JP7258476B2 - Repair support system and repair support method - Google Patents

Description

An embodiment of the present invention relates to a repair support system and a repair support method.

In a hydraulic machine such as a water turbine, erosion may occur on the blade surfaces of impeller (runner) blades due to shock waves caused by cavitation. When such erosion occurs, repair work is usually performed using a hand grinder for blades with mild erosion. In such a repair work, for example, a template having a concave portion that matches the blade surface of a blade that is not eroded is created by cutting a plate material, and the concave portion of the template is referred to. It may be done by grinding the blade surface of the blade that has In this case, generally, a template is applied to the blade surface of the eroded blade, and the blade surface is ground so that the blade surface is aligned with or substantially parallel to the concave portion of the template. The blade surface is the pressure surface and the suction surface located between the leading edge and the trailing edge of the blade.

When performing repair work with a hand grinder as described above, the operator recognizes the amount of correction by comparing the template and the blade to be repaired, and grinds the blade based on the recognized amount of correction. In this work, since the operator visually recognizes the amount of correction, an error may occur between the desired amount of correction and the amount of correction recognized by the operator. As related to such problems, various techniques have been proposed for accurately specifying the correction amount of the three-dimensional shape. As this type of technology, for example, when correcting a die for press working, a technique for deriving the shape correction amount of the die from the measurement result of the three-dimensional shape of the die is known.

Japanese Patent No. 4390727

Since the finish of blade repair work using a hand grinder may vary depending on the operator, it may not be possible to perform it properly. A contributing factor to this problem is the difficulty in accurately positioning the template at the desired location on the blade to be refurbished due to the uncertainty of the template installation criteria for the blade to be refurbished.

That is, the template is created by specifying the height position of the eroded portion of the blade to be repaired and corresponding to the blade surface shape of the normal blade at the height position corresponding to this height position. After the template is created in this manner, the template is positioned relative to the eroded portion of the blade to be refurbished, an operation that is performed manually and is difficult to achieve accurately. Further, since the template is a plate material and two-dimensionally defines the shape of the blade surface by the blade cross section, the shape of the portion other than the blade cross section cannot be clearly defined. Such a template configuration also makes accurate positioning of the template difficult. Due to this difficulty in positioning the template, it is thought that there will be a situation where the repair work cannot be carried out properly.

In addition, since the template cannot clearly define the shape of the portion other than the blade cross section, it is also difficult to accurately grasp the correction amount of the portion other than the blade cross section based on the template. This is also considered to be the reason why the repair work cannot be carried out properly.

On the other hand, it is difficult to accurately grasp the amount of grinding by hand grinders during repair work. For this reason, the operator needs to check the amount of grinding by frequently applying the template to the blade to be repaired, so an improvement in work efficiency is also desired.

The above-described problems related to repair work may also arise when repairing impeller blades (moving blades, stationary blades) of steam turbines, impeller blades of centrifugal pumps, and the like using a hand grinder. Furthermore, it is a problem that can occur similarly in various machine elements that are assumed to be repaired.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and provides a repair support system and a repair support method that enable accurate and efficient repair of mechanical elements such as impeller blades. With the goal.

A repair support system according to one embodiment is a repair support system for supporting repair work of machine elements. This system includes a repair target data creation unit that creates three-dimensional coordinate data that specifies the shape of a machine element to be repaired by three-dimensional coordinate values of a point cloud, and the three-dimensional The coordinate data is compared with the reference three-dimensional coordinate data that specifies the shape of the normal machine element by the three-dimensional coordinate values of the point cloud, and the difference between the shape of the machine element to be repaired and the shape of the normal machine element is determined. a difference distribution diagram creation unit that creates a shape difference distribution diagram that is expressed on a three-dimensional image of a machine element; and a display output unit that displays the distribution map.

A repair support method according to one embodiment is a repair support method for supporting repair work of a machine element. This method comprises a modification target data creation step of creating three-dimensional coordinate data for specifying the shape of a machine element to be modified by three-dimensional coordinate values of a point group; The coordinate data is compared with the reference three-dimensional coordinate data that specifies the shape of the normal machine element by the three-dimensional coordinate values of the point cloud, and the difference between the shape of the machine element to be repaired and the shape of the normal machine element is determined. a difference distribution map creation step of creating a shape difference distribution map expressed on a three-dimensional image of a machine element; and a display step of displaying the distribution map.

ADVANTAGE OF THE INVENTION According to this invention, it becomes possible to implement repair work of a machine element correctly and efficiently.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows the repair support system which concerns on 1st Embodiment. 1 is a block diagram showing a functional configuration of a repair support system according to a first embodiment; FIG. FIG. 4 is a conceptual diagram showing a procedure for creating a shape difference distribution diagram expressing the difference between the shape of the blade surface of a blade with erosion and the shape of the blade surface of a normal blade. (A) is a diagram showing an example of repair support by the repair support system according to the first embodiment, and (B) is a diagram showing another example. It is a figure which shows the repair support system which concerns on 2nd Embodiment. It is a figure which shows the repair support system which concerns on 3rd Embodiment.

Each embodiment will be described in detail below with reference to the accompanying drawings.

<First Embodiment>
FIG. 1 shows a repair support system S1 (hereinafter referred to as system S1) according to the first embodiment. A system S<b>1 according to the present embodiment includes an information processing device 10 , a three-dimensional scanner 20 and a projector 30 . The system S1 is configured as a system for supporting repair work of a runner (impeller) 1 of a hydraulic machine.

A runner 1 holds between a crown 3 and a band 4 a plurality of vanes 2 arranged around an axis of rotation. In the runner 1 shown in FIG. 1, the blade surfaces of some of the blades 2 have damaged portions 5 due to erosion. In addition, the blade surface means the pressure surface and the suction surface located between the leading edge and the trailing edge of the blade 2 .

The system S1 according to the present embodiment is used as a system for assisting repair work of the runner 1 of the hydraulic machine, but the system S1 can also be used for assisting repair work of an impeller different from the runner 1. For example, the system S1 can be suitably used when repairing the impeller blades of a steam turbine, the impeller blades of a centrifugal pump, or the like. System S1 can also be used to assist in refurbishment of mechanical elements other than blades. This also applies to other embodiments described later. In addition, a machine element means a part or a member that constitutes a machine or other structures.

The information processing device 10 in the system S1 is electrically connected to the 3D scanner 20 and the projector 30 . The information processing apparatus 10 is a computer, and includes a CPU, a ROM, a RAM, an interface for inputting and outputting information and images to and from an external device, a display capable of displaying information and images generated internally, and the like. ing.

The three-dimensional scanner 20 corresponds to the repair target data creation unit, and is a three-dimensional scanner that specifies the shape of the blade surface of the blade 2 that is damaged (here, erosion) by the three-dimensional coordinate values of the point group. This is a device that creates original coordinate data. The three-dimensional scanner 20 according to the present embodiment optically detects the three-dimensional shape of an object in a non-contact manner, identifies the three-dimensional shape by the three-dimensional coordinate values of a point group, and creates three-dimensional coordinate data. However, means for creating such three-dimensional coordinate data is not particularly limited, and instead of the three-dimensional scanner 20, for example, a contact-type three-dimensional shape measuring device may be used.

The projector 30 is a device for projecting an image generated by the information processing device 10 . Although the details will be described later, the projector 30 in the present embodiment has a shape that expresses the difference between the blade surface shape of the damaged blade 2 and the blade surface shape of the normal blade on a three-dimensional image of the runner. A difference distribution map is projected.

FIG. 2 shows a block diagram showing the functional configuration of the system S1. The information processing apparatus 10 has a data input section 11 , a difference distribution diagram creation section 12 , and a display output section 13 . The processing of each of these functional parts is realized, for example, by the CPU in the information processing apparatus 10 expanding a computer program stored in the ROM into the RAM and executing arithmetic processing.

The data input section 11 is electrically connected to the three-dimensional scanner 20 , takes in the three-dimensional coordinate data created by the three-dimensional scanner 20 , and outputs the data to the difference distribution diagram creation section 12 . Also, the data input unit 11 can take in various kinds of information from the outside. The data input unit 11 may, for example, externally import reference three-dimensional coordinate data to be compared with the three-dimensional coordinate data, which will be described later.

The difference distribution map creation unit 12 compares the three-dimensional coordinate data created by the three-dimensional scanner 20 with the reference three-dimensional coordinate data specifying the shape of the blade surface of a normal blade by the three-dimensional coordinate values of the point group. , to create a shape difference distribution map expressing the difference between these data on the three-dimensional image of the runner. More specifically, the shape difference distribution map shows the difference between the three-dimensional coordinate data created by the three-dimensional scanner 20 and the reference three-dimensional coordinate data for the blade corresponding to the damaged blade 2 (strictly speaking, , normal blades corresponding to damaged blades 2) are represented on the three-dimensional image of the runner.

The reference three-dimensional coordinate data used by the difference distribution diagram creation unit 12 may be three-dimensional coordinate data for the shapes of other blades 2 that are not damaged in the runner 1, or may be three-dimensional coordinate data for the blades 2 that are damaged. It may be three-dimensional coordinate data before the occurrence, design data of the blade 2 created before manufacturing the blade 2, or an ideal repair generated based on any or a combination of these data It may be three-dimensional coordinate data indicating the shape of the trailing blade. When the three-dimensional coordinate data or design data of the blade 2 before damage is used as the reference three-dimensional coordinate data, these data may be stored in advance. Further, when three-dimensional coordinate data representing an ideal modified rear blade shape is used as the reference three-dimensional coordinate data, a dedicated program for generating such data may be stored in advance.

FIG. 3 is a conceptual diagram showing a procedure when the difference distribution diagram creating unit 12 creates a shape difference distribution diagram. In FIG. 3, symbol A indicates three-dimensional coordinate data that specifies the shape of the blade surface of the blade 2 that is damaged by the three-dimensional coordinate values of the point group, and symbol B indicates the shape of the blade surface of the normal blade. is specified by the three-dimensional coordinate values of the point group. Reference M denotes a shape difference distribution map created by the difference distribution map creation unit 12 based on the difference (shape difference) between these data. In the shape difference distribution diagram M shown in FIG. 3, the difference between the shape of the damaged blade 2 (three-dimensional coordinate data A) and the shape of the normal blade (reference three-dimensional coordinate data B) is represented by shading. It is

In FIG. 3, only the three-dimensional image of the blade corresponding to the damaged blade 2 is shown as the shape difference distribution map M, and the shape difference is expressed in this. In the difference distribution diagram M, the shape difference is actually expressed on a three-dimensional image of the entire runner including the three-dimensional image of the blade corresponding to the blade 2 that is damaged. However, such a shape difference distribution map M is not particularly limited. The shape difference may be expressed on a three-dimensional image of a part of the runner including .

The shape difference distribution map M created as described above is input to the display output unit 13, and the display output unit 13 visually confirms the shape difference distribution map M and the blade surface of the actual blade 2 in which damage has occurred. The shape difference distribution map M is displayed at a position that can be compared with the Specifically, in the present embodiment, the display output unit 13 can project the shape difference distribution map M via the projector 30, and the shape difference distribution map M can be displayed on the display of the information processing device 10. there is

FIG. 4(A) shows an example of repair support by the system S1, and FIG. 4(B) shows another example. In FIG. 4A, the display output unit 13 causes the projector 30 so that the actual blade 2 that is damaged and the three-dimensional image of the blade on the shape difference distribution map M corresponding to the blade 2 are superimposed on each other. A shape difference distribution map M is displayed on the runner 1 via . On the other hand, in the example of FIG. 4B, the display output unit 13 displays the shape difference distribution map M on the wall surface on the side of the runner 1 via the projector 30, and the actual runner 1 and the shape difference distribution map M are displayed. are lined up.

For example, when the display output unit 13 displays the shape difference distribution map M as shown in FIGS. It becomes easy to recognize the position and degree of the damaged portion 5 of the blade 2 that has occurred. Even when the display output unit 13 displays the shape difference distribution map M on the display of the information processing device 10, the worker W can recognize the position and degree of the damaged portion 5 of the blade 2. FIG. However, as shown in FIGS. 4A and 4B, it is more intuitive for the operator W to display the shape difference distribution map M at the same size and height position as the actual runner 1. It becomes easy to recognize the damaged portion 5. Also, the shape difference distribution map M may be displayed on the head-mounted display. In this case, a transmissive head-mounted display is used through which the outside can be seen through the display portion and an image such as the shape difference distribution map M can be displayed on the display portion. Even in this case, the display portion is arranged such that the actual damaged portion 5 of the runner 1 viewed through the display portion of the head-mounted display and the corresponding position of the damaged portion 5 on the shape difference distribution map M overlap each other. By displaying the shape difference distribution map M in , it becomes easier for the worker W to intuitively recognize the damaged portion 5 .

In the system S1 according to the present embodiment described above, the difference between the blade surface shape of the damaged blade 2 and the blade surface shape of the normal blade corresponds to the damaged blade 2. A shape difference distribution map M expressed on a three-dimensional image of the runner including the three-dimensional image of the blade is created, and this shape difference distribution map M is visually compared with the blade surface of the actual blade 2 in which damage has occurred. A shape difference distribution map M is displayed at a possible position. As a result, the worker W can easily recognize the position and degree of the damaged portion 5 of the blade 2 that is actually damaged by referring to the shape difference distribution diagram M. Therefore, repair work of the blades 2 of the runner 1 can be easily performed, and the work can be performed accurately and efficiently.

In particular, in this embodiment, the display output unit 13 displays images on the runner 1 so that the actual blade 2 with damage and the three-dimensional image of the blade on the shape difference distribution map M corresponding to the blade 2 are superimposed on each other. , the shape difference distribution map M can be displayed. In this case, since the shape difference distribution map M is displayed at generally the same size and height position as the actual runner 1, the worker W can easily recognize the damaged portion 5 of the blade 2 intuitively. In addition, since the position and degree of the damaged portion 5 in the blade 2 can be recognized without shifting the viewpoint, the working efficiency of repair work can be improved.

In the first embodiment, an example in which the difference distribution diagram creating unit 12 creates one shape difference distribution diagram M as a reference has been described. However, instead of this, the three-dimensional scanner 20, which is the modification target data creation unit, continuously or intermittently creates three-dimensional coordinate data, and the difference distribution map creation unit 12 is sequentially created by the three-dimensional scanner 20. The shape difference distribution map M may be sequentially created according to the three-dimensional coordinate data, and the display output unit 13 may sequentially display the shape difference distribution map M sequentially created by the difference distribution map creation unit 12. . In this case, when repairing the damaged blade 2, the worker W can check the progress of the repairing work based on the shape difference distribution map M which is updated sequentially.

According to such a configuration, it is possible to improve the working efficiency of the repair work, and it becomes easier to perform the repair work accurately.

<Second Embodiment>
Next, a repair work support system S2 (hereinafter referred to as system S2) according to a second embodiment will be described with reference to FIG. Among the constituent parts of the system S2 according to the present embodiment, those that are the same as those of the first embodiment are denoted by the same reference numerals, and descriptions thereof are omitted.

In addition to the information processing device 10, the three-dimensional scanner 20, and the projector 30 described in the first embodiment, the system S2 shown in FIG. and a notification unit 50 for notifying the worker W of the progress of repair work by the hand grinder G.

The tool state detection unit 40 is a laser tracker that detects the three-dimensional coordinates and attitude of the hand grinder G by measuring a plurality of target markers 41 installed on the hand grinder G and the three-dimensional positions of the plurality of target markers 41. 42. The laser tracker 42 outputs the detected three-dimensional coordinates and attitude of the hand grinder G to the information processing device 10 . The target marker 41 is, for example, a reflective material. In this case, the laser tracker 42 receives a laser beam projected from itself and reflected from the target marker 41, and detects the reflection response time of the laser beam, so that each target marker 41 Measure the three-dimensional position of By this measurement, the three-dimensional coordinates and attitude of the hand grinder G are detected. Note that the tool state detection unit 40 may be configured by a three-dimensional coordinate detection device different from the target marker 41 and laser tracker 42 .

In addition, based on the three-dimensional position and posture of the hand grinder G detected by the tool state detection unit 40, the notification unit 50 detects the contact position between the hand grinder G and the blade surface of the damaged blade 2 according to the shape difference distribution. A three-dimensional coordinate value specified as a three-dimensional coordinate value on FIG. D, a three-dimensional coordinate value corresponding to the contact position between the hand grinder G and the blade surface of the blade 2 where damage has occurred, and a reference three-dimensional value corresponding to the three-dimensional coordinate value The operator is notified of the degree of difference from the reference coordinate values on the coordinate data.

Specifically, in the present embodiment, the notification unit 50 includes a notification information generation unit 51 configured in the information processing apparatus 10 and a speaker 52 that emits the notification information generated by the notification information generation unit 51 as a notification sound. are doing. The notification information generation unit 51 receives information on the three-dimensional position and posture of the hand grinder G detected by the tool state detection unit 40, and based on the information, determines the hand grinder G (strictly speaking, its grindstone) and the damage. The three-dimensional coordinate values on the shape difference distribution map D corresponding to the contact position of the blade 2 with the blade surface where the . Then, the notification information generation unit 51 generates notification sound information according to the degree of difference between the specified three-dimensional coordinate value and the reference coordinate value on the reference three-dimensional coordinate data corresponding to the three-dimensional coordinate value. Generate. The speaker 52 emits a notification sound to the worker W according to the notification sound information generated by the notification information generation unit 51 .

In this embodiment, three-dimensional coordinate values corresponding to the contact position between the hand grinder G and the blade surface of the damaged blade 2, and a reference on the reference three-dimensional coordinate data corresponding to the three-dimensional coordinate value For example, the difference between the coordinate values is the distance between two coordinate values in the direction of the normal to the point corresponding to the reference coordinate value on the blade surface of the three-dimensional image specified by the reference three-dimensional coordinate data specified as. That is, the reference coordinate value is set to a certain point on the blade surface specified on the reference three-dimensional coordinate data, and the hand grinder G and the blade 2 in the direction of the normal to the point corresponding to this reference coordinate value. The distance between the three-dimensional coordinate value corresponding to the contact position with the blade surface and the reference coordinate value is used as an index of the difference. This also applies to the third embodiment, which will be described later.

In the system S2 according to the present embodiment described above, the worker W can confirm the progress of the repair work based on the information notified from the notification unit 50, so it becomes easy to perform the repair work accurately. In particular, in the present embodiment, three-dimensional coordinate values corresponding to the contact position between the hand grinder G and the blade surface of the damaged blade 2, and a reference on the reference three-dimensional coordinate data corresponding to the three-dimensional coordinate value Since the notification unit 50 emits different notification sounds according to the degree of difference between the coordinate values, the worker W can continuously work without stopping the work and checking the progress, resulting in work efficiency. can be improved.

Note that the notification unit 50 in the present embodiment includes a three-dimensional coordinate value corresponding to the contact position between the hand grinder G and the blade surface of the blade 2 that is damaged, and the corresponding reference three-dimensional coordinate data. Different notification sounds are emitted according to the degree of difference from the reference coordinate values, but the notification mode of the notification unit 50 is not limited to this. The notification unit 50 may, for example, quantify the difference between the three-dimensional coordinate value and the reference coordinate value, and project the numerical value from the projector 30 or display it on the display of the information processing device 10 .

<Third Embodiment>
Next, a repair work support system S3 (hereinafter referred to as system S2) according to a third embodiment will be described with reference to FIG. Among the components of the system S3 according to the present embodiment, those that are the same as those of the first or second embodiment are denoted by the same reference numerals, and description thereof will be omitted.

As shown in FIG. 6, the system S3 includes, in addition to the information processing apparatus 10, the three-dimensional scanner 20, and the projector 30 described in the first embodiment, an articulated arm 60 connected to a hand grinder G and a multi-joint arm 60. and a motion control unit 70 that controls the motion of the articulated arm 60 .

The motion control unit 70 is a functional part configured in the information processing apparatus 10 , and can constrain the three-dimensional degree of freedom of the articulated arm 60 by controlling the rotation angles of the joints of the articulated arm 60 . Further, the motion control unit 70 detects the three-dimensional position and posture of the hand grinder G from the three-dimensional position of the articulated arm 60, and based on the detected three-dimensional position and posture of the hand grinder G, damage to the hand grinder G occurs. The contact position of the blade 2 with the blade surface is specified as a three-dimensional coordinate value on the shape difference distribution map M. Then, when the hand grinder G reaches a position where there is no difference between the three-dimensional coordinate value and the corresponding reference coordinate value on the reference three-dimensional coordinate data, the motion control unit 70 controls the multi-joint arm It is intended to constrain 60 three-dimensional degrees of freedom.

In the system S3 according to the present embodiment described above, the hand grinder G and the articulated arm 60 are connected, and the contact position between the hand grinder G and the blade surface of the damaged blade 2 is shown in the shape difference distribution diagram. When the hand grinder G reaches a position where there is no difference between the three-dimensional coordinate value specified as a three-dimensional coordinate value on M and the corresponding reference coordinate value on the reference three-dimensional coordinate data, The three-dimensional degree of freedom of the articulated arm 60 is constrained. Thereby, it can suppress that the blade|wing 2 of repair object is scraped by the hand grinder G more than necessary.

Note that the motion control unit 70 in the present embodiment performs control to constrain the three-dimensional degree of freedom of the multi-joint arm 60, but the motion control unit 70 automatically performs grinding by the hand grinder G fixed to the multi-joint arm 60. The motion of the articulated arm 60 may be controlled as is done in . In this case, based on the shape difference distribution diagram M created by the difference distribution diagram creation unit 12, an operation program for the hand grinder G for obtaining a desired blade shape is created, and the operation control unit 70 operates according to the operation program to control the multi-joint Arm 60 may be controlled.

Although each embodiment has been described above, each of the above embodiments is presented as an example and is not intended to limit the scope of the invention. This novel embodiment can be embodied in various other forms, and various omissions, replacements, and modifications can be made without departing from the scope of the invention. This embodiment and its modifications are included in the scope and gist of the invention, and are included in the scope of the invention described in the claims and its equivalents.

For example, in each of the above-described embodiments, an example was described in which each system according to the present embodiment assists repair work for damaged blades. It can also be suitably used when repairing a machine element with an error or other abnormality.

S1, S2, S3... Repair support system, 1... Runner 1... Blade, 3... Crown, 4... Band, 5... Damaged portion, 10... Information processing device, 11... Data input unit, 12... Difference distribution diagram creation unit, 13... Display output unit 20... Three-dimensional scanner 30... Projector 40... Tool state detection unit 41... Target marker 42... Laser tracker 50... Notification unit 51... Notification information generation unit 52... Speaker 60 ... articulated arm, 70 ... motion control section, A ... three-dimensional coordinate data, B ... reference three-dimensional coordinate data, M ... shape difference distribution map, W ... worker, G ... hand grinder

Claims (7)

A repair support system for supporting repair work of an impeller including a plurality of blades,
a repair target data creation unit that creates three-dimensional coordinate data that specifies the shape of a blade to be repaired among the plurality of blades by three-dimensional coordinate values of a point cloud;
The three-dimensional coordinate data created by the repair target data creation unit is reference three-dimensional coordinate data for specifying the shape of another blade among the plurality of blades as normal blades by three-dimensional coordinate values of a point group. A difference distribution diagram creation unit that creates a shape difference distribution diagram that expresses the difference between the shape of the blade to be repaired and the shape of the normal blade on a three-dimensional image of the blade,
a display output unit that displays the shape difference distribution map via a projector such that the actual blade to be repaired and the three-dimensional image of the corresponding blade on the shape difference distribution map overlap each other;
a tool state detection unit that detects the three-dimensional position and orientation of the hand grinder used in the blade repair work;
Based on the three-dimensional position and posture of the hand grinder detected by the tool state detection unit, the contact position between the hand grinder and the blade to be repaired is identified as a three-dimensional coordinate value on the shape difference distribution diagram, A repair support system, comprising: a notification unit for notifying a worker of a degree of difference between the three-dimensional coordinate value and a reference coordinate value on the reference three-dimensional coordinate data corresponding to the three-dimensional coordinate value. A repair support system for supporting repair work of blades,
a repair target data creation unit that creates three-dimensional coordinate data that specifies the shape of the blade to be repaired by the three-dimensional coordinate values of the point cloud;
The three-dimensional coordinate data created by the repair target data creation unit is compared with reference three-dimensional coordinate data that specifies the shape of the blade to be repaired before damage as a normal blade by the three-dimensional coordinate values of the point group. a difference distribution diagram creation unit that creates a shape difference distribution diagram that expresses the difference between the shape of the blade to be repaired and the shape of the normal blade on a three-dimensional image of the blade;
a display output unit that displays the shape difference distribution map via a projector such that the actual blade to be repaired and the three-dimensional image of the corresponding blade on the shape difference distribution map overlap each other;
a tool state detection unit that detects the three-dimensional position and orientation of the hand grinder used in the blade repair work;
Based on the three-dimensional position and posture of the hand grinder detected by the tool state detection unit, the contact position between the hand grinder and the blade to be repaired is identified as a three-dimensional coordinate value on the shape difference distribution diagram, A repair support system, comprising: a notification unit for notifying a worker of a degree of difference between the three-dimensional coordinate value and a reference coordinate value on the reference three-dimensional coordinate data corresponding to the three-dimensional coordinate value. A repair support system for supporting repair work of blades,
a repair target data creation unit that creates three-dimensional coordinate data that specifies the shape of the blade to be repaired by the three-dimensional coordinate values of the point cloud;
Before manufacturing the blade to be repaired, the three-dimensional coordinate data created by the repair target data creation unit is used as reference three-dimensional coordinate data for specifying the shape of a normal blade by three-dimensional coordinate values of a point group. a difference distribution diagram creation unit that compares the created design data and creates a shape difference distribution diagram that expresses the difference between the shape of the blade to be repaired and the shape of the normal blade on a three-dimensional image of the blade;
a display output unit that displays the shape difference distribution map via a projector such that the actual blade to be repaired and the three-dimensional image of the corresponding blade on the shape difference distribution map overlap each other;
a tool state detection unit that detects the three-dimensional position and orientation of the hand grinder used in the blade repair work;
Based on the three-dimensional position and posture of the hand grinder detected by the tool state detection unit, the contact position between the hand grinder and the blade to be repaired is identified as a three-dimensional coordinate value on the shape difference distribution diagram, A repair support system, comprising: a notification unit for notifying a worker of a degree of difference between the three-dimensional coordinate value and a reference coordinate value on the reference three-dimensional coordinate data corresponding to the three-dimensional coordinate value. The notification unit provides different notifications according to the degree of difference between the three-dimensional coordinate value corresponding to the contact position and the reference coordinate value on the reference three-dimensional coordinate data corresponding to the three-dimensional coordinate value. 4. The repair support system according to any one of claims 1 to 3 , which emits sound. A repair support method for supporting repair work of an impeller including a plurality of blades, comprising:
A repair target data creation step of creating three-dimensional coordinate data specifying the shape of a blade to be repaired among the plurality of blades by three-dimensional coordinate values of a point group;
The three-dimensional coordinate data created in the modification target data creation step is used as a reference three-dimensional coordinate for specifying the shape of another blade out of the plurality of blades as a normal blade by three-dimensional coordinate values of a point group. A difference distribution diagram creating step of comparing with data and creating a shape difference distribution diagram expressing the difference between the shape of the blade to be repaired and the shape of the normal blade on a three-dimensional image of the blade;
a display step of displaying the shape difference distribution map via a projector such that the actual blade to be repaired and the three-dimensional image of the corresponding blade on the shape difference distribution map overlap each other ;
Detecting the three-dimensional position and posture of the hand grinder used in the blade repair work,
Based on the detected three-dimensional position and posture of the hand grinder, the contact position between the hand grinder and the blade to be repaired is specified as a three-dimensional coordinate value on the shape difference distribution diagram, and the three-dimensional coordinate value and , A repair support method for notifying a worker of the degree of difference between the three-dimensional coordinate value and the reference coordinate value on the reference three-dimensional coordinate data corresponding to the three-dimensional coordinate value. A repair support method for supporting repair work of a blade, comprising:
A repair target data creation step of creating three-dimensional coordinate data that specifies the shape of the blade to be repaired by the three-dimensional coordinate values of the point cloud;
The three-dimensional coordinate data created in the repair target data creation step is compared with reference three-dimensional coordinate data that specifies the shape of the blade to be repaired before damage as a normal blade by the three-dimensional coordinate values of the point group. a difference distribution diagram creating step of creating a shape difference distribution diagram expressing the difference between the shape of the blade to be repaired and the shape of the normal blade on a three-dimensional image of the blade;
a display step of displaying the shape difference distribution map via a projector such that the actual blade to be repaired and the three-dimensional image of the corresponding blade on the shape difference distribution map overlap each other ;
Detecting the three-dimensional position and posture of the hand grinder used in the blade repair work,
Based on the detected three-dimensional position and posture of the hand grinder, the contact position between the hand grinder and the blade to be repaired is specified as a three-dimensional coordinate value on the shape difference distribution diagram, and the three-dimensional coordinate value and , A repair support method for notifying a worker of the degree of difference between the three-dimensional coordinate value and the reference coordinate value on the reference three-dimensional coordinate data corresponding to the three-dimensional coordinate value. A repair support method for supporting repair work of a blade, comprising:
A repair target data creation step of creating three-dimensional coordinate data that specifies the shape of the blade to be repaired by the three-dimensional coordinate values of the point cloud;
Before manufacturing the blade to be repaired, the three-dimensional coordinate data created in the step of creating the data to be repaired is used as reference three-dimensional coordinate data for specifying the shape of a normal blade by three-dimensional coordinate values of a point group. A difference distribution diagram creating step of comparing with the created design data and creating a shape difference distribution diagram expressing the difference between the shape of the blade to be repaired and the shape of the normal blade on a three-dimensional image of the blade;
a display step of displaying the shape difference distribution map via a projector so that the actual blade to be repaired and the three-dimensional image of the corresponding blade on the shape difference distribution map overlap each other ;
Detecting the three-dimensional position and posture of the hand grinder used in the blade repair work,
Based on the detected three-dimensional position and posture of the hand grinder, the contact position between the hand grinder and the blade to be repaired is specified as a three-dimensional coordinate value on the shape difference distribution diagram, and the three-dimensional coordinate value and , A repair support method for notifying a worker of the degree of difference between the three-dimensional coordinate value and the reference coordinate value on the reference three-dimensional coordinate data corresponding to the three-dimensional coordinate value.

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