KR20110100091A - Sealing robot system and control method thereof - Google Patents

Sealing robot system and control method thereof Download PDF

Info

Publication number
KR20110100091A
KR20110100091A KR1020100019183A KR20100019183A KR20110100091A KR 20110100091 A KR20110100091 A KR 20110100091A KR 1020100019183 A KR1020100019183 A KR 1020100019183A KR 20100019183 A KR20100019183 A KR 20100019183A KR 20110100091 A KR20110100091 A KR 20110100091A
Authority
KR
South Korea
Prior art keywords
sealing
ejecting
working position
repaired
air pressure
Prior art date
Application number
KR1020100019183A
Other languages
Korean (ko)
Inventor
임계영
Original Assignee
한국산업기술대학교산학협력단
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 한국산업기술대학교산학협력단 filed Critical 한국산업기술대학교산학협력단
Priority to KR1020100019183A priority Critical patent/KR20110100091A/en
Publication of KR20110100091A publication Critical patent/KR20110100091A/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/30—End effector
    • Y10S901/41—Tool
    • Y10S901/43—Spray painting or coating

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)

Abstract

Disclosed are a sealing robot system and a control method thereof. Sealing robot system according to the present invention comprises at least one adsorption unit for vacuum adsorption on the surface of the object to be repaired by the sealing operation; A sealing robot that ejects a sealing agent according to at least one working position set by an operator based on an image photographing the surface of the object to be repaired; And a control unit for positioning the sealing robot at the working position and controlling the ejection of the sealing agent. Through this, the present invention can be easy to work in a hazardous environment, it is possible to reduce the work time and work force.

Figure P1020100019183

Description

Sealing robot system and control method

The present invention relates to a sealing robot system and a control method thereof.

Recently, non-destructive inspection automation technology has attracted a lot of attention, and the inspection targets include underground pipes such as city gas pipes, water and sewage pipes, oil pipes, petrochemical plant pipes, and steam engines of cogeneration plants, large buildings, bridges, oil tanks, gas storage tanks, Large structures such as nuclear power plants, large aircraft, ships, and the like. Due to the large social and economic losses due to the major accidents that occur frequently in these structures, the need for maintenance, maintenance and management through periodic inspections is increasing.

However, in the case of maintenance work, there is a problem in securing stability because laborers have to work in a poor working environment, and due to the nature of maintenance work, the lack of skilled workers due to frequent turnover of laborers and avoidance of 3D industry It is bringing down productivity and quality of maintenance work.

In such dangerous industrial sites or parts that cannot be done by human power, many processes have been automated and the controllers have been developed. There are a lot of risky tasks in the construction site of these industrial sites, the need for automated robots is increasing.

An object of the present invention is to solve the problems of the prior art as described above, to determine the position to work through the image taken by the camera and to perform the sealing operation using the robot based on the determined position. .

To this end, the sealing robot system according to an aspect of the present invention comprises at least one suction unit for vacuum adsorption on the surface of the object to be repaired by the sealing operation; A sealing robot that ejects a sealing agent according to at least one working position set by an operator based on an image photographing the surface of the object to be repaired; And a control unit for positioning the sealing robot at the working position and controlling the ejection of the sealing agent.

The sealing robot includes a CCD camera for photographing the surface of the object to be repaired; A laser pointer for setting the at least one working position in the captured image; And a sealing part which ejects a sealing body according to the set working position.

The laser pointers are arranged at both sides of the sealing portion at regular intervals, and move in the same angle and direction as the operator operates.

The sealing unit is an air compressor for generating the air pressure required for the sealing operation; Solenoid valve for removing the residual pressure remaining in the hose after the sealing operation; A regulator for maintaining the generated air pressure at a constant pressure; And it may include a sealing gun for ejecting the sealing agent in accordance with the predetermined pressure.

The sealing gun is provided with a load cell at one side thereof to grasp the force received from the surface to be in close contact with the surface of the object to be repaired and to adjust the position of the sealing gun when the determined force exceeds a predetermined reference value. It features.

The control unit maintains a constant air pressure for ejecting the sealant to be applied in a straight line between the work positions adjacent to each other, but variably controls the air pressure for ejecting the sealant in accordance with the interval between the work positions adjacent to each other can do.

At this time, the control unit is characterized in that the lower the air pressure for ejecting the sealing agent as the interval between the work positions adjacent to each other is shorter than the reference value.

According to another aspect of the present invention, there is provided a method of controlling a sealing robot, the method comprising: moving to a surface of an object to be repaired by a sealing operation and fixing the same using vacuum suction; Receiving at least one work position set by an operator based on an image of the surface of the object to be repaired; And ejecting a sealing agent according to the provided at least one working position.

The step of receiving the working position may include photographing the surface state of the object to be repaired through a CCD camera and providing the captured image to a management terminal wirelessly or wirelessly; And if the at least one working position is set by the operator based on the provided image, receiving a coordinate value corresponding to the at least one working position from the management terminal.

The ejecting of the sealing agent may include moving the sealing gun to the first working position based on a coordinate value corresponding to the at least one working position; And performing a sealing operation of ejecting a sealing agent to a region where a crack has occurred using the sealing gun from the moved working position.

The spraying of the sealant may include: maintaining a constant air pressure for ejecting the sealant so that the sealant is applied in a straight line between working positions adjacent to each other, but ejecting the sealing agent according to the interval between the working positions adjacent to each other; The air pressure can be controlled variably.

At this time, the step of ejecting the sealing agent is characterized in that the air pressure for ejecting the sealing agent is lowered as the interval between the adjacent working position is shorter than the reference value.

As described above, the present invention may determine the position where the operation is possible through the image photographed by the camera and perform the sealing operation using the robot based on the determined position, so that the operation in a dangerous environment may be facilitated.

In addition, since the present invention performs a sealing operation using a robot, it is possible to reduce the work time and work force.

1 is an exemplary view showing a sealing robot system 100 according to an embodiment of the present invention,
2 is a block diagram showing a detailed configuration of the sealing robot 120 shown in FIG.
3 is an exemplary view for explaining a principle of setting a work position according to an embodiment of the present invention;
4 is an exemplary view showing a detailed configuration of the sealing unit 230 shown in FIG.
5 is an exemplary view showing a method for controlling a sealing robot according to an embodiment of the present invention.

Hereinafter, a sealing robot system and a control method thereof according to an embodiment of the present invention will be described in detail with reference to FIGS. 1 to 5. The present invention is to determine the position to work through the image taken by the camera and to perform the sealing operation using the robot based on the determined position.

Here, the sealing operation is a method applied to small cracks having a width of about 0.2 mm or less, and may mean an operation of covering the cracks with silicon or the like.

1 is an exemplary view showing a sealing robot system 100 according to an embodiment of the present invention.

As shown in FIG. 1, the sealing robot system 100 according to an exemplary embodiment of the present invention includes an adsorption unit 110, a sealing robot 120, a controller 130, a management terminal 140, and the like. Can be. Such a sealing robot system is mounted at the end of a special purpose vehicle such as an elevated vehicle or a refraction vehicle to be moved to a maintenance work space.

In particular, it is easy to work in areas where it is difficult or dangerous for a person to work, such as the bottom of a concrete bridge, the side of a high-rise apartment, or the ceiling of an underground parking lot.

Adsorption unit 110 is a surface adhesive portion installed in the leg portion of the system for the repair of the facility, consisting of a plurality of adsorption pads on each leg, the size and quantity of the pad is determined according to the mass of the system. The adsorption pad is preferably manufactured in consideration of the shape of the workpiece, the surface condition, the working environment, for example, a method of connecting the material and the flanger according to temperature, humidity, and the like, the height of the workpiece, and the cushioning distance.

Briefly explaining the attachment principle, the inside of the adsorption pad has a low pressure than the outside air pressure to have the adsorption force, when the pressure is greater than the weight of the whole system, it is attached to the surface of the object to be stably repaired .

The sealing robot 120 ejects the sealing agent to the crack generated on the surface of the object to be repaired, and automatically performs a sealing operation according to a preset work position by the operator.

The controller 130 photographs the surface state of the object to be repaired, provides the captured image to the worker, receives the at least one working position set by the operator based on the captured image, and based on the sealing robot ( The sealing operation of 120 is controlled.

That is, the controller 130 moves the sealing robot to the corresponding position according to the working position set by the operator, and ejects or discharges the sealing agent by adjusting the air pressure.

In detail, the control unit 130 maintains a constant air pressure for ejecting the sealant to be applied in a straight line between the work positions adjacent to each other, while the air pressure for ejecting the sealant according to the interval between the work positions adjacent to each other Can be controlled to be variable.

In particular, the control unit 130 lowers the air pressure for ejecting the sealing agent by a predetermined size as the distance between working positions adjacent to each other is shorter than the reference value.

The management terminal 140 is a device for a worker to remotely control the sealing robot 120 connected by wire or wirelessly. For example, the management terminal 140 includes a concept including a personal computer (PC), a notebook computer, and a personal digital assistant (PDA). Can be.

2 is a configuration diagram showing a detailed configuration of the sealing robot 120 shown in FIG.

As shown in FIG. 2, the sealing robot 120 according to the present invention includes a CCD (Charge Coupled Device) camera 222, a laser pointer 224, a sealing unit 226, and the like. Can be.

The CCD camera 222 photographs the surface state of the object to be repaired and provides it to the management terminal of the worker in real time. Through this, the operator inspects the surface state of the object to be repaired to estimate the shape and size of the crack. .

The laser pointers 224 are respectively installed at both sides of the sealing unit at predetermined intervals so that the laser pointer 224 is always displayed on the image photographed by the CCD camera 222 and can be moved by an operator. Of course, the two laser pointers 224 move at the same angle and direction.

In this case, the operator sets the position of the sealing operation using the laser pointer, which will be described with reference to FIG. 3.

Figure 3 is an exemplary view for explaining the principle of setting the work position according to an embodiment of the present invention.

As shown in FIG. 3, the operator sets the working position based on the laser pointer displayed on the captured image. The distance between the laser pointers is always constant and the middle point is to use the principle that the sealing part is located. .

In other words, when the crack is located between the two laser pointers, the sealing operation is possible, and when the position is set as the working position, the operator's management terminal stores the coordinate values.

According to the work position thus set, the sealing robot performs the sealing work, and the sealing work is performed in a straight line between the working positions.

For example, when the work positions P1, P2, P3, P4, and P5 are set, the sealing robot performs a sealing work between the work positions P1 and P2 in a straight line, and works sealing in a straight line between the work positions P2 and P3. The sealing work is performed in a straight line between the positions P3 and P4, and the sealing work is performed in a straight line between the working positions P4 and P5.

At this time, the interval between the working positions can be appropriately set by the operator, for example, in the portion where the crack has a straight shape, the interval of the working position is set wide or in the portion having a curved shape, the interval of the working position can be set narrow. have.

In particular, the sealing portion lowers the air pressure for ejecting the sealing agent as the interval between working positions adjacent to each other is shorter than the reference value. Of course, depending on the size of the gap, the size of the air pressure may also be lowered to a certain ratio or a certain size.

This is because the application of a certain amount of air pressure, regardless of the distance, may cause the sealant to intrude into each other between a number of adjacent, narrowly spaced working positions.

4 is an exemplary view showing a detailed configuration of the sealing unit 230 shown in FIG.

As shown in FIG. 4, the sealing unit 230 may include an air compressor 432, a solenoid valve 434, a regulator 436, a sealing gun 438, and the like.

An air compressor 432 is used to generate the air pressure necessary for the sealing operation.

A solenoid valve 434 is required to relieve the residual pressure remaining in the hose after operation of the air compressor. Failure to release this residual pressure will cause a malfunction in the next operation.

The regulator 436 is used to keep the pressure constant at 500 KPa, which is easy to seal because the pressure from the air compressor is 700 KPa.

The sealing gun 438 is a place where the pressure from the air compressor is finally used. The sealing gun 438 ejects a sealing agent, for example, silicon, contained therein.

At this time, the sealing gun should be positioned to almost reach the surface of the object to be repaired, there is a bent on the surface may be used load cell (load cell) to perform the sealing work while following this naturally.

That is, by mounting the load cell on one side of the sealing gun, it is possible to grasp the force received by the sealing gun from the surface, and if the determined force exceeds a predetermined reference value, the position of the sealing gun can be adjusted so that the surface of the object to be repaired is always in close contact.

5 is an exemplary view showing a method for controlling a sealing robot according to an embodiment of the present invention.

As shown in FIG. 5, the sealing robot system is first moved to a surface of an object to be repaired through a transfer device and fixed using vacuum suction (S510).

The sealing robot system photographs the surface state of the object to be repaired through the CCD camera (S520) and provides the captured image to the management terminal wirelessly or wirelessly (S530), so that the management terminal displays the received image to the operator. do.

When at least one or more work positions are set based on the displayed image by the operator, the management terminal stores coordinate values corresponding to the set work positions and provides the coordinate values to the sealing robot system (S540).

The sealing robot system moves the sealing gun to the first working position based on the coordinate value corresponding to the working position (S550), and uses the sealing gun to eject the sealing agent to the cracked area using the sealing gun from the working position. It is performed (S560).

As described above, the present invention determines a possible position to work through the image taken by the camera on the surface of the object to be repaired, and performs a sealing operation using a robot based on the determined position, thereby making it easy to work in a dangerous environment. Can be.

In addition, since the present invention performs a sealing operation using a robot, it is possible to reduce the work time and work force.

The sealing robot system and its control method according to the present invention can be modified and applied in various forms within the scope of the technical idea of the present invention and are not limited to the above embodiments. In addition, the embodiments and drawings are merely for the purpose of describing the contents of the invention in detail, not intended to limit the scope of the technical idea of the invention, the present invention described above is common knowledge in the technical field to which the present invention belongs As those skilled in the art can have various substitutions, modifications, and changes without departing from the technical spirit of the present invention, it is not limited to the above embodiments and the accompanying drawings, of course, and not only the claims to be described below but also claims Judgment should be made including scope and equivalence.

100: sealing robot system
110: adsorption part
120: sealing robot
130: control unit
140: management terminal
222: CCD camera
224: laser pointer
226: sealing part
422: air compressor
424: solenoid valve
426: regulator
428: sealing gun

Claims (12)

At least one adsorption unit for vacuum adsorption on a surface of an object to be repaired by a sealing operation;
A sealing robot that ejects a sealing agent according to at least one working position set by an operator based on an image photographing the surface of the object to be repaired; And
A control unit for positioning the sealing robot at the working position and controlling the ejection of the sealing agent;
Sealing robot system comprising a. The method according to claim 1,
The sealing robot,
A CCD camera for photographing the surface of the object to be repaired;
A laser pointer for setting the at least one working position in the captured image; And
Sealing robot system including a sealing unit for ejecting a sealing body in accordance with the set working position. The method of claim 2,
The laser pointer,
Sealing robot system, characterized in that arranged on both sides of the sealing portion at regular intervals, moving in the same angle and direction to each other according to the operator's operation. The method of claim 2,
The sealing unit,
An air compressor for generating air pressure necessary for the sealing operation;
Solenoid valve for removing the residual pressure remaining in the hose after the sealing operation;
A regulator for maintaining the generated air pressure at a constant pressure; And
Sealing robot system including a sealing gun for ejecting the sealing agent in accordance with the predetermined pressure. The method of claim 4, wherein
The sealing gun, to be in close contact with the surface of the object to be repaired, to determine the force received from the surface and the load cell is provided on one side so that the position of the sealing gun can be adjusted when the determined force exceeds a predetermined reference value Sealing robot system, characterized in that. The method according to claim 1 or 2,
The control unit,
While maintaining a constant air pressure for ejecting the sealant to be applied in a straight line between working positions adjacent to each other,
Sealing robot system, characterized in that for controlling the air pressure for ejecting the sealing agent in accordance with the interval between the working position adjacent to each other. The method of claim 6,
The control unit,
Sealing robot system, characterized in that to lower the air pressure for ejecting the sealing agent as the interval between the work positions adjacent to each other is shorter than the reference value. Moving to the surface of the object to be repaired by the sealing operation and fixing it using vacuum adsorption;
Receiving at least one work position set by an operator based on an image of the surface of the object to be repaired; And
Ejecting a sealing agent in accordance with the provided at least one working position
Method of controlling a sealing robot comprising a. The method of claim 8,
The step of receiving the work position,
Photographing the surface state of the object to be repaired through a CCD camera and providing the photographed image to a management terminal wirelessly or wirelessly; And
And receiving a coordinate value corresponding to the at least one working position from the management terminal when the at least one working position is set by the operator based on the provided image. The method of claim 8,
The step of ejecting the sealing agent,
Moving a sealing gun to a first working position based on a coordinate value corresponding to the at least one working position; And
And performing a sealing operation of ejecting a sealing agent to a region where a crack has occurred using a sealing gun from the moved working position. The method of claim 8,
The step of ejecting the sealing agent,
While maintaining a constant air pressure for ejecting the sealant to be applied in a straight line between working positions adjacent to each other,
And varyingly controlling the air pressure for ejecting the sealing agent in accordance with the interval between the working positions adjacent to each other. The method of claim 11, wherein
The step of ejecting the sealing agent,
And the air pressure for ejecting the sealing agent is lowered as the distance between working positions adjacent to each other is shorter than a reference value.
KR1020100019183A 2010-03-03 2010-03-03 Sealing robot system and control method thereof KR20110100091A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020100019183A KR20110100091A (en) 2010-03-03 2010-03-03 Sealing robot system and control method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020100019183A KR20110100091A (en) 2010-03-03 2010-03-03 Sealing robot system and control method thereof

Publications (1)

Publication Number Publication Date
KR20110100091A true KR20110100091A (en) 2011-09-09

Family

ID=44952711

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020100019183A KR20110100091A (en) 2010-03-03 2010-03-03 Sealing robot system and control method thereof

Country Status (1)

Country Link
KR (1) KR20110100091A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101389244B1 (en) * 2013-04-18 2014-04-24 재단법인대구경북과학기술원 Robot for managing of structure and method controling thereof

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101389244B1 (en) * 2013-04-18 2014-04-24 재단법인대구경북과학기술원 Robot for managing of structure and method controling thereof

Similar Documents

Publication Publication Date Title
Saidi et al. Robotics in construction
CN101829470B (en) Construction technique of electric bag compound type dust remover
KR101914614B1 (en) Crack maintenance drone and method using the same
Chea et al. An integrated review of automation and robotic technologies for structural prefabrication and construction
CN103603483B (en) Skyscraper alien invasion Intelligent spray system
Helm et al. In-situ robotic fabrication: advanced digital manufacturing beyond the laboratory
CN107741742A (en) Track machine people attending device and method of work in a kind of transformer station room
CN105966644B (en) Analog service star for in-orbit service technical identification
Han Human-robot cooperation technology an ideal midway solution heading toward the future of robotics and automation in construction
KR20080038865A (en) Mobile manipulator system based on configuration control of mobile robot and task robot
BostelMan et al. RoboCrane [R] project: an advanced concept for large scale manufacturing
CN104076040A (en) Nuclear power plant concrete building defect detection method, equipment and system
Liu et al. Adhesion-adaptive control of a novel bridge-climbing robot
KR20110100091A (en) Sealing robot system and control method thereof
Skibniewski et al. Analysis of robotic surface finishing work on construction site
CN103343577B (en) The shear wall water-stopping method of removable docking screw rod
US20170120303A1 (en) Waterblasting system with air-driven alternator
Huerzeler et al. Applying aerial robotics for inspections of power and petrochemical facilities
Skibniewski et al. Robotic applications to construction
Shukutani et al. Development of explosion-proof autonomous plant operation robot for petrochemical plants
CN208181421U (en) A kind of intelligent patrol detection maintenance equipment
Jung et al. Development of automation system for steel construction based on robotic crane
Nam et al. Design of a bolting robot for constructing steel structure
Ikeda et al. Development and Application of a Fire Resistive Covering Spraying Robot to Building Construction Site
Menendez et al. Autonomous robotic system with tunnel inspection tool positioning

Legal Events

Date Code Title Description
A201 Request for examination
E601 Decision to refuse application