KR101922383B1 - Inspecting method for automated system - Google Patents

Abstract

The present invention relates to an inspection method of an automation system. The automation system includes: a plurality of PLCs; HMIs connected to each of the plurality of PLCs; a monitoring device connected to the HMIs; and an inspection device connected to the monitoring device and disposed between the PLCs. The inspection method comprises: an operation of receiving an inspection signal from the monitoring device through a communication unit; an operation of expanding a support bar, one end of which is connected to one surface of a main body and the other end is connected to an outer structure, from the outer structure to a position of an inspection object in order to place the main body of the inspection device on an upper portion of the inspection object under the control of a detection unit; an operation of setting a photographing point on the basis of the length, width, and height of the inspection object previously stored in a storage unit; an operation of extending an extension rail provided on a lower end surface of an extension rail device by pulling out the extension rail device accommodated in the main body from the main body; an operation of moving a moving device, on which a photographing unit is disposed, along the extension rail; an operation of acquiring images of the inspection object through a plurality of cameras included in the photographing unit; an operation of acquiring a merged image by merging the images based on the photographing point; and an operation of generating inspection result information based on the merged image and a reference image of the inspection object stored in the storage unit. Various other embodiments are also possible which are known from the specification. The present invention can accurately determine errors in processes.

Description

[0001] Inspection method for automated system [

The present invention relates to an inspection method of an automation system, and more particularly, to a monitoring method for analyzing operation signals of a plurality of programmable logic controllers (PLCs) The present invention relates to a method of inspecting an inspection apparatus for inspecting an output of an inspection apparatus.

In an industrial field, an automation system is used to automatically and consistently process manufacturing, inspection, and shipment processes using computers and robots. In particular, repetitive tasks can be automated by an automated system, resulting in labor savings and increased productivity per unit of time. Such automated systems may include automated facilities such as a plurality of robots, automated transport devices, and control devices for controlling them.

In the automation system, PLC is generally used as control device. A PLC is a programmable logic controller that receives signals from equipment such as machines and processes them according to internal program logic, and outputs the processed signals back to the facility. The PLC replaces the functions of control devices such as relays, timers, and counters with semiconductor devices such as integrated devices and transistors, including basic sequence control functions and numerical computation functions. So that program control and logic execution of the program stored in the PLC internal memory can be possible. These PLCs can be used for a variety of tasks such as device control, device setting, time control, real-time monitoring, real-time data acquisition, or safety device operation.

Since the PLC described above is a very important factor for efficiently operating automation facilities in the industrial field, continuous and reliable monitoring is required. In a large-scale automation system, since the complexity of the automation facilities is high, not only the errors of the automation equipment itself but also the errors of the PLC which controls the automation facilities may vary. Process delays due to job failures can lead to enormous economic losses due to error detection and increased set up time of the device.

To monitor these failure factors, a monitoring device that monitors the PLC can be used. For example, the monitoring device may analyze the operation signal of the PLC to determine whether the operation of the PLC is faulty. However, the monitoring apparatus can determine that an error has occurred in the process even if a slight change occurs in the operation of the PLC. For example, the monitoring device may also determine that there is a process error with respect to the fine time delay of the PLC signals. Accordingly, even when the output result of the process is good, the process may be delayed due to unnecessary error detection.

Various embodiments of the present invention may provide a method for inspecting output results disposed through a process in which an error is suspected between a plurality of PLCs.

A plurality of PLCs (programmable logic controllers) according to various embodiments of the present invention, human machine interfaces (HMI) connected to each of the plurality of PLCs, a monitoring device 200 connected to the HMIs, 200, and an inspection apparatus 700 disposed between the PLCs, includes the steps of receiving an inspection signal from the monitoring apparatus 200 through the communication unit 710, A support bar 702 having one end connected to one surface of the main body 701 and the other end connected to the outer structure so that the main body 701 of the inspection apparatus 700 can be positioned on the inspection object under the control of the control unit 750 ) Of the inspection object from the external structure to the position of the inspection object, setting the photographing point based on the length, width, and height of the inspection object previously stored in the storage unit 760, Expansions accepted An operation of pulling out the rail device 720 from the main body 701 and extending the extension rail 725 formed on the lower end surface of the extension rail device 720 and the operation of moving the moving device 730 in which the photographing part 740 is disposed, An operation of moving the image of the inspection object along the extension rail 725, an operation of acquiring images of the inspection object through a plurality of cameras included in the image pickup unit 740, An operation of acquiring one merged image, and an operation of generating inspection result information based on the merged image and the reference image of the inspection target previously stored in the storage unit 760.

Here, the operation of setting the photographing point may be performed by taking photographs that can be photographed while the cameras maintain a predetermined distance from the inspection target, using the number of cameras, the separation distance between the cameras, And the length of the inspection object is larger than the width of each of the photographing areas, the width of the inspection object is larger than the vertical length of each of the photographing areas, The horizontal axis coordinate of the photographing point is set to a multiple of the horizontal length smaller than the length of the inspection object and the vertical axis coordinate of the photographing point is set to a multiple of the vertical length smaller than the width of the inspection object And the height coordinate of the photographing point is set to be smaller than the length of the inspection object, To a multiple of length.

The operation of extending the extension rail 725 includes an operation of extending the extension rail 725 in the longitudinal direction 771 of the main body 701 so as to correspond to the abscissa of the photographing point, The extension rail 725 is extended in the height direction 775 of the main body 701 so as to correspond to the height axis coordinate of the photographing point by bending the extension rail apparatus 720, . ≪ / RTI >

Here, the operation of expanding the main body 701 in the height direction 775 includes the plurality of frames having one side opened and an empty space formed therein, in the extension rail apparatus 720 of the multi-stage stretch structure, A first frame drawn out from the main body 701, a second frame drawn out from the first frame and having a lateral length and a vertical length of a drawing length and an opened side smaller than the first frame, and a second frame drawn out from the second frame And bending the adjacent two frames of the plurality of frames including the third frame having the length and the lateral length and the vertical length of the opened face smaller than the second frame to be vertically aligned with each other,

A portion of the band 723 connected to the connection portion 721 disposed on the upper surface of the extension rail device 720 is bent to prevent the two frames from being separated from each other .

The movement of the movement device 730 along the extension rail 725 is performed by moving the movement device 730 along the extension rail 725 extending in the longitudinal direction 771 of the main body 701 (712) extending in the lengthwise direction (771) of the main body (701) on the basis of the determination that the height axis coordinate of the photographing point exists, An operation of bending the moving device 730 to the starting end of the extended rail 725 extending in the height direction 775 of the main body 710 and the operation of moving the moving device 730 in the height direction 775 of the main body 710, And moving the moving device 730 along the extension rail 725 to a position corresponding to the height axis coordinate of the photographing point.

According to various embodiments, the inspection method may include extracting a plurality of extended frame devices 734, including the cameras, received within the central frame 731 of the mobile device 730 from the central frame 731, And may further include an operation of extending the moving device 730 in the width direction 777 of the main body 701. [

Here, the operation of expanding the main body 701 in the width direction 777 is performed in each of the extended frame devices 734 of the multi-stage telescopic structure including a plurality of frames having one side opened and an empty space formed therein A first frame drawn out from the center frame 701, a second frame drawn out from the first frame and having a lateral length and a longitudinal length of a drawing length and an opened side smaller than the first frame, Withdrawing and withdrawing at least some of the plurality of frames including a third frame in which a length and a vertical length of the drawn-out face and the opened face are smaller than the second frame and a part of the cameras is arranged on the bottom face Operation,

The cameras can be placed at positions corresponding to the vertical axis coordinates of the photographing point through the operation of drawing the at least some frames.

According to various embodiments, the operation of generating the inspection result information may include detecting an error between the merged image and the reference image by subtracting the merged image from the reference image, Generating the test result information using the number of detected pixels, the coordinate information of the pixels, and the difference value in each of the pixels.

According to various embodiments, the testing method may further include transmitting the test result information to the monitoring device 200. [

According to various embodiments of the present invention, it is possible to more precisely determine an error of a process by inspecting an output result through a process suspected of occurrence of an error, and prevent a process delay that may occur due to unnecessary error detection can do.

1 is a view for explaining an automation system according to an embodiment of the present invention.
2 is a view for explaining a monitoring apparatus of an automation system according to an embodiment of the present invention.
3 is a view for explaining a monitoring method of a monitoring apparatus according to an embodiment of the present invention.
4 is a view for explaining an error analysis method for a monitoring apparatus according to an embodiment of the present invention.
5 is a diagram for explaining a method of generating a pattern of an operation signal related to a process according to an embodiment of the present invention.
6 is a diagram for explaining an error analysis method by comparing patterns of operation signals according to an embodiment of the present invention.
7 is a view for explaining an inspection apparatus of an automation system according to an embodiment of the present invention.
8 is a perspective view of a testing apparatus according to an embodiment of the present invention.
9 is a bottom view of a testing apparatus according to an embodiment of the present invention.
10 is a view showing a moving device of an inspection apparatus according to an embodiment of the present invention.
11 is a view for explaining an inspection method of an inspection apparatus according to an embodiment of the present invention.

Prior to the description, when an element is referred to as being "comprising" or "including" an element throughout the specification, it is to be understood that the element may be further comprised of other elements . Also, the terms "unit", "module", and "component" in the specification mean units for processing at least one function or operation, Hardware, and software.

Furthermore, the term "embodiment" is used herein to mean serving as an example, instance, or illustration, but the subject matter of the invention is not limited by such example. It is also to be understood that the terms " including, " "having," and other similar terms are used, unless the context clearly dictates otherwise. " Quot; comprising "as used herein is intended to be inclusive in a manner similar to the term " comprising ".

The various techniques described herein may be implemented with hardware or software, or may be implemented with a combination of both, where appropriate. As used herein, terms such as "unit," "module," "system," and the like are likewise equally applicable to computer-related entities, It can be handled as equivalent to the software at the time of execution. For example, a program module may be composed of one component or a combination of two or more components. Further, in the present invention, both the application and hardware executed in the server or the terminal can be configured on a module basis, and can be recorded in one physical memory, or distributed among two or more memories and recording media.

Hereinafter, an automation system, a monitoring apparatus and a monitoring method of an automation system, and a monitoring apparatus and a monitoring method of an automation system according to various embodiments will be described with reference to the accompanying drawings. In the absence of special definitions or references, the terms used in this description are based on the conditions indicated in the drawings. The same reference numerals denote the same members throughout the embodiments. For the sake of convenience, the thicknesses and dimensions of the structures shown in the drawings may be exaggerated, and they do not mean that the dimensions and the proportions of the structures should be actually set.

1 is a view for explaining an automation system according to an embodiment of the present invention.

1, an automation system includes a plurality of PLCs (e.g., a first PLC 110, a second PLC 120, and a third PLC 130), an HMI machine interfaces (e.g., first HMI 141, second HMI 142 and third HMI 143), a monitoring device 200 connected to the HMIs, and the monitoring device 200 (For example, a first inspection apparatus 151 or a second inspection apparatus 152) arranged between the plurality of PLCs, a user terminal 160 connected to the monitoring apparatus 200, and a monitoring apparatus 200 and a service provider server 170 connected to the user terminal 160.

The plurality of PLCs may include a power supply unit, a control unit, and a communication unit, respectively. For example, the first PLC 110 includes a first power source unit 111, a first control unit 112, and a first communication unit 113, and the second PLC 120 includes a second power source unit 121, The second control unit 122 and the second communication unit 123. The third PLC 130 may include a third power supply unit 131, a third control unit 132, and a third communication unit 133 have.

The power supply unit may supply and block power to the components of the PLC. For example, the first power supply unit 111 may supply and block power to the components (e.g., the first control unit 112 and the first communication unit 113) of the first PLC 110, The second power supply unit 121 may supply and block power to the components (e.g., the second control unit 122 and the second communication unit 123) of the second PLC 120 and the third power supply unit 131 may supply / (For example, the third control unit 132 and the third communication unit 133) of the power supply unit 130 in accordance with the first embodiment.

The control unit can control various operations and communications according to a program routine pre-stored in the PLC. For example, the first control unit 112 can control various operations and communication according to the routine of the program stored in the first PLC 110, and the second control unit 122 can control various operations and communication according to the program stored in the first PLC 110, The third control unit 132 can control various operations and communication according to the routine of the program stored in the third PLC 130. [ The control unit receives an input signal including sensing value and state information from an automation facility (e.g., a robot or a transfer device) installed in cooperation with the PLC, and controls the automation equipment through an operation process of the received input signal (Or control signal) to the automation equipment.

Wherein the communication unit transmits the input signal received from the automation equipment and the input signal received from the HMI to the control unit and receives the operation signal calculated based on the input signals from the control unit, Lt; / RTI > For example, the first communication unit 113 receives input signals from the first HMI 141 and the automation equipment interlocked with the first PLC 110, and transmits the input signals to the first control unit 112, And receives an operation signal from the control unit 112 and transmits the operation signal to the automated facilities and the first HMI 141. [ The second communication unit 123 receives the input signals from the automation facilities interlocked with the second PLC 120 and the second HMI 142 and transmits the input signals to the second control unit 122, 122 to transmit to the automated facilities and the second HMI 142. [ The third communication unit 133 receives the input signals from the automation facilities interlocked with the third PLC 130 and the third HMI 143 and transmits the input signals to the third control unit 132, 132 and transmit the operation signals to the automation facilities and the third HMI 143.

The communication unit can communicate with the automation facilities and the HMI via, for example, wireless communication or wired communication. The wireless communication may include, for example, a cellular communication or a short-range wireless communication, and the wired communication may include, for example, local area network (LAN) communication, power line communication, universal serial bus multimedia interface communication, or RS-232 (recommended standard 232) communication, and the like. The short-range wireless communication may include, for example, Bluetooth communication, wireless fidelity (WiFi) communication, radio frequency identification (RFID) communication, infrared data association (IrDA)

The plurality of HMIs may request and receive operation signals transmitted from the PLCs connected to the automation facilities, and may transmit operation signals of the received PLCs to the monitoring device 200. For example, the first HMI 141 may transmit an operation signal of the first PLC 110 to the monitoring device 200, and the second HMI 142 may transmit an operation signal of the operation of the second PLC 120 Signal to the monitoring device 200 and the third HMI 143 may transmit an operation signal of the third PLC 130 to the monitoring device 200. [ Although not shown, each of the plurality of HMIs may be a micro process unit (MPU) that manages and operates all of the operations of the HMI, converts the voltage to use a DC or AC power source in the HMI and converts the converted voltage to a low voltage A touch input unit for receiving user input (e.g., key input or touch input) for controlling the user, a storage unit for storing various commands and data, And a communication unit for communicating with the HMI and the monitoring device 200. According to one embodiment, the HMI receives a user input through the touch input unit, processes the received user input through the MPU to generate an input signal related to the PLC operation, and transmits the generated input signal to the communication unit Can be transferred to PLC.

The monitoring device 200 may receive an operation signal of the plurality of PLCs from the plurality of HMIs and may analyze the received operation signal to determine an error in a process performed by the plurality of PLCs. If it is determined that there is an error in any one of the processes performed by the plurality of PLCs, the monitoring device 200 may perform an inspection of the process, The device 151 or the second inspection device 152). In this case, the monitoring apparatus 200 may transmit a stop signal to the PLC responsible for the following process to stop the process that is determined to be in error. If it is determined that the result of the process is in good condition based on the inspection result information received from the inspection apparatus, the monitoring apparatus 200 may perform a post-process And transmits the test result information to the user terminal 160 when it is determined that the output result is not in a good state. In some embodiments, the monitoring device 200 may send the repair request to the service provider server 170 for repairing the PLC that generated the error, while transmitting the inspection result information to the user terminal 160.

The inspection apparatus can be arranged between the PLCs to inspect the output result through a preceding process. For example, the first inspection device 151 may be connected between the first PLC 110 and the second PLC 120 to inspect the result output by the first PLC 110, The second PLC 120 may be connected between the second PLC 120 and the third PLC 130 to check the output result of the second PLC 120. [ The result may be the result of a process performed through automated facilities under the control of a PLC, for example, a product or part of a product that has undergone any of the steps of manufacturing, inspection, or shipping.

The user terminal 160 may be an electronic device connected to the monitoring device 200 via a network and used by an administrator of the automation system. The user terminal 160 may be, for example, a portable electronic device such as a smartphone, a mobile phone, a computer device such as a personal digital assistant (PDA), a tablet personal computer A laptop personal computer, a desktop personal computer, a workstation, or a server), or a wearable device (e.g., a smartwatch, a smartband ), Smartglasses, head-mounted devices (HMDs), and the like.

The user terminal 160 may receive the inspection result information from the monitoring apparatus 200 through the inspection apparatus and may display the received inspection result information on the display of the user terminal 160. According to one embodiment, the user terminal 160 may include an input interface (e.g., a key input device, a touch screen, etc.) for receiving user input for control of the user, The input can be transmitted to the corresponding HMI via the monitoring device 200. [ In this case, the HMI receiving the user input can process the received user input through the MPU to generate an input signal related to the PLC operation, and transmit the generated input signal to the PLC. According to one embodiment, the user terminal 160 may be connected to the service company server 170 through a network, and may transmit a repair request of the PLC to the service company server 170.

The service provider server 170 may be an electronic device used by a company providing repair services of an automation system. The service provider server 170 may be connected to the monitoring device 200 and the user terminal 160 through a network and may receive a repair request from the monitoring device 200 or the user terminal 160.

2 is a view for explaining a monitoring apparatus of an automation system according to an embodiment of the present invention.

Referring to FIG. 2, the monitoring apparatus 200 may include an operation signal receiving unit 210, an operation signal analyzing unit 230, a storage unit 250, and an information providing unit 270. The components of the above-described monitoring apparatus 200 may be configured with at least one of software and hardware. For example, the operation signal receiving unit 210 may include circuits and programs related to communication, the operation signal analyzing unit 230 may include control circuits and programs such as a processor, Such as a memory, and the information provider 270 may include circuitry and programs associated with communications, and devices and programs associated with the display.

The operation signal receiving unit 210 can receive an operation signal of the PLC. For example, the operation signal receiving unit 210 may receive an operation signal of the first PLC 110 from the first HMI 141 and receive an operation signal of the second PLC 120 from the second HMI 142 And can receive an operation signal of the third PLC 130 from the third HMI 143. [ In some embodiments, the operation signal receiving unit 210 may receive an operation signal of the PLC directly from each PLC. For example, the operation signal receiving unit 210 can receive the operation signal of the first PLC 110 from the communication unit 113 of the first PLC 110 and can receive the operation signal of the first PLC 110 from the communication unit 123 of the second PLC 120 The operation signal of the second PLC 120 can be received and the operation signal of the third PLC 130 can be received from the communication unit 133 of the third PLC 130. [ In addition, the operation signal receiving unit 210 may transmit the operation signal of the PLC to the operation signal analysis unit 230. [

The operation signal analysis unit 230 can analyze the operation signal of the PLC. For example, the operation signal analysis unit 230 may analyze a change pattern of a plurality of PLC signals included in the operation signal of the PLC with time. In addition, the operation signal analyzing unit 230 may merge the overlapping portions of the plurality of PLC signals with respect to time, for example, a portion where the plurality of PLC signal values are not changed and maintained for a predetermined time. In this case, the operation signal analyzer 230 may store the time information of the overlapped portion together with the corresponding PLC signal values. For example, the operation signal analyzer 230 may store the number of clock ticks that the plurality of PLC signal values remain unchanged for a predetermined time together with the plurality of PLC signal values. The clock tick may be, for example, a system interrupt signal from which the PLC signal values are measured. That is, the clock tick may indicate a minimum time unit in which the PLC signal values can be changed.

According to one embodiment, the operation signal analyzer 230 may analyze an operation signal of a PLC received in a cycle unit of the process. For example, the operation signal analyzer 230 may analyze an operation signal of a PLC corresponding to one cycle related to the main (or total) process of each PLC. According to one embodiment, the operation signal analyzing unit 230 divides the operation signals of the PLCs for each of the sub-processes of the main process in an operation signal of the PLC corresponding to one cycle, The signal can be analyzed. For example, when the main process of the first PLC 110 is composed of three sub-processes, the operation signal analyzing unit 230 outputs the operation signal of the PLC of one cycle received to the sub- It is possible to analyze the patterns of the PLC signals for each sub-process by dividing the operation signals of the three PLCs into the operation signals of the three PLCs and analyzing the operation signals of the three PLCs. Accordingly, the operation signal analyzer 230 can analyze the operation signal pattern of the sub-processes of the main process as well as the main process performed by one PLC.

According to one embodiment, the operation signal analyzing unit 230 may analyze operation signals of the PLC corresponding to a plurality of cycles to acquire (or generate) a reference pattern for an operation signal of the PLC. For example, the operation signal analyzer 230 may repeatedly acquire operation signals of the PLC corresponding to one cycle through the operation signal receiver 210, thereby accumulating operation signals of the PLC corresponding to a plurality of cycles And analyzing the accumulated operation signals of the PLC, it is possible to acquire (or generate) the reference pattern for the operation signal of the reference PLC. The operation signal analyzer 230 may store the reference pattern of the operation signal of the PLC in the storage unit 250 and may then store the reference pattern of the PLC in the storage unit 250, It is possible to use a reference pattern for the operation signal of the signal processing unit. In one embodiment, the operation signal analyzing unit 230 divides the operation signals of the PLC corresponding to a plurality of cycles into operation signals of the PLC corresponding to the respective sub-processes and stores the operation signals, By analyzing the operation signals of the PLC, reference patterns for the operation signals of the PLC corresponding to each sub-process can be obtained (or generated).

According to one embodiment, the operation signal analyzing unit 230 compares the analyzed operation pattern of the PLC with the reference pattern of the operation signal of the PLC stored in the storage unit 250, can do. For example, the operation signal analyzer 230 may determine whether a difference between the operation signal pattern of the PLC and the reference pattern of the operation signal of the PLC exceeds a threshold value, and if the difference exceeds the threshold, It can be determined that there is an error. For example, when the at least one PLC signal value among the PLC operation signal patterns is different and when the number of clock ticks in the PLC operation signal pattern is different and the difference value exceeds a specified value, the threshold value is exceeded Can be judged.

The function of analyzing the operation signal of the PLC and determining the error of the process using the analyzed information will be described in detail with reference to FIG. 5 and FIG.

According to one embodiment, when it is determined that an error has occurred in at least one process, the operation signal analyzer 230 determines whether an error has occurred in the process of determining that an error has occurred, 151) or the second inspection apparatus (152)) of the process determined to have generated the error. In addition, the operation signal analyzing unit 230 may transmit a stop signal to the PLC responsible for the following process to stop the following process. Thereafter, based on the inspection result information received from the inspection apparatus, the operation signal analyzing unit 230 continues the suspended trailing process when it is determined that the output result of the process determined to have generated the error is in a good condition It may transmit a start signal to the PLC responsible for the trailing process, and may transmit the test result information to the information providing unit 270 when it is determined that the output result is not good. In this case, the information providing unit 270 may transmit the received inspection result information to the user terminal 160.

The storage unit 250 stores an operation signal of the PLC received through the operation signal receiving unit 210, information (e.g., an operation signal pattern of the PLC) obtained by analyzing the operation signal of the PLC through the operation signal analysis unit 230, The operation signal analysis unit 230 may analyze the operation signals of the PLC corresponding to a plurality of cycles and store a reference pattern for the operation signals of the PLC obtained (or generated).

The information providing unit 270 may transmit the inspection result information received from the inspection apparatus to the user terminal 160. In some embodiments, the information provider 270 may send a repair request to the service provider server 170 for repairing the PLC that generated the error, while transmitting the inspection result information to the user terminal 160.

3 is a view for explaining a monitoring method of a monitoring apparatus according to an embodiment of the present invention.

Referring to FIG. 3, the operation signal receiving unit 210 of the monitoring device 200 may receive, at operation 310, a first operation signal associated with the first process. Here, the first process may be a main process performed by a first PLC of a plurality of PLCs connected to each of the plurality of HMIs connected to the monitoring device 200. In addition, the first operation signal may be an operation signal (or a control signal) of the first PLC for controlling the automated facilities in which the first PLC is interlocked with the first PLC, and may include a plurality of PLC signals . The operation signal receiving unit 210 may receive the first operation signal from the first HMI connected to the first PLC. In some embodiments, the operation signal receiving unit 210 may receive the first operation signal directly from the first PLC.

In operation 320, the operation signal analysis unit 230 of the monitoring device 200 may analyze the received first operation signal. According to one embodiment, the operation signal analyzer 230 may analyze a change pattern of a plurality of PLC signals included in the first operation signal with time. In addition, the operation signal analyzing unit 230 may merge the overlapping portions of the change patterns of the plurality of PLC signals with respect to time. In this case, the operation signal analyzer 230 may store the time information of the overlapped portion together with the corresponding PLC signal values. For example, the operation signal analyzer 230 may store the PLC signal values and the number of clock ticks in which the PLC signal values are held. According to one embodiment, the operation signal analyzing unit 230 may classify the sub operation signals for each of the sub-processes included in the first process in the first operation signal, and analyze the sub operation signals for the divided sub- can do. Accordingly, the operation signal analyzer 230 can analyze not only the main process (the first process) performed by the first PLC but also the operation signal patterns of the sub-processes of the main process.

In operation 330, the operation signal analysis unit 230 of the monitoring device 200 may determine whether there is an error in the first process. For example, the operation signal analyzing unit 230 may analyze the pattern of the first operation signal analyzed in operation 320 (the change pattern of the plurality of PLC signals included in the first operation signal with time) It is possible to determine whether or not the first process is in error by comparing the reference pattern of the first operation signal previously stored in the storage unit 250. [ The function of determining whether or not the first process is in error will be described in detail with reference to FIG.

If it is determined that there is an error in the first process, the operation signal analyzer 230 of the monitoring device 200 may transmit a stop signal of the second process that follows the first process in operation 340. For example, the operation signal analysis unit 230 may transmit a stop signal to the second HMI connected to the second PLC to stop the operation of the second PLC responsible for the second process. In this case, the second HMI may forward the stop signal to the second PLC. In some embodiments, the operation signal analysis unit 230 may transmit the stop signal directly to the second PLC.

According to one embodiment, the second PLC, which has received the stop signal, turns off the power supplied to the components of the second PLC through the power unit of the second PLC, . According to another embodiment, the second PLC may further include a wiring breaker, and when the stop signal is received, the wiring breaker is turned on so that the operation of the second PLC may be stopped have. The circuit breaker may include a no-fuse circuit breaker that automatically cuts off current flow.

In operation 350, the operation signal analysis unit 230 of the monitoring apparatus 200 may transmit the inspection signal of the first process. For example, the operation signal analyzing unit 230 may transmit the inspection signal of the first process to the inspection apparatus disposed between the first process and the second process following the first process. According to one embodiment, the inspection apparatus can inspect a product output through the first process, for example, a product or a part of the product through the first process. The structure of the inspection apparatus and the inspection method of the inspection apparatus will be described in detail with reference to FIG. 7 to FIG.

In operation 360, the operation signal analysis unit 230 of the monitoring apparatus 200 may receive the inspection result information of the first process from the inspection apparatus. In operation 370, the operation signal analysis unit 230 of the monitoring device 200 may determine whether the inspection result of the first process is good based on the inspection result information.

If the test result is good, the operation signal analyzing unit 230 of the monitoring device 200 can transmit the start signal of the second process at the operation 380. For example, the operation signal analyzing unit 230 may transmit a start signal to the second HMI connected to the second PLC so that the operation of the second PLC responsible for the second process is performed. In this case, the second HMI may forward the start signal to the second PLC. In some embodiments, the operation signal analysis unit 230 may transmit the start signal directly to the second PLC.

According to one embodiment, the second PLC receiving the start signal supplies power to the components of the second PLC through the power unit of the second PLC so that the operation of the second PLC can be performed have. According to another embodiment, when the stop signal is received, the operation of the second PLC may be performed by switching the wiring breaker included in the second PLC to an off state.

If the test result is not satisfactory, the information providing unit 270 of the monitoring device 200 may provide the test result information at operation 390. For example, the information providing unit 270 may display the inspection result information on a display included in the monitoring device 200. As another example, the information providing unit 270 may transmit the inspection result information to the user terminal 160. In this case, the user terminal 160 may display the inspection result information on a display included in the user terminal 160. [

According to one embodiment, the information providing unit 270 may transmit a repair request to the service provider server 170 for repairing the first PLC while providing the inspection result information.

4 is a view for explaining an error analysis method for a monitoring apparatus according to an embodiment of the present invention.

Referring to FIG. 4, the operation signal analysis unit 230 of the monitoring device 200 may analyze an operation signal of the PLC received through the operation signal reception unit 210. Wherein the operation signal of the PLC is transmitted from the automation equipment to the automation equipment in order to control the automation equipment interlocked with the PLC when the main (or all) process of the PLC is performed for one cycle, And may include an input signal. Also, the operation signal of the PLC may be composed of a plurality of PLC signals. The operation signal analyzing unit 230 may determine whether an error has occurred in the sub-processes by analyzing the operation signals for each of the plurality of sub-processes included in the main process.

For this, in operation 410, the operation signal analyzing unit 230 may group operation signals of PLCs for each of the sub-processes included in the main process in the operation signal of the PLC corresponding to the main process. For example, when the main process is composed of three sub-processes, the operation signal analyzer 230 converts an operation signal of the PLC corresponding to the main process into three PLC operation signals corresponding to three sub- Grouping can be performed. That is, the operation signal analyzer 230 can divide a plurality of PLC signals included in the operation signal of the PLC corresponding to the main process into three groups of three PLC signals corresponding to the sub-processes.

In operation 420, the operation signal analysis unit 230 of the monitoring device 200 may sequentially analyze patterns of a plurality of PLC signals corresponding to a plurality of grouped sub-processes. For example, when the main process includes three sub-processes, the operation signal analyzer 230 sequentially generates a pattern of a plurality of PLC signals corresponding to each sub-process from the first sub-process to the third sub-process Can be analyzed. That is, the operation signal analyzing unit 230 may perform the operation 420 and the operation 430 to the operation 460, which will be described later, by selecting the first sub-process as the first sub-process. In operation 470, The process may return to operation 420 and the second sub-process of the second subordinate may be selected as the target sub-process. In addition, the operation signal analyzing unit 230 may select the third sub-process as the third sub-process in the same manner.

The function of analyzing a pattern of a plurality of PLC signals corresponding to the target sub-process will be described in detail with reference to FIG.

In operation 430, the operation signal analysis unit 230 of the monitoring device 200 may acquire a reference pattern of the stored PLC signal for the target sub-process. For example, the operation signal analyzer 230 may acquire a reference pattern of the stored PLC signal for the target sub-process from the storage unit 250 of the monitoring device 200. [

In this regard, when the main process is performed for a plurality of cycles, the operation signal analyzer 230 analyzes the operation signals of the PLC, that is, a pattern obtained by analyzing a plurality of PLC signals, as a reference pattern, ). ≪ / RTI > For example, the operation signal analyzing unit 230 may repeatedly acquire a plurality of PLC signals corresponding to one cycle through the operation signal receiving unit 210 to accumulate a plurality of PLC signals corresponding to a plurality of cycles (Or generates) a reference pattern for a plurality of PLC signals by analyzing the stored plurality of PLC signals, and stores a reference pattern for the plurality of PLC signals in the storage unit 250 . Also, the operation signal analyzing unit 230 divides the plurality of PLC signals corresponding to the plurality of cycles into a plurality of PLC signals corresponding to the respective sub-processes, stores the plurality of PLC signals, (Or generate) the reference patterns for a plurality of PLC signals corresponding to each sub-process by analyzing the PLC signals of the sub-process, and store the reference patterns in the storage unit 250.

In operation 440, the operation signal analysis unit 230 of the monitoring device 200 determines whether a pattern corresponding to the plurality of PLC signals for the target sub-process analyzed in operation 420 and the pattern corresponding to the target sub- A reference pattern for a plurality of PLC signals can be compared. Also, at operation 450, the operational signal analyzer 230 of the monitoring device 200 may determine whether a different degree of the patterns exceeds a threshold. The function of comparing the patterns and determining a different degree of the patterns will be described in detail with reference to FIG.

If the different degrees of the patterns exceed the threshold, the operation signal analysis unit 230 of the monitoring device 200 may store the error recognition information of the target sub-process in operation 460. [ For example, the operation signal analysis unit 230 may store the error recognition information indicating that an error exists in the target sub-process in the storage unit 250. [ The error recognition information includes, for example, identification information of the PLC responsible for the target sub-process (e.g., a product number of the PLC), the main process of the PLC, and the sequence of the target sub- And information about the type, information on the automation facilities interlocked to perform the target sub-process, and error information (e.g., information on the difference in the patterns). In addition, the error recognition information can be used to determine whether or not any process (for example, the first process in FIG. 3) is in error in connection with the execution of the operation 330 in FIG. For example, when the error recognition information related to the process is stored in the storage unit 250, the operation signal analyzing unit 230 can determine that there is an error in the process.

In operation 470, the operation signal analysis unit 230 of the monitoring device 200 may determine whether there is no remaining sub-process other than the target sub-process. For example, the operation signal analysis unit 230 may determine whether there is a sub process that follows the target sub process. If there is a residual sub-process, the operation signal analyzer 230 may return to operation 420. Thereafter, the operation signal analysis unit 230 may perform operations 420 to 460 for the remaining sub-processes.

5 is a diagram for explaining a method of generating a pattern of an operation signal related to a process according to an embodiment of the present invention.

Referring to FIG. 5, the operation signal analysis unit 230 of the monitoring device 200 may analyze and generate a pattern of an operation signal of a PLC related to a process carried out by the PLC. Wherein the operation signal of the PLC includes a signal output to the automation equipment and a signal input from the automation equipment to control the automation equipment interlocked with the PLC when the main process or the sub- And may comprise a plurality of PLC signals (e.g., a first PLC signal 511, a second PLC signal 512, and a third PLC signal 513). That is, the plurality of PLC signals may be signals transmitted between the PLC and the automation equipment. Each of the plurality of PLC signals may have a value of "0 ", which is an off state in which no current flows, and a value of" 1 "

The operation signal analysis unit 230 may analyze a change pattern of the plurality of PLC signals with time. In this process, the operation signal analysis unit 230 determines that the first PLC signal 511, the second PLC signal 512, and the third PLC signal 513 are the initial time (time = 0) and the respective clock ticks Time series information 530 can be generated by grouping the signal values at time = t1, t2, t3, t4, t5 by time. For example, the first PLC signal 511 shown in FIG. 5 has an initial value "1" at an initial time (time = 0) The second PLC signal 512 has an initial value "0" at an initial time (time = 0) and is changed from a first clock tick (time = t1) 0 "at the initial time (time = 0), and is changed from the third clock tick (time = t3) to the second clock tick Time = t3) to "1 ". The operation signal analyzer 230 analyzes the signal value 531 of the first PLC signal 511, the signal value 532 of the second PLC signal 512, and the signal value 532 of the second PLC signal 512 at each time (or clock tick) It is possible to generate the time series information 530 having the bundle of the signal values 533 of the third PLC signal 513 as individual elements. That is, the operation signal analyzer 230 analyzes the signal value 531 of the first PLC signal 511, the signal value 532 of the second PLC signal 512, and the signal value 532 of the third PLC signal 513 (E.g., "1, 0, 0") representing the state at the initial time with respect to the signal value 533, and a second element indicating the state at the first clock tick (time = t1) (0, 1, 0) "indicating the state at the second clock tick (time = t2) (e.g.," (0,1,0) "), the third clock tick (0, 0, 1) indicating the state at time t3 (e.g., " (0,0,1) ") indicating the state at time t3, (1, 0, 1) "indicating the state at the fifth clock tick (time = t5) and the sixth element (e.g.," (1, 0, 1) ") indicating the state at the fifth clock tick (time = t5).

Thereafter, the operation signal analyzing unit 230 may merge the overlapping portions of the change patterns of the plurality of PLC signals with respect to time. That is, the operation signal analysis unit 230 may merge the overlapped portions in the time series information 530. For example, the operation signal analyzer 230 may display the overlapped portion as a bundle of one PLC signal value while maintaining the same PLC signal values while at least two or more consecutive clock ticks are generated. For example, the operation signal analysis unit 230 may determine that the second element from the first clock tick to the second clock tick and the third element from the second clock tick to the third clock tick are the same PLC Signal values from the third clock tick to the fourth clock tick and from the fourth clock tick to the fifth clock tick to the fifth clock tick, Can be merged into one element since they have the same PLC signal values.

In this case, the operation signal analyzer 230 displays the time information (e.g., the number of clock ticks) of the overlapped portion with the merged PLC signal values to determine how long the same PLC signal values are maintained . For example, the operation signal analyzing unit 230 may include the second element and the third element, which are held at the same PLC signal values while at least two or more consecutive clock ticks are generated in the time series information 530, The pattern information 550 may be generated so as to include the number information of the clock ticks while merging the fourth element and the fifth element together. That is, the pattern information 550 may be time-series information configured such that the PLC signal values are not overlapped. The pattern information 550 includes a signal value 551 of the first PLC signal 511, a signal value 552 of the second PLC signal 512 and a signal value 552 of the third PLC signal 513 553), and the number of clock ticks 554 in which the PLC signal values are maintained at the same value. For example, the operation signal analysis unit 230 may calculate the signal value 551 of the first PLC signal 511, the signal value 552 of the second PLC signal 512, and the third PLC signal 513 (E.g., "(1, 0, 0, 1)") from the initial time to the first clock tick for maintaining the same signal value state with respect to the signal value 553 of the first clock tick (0, 1, 0, 2) "from the third clock tick to the third clock tick holding the state of the same signal value from the third clock tick, (E.g., "(0, 0, 1, 2)") from the fifth clock tick to the sixth clock tick that indicates the end of one cycle 1, 0, 1, 1) ").

According to one embodiment, the operation signal analyzing unit 230 repeatedly obtains a plurality of PLC signals corresponding to one cycle of the process as described above, thereby accumulating a plurality of PLC signals corresponding to a plurality of cycles of the process And analyzing the accumulated plurality of PLC signals, thereby generating a reference pattern for a plurality of PLC signals. In addition, the generated reference pattern may be stored in the storage unit 250.

The operation signal analyzing unit 230 analyzes the signal value 551 of the first PLC signal 511, the signal value 552 of the second PLC signal 512, the third PLC signal 513 A signal value 553 of the first PLC signal 511 and a signal value 552 of the first PLC signal 511 and a signal value 553 of the third PLC signal 511. [ (The number of clock ticks 554) in which the signal value 553 of the clock signal 513 is kept in the same state and generates pattern information 550 including the pattern information 550 corresponding to each generated cycle 550 can be used to generate reference pattern information as a reference. For example, the operation signal analyzer 230 may select a large number of the pattern information 550 among the pattern information 550 as the reference pattern information. In another example, the operation signal analyzer 230 may compare the pattern information 550 for each individual element, and generate reference pattern information to include a majority of the same individual elements. For example, if the first pattern information has the first element, the second element, the third element, and the fourth element as the 'A' bundle, the 'B' bundle, the 'C' bundle, and the 'D' The second pattern information has 'A' bundle, 'B' bundle, 'E' bundle, and 'D' bundle as a first element, a second element, a third element and a fourth element, A ',' B ',' C ', and' F 'as a first element, a second element, a third element and a fourth element, respectively, and the fourth pattern information is' A' The first pattern information, the second pattern information, the second pattern information, and the second pattern information are included in the first element, the second element, the third element, and the fourth element, respectively, A ',' B ',' C ', and' D 'are referred to as a first element, a second element, a third element, and a third element, Element, and a fourth element.

6 is a diagram for explaining an error analysis method by comparing patterns of operation signals according to an embodiment of the present invention.

6, the operation signal analysis unit 230 of the monitoring apparatus 200 may include pattern information of a plurality of PLC signals related to a process carried out by the PLC (e.g., first pattern information 630, second pattern information 650 or the third pattern information 670 with the reference pattern information 610 of the plurality of PLC signals previously stored in the storage unit 250 of the monitoring device 200 . In this case, the operation signal analyzing unit 230 may determine whether the process is error or not according to different degrees of the patterns.

According to one embodiment, as in the first state 601, the operation signal analysis unit 230 determines that at least one PLC signal value among the first pattern information 630 of the plurality of PLC signals is greater than the plurality of PLC signals It is possible to determine that the different degree of the patterns exceeds the threshold value. For example, if the reference pattern information 610 includes a signal value 611 of the first PLC signal, a signal value 612 of the second PLC signal, a signal value 613 of the third PLC signal, The first pattern information 630 has a bundle of the number of clock ticks information 614 kept as the same value as the first pattern information 630. The first pattern information 630 also includes the signal value 631 of the first PLC signal, (632), the signal value (633) of the third PLC signal, and the number of clock ticks (634) in which the PLC signal values are maintained at the same value as individual elements, (For example, the signal values 613 and 633 of the third PLC) included in the first signal (e.g., the fourth element) are different from each other, the operation signal analyzer 230 analyzes the different degrees of the patterns May exceed the threshold value. In this case, the operation signal analyzing unit 230 may store the error recognition information indicating that there is an error in the process in the storage unit 250. The error recognition information includes, for example, identification information (e.g., a product number of a PLC) of the PLC responsible for the process, information on the order and type of the process that the PLC is responsible for, Information about automation facilities, and error information, for example, information about a portion (e.g., a fourth element) that is different in the patterns.

According to one embodiment, the operation signal analyzer 230 may analyze the pattern information (e.g., the second pattern information 650 or the second pattern information) of the plurality of PLC signals, such as in the second state 603 and the third state 605, The third pattern information 670) is different from the reference pattern information 610 of the plurality of PLC signals, a difference value is calculated with respect to the number of the clock ticks, It can be determined whether the different degrees of patterns exceed the threshold.

For example, as in the second state 603, the reference pattern information 610 may include a signal value 611 of the first PLC signal, a signal value 612 of the second PLC signal, a signal value of the third PLC signal And the number of clock ticks information 614 in which the PLC signal values are maintained at the same value as the first PLC signal value 613 and the second pattern information 650 as a separate element, ), The signal value 652 of the second PLC signal, the signal value 653 of the third PLC signal, and the number of clock ticks 654 in which the PLC signal values are maintained at the same value, The operation signal analyzer 230 analyzes the reference pattern information 610 in the case where the number information 614 and 654 of the clock ticks included in at least one element (e.g., the second element) (E.g., "1") between the number information 614 (e.g., "2") of the clock ticks of the first pattern information 650 and the number information 654 One") Can be calculated. In addition, the operation signal analyzer 230 may determine that a different degree of the patterns exceeds a threshold value when the difference value exceeds a specified value (e.g., "2"). Accordingly, in the second state 603, the operation signal analyzer 230 can determine that no error exists in the process because the difference value does not exceed the specified value.

As another example, as in the third state 605, the reference pattern information 610 may include a signal value 611 of the first PLC signal, a signal value 612 of the second PLC signal, a signal value 612 of the third PLC signal And the number of clock ticks information 614 in which the PLC signal values are maintained at the same value as the third pattern information 670. The third pattern information 670 also has a signal value 671 of the first PLC signal ), The signal value 672 of the second PLC signal, the signal value 673 of the third PLC signal, and the number information 674 of the clock ticks in which the PLC signal values are maintained at the same value, The operation signal analyzer 230 analyzes the reference pattern information 610 when the number information 614 and 674 of the clock ticks included in at least one element (e.g., the second element) (For example, "2") between the number information 614 (e.g., "2 ") of the clock ticks of the third pattern information 670 and the number information 674 3 "). In addition, the operation signal analyzer 230 may determine that a different degree of the patterns exceeds a threshold value when the difference value exceeds a specified value (e.g., "2"). Accordingly, in the third state 605, the operation signal analyzer 230 can determine that the error exists in the process because the difference value exceeds the specified value, and that the error exists in the process The recognition information may be stored in the storage unit 250. [

In this manner, the operation signal analyzing unit 230 analyzes the analyzed pattern information (e.g., the first pattern information 630 and the second pattern information 650 (Or the third pattern information 670) and the reference pattern information 610 are different from each other, if the difference does not exceed the specified value, it is determined that there is no error in the process, A change in the pattern information may not be recognized as an error. Accordingly, the operation signal analyzing unit 230 may not determine that an error has occurred indiscriminately, thereby preventing the execution of the process from being delayed.

FIG. 7 is a view for explaining an inspection apparatus of an automation system according to an embodiment of the present invention, FIG. 8 is a perspective view of an inspection apparatus according to an embodiment of the present invention, FIG. 9 is a cross- FIG. 10 is a view showing a moving device of the inspection apparatus according to an embodiment of the present invention.

If it is determined by the monitoring apparatus 200 that any one of the processes performed by the plurality of PLCs is in error, the inspection apparatus 700 (e.g., the first inspection apparatus 151 or the second inspection apparatus 152) can check the output result through the process judged as error. 7 to 10, the inspection apparatus 700 for the above-described functions includes a communication unit 710, an extension rail apparatus 720, a moving apparatus 730, a photographing unit 740, a detecting unit 750, And a storage unit 760.

The communication unit 710, the detection unit 750 and the storage unit 760 may be disposed in the main body 701 of the inspection apparatus 700. For example, the communication unit 710, the detection unit 750, and the storage unit 760 may be mounted on a printed circuit board disposed on one side of the main body 701. Here, the main body 701 may be an open frame of a rectangular parallelepiped formed with openings passing through both side surfaces thereof. The extended rail device 720, the moving device 730 and the photographing part 740 can be inserted (or interpolated) into the opening, and the extended rail device 720, 730, and a photographing unit 740 can be drawn out from the opening. A support bar 702 may be connected to one surface of the main body 701. The support bar 702 may be connected to a ceiling, wall, column, or structure within a facility (e.g., a factory). The supporting bar 702 may have a structure that can be expanded and contracted in one direction 703. For example, the support bar 702 may be connected to a facility (e.g., a factory) to which the support bar 702 is connected so that the main body 701 of the inspection apparatus 700 can be positioned above the inspection target The length can be extended (or stretched) from the ceiling, wall, column, or structure in the facility to the location of the test object, and when the test is completed, the length can be reduced and returned to its original position.

The communication unit 710 can communicate with the monitoring device 200 through wireless communication or wired communication. For example, the communication unit 710 may receive an inspection signal of the process from the monitoring device 200, and may transmit the inspection result information generated through the detection unit 750 to the monitoring device 200 .

When the inspection signal is received through the communication unit 710, the detection unit 750 can extend (or extend) the support bar 702 to the position of the inspection object. In addition, the detection unit 750 can set a photographing point based on the length, width, and height of the inspection object. For example, the detecting unit 750 detects the number of cameras included in the photographing unit 740 using the number of cameras included in the photographing unit 740, the distance between the cameras, It is possible to determine a photographing area which can be photographed while maintaining a distance, and a photographing point can be set based on the photographing area, the length, the width, and the height of the inspection object. Here, the separation distance between the plurality of cameras and the object to be inspected may vary according to the resolution of the plurality of cameras, and may be an element for determining the image quality of an image photographed through the plurality of cameras.

For example, it is assumed that there are four cameras included in the photographing unit 740, the photographing regions photographable through each of the four cameras have the same horizontal length (a) and the same vertical length (b) When the length l is greater than the transverse length a and the width w is greater than the longitudinal length b and the height h is greater than the transverse length a, (X-axis) coordinate of the photographing point is set to a multiple of the width (a) smaller than the length (l) of the inspection object, and the coordinate (y- And a height axis (z-axis) of the photographing point may be set to a multiple of the length (a) smaller than the length (1) of the inspection object. For example, when the photographing area of each of the four cameras is 15 cm long and 10 cm long, and the length of the inspection object is 60 cm, the width is 40 cm, and the height is 15 cm, (15, 10, 0), (-15, 10, 0), and (-15, -10, 0) (15, 20, 0), (-15, 20, 0), and (-15, -20, 0) (30, 10, 0), (-30, 10, 0), and (-30, -10, 0) (30, 20, 0), (30, -20, 0), (-30, 10, 15), (30, -10, 15), (-30, 10, 15) 30, 20, 15), (30, -20, 15), (-30, 20, 15), and (-30, -20,

The detection unit 750 can expand (or draw out) the extension rail apparatus 720 in a stepwise manner so that the photographing unit 740 can be positioned at the set photographing point, and can move and extend (or draw) . The detection unit 750 can extend the extension rail apparatus 720 to correspond to the horizontal axis (x-axis) coordinates of the shooting point and move the movement apparatus 730 to the extension rail 725 , And may extend the moving device 730 to correspond to the vertical axis (y-axis) coordinates of the photographing point. The detection unit 750 can also bend and extend the extension rail apparatus 720 to correspond to the height axis (z-axis) coordinates of the point of capture and move the movement apparatus 730 along the extension rail 725 And may extend the moving device 730 to correspond to the vertical axis (y-axis) coordinates of the photographing point.

The detection unit 750 may combine images photographed through a plurality of cameras included in the photographing unit 740. For example, the detection unit 750 may combine the images photographed by the plurality of cameras at respective photographing points based on the photographing point. For example, if the number of the cameras is four, and the set photographing points are coordinate values (15, 10, 0), (15, -10, 0) -10, 0), the photographing point of the second camera (for example, the coordinate value (-15, 0, 0)) is displayed on the left side of the first image photographed at the photographing point (-15, -10, 0)) of the third camera at the lower end of the second image by stitching the second image photographed at the third camera Stitching the third image and stitching the fourth image photographed at the photographing point (e.g., coordinate value (15, -10, 0)) of the fourth camera on the right side of the third image and the lower side of the first image , The first image, the second image, the third image, and the fourth image may be merged to obtain one image.

The detection unit 750 may generate inspection result information based on the merged image and the reference image previously stored in the storage unit 760. Here, the reference image may be an image photographed in a steady state of the inspection object. The reference image may be an image simulated in the process or an image photographed in the initial execution of the process. Alternatively, the reference image may be an image obtained from an external electronic device.

The detection unit 750 may compare the merged image with the reference image to determine a difference between the images. For example, the detection unit 750 may detect difference between two images by differencing the merged image and the reference image. When the difference between the two images is detected, the detecting unit 750 includes the number of detected pixels in the images, the coordinate information of the pixels, and the difference value in each of the pixels, . For example, the inspection result information may include the merged image, the reference image, the number of pixels in which differences are detected in the images, the coordinate information of the pixels, and a difference value in each of the pixels . The inspection result information may be used as information for determining whether the operation signal analyzing unit 230 of the monitoring device 200 has a good inspection result at step 370 in FIG. For example, when the number of pixels in which the difference is detected is equal to or greater than a specified number, or when the difference values in each of the pixels are equal to or larger than the designated size, the operation signal analyzing unit 230 It can be judged that it is not.

The storage unit 760 may store images photographed through a plurality of cameras included in the photographing unit 740, a merged image of the images, and a reference image of an output result of the process. In addition, the storage unit 760 may store information on the length, width, and height of the resultant.

The extension rail device 720 may have a structure of being stretched and contracted in multiple stages. For example, the extended rail device 720 may be composed of a plurality of frames having one side opened and an empty space formed therein. For example, the extension rail apparatus 720 may have an extended (withdrawn) length and a first and a second length, which are the largest and the longest and the longest in the length of the opened surface and can be received in and received by the opening of the main body 701, A second frame which is smaller in length than the first frame and can be received and accommodated inside the first frame or withdrawn from the first frame, And a third frame that is smaller in length than the second frame and can be received in and received within the second frame or drawn out of the second frame. However, the number of frames included in the extension rail apparatus 720 is not limited thereto. According to various embodiments, the extension rail device 720 may further include at least one other frame in addition to the frames. In addition, a plurality of extension rails 720 may be provided. For example, a first expansion rail apparatus 720 that is expanded and contracted in the right direction of the main body 701 and a second expansion rail apparatus 720 that is expanded and contracted in the left direction of the main body 701 may be provided. In this case, a plurality of frames included in the first expansion rail apparatus 720 may be opened on the right side, and a plurality of frames included in the second expansion rail apparatus 720 may be opened on the left side.

An extension rail 725 may be formed on the lower end surface of the extension rail apparatus 720. The extension rails 725 may be formed on the lower end surfaces of the plurality of frames included in the extension rail device 720, and the formed positions may correspond to each other. For example, the extension rail 725 may be formed to extend from the left side to the right side of the lower end surface so as to cross the center portion of the lower end surface of the plurality of frames. In this case, when the plurality of frames are drawn out and the extended rail device 720 is expanded (or stretched), the respective extension rails 725 formed on the plurality of frames are connected to each other so that the length of the entire extension rail 725 May be increased by a sum of the lengths of the lower ends of the plurality of frames. When the plurality of frames are drawn and the extension rail apparatus 720 is reduced, the respective extension rails 725 formed on the plurality of frames are overlapped with each other, and the entire length of the extension rail 725 is exposed to the outside The length of the bottom faces of the frames can be reduced by the sum of the lengths.

A band 723 may be connected to the upper end surface of the extension rail apparatus 720. The band 723 may be connected to a connection portion 721 disposed on each of the upper surfaces of the plurality of frames included in the expansion rail device 720. For example, when the extension rail apparatus 720 includes three frames, a first band 721 is disposed between the first connection portion 721 disposed on the right side of the upper surface of the first frame and the inner upper surface of the body 701, And a second band 723 is connected between the first connection portion 721 and the second connection portion 721 disposed on the right side of the upper surface of the second frame. The second connection portion 721, And a third band 723 may be connected between the third connection portions 721 disposed on the right side of the upper surface of the third frame.

The band 723 can prevent the extension rail apparatus 720 from being separated. For example, the band 723 may be fixed (or stretched) when a plurality of frames contained in the extended rail device 720 are withdrawn and the extended rail device 720 is extended Thereby preventing the plurality of frames from being separated from each other and being separated from each other.

The band 723 can support the extension rail device 720 to be folded in a portion. For example, when the extension rail device 720 is extended (or stretched) by a predetermined length in the longitudinal direction 771 of the main body 701 and then expanded (or stretched) in the height direction 775 of the main body 701 , A band 723 connected between the frame at the end of the longitudinal direction 771 and the frame at the beginning of the height direction 775 among the plurality of frames included in the extension rail apparatus 720 can be banded have. That is, the frames connected by the banded bands 723 may be arranged vertically and separated from each other due to the tensile force of the bands 723, and may not be separated. In this case, the extension rails 725 formed on the lower end surfaces of the frames may be connected to each other vertically.

The moving device 730 can move along the extension rail 725 formed on the lower end surface of the extension rail device 720. [ The moving device 730 includes a center frame 731, a frame bar 732 connected to the top surface of the center frame 731, a frame bar 732 connected to the frame bar 732 and fitted on the extension rail 725, A movable head 733, a plurality of extended frame devices 734 that can be retracted into and received within the central frame 731 or withdrawn from the central frame 731, and the extended frame devices 734 (E.g., photographing unit 740) arranged in a frame that can be drawn to the last of a plurality of frames included in each of the plurality of frames.

The center frame 731 may be an open frame of a rectangular parallelepiped formed with openings passing through both side surfaces thereof. Also, the extended frame devices 734 can be drawn (or interpolated) into the openings, and the extended frame device 734 can be pulled out of the openings under the control of the detector 750.

The frame bar 732 can connect the center frame 731 and the head 733. [ The frame bar 732 may be made of a material having a strength greater than a certain level so as to support the center frame 731 and the extended frame device 734 connected to the center frame 731. [

The head 733 can be mounted on the extension rail 725 and can move on the extension rail 725. The head 733 can move along the extension rail 725 in the longitudinal direction 771 of the inspection apparatus 700 main body 701. [ The extension rail apparatus 720 may be extended (or stretched) by a predetermined length in the longitudinal direction 771 of the main body 701 and may be extended The head 733 is extended from the extended rail 720 to the extension rail 725 formed in the frames extending in the longitudinal direction 771 of the plurality of frames included in the extended rail apparatus 720 And is movable in the longitudinal direction 771 along the extension rail 725 formed in the frame at the end of the longitudinal direction 771 and at the beginning of the height direction 775 in the longitudinal direction 771 And can be moved in the height direction 775 along the extension rail 725 formed in the frames extended in the height direction 775. The height direction 775 can be moved in the height direction 775,

According to one embodiment, the head 733 may have a relatively wide upper and lower surface relative to the frame bar 732 so as not to be easily detached from the extension rail 725 when mounted on the extension rail 725.

The extended frame device 734 may be retracted into the inside of the center frame 731 or received in the width direction 777 of the main body 701 from the center frame 731. [ The extended frame device 734 may have a structure that is stretched and contracted in multiple stages. For example, the extended frame device 734 may be formed of a plurality of frames having one side opened and an empty space formed therein. For example, the extended frame device 734 has a first (extended) frame length and a first (first) extended length that can be taken out from the opening of the central frame 731 and taken out from the central frame 731 A second frame which is smaller in length than the first frame and can be received and accommodated inside the first frame or withdrawn from the first frame, And a third frame that is smaller in length than the second frame and can be received in and received within the second frame or drawn out of the second frame. However, the number of frames included in the extended frame device 734 is not limited thereto. According to various embodiments, the extended frame device 734 may further include at least one other frame in addition to the frames.

According to one embodiment, a plurality of extended frame devices 734 may be provided. For example, a first extended frame device 734 that is expanded and contracted in the right direction of the center frame 731 and a second extended frame device 734 that is expanded and contracted in the leftward direction of the center frame 731 may be provided. In this case, a plurality of frames included in the first extended frame device 734 may be opened on the right side, and a plurality of frames included in the second extended frame device 734 may be opened on the left side.

The camera (e.g., photographing unit 740) may be disposed in a frame that can be drawn to the last of a plurality of frames included in each of the extended frame devices 734. For example, if the extended frame device 734 includes a first frame drawn from the center frame 731, a second frame drawn from the first frame, and a third frame drawn from the second frame, And the camera may be disposed in the third frame. According to one embodiment, the camera may be disposed on the lower surface of the third frame.

The camera can capture a still image and a moving image. The camera may include one or more lenses, an image sensor, an image signal processor (ISP), or a flash.

The photographing unit 740 may include a plurality of cameras. For example, the photographing unit 740 may include a plurality of cameras disposed in frames that can be drawn to the last of a plurality of frames included in each of the extended frame devices 734. The photographing unit 740 may acquire an image of the inspection object through the plurality of cameras and may transmit the image to the detector 750. [

11 is a view for explaining an inspection method of an inspection apparatus according to an embodiment of the present invention.

3, if the monitoring apparatus 200 determines that any one of the processes performed by the plurality of PLCs is defective, the inspection apparatus 700 (for example, the first inspection apparatus 151) or the second inspection apparatus 152), it is possible to transmit an inspection signal of a process determined to have an error. In this case, the inspection apparatus 700 can inspect the result output through the process.

11, in operation 1110, the detector 750 of the inspection apparatus 700 performs the above-described function by inspecting the inspection apparatus 700 to the position of the inspection target (the output result through the process judged as having an error) Can extend the support bar 702 of the support frame 702. [ For example, the detecting unit 750 may detect a ceiling, a wall surface, and a column of a facility (e.g., a factory) to which the supporting bar 702 is connected so that the main body 701 of the testing apparatus 700 can be positioned above the inspection target. Or extend the support bar 702 from the structure in the facility to the location of the inspection object.

In operation 1120, the detection unit 750 of the inspection apparatus 700 can set a shooting point based on the length, width, and height of the inspection object. The length, width, and height of the inspection object may be stored in the storage unit 760 of the inspection apparatus 700. The detection unit 750 detects the number of cameras included in the photographing unit 740 of the inspection apparatus 700 using the number of cameras included in the photographing unit 740, the distance between the cameras, And a photographing area can be set based on the photographing area, the length, the width, and the height of the object to be inspected.

In operation 1130, the detection unit 750 of the inspection apparatus 700 may extend the extension rail 725 and move the movement apparatus 730 such that the photographing unit 740 is located at the photographing point. For example, the detection unit 750 extracts a plurality of frames included in the extended rail apparatus 720 so that the cameras included in the photographing unit 740 can be positioned at the photographing point, thereby extending the extended rail apparatus 720, The extension rails 725 formed at the lower end of the frames can be extended. In addition, the detector 750 can move the moving device 730 along the extension rail 725. That is, the detection unit 750 detects the frames included in the extension rail apparatus 720 in the longitudinal direction 771 of the main body 701 so that the extension rail 725 can be positioned on the horizontal axis (x- . The detection unit 750 detects the lengthwise direction 771 of the frames included in the extended rail apparatus 720 when the height axis (z axis) coordinates of the photographing point exist (e.g., when the height axis coordinate value is not 0) The other frames may be drawn out in the height direction 775 of the main body 701 so as to face the direction perpendicular to the frame at the end of the main body 701. The detector 750 then moves the moving device 730 along the extension rail 725 formed in the frame at the end of the longitudinal direction 771 and the frame at the beginning of the height direction 775 in the longitudinal direction 771 In the height direction 775 and in the height direction 775 along the extension rail 725 formed in the frames extending in the height direction 775 (X-axis) coordinates and height axis (z-axis) coordinates of the photographing point.

The detection unit 750 may extend the moving device 730 in the width direction 777 of the main body 701 when the vertical axis (y-axis) coordinates of the photographing point exist. For example, the detection unit 750 may extend the extended frame device 734 by extending a plurality of frames included in the extended frame device 734 of the moving device 730 in the width direction 777 of the main body 701, (X-axis) coordinate, a height axis (z-axis) coordinate, and a vertical axis (x-axis) coordinates of the photographing point are included in each of the frames drawn to the rearmost end of the frame device 734. [ y) coordinates.

In operation 1140, the photographing unit 740 of the inspection apparatus 700 may photograph the inspection object through a plurality of the cameras included in the photographing unit 740, and may store the photographed images in the storage unit 760 have.

In operation 1150, the detection unit 750 of the inspection apparatus 700 can determine whether the imaging point remains. For example, the detecting unit 750 can determine whether a plurality of photographing points set in operation 1120 are all photographed for the plurality of photographing points. For example, the detection unit 750 may determine whether the photographing point remains using the position information of the cameras. In other words, in a plurality of shooting points set in operation 1120, operations 1130 to 1150 may be repeatedly performed in order to sequentially photograph at the plurality of shooting points. That is, operations 1130 to 1150 may be performed for each of the plurality of shooting points, and when shooting at the last shooting point is completed, an operation 1160 may be performed.

If the shooting point is not left, at operation 1160, the detecting unit 750 of the testing device 700 may combine a plurality of captured images. For example, the detection unit 750 may combine the images photographed at each photographing point stored in the storage unit 760 based on the photographing point.

In operation 1170, the detection unit 750 of the inspection apparatus 700 may generate inspection result information based on the merged image and the reference image previously stored in the storage unit 760. Here, the reference image may be an image photographed in a steady state of the inspection object. For example, the reference image may be the image simulating the process or the image photographed in the initial execution of the process. Alternatively, the reference image may be an image obtained from an external electronic device.

According to an exemplary embodiment, the detector 750 may compare the merged image with the reference image to determine a difference between the images. The detector 750 may detect the difference between the two images by subtracting the merged image from the reference image. When the difference between the two images is detected, the detector 750 detects the difference between the two images using the number of detected pixels, the coordinate information of the pixels, and the difference value in each of the pixels, Lt; / RTI > For example, the inspection result information may include the merged image, the reference image, the number of pixels in which differences are detected in the images, the coordinate information of the pixels, and a difference value in each of the pixels .

The inspection result information may be used as information for determining whether the operation signal analyzing unit 230 of the monitoring device 200 has a good inspection result at step 370 in FIG. For example, when the number of pixels in which the difference is detected is equal to or greater than a specified number, or when the difference values in each of the pixels are equal to or larger than the designated size, the operation signal analyzing unit 230 It can be judged that it is not.

The embodiments disclosed in this document are presented for the purpose of explanation and understanding of the disclosed technology and do not limit the scope of the technology described in this document. Accordingly, the scope of this document should be interpreted to include all modifications based on the technical idea of this document or various other embodiments.

110, 120, 130: PLC 141, 142, 143: HMI
151, 152, 700: Inspection device 160: User terminal
170: Service provider server 200: Monitoring device

Claims (9)

A plurality of programmable logic controllers (PLCs), human machine interfaces (HMIs) connected to each of the plurality of PLCs, a monitoring device 200 connected to the HMIs, And an inspection apparatus (700) disposed between the inspection apparatus
Receiving an inspection signal from the monitoring device (200) through a communication unit (710);
Under the control of the detector 750,
A supporting bar 702 whose one end is connected to one surface of the main body 701 and whose other end is connected to the outer structure is connected to the outside of the main body 701, Expanding to a location of the inspection object;
Setting a photographing point on the basis of the length, width, and height of the inspection object previously stored in the storage unit 760;
An operation of extending the extension rail 720 accommodated in the main body 701 from the main body 701 to expand the extension rail 725 formed on the lower end surface of the extension rail apparatus 720;
Moving the moving device 730 in which the photographing portion 740 is disposed along the extension rail 725;
Acquiring images of the inspection object through a plurality of cameras included in the photographing unit 740;
Acquiring a merged image by merging the images based on the photographing point; And
And generating inspection result information based on the merged image and the reference image to be inspected stored in the storage unit (760). The method according to claim 1,
Wherein the setting of the shooting point comprises:
Determining photographing areas in which the cameras can be photographed while maintaining a predetermined distance from the inspection target using the number of cameras, the distance between the cameras, and angle of view information of each of the cameras; And
If the length of the inspection object is larger than the width of each of the photographing areas and the width of the inspection object is larger than the longitudinal length of each of the photographing areas and the height of the inspection object is larger than the width of each of the photographing areas , Setting the abscissa axis of the photographing point to a multiple of the horizontal length smaller than the length of the inspection object, setting the ordinate axis of the photographing point to a multiple of the vertical length smaller than the width of the inspection object, And setting the axis coordinates to a multiple of the horizontal length smaller than the length of the inspection object. The method of claim 2,
The act of extending the extension rail 725,
Extending the extension rail (725) in the longitudinal direction (771) of the main body (701) to correspond to the abscissa of the photographing point; And
The extension rail 725 is bent in the height direction 775 of the main body 701 so as to correspond to the height axis coordinate of the photographing point by bending the extension rail device 720, ). ≪ / RTI > The method of claim 3,
The operation of expanding the main body 701 in the height direction 775,
A first frame drawn out from the main body (701), a second frame drawn out from the first frame, and a second frame drawn out from the first frame A second frame having a length and an opened length of the second frame smaller than the first frame, and a second frame having a length and a vertical length of a drawn-out length and a length of the opened- And bending the adjacent two frames among the plurality of frames including three frames to be vertically aligned with each other,
A portion of the band 723 connected to the connection portion 721 disposed on the upper end surface of the extension rail device 720 is bent so that the two frames are separated from each other and separated from each other, . The method of claim 3,
The movement of the moving device 730 along the extension rail 725,
Moving the moving device (730) to a position corresponding to the abscissa of the photographing point along an extended rail (725) extended in the longitudinal direction (771) of the main body (701);
Determining that the height axis coordinates of the photographing point exist,
The movement device 730 extends from the end of the extension rail 725 extending in the longitudinal direction 771 of the main body 701 to the start end of the extension rail 725 extending in the height direction 775 of the main body 701, ); And
Moving the moving device (730) to a position corresponding to height axis coordinates of the photographing point along an extended rail (725) extending in a height direction (775) of the main body (701). The method of claim 5,
A plurality of extended frame devices 734 accommodated in the center frame 731 of the mobile device 730 are taken out of the center frame 731 and the mobile device 730 is connected to the main body 701, To a widthwise direction (777) of the test strip. The method of claim 6,
The operation of expanding the main body 701 in the width direction 777,
In each of the extended frame devices 734 of a multi-stage stretch structure including a plurality of frames having one side opened and an empty space formed therein, a first frame drawn out from the center frame 731, A second frame drawn out and drawn out from the second frame and having a transverse length and an elongated length of an opened surface smaller than the first frame and a transverse length and a transverse length of a drawn- And fetching at least some of the plurality of frames, the third frame including a third frame in which a portion of the cameras is disposed on a lower face,
And the cameras are placed at positions corresponding to the longitudinal axis coordinates of the photographing point through an operation of drawing the at least some frames. The method according to claim 1,
The operation of generating the inspection result information comprises:
Detecting a difference between the merged image and the reference image by subtracting the merged image from the reference image; And
Generating the test result information using the merged image, the reference image, the number of pixels detected as the difference, the coordinate information of the pixels, and the difference value in each of the pixels. The method according to claim 1,
And sending the inspection result information to the monitoring device (200).

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