Display control system, inspection management system, display control method and storage medium

Abstract

The present application provides a display control system, an inspection management system, a display control method, a program, and a storage medium, which can display information about welding inspection to a user in a more understandable manner. According to an embodiment, the display control system obtains the inclination of the detector relative to the weld portion calculated based on the detection results of the reflected waves obtained by sending ultrasonic waves from the multiple detection elements for a detector having multiple detection elements arranged along a first arrangement direction and a second arrangement direction that intersect each other. The display control system displays a user interface including an area that expands in a two-dimensional shape, displays a mark indicating the inclination and an allowable range of a target value for the inclination in the area, and updates the display of the mark in the area corresponding to the acquisition of the inclination.

Description

Technical Field

[0001] The embodiments of the present invention relate to a general display control system, an inspection management system, a display control method and a storage medium. Background Art

[0002] In welding, parts of two or more parts are melted and joined together. It is necessary to inspect whether the welded parts (hereinafter referred to as welded parts) of the welded parts are properly joined. For example, in nondestructive inspection, a person holding a probe (inspector) brings the probe into contact with the welded part. Ultrasonic waves are sent from the probe toward the welded part, and the inspection device confirms whether there is a joint based on the reflected waves. Summary of the invention

[0003] Embodiments of the present invention provide a display control system, an inspection management system, a display control method, and a storage medium capable of displaying information related to welding inspection to a user in a more understandable manner.

[0004] According to an embodiment of the present invention, a display control system acquires the inclination of the detector relative to the weld portion calculated based on the detection result of the reflected wave obtained by transmitting ultrasonic waves from the multiple detection elements, for a detector having multiple detection elements arranged along a first arrangement direction and a second arrangement direction intersecting each other. The display control system displays a user interface including an area extending two-dimensionally, displays a mark indicating the inclination and an allowable range of a target value for the inclination in the area, and updates the display of the mark in the area in response to the acquisition of the inclination.

[0005] According to the embodiment, information related to welding inspection can be displayed to the user in a more understandable manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] Figure 1 It is a block diagram showing the configuration of a display control system and a display system according to the embodiment.

[0007] Figure 2 It is a schematic diagram showing the structure of the inspection system related to the embodiment.

[0008] Figure 3 It is a schematic diagram showing the internal structure of the probe tip of the inspection system according to the embodiment.

[0009] Figure 4 This is an example of a user interface displayed by the display control system according to the embodiment.

[0010] Figure 5 This is a schematic diagram showing the state of welding inspection.

[0011] Figure 6It is a diagram for explaining the processing of the display control system related to the embodiment.

[0012] Figure 7 It is a diagram for explaining the processing of the display control system related to the embodiment.

[0013] Figure 8 It is a diagram for explaining the processing of the display control system related to the embodiment.

[0014] Fig. 9 This is an example of a user interface displayed by the display control system according to the embodiment.

[0015] Fig.10 It is a schematic diagram showing the structure of the inspection management system related to the embodiment.

[0016] Fig.11 This is a flowchart showing the flow of welding inspection using the inspection management system according to the embodiment.

[0017] Fig.12 It is a schematic diagram for explaining the inspection method of the inspection system related to the embodiment.

[0018] Fig.13 This is a schematic diagram of an image of the detection result based on the reflected wave.

[0019] Fig.14 : is a graph showing an example of the intensity distribution of the reflected wave in the Z direction at one cross section.

[0020] Fig.15 Graph showing the intensity distribution of reflected waves in the Z direction.

[0021] Fig.16 2 is a graph illustrating the result of filtering the intensity distribution of the reflected wave.

[0022] Fig.17 is a schematic diagram illustrating the detection results of an example reflected wave.

[0023] Fig.18 This is an example of the intensity distribution of the reflected wave in the XY plane.

[0024] Fig.19 is a schematic diagram illustrating the detection results of an example reflected wave.

[0025] Fig. 20 It is a flowchart showing the operation of the inspection system according to the embodiment.

[0026] Fig.21 is an image showing an example of the detection result of the reflected wave.

[0027] Fig. 22It is a diagram for explaining the processing of the inspection system related to the embodiment.

[0028] Fig.23 This is an example of an image obtained by the inspection system according to the embodiment.

[0029] Fig.24 This is an example of an image obtained by the inspection system according to the embodiment.

[0030] Fig.25 It is a schematic diagram showing the structure of an inspection system according to a modified example of the embodiment.

[0031] Fig.26 It is a perspective view showing a part of an inspection system according to a modified example of the embodiment.

[0032] Fig. 27 This is a flowchart showing the operation of the inspection system according to a modified example of the embodiment.

[0033] Fig.28 It is a block diagram showing the hardware structure of the system. DETAILED DESCRIPTION

[0034] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0035] The accompanying drawings are schematic or conceptual drawings, and the relationship between the thickness and width of each part, the ratio of the dimensions between the parts, etc. are not necessarily the same as the actual situation. Even when the same part is shown, there are cases where the mutual dimensions and ratios are shown differently depending on the drawings.

[0036] In the present specification and drawings, the same elements as those already described are denoted by the same reference numerals, and detailed description thereof will be appropriately omitted.

[0037] Figure 1 It is a block diagram showing the configuration of a display control system and a display system according to the embodiment.

[0038] like Figure 1 As shown, the display control system 100 according to the embodiment includes a display control device 110 and a storage device 120. The storage device 120 stores data related to welding inspection. The display control device 110 displays the data related to welding inspection on a user interface.

[0039] The display system 200 of the embodiment includes a display control system 100, a display device 210, and an input device 220. The display control device 110 causes the display device 210 to display a user interface. The user can easily check data related to welding inspection through the user interface displayed on the display device 210. In addition, the user can input data to the display control device 110 through the user interface through the input device 220.

[0040] Here, the welding inspection is described in detail. In the welding inspection, nondestructive inspection of the welded portion is performed.

[0041] Figure 2 It is a schematic diagram showing the structure of the inspection system related to the embodiment.

[0042] like Figure 2 As shown, the inspection system 300 according to the embodiment includes a detector having a plurality of detection elements.

[0043] Detectors such as Figure 2 The probe 310 is a rod-shaped probe that can be held by a person. The detector includes a plurality of detection elements for inspecting the weld. The person holding the probe 310 makes the front end of the probe 310 contact the weld 13 to inspect the weld 13. Hereinafter, the person holding the probe 310 to perform welding inspection (e.g., an inspector) is referred to as a user.

[0044] Figure 3 It is a schematic diagram showing the internal structure of the probe tip of the inspection system according to the embodiment.

[0045] Inside the front end of the probe 310, as Figure 3 As shown, a matrix sensor 311 is provided. The matrix sensor 311 includes a plurality of detection elements. The detection element is, for example, an ultrasonic sensor 312 that can send and receive ultrasonic waves. The ultrasonic sensor 312 is, for example, a transducer. The plurality of ultrasonic sensors 312 are arranged along the X direction (first arrangement direction) and the Y direction (second arrangement direction) that intersect each other. In this example, the X direction and the Y direction are orthogonal to each other. The X direction and the Y direction may not be orthogonal.

[0046] Figure 2 and Figure 3 1 shows a state where a component 10 is inspected. The component 10 is made by spot welding a metal plate 11 (first component) and a metal plate 12 (second component) at a welding portion 13. Figure 3 As shown, at the welded portion 13 , a portion of the metal plate 11 and a portion of the metal plate 12 are melted, mixed with each other, and solidified to form a solidified portion 14 .

[0047] During inspection, coupling agent 15 is applied to the surface of the inspection object so that ultrasonic waves can easily propagate between the inspection object and probe 310. Each ultrasonic sensor 312 transmits ultrasonic waves US toward component 10 coated with coupling agent 15 and receives reflected waves RW from component 10.

[0048] As a specific example, Figure 3 As shown, one ultrasonic sensor 312 transmits ultrasonic waves US toward the welded portion 13. A portion of the ultrasonic waves US is reflected by the upper surface or the lower surface of the component 10. The plurality of ultrasonic sensors 312 receive (detect) the reflected waves RW, respectively. Each ultrasonic sensor 312 transmits ultrasonic waves US in sequence, and each reflected wave RW is received by the plurality of ultrasonic sensors 312.

[0049] The inspection device 320 uses the obtained detection result of the reflected wave to calculate the inclination of the probe 310 relative to the weld 13 and inspect the weld 13. Here, the angle between the normal direction of the surface of the weld 13 and the direction of the probe 310 is called the inclination. The direction of the probe 310 corresponds to, for example, the Z direction perpendicular to the arrangement direction of the ultrasonic sensor 312. When the probe 310 is in vertical contact with the weld 13, the inclination is zero.

[0050] The inspection device 320 stores the calculation result of the tilt and the inspection result of the weld 13 in the storage device 120. The display control device 110 refers to the calculation result of the tilt stored in the storage device 120. Alternatively, the inspection device 320 may send the calculation result of the tilt and the inspection result of the weld 13 to the display control device 110. Next, an example in which the calculation result and the inspection result of the tilt are directly sent from the inspection device 320 to the display control device 110 will be described.

[0051] The inspection device 320 is connected to the probe 310 and the display control device 110 via wired communication, wireless communication, or a network. One processing device may function as the display control device 110 and the inspection device 320 .

[0052] Figure 4 This is an example of a user interface displayed by the display control system according to the embodiment.

[0053] Figure 5 This is a schematic diagram showing the state of welding inspection.

[0054] Figure 6 to Figure 8 It is a diagram for explaining the processing of the display control system related to the embodiment.

[0055] Fig. 9 This is an example of a user interface displayed by the display control system according to the embodiment.

[0056] The display control device 110 causes information corresponding to the data stored in the storage device 120 and the data sent from the inspection device 320 to be displayed on the user interface. Figure 4 As shown, user interface 900 includes area 910 .

[0057] Region 910 is a display region that expands in two dimensions. A mark 911 and an allowable range 912 are displayed in region 910. The position of mark 911 in region 910 indicates the inclination of probe 310. Specifically, the position in one direction in region 910 indicates the angle of probe 310 relative to welding portion 13 around the X direction. The position in another direction in region 910 indicates the angle of probe 310 relative to welding portion 13 around the Y direction.

[0058] For example, the region 910 extends along a first direction D1 and a second direction D2 that are orthogonal to each other. Figure 4 In the example of , the first direction D1 refers to the horizontal direction, and the second direction D2 refers to the vertical direction. In the following, the first direction D1 is described as the horizontal direction and the second direction D2 is described as the vertical direction. For example, the horizontal position of the mark 911 represents the angle of the probe 310 relative to the welding part 13 around the Y direction. The vertical position of the mark 911 represents the angle of the probe 310 relative to the welding part 13 around the X direction.

[0059] The display control device 110 updates the display of the mark 911 in the area 910 in response to the reception of a new calculation result of the tilt. For example, the display control device 110 updates the display of the mark 911 in the area 910 every time a new calculation result of the tilt is received. The allowable range 912 indicates the range of the error allowed with respect to the target value of the tilt. The size of the allowable range 912 is determined in such a way that an appropriate inspection result can be obtained when the mark 911 is located inside the allowable range 912.

[0060] The permissible range is shown graphically. Figure 4 In the example of , the allowable range is represented by a circle. The graphic representing the allowable range can be changed appropriately. For example, the shape of the allowable range can also be an ellipse or a square. The allowable range can also be represented by a set of multiple points or a set of multiple lines. The user holding the probe 310 adjusts the inclination of the probe 310 with reference to the display of the area 910 so that the mark 911 enters the inner side of the allowable range 912.

[0061] The user can easily grasp the information related to the welding inspection by displaying the user interface 900 showing the tilt of the probe 310 and its allowable range. That is, according to the display control system 100 of the embodiment, the information related to the welding inspection can be displayed to the user in a more understandable manner.

[0062] exist Figure 4 In the example of FIG. 91 , a first axis 913 and a second axis 914 are also shown. The first axis 913 is parallel to the first direction D1 (transverse direction). The second axis 914 is parallel to the second direction D2 (longitudinal direction). The first axis 913 is located at the center of the longitudinal direction of the region 910. The second axis 914 is located at the center of the transverse direction of the region 910. The intersection of the first axis 913 and the second axis 914 indicates the target value of the tilt. That is, when the mark 911 is located at the intersection of the first axis 913 and the second axis 914, the tilt of the probe 310 is zero. The center of the allowable range 912 is located at the intersection of the first axis 913 and the second axis 914.

[0063] When changing the inclination of the probe 310, it is preferable to make the moving direction of the mark 911 correspond to the changing direction of the inclination of the probe 310. For example, when the inclination of the probe 310 is changed in the lateral direction, the mark 911 moves in the lateral direction on the area 910 in a state where the moving direction of the mark 911 corresponds to the changing direction of the inclination. When the inclination of the probe 310 is changed in the front or rear direction, the mark 911 moves in the longitudinal direction on the area 910. In addition, changing the inclination of the probe 310 in the lateral direction means changing the angle of the probe 310 around the front and rear direction. Similarly, changing the inclination of the probe 310 in the front or rear direction means changing the angle of the probe 310 around the lateral direction. By making the moving direction of the mark 911 correspond to the changing direction of the inclination, the user can intuitively correspond the display of the area 910 with the actual inclination of the probe 310. According to the positional relationship between the mark 911 and the allowable range 912, it is possible to intuitively understand which direction the probe 310 is preferably tilted.

[0064] For example, the probe 310 is provided with a mark for making the moving direction of the marker 911 correspond to the direction of the change in the tilt. The user U makes the mark point in a specific direction, thereby making the arrangement direction of the ultrasonic sensor 312 correspond to the direction observed by the user U. For example, the X direction in which the ultrasonic sensor 312 is arranged is parallel to the horizontal direction observed by the user U. If the correspondence between these directions is established, Figure 5 As shown, the user U makes the probe 310 contact the welding part 13. At this time, the front, rear, left, right, top and bottom as viewed by the user U are as shown in FIG. Figure 5 , Figure 6 (a) and Figure 6 (b). In this state, for example Figure 6 As shown in (a), the user U changes the inclination of the probe 310 to the left. The changed inclination of the probe 310 is calculated by the inspection device 320. The display control device 110 updates the display of the marker 911 in the area 910 according to the newly calculated inclination. At this time, the marker 911 moves to the left on the area 910.

[0065] Similarly, if the user U changes the inclination of the probe 310 toward the right, the marker 911 moves toward the right. If the user U changes the inclination of the probe 310 toward the front, the marker 911 moves upward. If the user U changes the inclination of the probe 310 toward the back, the marker 911 moves downward. In this way, by making the direction in which the probe 310 is inclined correspond to the moving direction of the marker 911, the user U can easily determine which direction the probe 310 is preferably inclined when referring to the area 910.

[0066] The display control device 110 may change the state of the display of the mark 911 according to the first difference between the inclination of the probe 310 and the target value, or the second difference between the inclination of the probe 310 and the allowable range. For example, the display control device 110 displays the mark 911 in a flashing manner. The display control device 110 changes the flashing cycle of the mark 911 according to the first difference or the second difference. For example, the smaller the first difference or the second difference is, the shorter the flashing cycle is. The display control device 110 may change the color of the mark 911 as the first difference or the second difference decreases.

[0067] When the display control device 110 is connected to the audio device, the display control device 110 can cause the audio device to output a sound corresponding to the first difference or the second difference. For example, when the display control device 110 causes the mark 911 to be displayed, the sound is output intermittently. The smaller the first difference or the second difference is, the shorter the period of the sound output by the display control device 110 is. The display control device 110 can change the tone of the output as the first difference or the second difference decreases.

[0068] The display control device 110 can also accept an operation to adjust the size of the allowable range 912. The user can arbitrarily set the size of the allowable range 912 according to the accuracy required for welding inspection. For example, the user uses the input device 220 to input an operation to the display control device 110. Figure 4 As shown, the user interface 900 displays an adjustment unit 920 for adjusting the size of the allowable range 912. The adjustment unit 920 is represented by a scroll bar. The user moves the pointer 901 on a slider 921 in the scroll bar and moves the slider 921 by dragging using the input device 220. For example, Figure 7 As shown, the size of the allowed range 912 varies depending on the position of the slider 921 .

[0069] An input field indicating a value of the allowable range may be displayed as the adjustment unit 920. For example, the user can adjust the size of the allowable range by inputting a value into the input field. Alternatively, the user may drag the allowable range 912 displayed in the area 910 with the pointer 901 to adjust the size of the allowable range 912.

[0070] Alternatively, a switch 925 for switching the allowable range to automatic adjustment may be further displayed on the user interface 900. Figure 4 In the example of , the switch portion 925 is an icon. The switch portion 925 may also be a selection box. If the user operates the pointer 901 to click the switch portion 925, the size of the permission range is automatically adjusted.

[0071] The size of the allowable range is set based on the calculation results of the past inclination and the past inspection results stored in the storage device 120. The inclination of the probe 310 affects the inspection result of the weld 13. For example, when the inclination of the probe 310 is too large, the calculated diameter of the weld 13 is smaller than the actual diameter. As the inclination of the probe 310 decreases, the calculated diameter of the weld 13 increases. When the inclination of the probe 310 is small enough, the calculated diameter of the weld 13 hardly changes. The storage device 120 stores such a relationship between the inclination of the probe 310 and the diameter of the weld 13 calculated in the past.

[0072] The display control device 110 determines a critical value at which the change in the diameter of the weld 13 relative to the change in the inclination of the probe 310 is reduced based on the data stored in the storage device 120. The display control device 110 sets the size of the allowable range based on the critical value. For example, the display control device 110 sets the critical value as the size of the allowable range. Alternatively, in order to further improve the accuracy of the inspection, the display control device 110 may also set a smaller value calculated based on the critical value as the allowable range.

[0073] like Figure 4 As shown, a setting unit 930 and an operation unit 940 may also be displayed on the user interface 900 .

[0074] In the setting section 930, the user can set parameters related to welding inspection. Figure 4 In the example of , input fields 931a to 931c, 932, 933, 934, and 935a to 935c are also displayed.

[0075] Enter the thickness of the welded parts in input fields 931a to 931c, respectively. Enter the diameter of the front end of the probe 310 in input field 932. Enter the threshold value of the diameter of the weld 13 in input field 933. For example, in the case of inspecting spot welding, the diameter of the weld 13 can be calculated based on the detection result of the reflected wave. When the calculated diameter is above the threshold, the welding is judged to be good. The value of input field 933 can also be automatically entered based on the value entered in input fields 931a to 931c. For example, the display control device 110 calculates the diameter required for the joining of parts having the thickness entered in input fields 931a to 931c according to the standard specifications for the relevant welding. The calculated value is automatically entered into input field 933.

[0076] Input the number of voxels set when calculating the tilt and inspecting the weld 13 in the input field 934. Input the lengths of each voxel in the X, Y, and Z directions in the input fields 935a to 935c, respectively. The details of the voxels will be described later in the estimation of the range of the weld 13.

[0077] A menu for operating the inspection system 300 is displayed on the operation unit 940. Figure 4 In the example of , icons 941 to 943 are displayed. If icon 941 is clicked, the transmission of ultrasonic waves from probe 310 starts, and the calculation of the tilt is performed. Then, mark 911 is displayed in area 910. If icon 942 is clicked, the inspection of welded portion 13 is performed. For example, the inspection is performed using the detection result of the most recent reflected wave before icon 942 is clicked. If icon 943 is clicked, the transmission of ultrasonic waves from probe 310 stops.

[0078] For example, by clicking icon 939, the display of setting section 930 can be switched between folding and unfolding. Similarly, by clicking icon 949, the display of operation section 940 can be switched between folding and unfolding. In addition, setting section 930 and operation section 940 can be displayed in the same window as area 910 or in another window.

[0079] If the user confirms that the mark 911 is within the allowable range 912, the user clicks the icon 942. Thus, the inspection of the weld 13 is performed with the probe 310 tilted sufficiently small, and a more accurate inspection result can be obtained. In addition to the icon 942, a button for starting the inspection can be provided on the probe 310 or the inspection device 320.

[0080] Alternatively, when the user changes the inclination of the probe 310 and the mark 911 enters the allowable range 912, the inspection of the weld 13 is automatically performed. For example, the display control device 110 sends the setting data of the allowable range 912 to the inspection device 320 in advance. When the inspection device 320 calculates the inclination of the probe 310, it determines whether the inclination is within the allowable range. When the inclination is within the allowable range, the inspection of the weld 13 is automatically started. By automatically performing the inspection, the user does not need to operate the icon 942. In addition, during the period from when the mark 911 enters the allowable range 912 to when the icon 942 is operated, if the next reflected wave is detected, the inspection is performed based on the detection result of the reflected wave. If the mark 911 is outside the allowable range 912 when the latest detection result is obtained, it is possible that the correct inspection result cannot be obtained. By automatically performing the inspection, such a problem can be solved.

[0081] It is also possible to determine whether the probe 310 is in proper contact with the object by the inspection device 320. If the probe 310 is not in contact, a detection result reflecting the state of the weld 13 cannot be obtained. When the calculation or inspection of the tilt is performed using the detection result when the probe 310 is not in contact, an erroneous result may be output. For example, the inspection device 320 determines whether the probe 310 is in proper contact with the object based on the intensity of the reflected wave. When the probe 310 is not in contact with the object, the intensity of the detected reflected wave decreases. The inspection device 320 compares the intensity of the reflected wave with a specified threshold value, thereby determining the contact of the probe 310.

[0082] In addition, the determination of whether the probe 310 is in contact with the object is to determine whether an appropriate detection result of the reflected wave is obtained. For example, the probe 310 may not directly contact the object, but may contact it through a coupling agent. In this case, ultrasonic waves are fully propagated between the probe 310 and the object through the coupling agent. Therefore, a detection result suitable for calculation or inspection of the tilt can be obtained. Even if the probe 310 directly contacts the inspection object, when there is not enough coupling agent filled between the probe 310 and the inspection object, it is possible that an appropriate detection result cannot be obtained. Here, the case where the detection result based on the reflected wave is determined to be that the detection result can be used for calculation or inspection of the tilt is referred to as the contact of the probe 310 with the object.

[0083] For example, if the inspection device 320 determines that the probe 310 is in contact with the object, the inclination of the probe 310 is calculated. The inspection device 320 sends the calculated inclination to the display control device 110. The display control device 110 updates the display of the mark 911 in response to the reception of the inclination. If the inspection device 320 determines that the probe 310 is not in contact with the object, the inclination is not calculated. The inspection device 320 does not send the calculation result to the display control device 110. Alternatively, the inspection device 320 may send data indicating that the calculation of the inclination is invalid to the display control device 110.

[0084] For example, the display control device 110 determines whether the tilt is continuously transmitted. When a predetermined time has passed since the last tilt was received or when invalid data is received, the display control device 110 determines that the tilt cannot be acquired from the inspection system 300. In this case, the display control device 110 directly or indirectly displays on the user interface 900 that the probe 310 is not in contact with the object.

[0085] For example, Figure 8 As shown in (a), the probe 310 in contact with the welded portion 13 is moved in a direction away from the component 10. The inspection device 320 determines that the probe 310 is not in contact with the object. The display control device 110 determines that the probe 310 is not in contact with the object. Figure 8(b) shows that the displayed mark 911 disappears from the area 910. Thus, the non-contact of the probe 310 is indirectly notified to the user through the user interface 900. Alternatively, the display control device 110 may also Figure 8 (c) shows an error message 915. Thus, the user is notified more directly of the non-contact of the probe 310. Through these notifications, the user can immediately notice the non-contact of the probe 310. The user can restart the inspection more quickly by making the probe 310 contact the welding part 13 appropriately.

[0086] After determining that the probe 310 is not in contact with the object, if it is determined that the probe 310 is in contact with the object, the inspection device 320 restarts the calculation of the tilt. The inspection device 320 sends the calculated tilt to the display control device 110. If the display control device 110 receives the tilt, it restarts the display of the mark 911. At this time, for example, the error message 915 is automatically closed.

[0087] Alternatively, when the inspection device 320 performs the inspection of the welded portion 13, the inspection result is sent to the display control device 110. The display control device 110 displays the inspection result on the user interface 900. For example, Fig. 9 As shown in (a), the inspection result 950 is displayed on the user interface. In this example, items 951 to 955 are displayed.

[0088] Item 951 indicates the result of the inspection. For example, "OK", "NG", or "NA" is displayed in item 951. "OK" indicates that the welding is done properly. "NG" indicates that the welding is not done. "NA" indicates that the inspection cannot be done. Item 952 displays the state of the weld 13 estimated based on the detection result of the reflected wave. For example, information indicating "welded", "not welded", "weld is too thin", or "diameter is too small" is displayed as the state. Item 953 displays the diameter length of the weld 13 estimated based on the detection result of the reflected wave. Item 954 displays the longest diameter length of the weld 13. Item 955 displays the shortest diameter length of the weld 13.

[0089] For example, Fig. 9 As shown in (b), the user interface can also display a log of the actions of the inspection system 300. Fig. 9 The log 960 shown in (b) displays, for example, past calculation results and inspection results of the tilt.

[0090] For example, by clicking icon 959, the display of inspection result 950 can be switched between folding and unfolding. Similarly, by clicking icon 969, the display of log 960 can be switched between folding and unfolding. Inspection result 950 and log 960 can be displayed in the same window as area 910 or in different windows.

[0091] Next, a specific example of the calculation method and the inspection method of the tilt will be described.

[0092] Fig.10 It is a schematic diagram showing the structure of the inspection management system related to the embodiment.

[0093] Fig.11 This is a flowchart showing the flow of welding inspection using the inspection management system according to the embodiment.

[0094] like Fig.10 As shown, the inspection management system 400 according to the embodiment includes a display system 200 and an inspection system 300. A user performs a welding inspection using the inspection management system 400. Here, an example in which the user performing the welding inspection holds a probe 310 to perform the inspection will be described.

[0095] The user first applies a coupling agent to the weld 13 (step S1). The user makes the probe 310 contact the weld 13 (step S2). When the probe 310 is in contact with the weld 13, the plurality of ultrasonic sensors 312 transmit ultrasonic waves toward the component 10 including the weld 13 and receive reflected waves. The probe 310 transmits the detection result of the reflected waves to the inspection device 320. If the inspection device 320 receives the detection result, it estimates the ranges of the weld 13 in the X direction, the Y direction, and the Z direction (step S3).

[0096] The inspection device 320 calculates the inclination of the probe 310 relative to the weld 13 based on the detection result of the reflected wave in the inferred range (step S4). The inspection device 320 sends the calculated inclination to the display control device 110. If the display control device 110 receives the inclination, the mark 911 corresponding to the inclination is displayed on the user interface 900 (step S5). The user determines whether the mark 911 is inside the allowable range 912 (step S6). When the mark 911 is not inside the allowable range 912, the user adjusts the inclination of the probe 310 in such a way that the displayed mark 911 approaches the allowable range 912 (step S7). Step S4 is executed after adjusting the inclination. If the mark 911 is inside the allowable range 912, the user performs an inspection of the weld 13 (step S8).

[0097] Fig.12 It is a schematic diagram for explaining the inspection method of the inspection system related to the embodiment.

[0098] like Fig.12As shown in (a), part of the ultrasonic wave US is reflected by the upper surface 10a of the metal plate 11 or the upper surface 10b of the weld 13. Another part of the ultrasonic wave US is incident on the component 10 and reflected by the lower surface 10c of the metal plate 11 or the lower surface 10d of the weld 13.

[0099] The upper surface 10a, the upper surface 10b, the lower surface 10c, and the lower surface 10d are located at different positions in the Z direction. That is, the distances in the Z direction between these surfaces and the ultrasonic sensor 312 are different from each other. If the ultrasonic sensor 312 receives the reflected waves from these surfaces, the peak value of the intensity of the reflected waves is detected. By calculating the time from the transmission of the ultrasonic wave US to the detection of each peak value, it is possible to confirm which surface the ultrasonic wave US is reflected from.

[0100] The intensity of the reflected wave can be expressed in any form. For example, the reflected wave intensity output from the ultrasonic sensor 312 includes positive and negative values ​​corresponding to the phase. Various processes can be performed based on the reflected wave intensity including positive and negative values. The reflected wave intensity including positive and negative values ​​can also be converted into an absolute value. The average value of the reflected wave intensity can also be subtracted from the reflected wave intensity at each moment. Alternatively, the weighted average value, weighted moving average value, etc. of the reflected wave intensity can also be subtracted from the reflected wave intensity at each moment. Even in the case of using the results obtained by applying these processes to the reflected wave intensity, the various processes described here can be performed.

[0101] Fig.12 (b) and Fig.12 (c) is a graph showing the relationship between the time after the ultrasonic wave US is transmitted and the intensity of the reflected wave RW. Fig.12 (b) and Fig.12 In (c), the vertical axis represents the time elapsed after the ultrasonic wave US is transmitted, and the horizontal axis represents the intensity of the detected reflected wave RW. Here, the intensity of the reflected wave RW is represented by an absolute value. Fig.12 The graph of (b) illustrates the detection results of the reflected waves RW from the upper surface 10 a and the lower surface 10 c of the metal plate 11 . Fig.12 The graph of (c) illustrates the detection result of the reflected wave RW from the upper surface 10 b and the lower surface 10 d of the welded portion 13 .

[0102] exist Fig.12In the graph of (b), the first peak Pe1 is based on the reflected wave RW from the upper surface 10a. The second peak Pe2 is based on the reflected wave RW from the lower surface 10c. The times when the peaks Pe1 and Pe2 are detected correspond to the positions of the upper surface 10a and the lower surface 10c of the metal plate 11 in the Z direction, respectively. The time difference TD1 between the time when the peak Pe1 is detected and the time when the peak Pe2 is detected corresponds to the distance Di1 in the Z direction between the upper surface 10a and the lower surface 10c.

[0103] Similarly, in Fig.12 In the graph of (c), the first peak Pe3 is based on the reflected wave RW from the upper surface 10b. The second peak Pe4 is based on the reflected wave RW from the lower surface 10d. The times when the peaks Pe3 and Pe4 are detected correspond to the positions of the upper surface 10b and the lower surface 10d of the welded portion 13 in the Z direction, respectively. The time difference TD2 between the time when the peak Pe3 is detected and the time when the peak Pe4 is detected corresponds to the distance Di2 in the Z direction between the upper surface 10b and the lower surface 10d.

[0104] The upper surface 10b and the lower surface 10d of the welded portion 13 are sometimes inclined relative to the upper surface 10a of the metal plate 11. This is due to the fact that the welded portion 13 includes a solidified portion 14 and the shape is deformed during the welding process. In this case, it is desirable to transmit the ultrasonic wave US in a direction perpendicular to the upper surface 10b or the lower surface 10d on average. As a result, the ultrasonic wave is more strongly reflected at the upper surface 10b and the lower surface 10d, which can improve the accuracy of the inspection.

[0105] Reference Figures 13 to 19 Step S3 will be described in detail.

[0106] Fig.13 (a) and Fig.13 (b) is a schematic diagram of an image of a detection result based on a reflected wave.

[0107] Fig.13 (a) shows the state of the inspection object in the XZ cross section. Fig.13 (b) shows the state of the inspection object in the YZ cross section.

[0108] exist Fig.13 (a) and Fig.13 In (b), points with high reflected wave intensity are indicated in white. Here, the reflected wave intensity is represented schematically in binary form. The position in the Z direction corresponds to the time from the emission of the ultrasonic wave to the reception of the reflected wave. The white line extending in the X direction or the Y direction indicates the surface of the component.

[0109] exist Fig.13 (a) and Fig.13In (b), the plurality of white lines located in the center in the X direction or the Y direction are based on the reflected waves from the upper surface 10b and the lower surface 10d of the welded portion 13. The plurality of white lines located at the end sides in the X direction or the Y direction are based on the reflected waves from the upper surface 10a and the lower surface 10c of the metal plate 11 or the upper surface and the lower surface of the metal plate 12. Fig.13 (a) and Fig.13 In (b), there are three or more white lines in the Z direction. This indicates that the ultrasonic wave US is multiply reflected between the upper surface and the lower surface of each part of the component 10 .

[0110] like Fig.13 (a) and Fig.13 As shown in (b), the detection result of the reflected wave by the matrix sensor 311 also includes the reflected wave from sources other than the welded portion 13. The inspection device 320 estimates the range of the welded portion 13 based on the detection result of the reflected wave.

[0111] Here, if Fig.13 (a) and Fig.13 (b) The detection result of the reflected wave is represented two-dimensionally as shown in the example. The detection result of the reflected wave can also be represented three-dimensionally. For example, the component 10 is represented by a plurality of voxels. The coordinates of each voxel in the X direction, the Y direction and the Z direction are set. According to the detection result of the reflected wave, the reflected wave intensity is associated with each voxel. The inspection device 320 infers the range (group of voxels) corresponding to the welding part 13 in the plurality of voxels.

[0112] The number of voxels and the size of each voxel can be determined automatically or can be set by the user through the user interface 900. For example, the user can Figure 4 The input fields 934 and 935a to 935c of the setting unit 930 shown are used to input values ​​and set the number of pixels and the size of each pixel.

[0113] Fig.14 (a) and Fig.14 (b) is a graph illustrating the intensity distribution of the reflected wave in the Z direction at one cross section.

[0114] Fig.15 Graph showing the intensity distribution of reflected waves in the Z direction.

[0115] The inspection device 320 calculates the intensity distribution of the reflected wave in the Z direction based on the detection result of the reflected wave. Fig.14 (a) and Fig.14 (b) is one example. Fig.14 (a) and Fig.14 In (b), the horizontal axis represents the position in the Z direction, and the vertical axis represents the intensity of the reflected wave. Fig.14(a) shows an example of the intensity distribution of the reflected wave in the Z direction at an XZ cross section. Fig.14 (b) shows an example of the intensity distribution of the reflected wave in the Z direction at a YZ cross section. Fig.14 (a) and Fig.14 (b) shows the result of converting the reflected wave intensity into an absolute value.

[0116] Alternatively, the inspection device 320 may calculate the reflected wave intensity on the XY plane at each point in the Z direction, and generate the reflected wave intensity distribution in the Z direction. Fig.15 is one example. Fig.15 In the figure, the horizontal axis represents the position in the Z direction, and the vertical axis represents the intensity of the reflected wave. Fig.15 , the result obtained by converting the reflected wave intensity into an absolute value and subtracting the average value of the reflected wave intensity from the reflected wave intensity at each point in the Z direction is shown.

[0117] The intensity distribution of the reflected wave in the Z direction includes components reflected on the upper and lower surfaces of the weld and components reflected on the upper and lower surfaces of other parts. Fig.12 (b) The periodic component corresponding to the time difference TD1 and Fig.12 (c) shows the periodic component corresponding to the time difference TD2.

[0118] The inspection device 320 extracts only the components reflected on the upper and lower surfaces of the weld from the intensity distribution of the reflected wave by filtering. For example, a value corresponding to an integer multiple of half the thickness of the weld in the Z direction (the distance between the upper and lower surfaces) is preset. The inspection device 320 refers to the value and extracts only the periodic component of the value.

[0119] As the filtering process, a bandpass filter, a zero phase filter, a low-pass filter, a bypass filter, or a threshold determination on the intensity after filtering or the like can be used.

[0120] Fig.16 2 is a graph illustrating the result of filtering the intensity distribution of the reflected wave.

[0121] exist Fig.16 In the figure, the horizontal axis represents the position in the Z direction, and the vertical axis represents the intensity of the reflected wave. Fig.16 As shown, as a result of filtering, only the components reflected on the upper and lower surfaces of the weld are extracted.

[0122] The inspection device 320 estimates the range of the weld in the Z direction based on the extraction result. For example, the inspection device 320 detects the peaks included in the extraction result. The inspection device 320 detects the Z direction position of the first peak and the Z direction position of the second peak. The inspection device 320 uses these positions as a reference, for example Fig.16 The range Ra1 shown is presumably the range of the welded portion in the Z direction.

[0123] Due to the structure of the weld, the structure of the matrix sensor 311, etc., the sign (positive or negative) of the reflected wave intensity from the upper surface of the weld and the sign of the reflected wave intensity from the lower surface of the weld are sometimes reversed. In this case, the inspection device 320 can also detect one of the positive and negative peaks and other peaks of the other positive and negative. The inspection device 320 uses the positions of these peaks as a reference to infer the range of the weld in the Z direction. In addition, according to the processing of the reflected wave intensity, there is also a situation where only one of the positive and negative values ​​is used to represent the reflected wave intensity. In this case, the range of the weld in the Z direction can be inferred based on the positions of multiple peaks, or based on the positions of the crests and troughs, or based on the positions of multiple troughs. That is, the inspection device 320 infers the range of the weld in the Z direction based on the positions of multiple extreme values ​​for the filtered reflected wave intensity.

[0124] When generating the intensity distribution of the reflected waves of each of the XZ section and the YZ section, the range in the Z direction based on the intensity distribution of the XZ section and the range in the Z direction based on the intensity distribution of the YZ section are estimated. For example, the inspection device 320 calculates the average, weighted average, weighted moving average, etc. of these multiple estimated results, and estimates the calculated result as the range in the Z direction of the entire weld.

[0125] Alternatively, the inspection device 320 may estimate the range of the weld in the Z direction based on the intensity distribution of the reflected wave in one of the XZ section and the YZ section, and regard the estimated result as the range of the weld in the Z direction as a whole. Alternatively, the inspection device 320 may estimate the range of the weld in the Z direction based on the intensity distribution of the reflected wave in a part of the X direction and a part of the Y direction, and regard the estimated result as the range of the weld in the Z direction as a whole. According to these processes, the amount of calculation required for generating the intensity distribution of the reflected wave can be reduced.

[0126] exist Fig.16 In the example, the position in the Z direction of the lower limit of the range Ra1 is set to a value obtained by subtracting a predetermined value from the position in the Z direction of the first peak. The position in the Z direction of the upper limit of the range Ra1 is set to a value obtained by adding a predetermined value to the position in the Z direction of the second peak. In this way, when the upper and lower surfaces of the weld are inclined relative to the arrangement direction of the ultrasonic sensor 312, the second peak can be suppressed from deviating from the range in the Z direction at any point in the XY plane of the weld.

[0127] After estimating the range of the weld portion in the Z direction, the inspection device 320 estimates the range of the weld portion in the X direction and the range of the weld portion in the Y direction.

[0128] Fig.17 and Fig.19 is a schematic diagram illustrating the detection results of an example reflected wave.

[0129] exist Fig.17 and Fig.19 In FIG. 1 , region R represents the entire region where the detection result of the reflected wave is obtained by the matrix sensor 311. One cross section of region R includes components of the reflected wave at the upper and lower surfaces of the welded portion and components of the reflected wave at the upper and lower surfaces of other portions.

[0130] The inspection device 320 generates an intensity distribution of the reflected wave on the XY plane at each point in the Z direction. The inspection device 320 can also generate an intensity distribution within a pre-set range in the Z direction. Thus, the amount of calculation can be reduced. Alternatively, the inspection device 320 can also generate an intensity distribution within an inferred range in the Z direction. Thus, the amount of calculation can be reduced, and at the same time, when generating the intensity distribution of the reflected wave on the XY plane, the deviation of the reflected wave component from the lower surface of the weld can be suppressed.

[0131] Fig.18 (a)~ Fig.18 (c) is an example of intensity distribution of reflected waves in the XY plane. Fig.18 (a) shows the intensity distribution of the reflected wave on the XY plane at the coordinate of Z=1. Fig.18 (b) shows the intensity distribution of the reflected wave on the XY plane at the coordinate of Z=2. Fig.18 (c) shows the intensity distribution of the reflected wave on the XY plane at the coordinate of Z=350. Fig.17 , Fig.18 (a)~ Fig.18 (c) and Fig.19 In FIG. 1 , the intensity of the reflected wave is schematically represented in binary form.

[0132] The inspection device 320 calculates the centroid position of the intensity distribution of the reflected wave on the XY plane at each point in the Z direction. Here, the centroid position of the intensity distribution is obtained by calculating the centroid position of the image representing the intensity distribution. For example, Fig.18 (a)~ Fig.18 As shown in (c), the inspection device 320 calculates the center of gravity positions C1 to C350 of each image. Fig.19 In FIG. 1 , line segment L represents the result of connecting all the centroid positions from Z=0 to Z=350.

[0133] The inspection device 320 averages the centroid positions from Z=0 to Z=350. Thus, the average position of the centroid in the X direction and the average position of the centroid in the Y direction can be obtained. Fig.19 The average position AP represents the average position of the center of gravity in the X direction and the average position of the center of gravity in the Y direction. The inspection device 320 defines a predetermined range in the X direction and the Y direction as a range Ra2 of the weld in the X direction and a range Ra3 of the weld in the Y direction, respectively, with the average position AP as the center.

[0134] For example, in order to estimate the range Ra2 and the range Ra3, a value V indicating the diameter of the probe 310 (matrix sensor 311) is set in advance. The inspection device 320 sets the range from AP-V / 2 to AP+V / 2 in the X direction and the range Ra3 in the Y direction, respectively. In this case, the estimated range in the XY plane becomes a quadrilateral. Not limited to this example, the estimated range in the XY plane may also be a polygonal shape with a pentagon or more or a circle. The shape of the estimated range in the XY plane may be appropriately changed according to the shape of the welded portion.

[0135] The range Ra2 and the range Ra3 may be determined using other values ​​based on the value V. Instead of the value indicating the diameter of the probe 310, a value indicating the diameter of the weld may be preset. This is because the diameter of the weld corresponds to the diameter of the probe 310. The value indicating the diameter of the weld can be substantially regarded as the value indicating the diameter of the probe 310.

[0136] Through the above processing, the range Ra1 in the Z direction, the range Ra2 in the X direction, and the range Ra3 in the Y direction of the weld are estimated. After the range is estimated, the detection result of the reflected wave in the estimated range is executed. Fig.11 Step S4 is shown.

[0137] Fig. 20 It is a flowchart showing the operation of the inspection system according to the embodiment.

[0138] The inspection device 320 receives the detection result of the reflected wave from the probe 310 (step S301). The inspection device 320 generates the intensity distribution of the reflected wave in the Z direction based on the detection result (step S302). The inspection device 320 filters the intensity distribution according to the value of the thickness of the weld (step S303). Thus, only the reflected wave component at the weld is extracted from the intensity distribution. The inspection device 320 infers the range of the weld in the Z direction based on the extraction result (step S304). The inspection device 320 calculates the centroid position of the reflected wave intensity on the XY plane at each point in the Z direction (step S305). The inspection device 320 averages the calculated multiple centroid positions, thereby calculating the average position (step S306). The inspection device 320 infers the respective ranges in the X direction and the Y direction based on the average position and the diameter of the probe 310 (step S307).

[0139] In addition, the estimation of the range in the Z direction may be performed after the estimation of the range in the X direction and the Y direction. Fig. 20 In the flowchart shown, steps S302 to S304 may be executed after steps S305 to S307. In this case, the inspection device 320 may calculate the intensity distribution of the reflected wave in the Z direction based on the estimated ranges in the X and Y directions. This can reduce the amount of calculation.

[0140] Fig.21 is an image showing an example of the detection result of the reflected wave.

[0141] exist Fig.21 The whiter the color, the greater the intensity of the reflected wave at this point. Fig.21 The test results shown are performed Fig. 20 As a result, the range Ra is estimated.

[0142] Next, a specific example of a method for calculating the inclination in the range Ra will be described.

[0143] Fig. 22 It is a diagram for explaining the processing of the inspection system related to the embodiment.

[0144] Fig.23 and Fig.24 This is an example of an image obtained by the inspection system according to the embodiment.

[0145] Fig.23 It is three-dimensional volume data drawn based on the detection results of reflected waves. Fig.24 (a) indicates Fig.23 The surface of the welded portion 13 in the volume data is shown. Fig.24 (b) indicates Fig.23 The YZ cross section near the weld portion 13 in the volume data is shown. Fig.24 (c) indicates Fig.23 The XZ cross section near the welding part 13 in the volume data shown. Fig.24 (b) and Fig.24 In (c), the upper side is the surface of the weld, and the data in the depth direction are shown downward. The part with high brightness is the part with high reflection intensity of the ultrasonic wave. The ultrasonic wave is strongly reflected by the bottom surface of the weld 13, the surface between the unjoined parts, etc.

[0146] The tilt of the probe 310 corresponds to Fig. 22 The angle between the direction 13a perpendicular to the weld 13 and the direction 310a of the probe 310 is shown. The angle is represented by the angle θx around the X direction and the angle θy around the Y direction. The direction 310a of the probe 310 is perpendicular to the arrangement direction of the ultrasonic sensor 312.

[0147] Angle θx is Fig.24 As shown in (b), the calculation is performed based on the detection results in the YZ section. Fig.24 As shown in (c), the inspection device 320 calculates the average of the three-dimensional brightness gradient for each cross section as the angles θx and θy. The inspection device 320 sends the calculated angles θx and θy as the tilt of the probe 310 to the display control device 110 and stores them in the storage device 120.

[0148] (Variation Example)

[0149] The inspection of the welded portion described above can also be automatically performed by a robot.

[0150] Fig.25 It is a schematic diagram showing the structure of an inspection system according to a modified example of the embodiment.

[0151] Fig.26 It is a perspective view showing a part of an inspection system according to a modified example of the embodiment.

[0152] Fig.25 The inspection system 300a shown includes an inspection device 320 and a robot 330. The robot 330 includes a probe 310, an imaging unit 331, a coating unit 332, an arm 333, and a control device 334.

[0153] The imaging unit 331 captures the welded components and obtains an image. The imaging unit 331 extracts the welding trace from the image and detects the approximate position of the welded portion 13. The coating unit 332 coats the coupling agent on the upper surface of the welded portion 13.

[0154] The probe 310, the imaging unit 331 and the coating unit 332 are as follows: Fig.26As shown, it is arranged at the front end of the arm 333. The arm 333 is, for example, a vertical multi-joint robot with six degrees of freedom including multiple connecting rods and multiple rotating axes. The arm 333 includes multiple actuators (such as motors). The multiple actuators respectively move the multiple rotating axes. By driving the arm 333, the probe 310, the camera unit 331 and the coating unit 332 can be displaced. The control device 334 controls the actions of the various components of the robot 330.

[0155] Fig. 27 This is a flowchart showing the operation of the inspection system according to a modified example of the embodiment.

[0156] First, the imaging unit 331 captures the component 10 and detects the position of the weld 13 based on the acquired image (step S11). The arm 333 moves the coating unit 332 to a position opposite to the weld 13. The coating unit 332 applies the coupling agent to the weld 13 (step S12). The arm 333 moves the probe 310 to contact the weld 13 (step S13).

[0157] The probe 310 transmits ultrasonic waves while in contact with the weld 13, and receives reflected waves. The probe 310 transmits the detection result of the reflected waves to the inspection device 320. The inspection device 320 estimates the ranges of the weld 13 in the X direction, the Y direction, and the Z direction based on the detection result (step S14). The inspection device 320 calculates the tilt of the probe 310 based on the detection result of the reflected waves in the estimated range (step S15). The inspection device 320 transmits the calculated tilt to the display control device 110, and stores it in the storage device 120.

[0158] The inspection device 320 determines whether the calculated tilt is within the allowable range (step S16). When the tilt is not within the allowable range, the control device 334 drives the arm 333 to adjust the tilt of the probe 310 (step S17). Based on the detection result of the reflected wave after adjusting the tilt, the tilt of the probe 310 is calculated again. When the tilt is within the allowable range, the inspection device 320 uses the detection result of the reflected wave obtained by the tilt to inspect the weld 13 (step S18). The inspection device 320 determines whether there is an uninspected weld 13 (step S19). When there is no uninspected weld 13, the inspection is terminated. When there is an uninspected weld 13, the inspection device 320 drives the arm 333 to move the probe 310, the camera unit 331 and the coating unit 332 toward other welds 13 (step S20). Then, steps S11 to S19 are executed again.

[0159] The display control device 110 updates the display of the mark 911 in the area 910 of the user interface 900 in response to the reception of the inclination of the probe 310 calculated in step S15. The user can easily confirm the transition of the inclination of the probe 310 and whether the inspection is performed within the allowable range, etc. from the user interface 900. In this case, the user is, for example, a manager of the welding inspection.

[0160] The above describes an example of inspecting the spot-welded welded portion 13 by the inspection system 300. Without being limited to this example, the inspection system 300 may also inspect components welded by other methods. For example, the inspection system 300 may also inspect components welded by arc welding, laser welding, or seam welding. Nondestructive inspection using the probe 310 may also be performed on components welded by these methods. In addition, in order to obtain appropriate inspection results, it is desirable that the probe 310 be tilted less relative to the welded portion.

[0161] The contents displayed in the setting section 930, the inspection result 950, etc. are appropriately changed according to the welding method of the inspected parts. For example, in the case of linear welding by arc welding, laser welding, or seam welding, the threshold value of the width of the weld is input in the input field 933. During the inspection, when the width of the weld calculated based on the detection result of the reflected wave is greater than the threshold value, the welding is judged to be good. For example, the value obtained by averaging the widths of each point of the weld is displayed in item 953. The longest width of the weld is displayed in item 954. The shortest width of the weld is displayed in item 955.

[0162] For the inspection system 300a related to the modified example, the arm 333 can also be replaced by another movable mechanism with more than two degrees of freedom including an actuator. The probe 310 is mounted on the movable mechanism. For example, the movable mechanism includes at least one selected from a parallel linkage mechanism with six degrees of freedom, a horizontal multi-joint mechanism with six degrees of freedom, and a goniometer head (Goniohead) with two degrees of freedom. The control device 334 controls and drives the movable mechanism. The movable mechanism moves, thereby changing the inclination of the probe 310. When the degrees of freedom of the movable mechanism are less than six degrees of freedom, it is preferred that the component 10 is transported in contact with the probe 310 by a transport mechanism not shown in the figure.

[0163] Fig.28 It is a block diagram showing the hardware structure of the system.

[0164] For example, the display control device 110 of the display control system 100 of the embodiment is a computer having a ROM (Read Only Memory) 111 , a RAM (Random Access Memory) 112 , a CPU (Central Processing Unit) 113 , and a HDD (Hard Disk Drive) 114 .

[0165] ROM 111 stores a program for controlling the operation of the computer. ROM 111 stores a program necessary for causing the computer to realize each of the above-mentioned processes.

[0166] RAM 112 functions as a storage area for expanding the program stored in ROM 111. CPU 113 includes a processing circuit. CPU 113 reads the control program stored in ROM 111 and controls the operation of the computer according to the control program. In addition, CPU 113 expands various data obtained by the operation of the computer in RAM 112. HDD 114 stores data required for reading and data obtained during reading. HDD 114 can be used as Figure 1 The storage device 120 is shown to function.

[0167] The display control device 110 may also replace the HDD 114 and include an eMMC (embedded Multi Media Card), an SSD (Solid State Drive), an SSHD (Solid State Hybrid Drive), or the like.

[0168] In addition, the inspection device 320 in the inspection system 300 may also be applied. Fig.28 Same hardware structure. In the inspection management system 400, one computer can also function as the display control device 110 and the inspection device 320. Alternatively, the processing and functions of the display control device 110 and the inspection device 320 can be realized by the cooperation of more computers.

[0169] The display device 210 includes, for example, at least one of a monitor and a display. The input device 220 includes, for example, at least one of a mouse, a keyboard, a touch pad, and a microphone (voice input).

[0170] By using the display control system, inspection management system, and display control method of the above-described embodiments, information related to welding inspection can be displayed to the user in a more understandable manner. In addition, by using a program that causes a computer to operate as a display control system or an inspection management system, the same effect can be obtained.

[0171] The processing of the above-mentioned various data can also be recorded as a program that can be executed by a computer, on a disk (floppy disk, hard disk, etc.), an optical disk (CD-ROM, CD-R, CD-RW, DVD-ROM, DVD±R, DVD±RW, etc.), a semiconductor memory or other recording media.

[0172] For example, the data recorded in the recording medium can be read out by a computer (or embedded system). In the recording medium, the recording format (storage format) is arbitrary. For example, the computer reads out the program from the recording medium, and the CPU executes the instructions recorded in the program according to the program. In the computer, the acquisition (or reading) of the program can also be carried out through a network.

[0173] The implementation method may also include the following schemes.

[0174] (Scheme 1)

[0175] A display control system, for a detector having a plurality of detection elements arranged along a first arrangement direction and a second arrangement direction intersecting each other, obtains an inclination of the detector relative to a weld portion calculated based on a detection result of reflected waves obtained by transmitting ultrasonic waves from the plurality of detection elements,

[0176] A user interface including an area expanded two-dimensionally is displayed, a mark indicating the tilt and an allowable range of a target value for the tilt are displayed in the area, and display of the mark in the area is updated in response to acquisition of the tilt.

[0177] (Solution 2)

[0178] According to the display control system of the first aspect, an operation for adjusting the size of the allowable range can be received, and the size of the allowable range displayed in the area can be changed according to the operation.

[0179] (Scheme 3)

[0180] According to the display control system of the second embodiment, a switching unit for switching the size of the allowable range to automatic adjustment is displayed in the user interface.

[0181] (Scheme 4)

[0182] According to the display control system described in the third aspect, the size of the allowable range during automatic adjustment is calculated based on the correspondence between the past inclination and the past inspection results of the welded portion.

[0183] (Scheme 5)

[0184] According to the display control system described in any one of the first to fourth embodiments, the display form of the mark is changed according to the difference between the inclination and the target value or the difference between the inclination and the allowable range.

[0185] (Scheme 6)

[0186] According to the display control system described in any one of Schemes 1 to 5,

[0187] outputting a sound when the area shows the tilt,

[0188] The sound is changed according to a difference between the tilt and the target value or a difference between the tilt and the allowable range.

[0189] (Scheme 7)

[0190] According to the display control system described in any one of the first to sixth embodiments, an inspection result of the welding portion is further obtained, and the inspection result is displayed on the user interface.

[0191] (Scheme 8)

[0192] According to the display control system described in any one of Schemes 1 to 7,

[0193] The region extends along a first direction and a second direction that are orthogonal to each other,

[0194] When the first direction is parallel to the first arrangement direction, in the region, the position of the first direction represents an angle around the second arrangement direction, and the position of the second direction represents an angle around the first arrangement direction.

[0195] (Scheme 9)

[0196] According to the display control system described in any one of the first to eighth aspects, when the tilt cannot be acquired, the mark is not displayed in the area, or an error message is displayed in the user interface.

[0197] (Scheme 10)

[0198] According to the display control system described in any one of the first to ninth solutions, the detector is a probe that can be held by a person.

[0199] (Scheme 11)

[0200] An inspection management system having:

[0201] The display control system described in any one of Schemes 1 to 10;

[0202] an inspection system including the detector, and executing calculation of the inclination and inspection of the welded portion based on the detection result; and

[0203] A display device displays the user interface.

[0204] (Scheme 12)

[0205] According to the inspection management system of the eleventh aspect, the inspection system performs the inspection when the mark enters the inner side of the allowable range.

[0206] (Scheme 13)

[0207] According to the inspection management system described in the eleventh or twelfth solution,

[0208] The inspection system compares the diameter of the weld with a threshold value during the inspection,

[0209] The display control system displays a setting unit for setting the threshold value on the user interface.

[0210] (Scheme 14)

[0211] According to the inspection management system described in Scheme 13,

[0212] The thickness of each of the plurality of components to be joined by the welding portion can be input into the setting portion.

[0213] The threshold value is automatically set based on the respective thickness.

[0214] (Scheme 15)

[0215] According to the inspection management system described in any one of the schemes 11 to 14,

[0216] The inspection system also has:

[0217] a movable mechanism, including an actuator, on which the detector is mounted; and

[0218] A control device drives the movable mechanism.

[0219] (Scheme 16)

[0220] A display control method, for a detector having a plurality of detection elements arranged along a first arrangement direction and a second arrangement direction intersecting each other, obtains an inclination of the detector relative to a weld portion calculated based on a detection result of reflected waves obtained by transmitting ultrasonic waves from the plurality of detection elements,

[0221] A user interface including an area expanded two-dimensionally is displayed, a mark indicating the tilt and an allowable range of a target value for the tilt are displayed in the area, and display of the mark in the area is updated in response to acquisition of the tilt.

[0222] (Scheme 17)

[0223] A program that causes a computer to:

[0224] For a detector having a plurality of detection elements arranged along a first arrangement direction and a second arrangement direction intersecting each other, an inclination of the detector relative to the weld portion is calculated based on a detection result of a reflected wave obtained by transmitting ultrasonic waves from the plurality of detection elements,

[0225] A user interface including an area expanded two-dimensionally is displayed, a mark indicating the tilt and an allowable range of a target value for the tilt are displayed in the area, and display of the mark in the area is updated in response to acquisition of the tilt.

[0226] (Scheme 18)

[0227] According to the program of claim 17, the computer is caused to accept an operation for adjusting the size of the allowable range, and to change the size of the allowable range displayed in the area in accordance with the operation.

[0228] (Scheme 19)

[0229] According to the program of claim 17 or 18, the computer is caused to change the display form of the mark according to the difference between the inclination and the target value or the difference between the inclination and the allowable range.

[0230] (Scheme 20)

[0231] According to the program described in any one of the seventeenth to nineteenth solutions, the computer is caused to perform the following processing:

[0232] outputting a sound when the area shows the tilt,

[0233] The sound is changed according to a difference between the tilt and the target value or a difference between the tilt and the allowable range.

[0234] (Scheme 21)

[0235] According to the program described in any one of the seventeenth to twentieth solutions, the computer is caused to perform the following processing:

[0236] Displaying the area extending in a first direction and a second direction orthogonal to each other,

[0237] The region is displayed in such a manner that, when the first direction is along the first arrangement direction, the position in the first direction represents an angle around the second arrangement direction, and the position in the second direction represents an angle around the first arrangement direction.

[0238] (Scheme 22)

[0239] A storage medium storing the program described in any one of schemes 17 to 21.

[0240] Several embodiments of the present invention are illustrated above, but these embodiments are presented as examples and are not intended to limit the scope of the invention. These new embodiments can be implemented in various other forms, and various omissions, substitutions, changes, etc. can be made without departing from the scope of the main purpose of the invention. These embodiments and their modifications are included in the scope or main purpose of the invention, and are included in the invention described in the claims and the scope of their equivalents. In addition, the aforementioned embodiments can be implemented in combination with each other.

Claims

1. A display control system, wherein: The display control system comprises a display control device, The display control device obtains an inclination of the detector relative to the welding part calculated based on the detection result of the reflected wave for a detector having a plurality of detection elements arranged along a first arrangement direction and a second arrangement direction intersecting each other and detecting reflected waves obtained by sending ultrasonic waves from the plurality of detection elements to the welding part, The display control device displays a user interface including an area extending two-dimensionally, displays a mark indicating the tilt and an allowable range of a target value for the tilt in the area, and updates the display of the mark in the area in response to the acquisition of the tilt. The tilt is represented by a first angle around the first arrangement direction and a second angle around the second arrangement direction, calculating an average of the three-dimensional gradient of the reflected wave intensity in the detection result as the first angle and the second angle, The region extends along a first direction and a second direction that are orthogonal to each other, When the first direction is parallel to the first arrangement direction, in the region, the position in the first direction represents the second angle, and the position in the second direction represents the first angle.

2. The display control system according to claim 1, wherein: An operation for adjusting the size of the allowable range can be accepted, and the size of the allowable range displayed in the area can be changed in accordance with the operation.

3. The display control system according to claim 2, wherein: A switching unit for switching the size of the allowable range to automatic adjustment is displayed on the user interface.

4. The display control system according to claim 3, wherein: The size of the allowable range during automatic adjustment is calculated based on the correspondence between the past inclination and the past inspection results of the welded portion.

5. The display control system according to any one of claims 1 to 4, wherein: The display form of the mark is changed according to the difference between the inclination and the target value or the difference between the inclination and the allowable range.

6. The display control system according to any one of claims 1 to 4, wherein: outputting a sound when the area shows the tilt, The sound is changed according to a difference between the tilt and the target value or a difference between the tilt and the allowable range.

7. The display control system according to any one of claims 1 to 4, wherein: An inspection result of the welding portion is also obtained, and the inspection result is displayed on the user interface.

8. The display control system according to any one of claims 1 to 4, wherein: When the tilt cannot be acquired, the mark is not displayed in the area, or an error message is displayed in the user interface.

9. The display control system according to any one of claims 1 to 4, wherein: The detector is a probe that a person can hold.

10. An inspection management system, wherein: The inspection management system has: The display control system according to any one of claims 1 to 4; an inspection system having the detector, and executing calculation of the tilt and inspection of the welded portion based on the detection result; as well as A display device displays the user interface.

11. The inspection management system according to claim 10, wherein: The inspection system performs the inspection when the mark enters inside the allowable range.

12. The inspection management system according to claim 10, wherein: The inspection system compares the diameter of the weld with a threshold value during the inspection, The display control system displays a setting unit for setting the threshold value on the user interface.

13. The inspection management system according to claim 12, wherein: The thickness of each of the plurality of components to be joined by the welding portion can be input into the setting portion. The threshold value is automatically set based on the respective thickness.

14. The inspection management system according to claim 10, wherein: The inspection system also has: a movable mechanism, including an actuator, on which the detector is mounted; and A control device drives the movable mechanism.

15. A display control method, wherein: For a detector having a plurality of detection elements arranged along a first arrangement direction and a second arrangement direction intersecting each other and detecting reflected waves obtained by sending ultrasonic waves from the plurality of detection elements to a welding part, an inclination of the detector relative to the welding part calculated based on a detection result of the reflected waves is obtained, causing a user interface including an area expanded in a two-dimensional shape to be displayed, causing a mark indicating the tilt and an allowable range of a target value for the tilt to be displayed in the area, and updating the display of the mark in the area in response to the acquisition of the tilt, The tilt is represented by a first angle around the first arrangement direction and a second angle around the second arrangement direction, calculating an average of the three-dimensional gradient of the reflected wave intensity in the detection result as the first angle and the second angle, The region extends along a first direction and a second direction that are orthogonal to each other, The region is displayed in such a manner that, when the first direction is along the first arrangement direction, the position in the first direction represents the second angle, and the position in the second direction represents the first angle.

16. A storage medium storing a program, wherein: The program causes the computer to perform the following processing: For a detector having a plurality of detection elements arranged along a first arrangement direction and a second arrangement direction intersecting each other and detecting reflected waves obtained by sending ultrasonic waves from the plurality of detection elements to a welding part, an inclination of the detector relative to the welding part calculated based on a detection result of the reflected waves is obtained, causing a user interface including an area expanded in a two-dimensional shape to be displayed, causing a mark indicating the tilt and an allowable range of a target value for the tilt to be displayed in the area, and updating the display of the mark in the area in response to the acquisition of the tilt, The tilt is represented by a first angle around the first arrangement direction and a second angle around the second arrangement direction, calculating an average of the three-dimensional gradient of the reflected wave intensity in the detection result as the first angle and the second angle, The region extends along a first direction and a second direction that are orthogonal to each other, The region is displayed in such a manner that, when the first direction is along the first arrangement direction, the position in the first direction represents the second angle, and the position in the second direction represents the first angle.

17. The storage medium according to claim 16, wherein: The program causes the computer to accept an operation for adjusting the size of the allowable range, and to change the size of the allowable range displayed in the area in accordance with the operation.

18. The storage medium according to claim 16 or 17, wherein: The program causes the computer to change the display form of the mark according to the difference between the inclination and the target value or the difference between the inclination and the allowable range.

19. The storage medium according to claim 16 or 17, wherein: The program causes the computer to perform the following processing: outputting a sound when the area shows the tilt, The sound is changed according to a difference between the tilt and the target value or a difference between the tilt and the allowable range.

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