JPS5944187B2 - Rust remover control method - Google Patents

Description

[Detailed Description of the Invention] The present invention relates to a method for controlling a rust remover that is equipped with a plurality of projection heads and selectively polishes and cleans rust spots scattered on the wall surface of a ship's hull, etc., and its automatic operation. It has been made possible to achieve this.

Conventionally, with a rust remover equipped with multiple projection heads that project abrasive materials onto a wall surface to form a cleaning pattern, when cleaning rust spots scattered on a wall surface, the rust remover is At the same time, the abrasive supply valves of each projection head are individually opened and closed by hand, and the abrasive is supplied only to the projection head corresponding to the rusted part to perform the rust removal operation.

However, with this type of conventional method, it is necessary for humans to visually inspect the wall surface, operate the supply valve frequently, and control the operation of each projection head, resulting in mental strain and fatigue. It has the disadvantage of extremely poor usability and workability.

This invention was made with the above-mentioned points in mind, and the rust remover was made to be able to operate automatically.
One embodiment will be described in detail with reference to the drawings.

In the drawings, 1 is a wall surface such as a hull outer plate, 2 is a rusted part scattered on the wall surface 1, 3 is a running trolley that moves to the right along the wall surface 1, and 4 is a supporting leg 5 on the upper surface of the running trolley 3. The rust remover is supported by a rust remover, and includes four centrifugal projection heads 6 arranged in series in the vertical direction, a motor 7 for rotationally driving each of the projection heads 6, and an abrasive supply tank 8. , a supply pipe 9 that guides the abrasive material in the supply tank 8 to each projection head 6 , and an abrasive material supply valve consisting of a solenoid valve or the like interposed in each branch pipe of the supply pipe 9 to the projection head 6 . 10, an abrasive material recovery tank 11, and a circulation device 12 that returns the abrasive material in the recovery tank 11 to the supply tank 8, and projects the abrasive material from each projection head 6 onto the wall surface 1 in the vertical direction. A vertical polishing pattern is formed to polish and clean the rusted portion 2.

Reference numeral 13 denotes a color video camera supported on the traveling trolley 3 via a support leg 14 and installed in front of the rust remover 4 in the direction of movement, that is, to the right, and captures images of the planned movement positions of each projection head 6 on the wall surface 1. .

Reference numeral 15 denotes an operation console provided on the traveling trolley 3, and 16 a microcomputer (hereinafter referred to as microcomputer) on the operation console 15.
It is equipped with a central processing unit (hereinafter referred to as CPU) 17 and a memory 18.

Reference numeral 19 denotes a color CRT as a peripheral device of the microcomputer 16, and a video signal from the color video camera 13 is projected on the fluorescent surface of the color CRT 19.

20 is a light bezel that reads the coordinates on the screen of the color CRT 19 into the microcomputer 16;
The rusted part 2' of wall surface 1 reflected in 19 is
When pressed at 0, the signal generated in the light ben 20 passes through the light ben interface 21 and is sent to the CPU of the microcomputer 16.
17, and the corresponding position of the color CRT 19, that is, the coordinate position of the rusted part 2' is calculated.

22 is a color signal detection circuit that extracts the color signal of the video signal from the color video camera 13, and sample and hold circuits 23R and 23B that hold the video color signal, that is, three signal potentials of red, blue, and green, respectively.
, 23G, A/D conversion circuits 24R, 24B, 24G that convert the held signal potential into digital signals, and data selectors 25R, 25B, 2 that serve as bus controllers.
5G, and R and B from the color signal detection circuit 22.

The G signal is taken into the microcomputer 16 through the data bus 26.

27 is a color signal detection coordinate on one vertical coordinate set on the right side of the screen of the color CRT 19, and is used to detect a rusted part of the wall surface to be removed from the image on the screen of the color CRT 19. , the microcomputer 16 scans at specific intervals along the detection coordinates 27, and samples the color signal at the coordinates.

28 is an output driver that individually controls opening and closing of the supply valve 10 of each projection head 6 based on the control output from the microcomputer 16; 29 is a cleaning pattern formed on the wall surface 1; 30 is a color video camera 13 on the wall surface 1; This is a captured image.

As shown in FIG. 3, the screen of the color CRT 19 is divided into four stages according to the rust removal width of each projection head 6, and each stage is divided horizontally into units of a certain rust removal area. The coordinates are arranged in a matrix.

Further, the moving speed of the traveling trolley 3 and the distance between the rust remover 4 and the color video camera 13 are inputted in advance to the microcomputer 16, and the color CRT stored in the memory 18 is inputted in advance.
A supply valve control program for the microcomputer 16 is created so that the supply valve 10 can be controlled in accordance with the time when the rust remover 4 passes the wall surface 1 corresponding to the coordinate position on the screen 19.

Next, the operation of the above embodiment will be explained using the flow chart shown in FIG.

First, the traveling cart 3 is moved along the wall surface 1 at a predetermined constant speed, and a video signal from the color video camera 13 is continuously displayed on the color CRT 19.

Here, it is necessary to adjust the brightness and contrast of the image on the color CRT 19 so that the coordinate position of the image can be read by the light ben 20.

Then, the worker monitors the rusted part of the wall while watching the screen flowing from right to left on the color CRT 19 screen, and when the rusted part 2 is displayed, the worker monitors the rusted part 2 on the screen. Press the first few places of ' with Light Ben 20.

During this operation, a rust removal section is displayed at the coordinate position on the screen pressed by the light ben 20, so that rust removal instructions can be easily given on the screen of the color CRT 19.

Then, when Light Ben 20 is turned on, Light Ben 2
The signal generated at 0 is taken into the CPU 17 of the microcomputer 16 via the light ben interface 21, and the corresponding coordinates of the color CRT 19 are calculated and stored in the memory 18, and the video color signal at the coordinate position is The color signal is taken into the microcomputer 16 via the color signal detection circuit 22, and the color signal is stored in the memory 18.

At this time, a plurality of color signals at several locations where the light ben 20 is turned on are stored in order to cope with variations in hue.

Next, the microcomputer 16 enters an automatic operation state, and the detected coordinates 27 on the screen of the color CRT 19 are determined as described above.
The color signal detection circuit 2 detects the color signal corresponding to the coordinates along the
2, and the color signal is compared with the stored color signal.

Here, if we represent the sampling locus of the color signal on the wall surface to be rust removed, it will become as shown in Fig. 4, where the sample points are arranged vertically and move between the rust removing width of the rust remover 4 like an arrow. Then, in the CPUI 7 of the microcomputer 16, if there is a stored color signal among the sequentially detected color signals, that is, a color signal corresponding to the rusted part 2', this sample point is The coordinates on the screen are stored in the memory 18, and furthermore, the rust removal section is displayed at the coordinate position on the screen of the color CRT 19.

Then, as the traveling trolley 3 travels, the rust remover 4 moves the rust removal coordinate position stored in the memory 18, that is, the coordinate position specified by turning on the light ben 20 and the color signal stored based on the detection. When the rust removal machine 4 passes the surface of the rusted part 2 of the wall surface 1 corresponding to the rust removal coordinate position on the screen, when the coordinate position is reached, that is, when the rust removal machine 4 passes the surface of the rusted part 2 of the wall surface 1 corresponding to the rust removal coordinate position on the screen, the microcomputer 16 outputs the output at this timing. A control signal is output to the driver 28, and only the abrasive supply valve 10 of the projection head 6 corresponding to the rusted part 2 of the wall surface 1 is opened, and the rusted part 2 is cleaned.

Therefore, when operating a plurality of projection heads 6 individually, quick operation is required to open and close each abrasive supply valve 10 by direct manual operation. The person is the wall 1' projected on the CRT 17.
All you have to do is press the first few places on the rusted part 2' with the light ben 20, and then the microcomputer 16 will go into automatic operation, and the color video camera will display a new image as the rust remover 4 progresses. Sample the color signal from the image No. 13 and compare it with the stored color signal. If there is a similar color signal, it is determined that it is a rusted area, and the position when that color signal was generated is recorded as a color CR.
The corresponding position on the image of T19 is memorized in the same way as when it was pressed by the light ben 20, and the microcomputer 16 generates a control signal for the rust remover 4 in accordance with the memorized coordinate position to control the rust remover 4. The rusted part 2 of the wall surface 1 is automatically removed.
It is possible to remove rust and realize automatic operation of the rust removal machine 4, which does not require quick reflexes, does not cause mental tension or fatigue, and improves usability and workability. This can be significantly improved.

As described above, according to the rust remover control method of the present invention,
The coordinates of the rusted part of the wall surface projected on the color CRT are read into the microcomputer using a light ben, and the color signals of the coordinates are stored.Then, the color signals of the wall surface projected one after another on the color CRT are detected. When the color signal is similar to the stored color signal, the coordinates are memorized, and when the rust remover equipped with a plurality of projection heads reaches the memorized coordinate position, the projection head corresponding to the coordinates is stored. By supplying abrasive material to the surface of the wall, the worker only needs to first press the rusted part of the wall surface shown on the color CRT with a light ben, greatly improving operability and work efficiency. A microcomputer automatically detects rusted parts and controls the rust remover, making it possible to realize automatic operation of the rust remover and also save labor.

[Brief explanation of the drawing]

The drawings show one embodiment of the method for controlling the rust remover of the present invention, in which Fig. 1 is a configuration diagram, Fig. 2 is an explanatory diagram in a state of use,
FIG. 3 is a front view of a color CRT, FIG. 4 is an explanatory diagram of a sampling locus in color signal detection, FIG. 5 is a partial block diagram, and FIG. 6 is a flowchart. 1. Wall surface, 2...Rusted part, 4...
...Rust remover, 6...Projection head, 13...
...Color video camera, 16...Microcomputer, 19...Color CRT120.
...Light Ben, 29...Grinding pattern.

Claims (1)

[Claims] 1. A rust remover equipped with a plurality of projection heads that travel along a wall surface and project an abrasive material onto the wall surface to form a cleaning pattern, and supply and stop of the abrasive material to each of the projection heads. a video camera that is located in the running direction of the rust remover and travels at the same speed as the rust remover and takes an image of the wall surface; and a color CRT that displays the video signal of the video camera. A light ben that causes the microcomputer to read the coordinates on the screen of the color CRT, and causes the light ben to read the coordinates of the rusted part of the wall surface displayed on the color CRT, and stores the color signal of the coordinates. Hereinafter, the color signals of the wall surface that are successively displayed on the color CRT are detected, and when the color signals are similar to the stored color signals, the corresponding coordinates are stored, and the rust removal machine reads the stored coordinates. A method for controlling a rust remover, characterized in that when a position is reached, abrasive material is supplied to a projection head corresponding to the coordinates.