JPH03213279A - Travel controller for wall traveling robot and method thereof - Google Patents

Abstract

PURPOSE:To eliminate an error in traveling distance produced by a slide during robot movements by installing a marking device for putting a mark at least one a wall surface, on a flaw-detection table. CONSTITUTION:After a robot body is aligned with a mark stamped on a wall surface, flaw detection measurement is taken. Simultaneously, a new mark is stamped by a marking device 6 by way of preparations for the next movement. This flaw detection measurement is performed after a flaw detection table 9 is moved in the traveling direction or the reverse direction of the robot body. In addition, alignment with a flaw detection measurement starting point is performed by moving this flaw detection table 9 as long as 1/2 of the distance after an interval between the mark and a point 7 is set up in symmetrical equidistance with a flaw detection center point on the table 9, and the mark or the pointer 7 are aligned to the flaw detection measurement starting point.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a method of controlling a robot for inspecting welded surfaces of gas tanks and the like.

[Prior Art] A conventional robot for inspecting a welded surface of a gas tank, etc., as shown in the cross section in Fig. 12, uses a plurality of vacuum pads 3 arranged concentrically on the outer and inner peripheries to adsorb onto the surface of the gas tank. However, the plurality of vacuum pads on the outer circumference and the inner circumference are alternately moved to move on the surface of the gas tank.

The vacuum pads on the outer circumferential portion and the inner circumferential portion were connected to the outer frame 1 and the inner frame 2, respectively, and were opened and moved by a traveling drive device 10.

A flaw detection table 9, which is driven by a flaw detection table movement mechanism 4 and equipped with a plurality of flaw detectors, is provided on the lower surface of the traveling drive device 10, and moves the flaw detection table 9 along the welding line of the gas tank, and simultaneously moves the flaw detection table 9 along the welding line of the gas tank. The flaw detection work was performed by scanning the weld line in a zigzag pattern, and then the robot body was moved to perform the same flaw detection.

[Problems to be Solved by the Invention] In the above-mentioned conventional technology, when the flaw detection robot moves, the suction of the vacuum pad 3 may slip, so the actual amount of movement is shorter than the specified amount of movement. There was a problem. Since the flaw detection table 9 performs flaw detection by moving by the amount of movement specified above, when the amount of movement of the robot becomes shorter, the end of each flaw detection section is measured twice, and the measurement data of each movement section is connected. This made data processing complicated.

An object of the present invention is to provide a traveling control device and method for a wall traveling robot that eliminates the travel error of the flaw detection robot due to the slippage and improves work efficiency.

[Means for Solving the Problems] In order to solve the above problems, the present invention includes, on a flaw detection table, at least a marking device for marking a mark on the wall surface and an imaging device for monitoring the marking end. Be prepared.

Furthermore, a pointer device for aligning the mark on the wall surface and an imaging device for monitoring the pointer section are provided.

Furthermore, the stamped end and the pointer are placed at symmetrical positions with respect to the flaw detection center point on the flaw detection table.

Furthermore, a first step of moving the flaw detection table in the flaw detection direction and inscribing the mark, a second step of moving the flaw detection table in the opposite direction to the flaw detection direction, and a second step of moving the flaw detection table in the flaw detection direction. A third step of performing the flaw detection measurement, a fourth step of moving the flaw detection table in the opposite direction to the flaw detection direction, and moving the wall traveling robot in the flaw detection direction by moving the suction device to position it at the mark. The flaw detection measurement described above is performed by the fifth step of alignment.

Furthermore, a first step in which the flaw detection table is moved in the flaw detection direction to inscribe the mark, a second step in which the flaw detection table is moved in the opposite direction to the flaw detection direction and the flaw detection measurement is performed, and the suction device is The flaw detection measurement is performed by a third step of moving the wall surface traveling robot in the flaw detection direction and aligning it with the mark.

Furthermore, a first step of setting the flaw detection table at the flaw detection center point and inscribing a mark, and a second step of moving the wall traveling robot in the flaw detection direction by moving the suction device and aligning it with the mark using the pointer. 2 strokes, and a third step in which the flaw detection table is moved in a direction opposite to the flaw detection direction by half the distance between the mark stamped part and the pointer.
According to the steps, the wall-running robot is set at the start position of the flaw detection measurement.

In addition, the first step is to set the flaw detection table as the center point of flaw detection and align the pointer to the start point of flaw detection measurement, and the flaw detection table is set to be half of the distance between the mark engraved part and the pointer.
By the second step of moving in the flaw detection direction, the wall surface traveling robot is set at the starting position of the flaw detection 4s measurement.

Furthermore, a unit movement distance value of the wall running robot is set, and a correction calculation is performed on the unit movement distance value according to the position of the wall running robot, and the wall running distance is calculated based on the corrected unit movement distance value. Allow the robot to command the distance it travels.

Further, the unit movement distance value is corrected according to the slope and surface condition of the surface to be inspected, so that the alignment is omitted.

[Operation] The wall traveling device of the present invention configured as described above performs flaw detection and measurement after aligning the robot body with the mark engraved on the wall surface.

At the same time, a new mark is engraved in preparation for the next move.

The flaw detection measurement is performed by moving the flaw detection table on the robot body in the direction of movement of the robot body or in the opposite direction.

In addition, to align the flaw detection measurement start point, place the mark and the pointer symmetrically and equidistantly from the flaw detection center point on the flaw detection table, and after aligning the mark or the pointer to the flaw detection measurement start point, This is done by moving the flaw detection table by 1/2 of the above distance.

Further, a reference movement amount of the robot is set, and the robot is moved according to a value modified according to the slope of the wall surface, the surface condition, etc., and the positioning for each movement is omitted.

[Example 1] According to the present invention, a marker 6, a pointer 7, and a front side T are placed on the flaw detection table 9 of the conventional robot shown in FIG.
This shows a state in which a V camera 5, a rear TV camera 8, etc. are newly installed. As a result, it is possible to correct the movement distance error caused by the robot's slippage, and at the same time, set the robot at the starting point of flaw detection and measurement in a well-procedure manner, and furthermore, it is possible to efficiently measure and move along any desired course.

The above flaw detection methods include the (FF) method in which the traveling direction 11 of the robot body and the flaw detection measurement direction 12 of the flaw detection table 9 both coincide with the forward direction as shown in FIG. The (FB) method has a running direction 11 facing forward and a flaw detection direction 12 facing backward.

The traveling direction 11 of the main body shown in Fig. 4 is backward and the flaw detection direction 1
2 is the forward (BF) method, and 4 is the (BB) method in which both the running direction 11 and the flaw detection direction 12 of the main body are backward as shown in Fig. 5.
The street can be considered.

FIG. 6 shows the above FF method with marker 6 and front TV camera 5.
It is a figure explaining the flaw detection work procedure of this invention performed using only. The column (a) in the same figure shows the initial state of the robot, and the column (b) 411 in the same figure shows the state in which the marker 6 is moved forward and a mark is written.

The mark is engraved by the marker active device 25 and its status can be monitored by the front TV camera 5.

Next, in order to perform forward-facing flaw detection, the flaw detection table 9 is moved backward as shown in column (C) of the same figure, and from there
) The flaw detection table 9 is advanced as shown in the column to perform flaw detection and measurement. At this time, the flaw detection table 9 advances while sweeping along its travel line in a zigzag manner. Next, the robot is moved backward as shown in column (e) of the same figure, and then moved back as shown in column (f) of the same figure.
As shown in the figure, move the robot forward and align it with the mark mentioned above. Figure (f) is a state in which the state in Figure (a) is one step forward, so from Figure (b) to Figure (f).
) corresponds to one step of flaw detection work. In addition,
The (BB) method shown in FIG. 5 can be executed in the same manner as the (FF) method described above.

FIG. 7 is a diagram illustrating details of the present invention for the above-mentioned (FB) method and (BF) method. (g)a and (h) in the same figure
) columns are the same as columns (a) 411 and (b) in FIG.

However, in FIG. 7, from column (h) to column (i)
Since the flaw detection measurement is performed simultaneously when the flaw detection table 9 shown in the column ) is retreated, the number of strokes in FIG. 7 is reduced from five to three.

In the method shown in FIG. 7, the flaw detection direction is backward, so in order to connect the entire flaw detection data, it is necessary to invert and output each of the above data. For this purpose, a memory device is required, and in the case of Figure 6, a memory device is also required as it is necessary to finally connect and display the flaw detection data from each forward direction, and the scale of the memory devices for both cases is about the same. It is.

However, the writing or reading control methods for the respective memory devices are different between the two.

FIGS. 8 to 11 are diagrams for explaining other embodiments of the present invention regarding positioning of the robot with respect to the starting point of the flaw detection work.

FIG. 8 shows a marker 6, a pointer 7, and a flaw detection center point 2 according to the present invention for efficient positioning with respect to the starting point.
7 is a diagram showing the positional relationship with FIG.

Usually, a plurality of flaw detectors are provided on the flaw detection table 9, and the flaw detection center point 27 corresponds to the center position of the plurality of flaw detectors.

In FIG. 8, markers 6 and pointers 7 are provided symmetrically with respect to the flaw detection center point 27 at equal intervals.

That is, if the distance between the marker 6 and the pointer 7 is L, then the distance between the marker 6 and the flaw detection center point 27, and between the pointer 7 and the flaw detection center point 2
Both distances between 7 are ding, /2.

FIG. 9 is a diagram showing a method of the present invention in which the flaw detection table 9 of FIG. 8 is used to align the work starting point of the (FF) mold shown in FIG. 6. In the figure, 23 is a weld line that will be inspected from now on, and 24 is a weld line that intersects with the above-mentioned 23 in a figure 7 shape.

First, as shown in column (k) of the figure, the marker 6 is positioned at the intersection 35 of the welding lines 23 and 24. This positioning is performed while monitoring the lowering of the marker 6 performed by the marker moving device 25 using the front TV force camera 5 shown in FIG.

Next, as shown in column (1) of the figure, the robot body is moved forward to align the pointer 7 with the intersection point 35. This positioning is performed while monitoring the lowering of the pointer 7 driven by the pointer driving device 26 using the rear TV force camera 8 shown in FIG. Next, as shown in column (m) of the figure, the flaw detection table 9 is moved back by the distance L/2.

This state corresponds to column (a) in FIG. 6, where the flaw detection work center point 27 coincides with the intersection 35, and the flaw detection work can be started.

By reversing the moving direction of each column in FIG. 9, alignment with respect to the type (BB) shown in FIG. 5 can be performed.

FIG. 10 is a diagram showing the method of the present invention for positioning the work starting point of the type (FB) similarly shown in FIG. First, as shown in column (n) of the figure, weld lines 23 and 24
Position the pointer 7 at the intersection 35. Next, the same figure (
o) As shown in 4II.

The flaw detection table 9 is advanced by the distance L/2. This state corresponds to column 17 (h), and the flaw detection work can now be started.

FIG. 11 is a diagram showing a method of the present invention for performing similar position alignment for the (BF) type flaw detection operation shown in FIG. 4. First, as shown in column (p) of the same figure, intersection point 3
Then, as shown in column (q) of the figure, when the flaw detection table 9 is moved back by the distance L/2, the flaw detection work can be started.

By using the positioning method explained in Fig. 9.10.11 above and switching the specified items such as the direction of travel using a control panel, etc., the flaw detection methods shown in Figs. 2 to 5 can be freely combined, allowing a wide range of The efficiency of flaw detection work can be greatly improved.

Moreover, when the arrangement shown in FIG. 8 is used, the above values are stored in the control device in advance, so it is possible to move from column (k) in FIG. 9 to column (1) in FIG. From column e) (f
), movement from column (i) to column (j) in FIG. 7, etc. can be performed by a distance advance command from the control device, and positioning using the pointer 7 can be omitted.

When the robot main body is moved by the distance advance command as described above, a distance error occurs due to the slippage of the vacuum pad 3. However, as long as this distance error does not accumulate excessively, some positional error at each measurement point can be tolerated in practice. In other words, when actually inspecting a weld line on a huge gas tank, etc., first, the inspection passes through a wide area, detects the presence of a fault, and then re-inspects the faulty part in more detail, so the initial inspection This is because there is no need to strictly determine the location of the fault, and it is sufficient to identify the location for re-examination to an extent that does not pose a practical problem.

When detecting flaws in a spherical gas tank, etc., the amount of slippage is greatest near the equator (the most vertical part) and least at the top and bottom. However, the average value of the slip can be statistically determined depending on the slope of the shape of the object to be inspected and its surface condition.

Therefore, it is possible to add the above-mentioned statistically determined slip amount to the above-mentioned standard movement amount of the robot body corresponding to each flaw detection part.

Accumulation of the distance errors described above can be prevented. Such correction calculations can be easily performed within the work control panel of the robot. Note that the reference movement amount does not necessarily have to be the above, and may be an appropriately set unit movement amount, which can similarly prevent the accumulation of the distance error.

[Effects of the Invention] According to the present invention, it is possible to eliminate errors in movement distance caused by slippage during movement of the robot.

Furthermore, by setting the direction of flaw detection opposite to the direction of movement of the robot, the number of flaw detection steps can be halved compared to the case where the direction of movement of the robot and the direction of flaw detection coincide.

Furthermore, by setting the positions of the markers and pointers symmetrically and equally spaced with respect to the flaw detection center point, it becomes easy to set the robot to the flaw detection starting position, and at the same time, the control of the subsequent flaw detection process becomes more efficient. .

According to experiments, it has been found that the various effects of the present invention described above improve the efficiency of conventional flaw detection tests by approximately 40%.

[Brief explanation of drawings]

FIG. 1 is an explanatory diagram of a wall-running robot according to the present invention, and FIG.
5 to 5 are diagrams for explaining the movement direction and flaw detection direction of the robot body, FIGS. 6 and 7 are diagrams for explaining the flaw detection process and the attendance process of the robot body according to the present invention, and FIGS. 9 to 11
The figure is a diagram for explaining a positioning method to a flaw detection starting point according to the present invention, and FIG. 12 is a diagram for explaining a conventional wall-running robot. 1... Outer frame, 2... Inner frame, 3...
Vacuum pad, 4... Flaw detection table motion mechanism, 5...
Front TV camera, 6... Marker, 7... Pointer, 8.
...Rear TV camera, 9...Flaw detection table, 11...
・Robot main body running direction, 12...Flaw detection direction, 27
...Flaw detection center point.

Claims (1)

[Scope of Claims] 1. A wall traveling robot that attaches to a wall surface using a suction device and moves a flaw detection table to inspect the wall surface, including a marking device for marking at least on the wall surface on the flaw detection table. A running control device for a wall running robot, characterized in that: 2. The travel control device for a wall-running robot according to claim 1, further comprising an imaging device for monitoring the marking end of the marking device. 3. The wall-running robot according to claims 1 and 2, comprising a pointer device having a pointer for positioning with the mark on the wall surface, and an imaging device for monitoring the pointer section. travel control device. 4. The wall surface according to claim 3, wherein the stamped end of the marker device and the pointer of the pointer device are arranged at symmetrical positions with respect to the flaw detection center point on the flaw detection table. Travel control device for traveling robots. 5. The robot sticks to the wall using the suction device of the wall-running robot.
In the method of inspecting the wall surface by moving the flaw detection table,
A first step in which the flaw detection table is moved in the flaw detection direction to inscribe the mark; a second step in which the flaw detection table is moved in the opposite direction to the flaw detection direction; and a second step in which the flaw detection table is moved in the flaw detection direction to perform the flaw detection. A third step in which measurement is performed, a fourth step in which the flaw detection table is moved in the opposite direction to the flaw detection direction, and the wall traveling robot is moved in the flaw detection direction by movement of the suction device to align with the mark. A method for controlling running of a wall running robot, characterized in that the flaw detection and measurement described above is carried out in a fifth step. 6. The robot sticks to the wall using the suction device of the wall-running robot.
In the method of inspecting the wall surface by moving the flaw detection table,
A first step of moving the flaw detection table in the flaw detection direction to inscribe the mark, a second step of moving the flaw detection table in the opposite direction to the flaw detection direction and performing the flaw detection measurement, and a movement of the suction device. A traveling control method for a wall traveling robot, characterized in that the flaw detection measurement is performed by a third step of moving the wall traveling robot in the flaw detection direction and aligning it with the mark. 7. The robot sticks to the wall using the suction device of the wall-running robot.
In the method of inspecting the wall surface by moving the flaw detection table,
A first step in which the flaw detection table is set as the center point of flaw detection and a mark is engraved, and a second step in which the wall traveling robot is moved in the flaw detection direction by the movement of the suction device and aligned with the mark using a pointer. and a third step in which the flaw detection table is moved in a direction opposite to the flaw detection direction by half the distance between the mark engraved part and the pointer, thereby bringing the wall traveling robot to the starting position of the flaw detection measurement. A running control method for a wall running robot, characterized in that the following settings are made. 8. The robot sticks to the wall using the suction device of the wall-running robot.
In the method of inspecting the wall surface by moving the flaw detection table,
The first step is to set the flaw detection table as the flaw detection center point and align the pointer to the flaw detection measurement start point, and move the flaw detection table in the flaw detection direction by half of the distance between the mark engraved part and the pointer. A second step of setting the wall traveling robot at a starting position for the flaw detection and measurement. 9. The robot sticks to the wall using the suction device of the wall-running robot.
In the method of inspecting the wall surface by moving the flaw detection table,
A unit movement distance value of the wall running robot is set, and further, a correction calculation is performed on the unit movement distance value according to the position of the wall running robot, and the unit movement distance value of the wall running robot is adjusted using the corrected unit movement distance value. A method for controlling a wall-running robot, characterized in that the amount of travel is commanded.