1
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KR
South Korea
Prior art keywords
monitoring area
monitoring
welding
robot
motion
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Application number
KR20140064325A
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Korean (ko)
Inventor
정명환
하수영
나경진
Original Assignee
아진산업(주)
오토아이티(주)
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Priority to KR20140064325A priority Critical patent/KR101487169B1/en
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Publication of KR101487169B1 publication Critical patent/KR101487169B1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/04—Viewing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • H04N5/2257—
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/30—End effector
    • Y10S901/41—Tool
    • Y10S901/42—Welding

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • General Factory Administration (AREA)
  • Manipulator (AREA)

Abstract

The present invention relates to a robot work quality monitoring system, which comprises a field monitoring camera unit for photographing an image of a field in which a robot is working, and a management terminal for monitoring a robot work quality from a field image received from the field monitoring camera unit, Wherein the management terminal comprises: a monitoring area setting unit for setting at least one monitoring area in the field image based on a monitoring area setting input signal; an event setting unit for setting an event to be detected in the monitoring area; And a motion detector for detecting motion generated in the area and generating an alarm when the motion corresponds to the set event.
According to the present invention, it is possible to precisely monitor facility operation and work status in real time, thereby minimizing facility downtime and prompt action in the event of an error, thereby improving the quality of production activities of the robot.

Description

{Robot Working Quality Monitoring System}

The present invention relates to a robotic work quality monitoring system, and more particularly, to a robotic work quality monitoring system that detects the occurrence of a specified event through motion detection occurring in a plurality of monitoring areas set in a field image of a robot, The present invention relates to a technique for enabling easy monitoring and enabling real-time measures when a problem occurs.

In general, the industrial robot is a device for realizing factory automation as a facility to work on behalf of a person in a small industrial facility facility such as a semiconductor industry, a manufacturing industry process system as well as a large industrial facility facility such as a heavy industry and an air industry.

Modern manufacturing industry process system is big and complicated, and many processes are more dependent on industrial robots than workforce dependency, and the interest in maintenance of reliability and stability of industrial robot system in automatic process is increasing.

In addition, it is possible to produce a large number of products in a short time due to high-speed mass production through industrial robots. However, if a problem occurs in an industrial robot, the facility can not be operated and the production should be stopped for a certain period of time. There is a big problem.

Welding robots, which are typical industrial robots, are widely used for automobile body welding and the like. In general, spot welding robots are mainly used.

Spot welding is cost effective, mass-productive, has high efficiency of bonding strength, has performance advantages such as weight reduction, material saving, simplification of structure, and welding condition is automatically determined according to the machine, There is no need to rely on the spot welding. In the field of metal working, spot welding is usually used.

Since such spot welding is made in a point shape, it is also referred to as spot welding, and unlike rivet joining in which holes are directly formed in a plate material, joining can be performed without piercing.

Here, defects at the spot welded part deteriorate the reliability of the welding, and care must be taken particularly when a repeated load or an impact load acts.

Especially, in case of impact load, safety is important, so there should be no defect.

Since spot welding applied to automobile body bodies is an important factor to determine impact, durability, strength, noise and vibration performance, overall welding quality such as strength of weld is very important.

Therefore, it is important for the welding robot to precisely monitor the normal operation of the robot and the welding condition in real time.

However, until now, as a method of monitoring the welding robot, the three-dimensional position information of the stud gun is received from the robot controller, the voltage and the current of the stud gun are measured and stored as measurement welding data as disclosed in Korean Patent Publication No. 2014-0028201, It is also possible to judge whether or not the spot welding is abnormal through the measurement of voltage and current, or to check the welding target parts with the vision inspection system by comparing the self-stored reference welding data with the measured welding data, And only the degree of abnormality of the welded parts was detected.

Korean Patent Publication No. 2014-0028201 "Spot Welding Monitoring System and Method Thereof"

SUMMARY OF THE INVENTION An object of the present invention is to easily monitor the operation status, operation status, and welding status information of a robot apparatus and to enable real-time measures when a problem occurs.

According to an aspect of the present invention, there is provided an image processing apparatus including: a field monitoring camera unit for photographing an image of a field in operation of a robot; And a management terminal for monitoring a robot operation quality from a field image received from the field monitoring camera unit, wherein the management terminal comprises a monitoring area setting unit configured to set at least one monitoring area in the field image based on a monitoring area setting input signal, A motion detection unit for detecting a motion occurring in the set monitoring area and generating an alarm when the motion corresponds to the set event; A motion detection mode for selecting one of a threshold measurement mode for detecting motion by measuring the number of pixels having motion in the monitoring area and a sensitivity measurement mode for detecting motion by measuring the intensity of motion in the monitoring area Select mode The robots work quality monitoring system, comprising a step of including is provided.

Here, the monitoring area is a rectangular area that is set by a mouse dragging operation and has a variable size, and a plurality of monitoring areas can be set in the field image.

Wherein when the monitoring area is set, a virtual monitoring area including the set monitoring area and its peripheral area is set, and when a preset event occurs in the virtual monitoring area, at least a part of the virtual monitoring area is included in the monitoring area The monitoring area variable setting unit may further include a monitoring area variable setting unit that varies the monitoring area.

The monitoring area includes a position where the robot processes the product, calculates a facility operation rate by tracking the position of the product in the monitoring area, and transmits the calculated facility operation ratio information to the production time management system. It is more preferable to include an analysis unit.

In addition, a mode may be selected from a threshold measurement mode in which motion is detected by measuring the number of pixels in which motion has occurred in the monitoring area, and a sensitivity measurement mode in which motion is detected by measuring the intensity of motion in the monitoring area It is more preferable that the motion detection mode selection unit is further included.

If the robot is a welding robot, based on the photographed image of the welding jig, information on at least one of the normal operation of the welding jig, the worker part status, the welding tip status, the loss of parts, A welding gun monitoring unit for detecting at least one of welding gun motion detection, welding abnormality detection, tip dressing status, and stud failure detection based on a shot image of a welding gun, and a jig monitoring unit for detecting welding point And a welding gun monitoring unit for detecting information on at least any one of whether the product is normally mounted, the spatter condition, the tip dressing state information, the presence or absence of the welding tip, the state of the tip dressing cutter, More preferable.

According to the present invention, it is possible to precisely monitor facility operation and work conditions in real time, minimizing facility downtime and prompt action in the event of an error, thereby improving the quality of robot production activities.

FIG. 1 is an overall configuration diagram of a robot work quality monitoring system according to the present invention.
2 is a block diagram illustrating a detailed configuration of a management terminal according to an embodiment of the present invention.
FIG. 3 is a view showing a robot work quality monitoring screen according to an embodiment of the present invention.
4 is a block diagram illustrating a detailed configuration of a management terminal according to another embodiment of the present invention.
FIG. 5 is a view for explaining the concept of a variable monitoring area in another embodiment of the present invention, and FIG. 6 is a view for explaining a principle of changing a monitoring area according to occurrence of an event in a variable monitoring area.

The description of the present invention is merely an example for structural or functional explanation, and the scope of the present invention should not be construed as being limited by the embodiments described in the text. That is, the embodiments are to be construed as being variously embodied and having various forms, so that the scope of the present invention should be understood to include equivalents capable of realizing technical ideas. Also, the purpose or effect of the present invention should not be construed as limiting the scope of the present invention, since it does not mean that a specific embodiment should include all or only such effect.

FIG. 1 is an overall configuration diagram of a robot work quality monitoring system according to the present invention.

As shown in FIG. 1, the robot work quality monitoring system according to the present invention mainly includes cameras (3, 4, 5, 6) installed at work sites and cameras , 6), and monitors the quality of work of the robot.

The camera includes an on-site monitoring camera section 3 for photographing a work site in a wide area, and three cameras 4, 5 and 6 for photographing the welding robot 1. [

The field monitoring camera unit (3) is installed in a position where it is possible to monitor all or part of the work site to show the overall operation state of the site. It is preferable that the image photographed by the field monitoring camera unit 3 includes a plurality of welding robots so that the operation states of the plurality of welding robots can be monitored through one image.

Three cameras for photographing the welding robot 1 include a welding gun monitoring camera unit 4 for photographing a welding gun part of the welding robot 1 and a welding point monitoring camera 4 for photographing a welding point part of the welding robot 1. [ And a welding jig monitoring camera part 5 for photographing the welding part 5 and the welding jig 2 part.

The images photographed by these four cameras are transmitted to a management terminal 7 located at a remote place and used as basic data for monitoring and analyzing the welding quality of the welding robot 1.

FIG. 2 is a block diagram illustrating a detailed configuration of a management terminal according to an embodiment of the present invention, and FIG. 3 is a view illustrating a robot work quality monitoring screen according to an embodiment of the present invention.

2, the management terminal 7 according to an exemplary embodiment of the present invention includes a monitoring area setting unit 21, an event setting unit 22, a motion detecting unit 23, a motion detecting mode selecting unit 24, A jig monitoring unit 25, a welding gun monitoring unit 26, and a welding point monitoring unit 27.

The monitoring area setting unit 21 sets at least one monitoring area in the field image based on the monitoring area setting input signal input from the manager. As shown in FIG. 3, the monitoring area 30 may be a rectangular area set by a mouse dragging operation and a variable size, and a plurality of monitoring areas 30 may be set in the field image. In the embodiment of FIG. 3, four monitoring areas 30 are illustrated. The number of the monitoring areas 30 may be the number of the welding robots 1 included in the field image.

The event setting unit 22 sets an event to be detected in the monitoring area. Here, the event may be a motion pattern related to a specific event such as an abnormal operation pattern of the welding robot 1, a collision with an operator, or the like, Or may be the operation stop of the welding gun of the robot 1.

The motion detection unit 23 detects motion occurring in the set monitoring area and generates an alarm when the motion corresponds to the set event. The motion detector 23 compares all motions generated in the monitoring area with motion patterns corresponding to the user-specified event to detect whether an event has occurred in the monitoring area. The motion detector 23 notifies the manager of the occurrence of an event when an event occurs, and stores the image in the event image storage area.

The motion detection mode selection unit 24 selects either of a threshold measurement mode for detecting motion by measuring the number of pixels having motion in the monitoring area and a sensitivity measurement mode for detecting motion by measuring the intensity of motion in the monitoring area In order to select one mode, a mode selection window 24 'for selecting a threshold value measurement mode and a sensitivity mode as a motion detection mode is displayed in FIG.

The jig monitoring unit 25 detects whether or not the normal operation of the welding jig 2, the state of the worker part, the state of the welding tip, the loss of parts, the interference between operations, To detect one piece of information.

The welding gun monitoring unit 26 is for detecting at least one of welding gun motion detection, welding abnormality detection, tip dressing state, and stud failure detection based on the shot image of the welding gun.

The welding spot monitoring unit 27 detects information on at least one of whether or not the product is normally mounted, the spatter state, the tip dressing state information, the presence or absence of the welding tip, the tip dressing cutter state, and the welding state, .

FIG. 4 is a block diagram showing a detailed configuration of a management terminal according to another embodiment of the present invention, FIG. 5 is a view for explaining the concept of a variable monitoring area in another embodiment of the present invention, And the monitoring area is variable according to the occurrence of the event in the variable monitoring area.

The basic configuration of the management terminal 7 in the embodiment of FIG. 4 is the same as the embodiment of FIG. 2 except that the monitoring area variable setting unit 28 and the facility utilization ratio analyzing unit 29 are further included in FIG. 4 .

5, when the monitoring area 30 is set in the field image screen by the monitoring area setting unit 21, the monitoring area variable setting unit 28 sets the monitoring area 30 and the peripheral area And changes the monitoring area 30 so that at least a part of the virtual monitoring area 30 is included in the monitoring area 30 when a predetermined event occurs in the virtual monitoring area 40. [

As shown in FIG. 5, when a specific event occurs in the virtual monitoring area 40 in a state where the virtual monitoring area 40 is set larger than the monitoring area 30 and the monitoring area 30, The area variable setting unit 28 sets the monitoring area 30 'that is variable by expanding the area so that the monitoring area 30 includes the event area E where the specific event occurs. When the monitoring area 30 'is expanded, the motion detecting unit 23 detects motion in the modified monitoring area 30' to determine whether an event has occurred.

For example, when the manager sets the welding area around the welding point of the welding robot to the monitoring area 40, if there is an operator approaching the monitoring area 40 or there are other obstacles, an accident may occur during the operation of the welding robot. Therefore, in the present invention, considering the above factors, the virtual monitoring area 40 is set larger than the monitoring area 30 set by the operator so that only the event occurrence information in the monitoring area 30 is provided to the manager, So that the above-described problems can be solved.

When the monitoring area 30 is varied by the motion detection in the virtual monitoring area 40, the monitoring area 30 'is displayed on the screen and the monitoring area 30' It is desirable to warn that there may be a risk of accident. Such a warning may be an operation highlighting the variable monitoring area 30 'to flicker or generate an alarm sound.

The facility utilization rate analyzing unit 29 tracks the location of the product in the monitoring area 30 to calculate the facility utilization rate and transmits the calculated facility utilization rate information to the production time management system.

The monitoring area 30 is set to include the position where the robot welds the product, so that the position of the product can be recognized in the corresponding area. Accordingly, it is possible to confirm whether or not the product is discharged after the welding operation through the image analysis, so that the operation rate of the equipment can be calculated by calculating the idle time when the welding operation is stopped. The facility utilization rate analyzing unit 29 is provided to interoperate with the production time management system POP to provide the facility utilization rate information to the production time management system or to compare the production information recorded in the production time management system with the calculated facility utilization rate information It is also possible to evaluate the accuracy of the time management to enable more accurate production management.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the present invention as defined by the following claims It can be understood that

1: welding robot 2: welding jig
3: Field monitoring camera part 4: Welding gun monitoring camera part
5: welding point monitoring camera part 6: welding jig monitoring camera part
7: management terminal 11: welding gun
12: welding spot 21: monitoring area setting unit
22: Event setting section 23: Motion detection section
24: Motion detection mode selection unit 25: Monitoring area variable setting unit
26: facility utilization ratio analysis section 30: monitoring area
40: virtual monitoring area E: event generating area

Claims (6)

A field monitoring camera unit for photographing an image of a scene where the robot is working;
And a management terminal for monitoring robot operation quality from a field image received from the field monitoring camera unit,
Wherein the management terminal comprises: a monitoring area setting unit for setting at least one monitoring area in the field image based on a monitoring area setting input signal; an event setting unit for setting an event to be detected in the monitoring area; A threshold value measuring mode for detecting a motion by measuring the number of pixels in which the motion has occurred in the monitoring area, And a sensitivity detection mode for detecting a motion by measuring the intensity of motion in the monitoring area, and a motion detection mode selection unit for selecting one of the modes.
The method according to claim 1,
Wherein the monitoring area is a rectangular area set by a mouse dragging operation and having a variable size, wherein a plurality of monitoring areas are set in the field image.
The method according to claim 1,
Wherein when the monitoring area is set, a virtual monitoring area including the set monitoring area and its peripheral area is set, and when a preset event occurs in the virtual monitoring area, at least a part of the virtual monitoring area is included in the monitoring area Wherein the monitoring area variable setting unit further comprises a monitoring area variable setting unit that varies the monitoring area so that the monitoring area is variable.
The method according to claim 1,
Wherein the monitoring area includes a location where the robot processes the product,
And a facility operation rate analyzing unit for calculating a facility operation rate by tracking the position of the product in the monitoring area and transmitting the calculated facility operation rate information to the production time management system.
delete The method according to claim 1,
When the robot is a welding robot,
A jig monitoring unit for detecting at least one of a normal operation state of the welding jig, a worker part state, a welding tip state, a component missing state, an inter-operation interference state, and an operator motion on the basis of a photographed image of the welding jig;
A welding gun monitoring unit for detecting at least one of welding gun motion detection, welding abnormality detection, tip dressing state, and stud failure detection based on a shot image of a welding gun; And
And a welding gun monitoring unit for detecting information on at least one of whether or not the product is normally mounted, the spatter state, the tip dressing state information, the presence or absence of the welding tip, the state of the tip dressing cutter, Wherein said robotic work quality monitoring system comprises:
KR20140064325A 2014-05-28 2014-05-28 Robot Working Quality Monitoring System KR101487169B1 (en)

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101594603B1 (en) 2015-09-02 2016-02-26 최광술 Method to check welding tip using vision system
KR101756144B1 (en) * 2016-02-26 2017-07-11 모니텍주식회사 Monitoring deivce for manual welding
KR20190115506A (en) 2018-03-15 2019-10-14 주식회사 유진엠에스 The mobile robot for remote monitoring, control and maintenance of industrial robot system
CN112318023A (en) * 2020-09-29 2021-02-05 奇瑞汽车股份有限公司 Welding spot position marking device and method
KR20210001001U (en) * 2020-11-23 2021-05-10 주식회사 뉴로메카 Cooperative Robot Monitoring System
KR102277162B1 (en) 2021-04-02 2021-07-14 주식회사 스누아이랩 Apparatus for Monitoring Industrial Robot and Driving Method Thereof
WO2024043598A1 (en) * 2022-08-24 2024-02-29 주식회사 엘지에너지솔루션 Welding system and system for monitoring welding jig

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20030017016A (en) * 2001-08-23 2003-03-03 주식회사 포스코 Method and apparatus for estimating welding quality in high frequency electric resistance welding
JP2007122705A (en) * 2005-09-30 2007-05-17 Nachi Fujikoshi Corp Welding teaching point correction system and calibration method

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20030017016A (en) * 2001-08-23 2003-03-03 주식회사 포스코 Method and apparatus for estimating welding quality in high frequency electric resistance welding
JP2007122705A (en) * 2005-09-30 2007-05-17 Nachi Fujikoshi Corp Welding teaching point correction system and calibration method

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101594603B1 (en) 2015-09-02 2016-02-26 최광술 Method to check welding tip using vision system
KR101756144B1 (en) * 2016-02-26 2017-07-11 모니텍주식회사 Monitoring deivce for manual welding
KR20190115506A (en) 2018-03-15 2019-10-14 주식회사 유진엠에스 The mobile robot for remote monitoring, control and maintenance of industrial robot system
CN112318023A (en) * 2020-09-29 2021-02-05 奇瑞汽车股份有限公司 Welding spot position marking device and method
KR20210001001U (en) * 2020-11-23 2021-05-10 주식회사 뉴로메카 Cooperative Robot Monitoring System
KR200495361Y1 (en) 2020-11-23 2022-05-10 주식회사 뉴로메카 Cooperative Robot Monitoring System
KR102277162B1 (en) 2021-04-02 2021-07-14 주식회사 스누아이랩 Apparatus for Monitoring Industrial Robot and Driving Method Thereof
WO2024043598A1 (en) * 2022-08-24 2024-02-29 주식회사 엘지에너지솔루션 Welding system and system for monitoring welding jig

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