Hand scarfing control device and method thereof

Abstract

The present invention relates to a hand scarfing control device and a method thereof, the hand scarfing control device comprising: a camera that includes a plurality of cameras and captures images of the surface of a slab to generate image data; a processor for analyzing the image data to detect defects in the slab, setting a scarfing area corresponding to the form of the defects, and setting a plurality of layers for a scarfing operation; and a scarfing robot for performing scarfing layer by layer on the basis of the scarfing area, wherein the hand scarfing control device can effectively remove the defects in the slab and improve the quality of the slab.

Description

Hand scarfing control device and method thereof

[0001] The present invention relates to a hand scarfing control device and method for controlling a hand scarfing robot to remove defects in a slab.

[0002]

[0003] In general, a slab is a semi-finished product that is used as a material for a plate process or a hot rolling process. It is manufactured into a block shape with a specified thickness and width by pouring liquid molten steel into a mold of a continuous casting device and allowing it to cool and solidify.

[0004] During the cooling and solidification process of the slab, surface defects can develop. To remove these defects, scarfing is necessary, which involves cutting the slab surface to a certain thickness.

[0005] Scarfing means partially melting the surface of a slab using a gas torch or similar device and then removing it.

[0006] Scarfing requires identifying the location of the defect and adjusting the cutting range and depth based on the defect's size and thickness. If scarfing is performed with a thickness less than the defect's depth, the defect may remain untouched.

[0007] This scarfing process, when done manually by workers, is time-consuming and dangerous as workers may be injured or accidents may occur during the process.

[0008] Therefore, there is a need for a method to automate the scarfing process and effectively remove defects in accordance with the defects of the Slavs.

[0009] As a related background technology, there is Korean Patent Publication No. 10-1264636, “Scarfing equipment and scarfing method using the same.”

[0010]

[0011] The present invention was created due to the above-mentioned need, and its purpose is to provide a hand scarfing control device and method for improving the quality of a slab by removing defects in the slab.

[0012]

[0013] In order to achieve the above object, a hand scarfing control device according to one aspect of the present invention comprises: a plurality of cameras for photographing the surface of a slab to generate image data; a processor for analyzing the image data to detect a defect in the slab, setting a scarfing area corresponding to the shape of the defect, and setting a plurality of layers for a scarfing operation; and a scarfing robot for performing scarfing layer by layer based on the scarfing area.

[0014] The processor is characterized in that it sets an initial region including the defect, sets the scarfing region having a larger area than the initial region in accordance with the size of the defect, sets the plurality of layers in accordance with the depth of the defect, and expands the scarfing region in accordance with the plurality of layers.

[0015] The processor is characterized in that it sets an initial area including the defect corresponding to the location, size and depth of the defect, and sets the scarfing area extended from the initial area according to the operating distance and scarfing thickness of the scarfing robot.

[0016] The above processor is characterized in that it sets a plurality of layers to be overlapped in the scarfing area corresponding to the operating distance and scarfing thickness of the scarfing robot.

[0017] The above processor is characterized in that it sets a plurality of layers not to overlap in the scarfing area in response to the operating distance and scarfing thickness of the scarfing robot.

[0018] The above processor is characterized in that it arranges the layers differently depending on the length of the nozzle of the scarfing robot, the height of the nozzle, the angle of the nozzle, and the distance from the scarfing area.

[0019] The above processor is characterized in that it sets a plurality of layers in the vertical direction of the slab corresponding to the thickness of the defect in the scarfing area.

[0020] The above processor is characterized in that it sets a plurality of unit bands including at least one layer, and determines the unit band according to the type of the defect.

[0021] The above processor is characterized in that it controls the scarfing interval of the scarfing robot in response to the moving speed of the scarfing robot, the temperature of the slab, and the steel grade of the slab.

[0022] The processor is characterized in that, after the work on the scarfing area is completed, if a defect is detected from the slab, it controls the scarfing robot by changing the layer.

[0023] The above processor is characterized in that, after the work on the scarfing area is completed, if a defect is detected from the slab, the arrangement of the layer of the scarfing area is changed for a new defect of the same type.

[0024] A hand scarfing control method according to one aspect of the present invention comprises: a step in which, when image data obtained by photographing the surface of a slab from a plurality of cameras is input, a processor analyzes the image data to detect a defect in the slab; a step in which the processor sets a scarfing area corresponding to the shape of the defect; a step in which the processor sets a layer for a scarfing operation in the scarfing area; and a step in which the processor controls a scarfing robot to perform scarfing layer by layer based on the scarfing area.

[0025] The step of setting the scarfing area includes: setting an initial area including the defect; setting the scarfing area having a larger area than the initial area in accordance with the size of the defect; setting a plurality of layers in accordance with the depth of the defect; and expanding the scarfing area in accordance with the number of layers. The step of setting the scarfing area includes: setting an initial area including the defect in accordance with the position, size, and depth of the defect; and setting the scarfing area to be expanded from the initial area in accordance with the operating distance of the scarfing robot and the scarfing thickness.

[0026] In the step of setting the layer, the processor is characterized in that it sets a plurality of layers by overlapping them in the scarfing area corresponding to the operating distance and scarfing thickness of the scarfing robot.

[0027] In the step of setting the layer, the processor is characterized in that it sets a plurality of layers so that they do not overlap in the scarfing area in response to the operating distance and scarfing thickness of the scarfing robot.

[0028] In the step of setting the layer, the processor is characterized in that it arranges the layer differently according to the length of the nozzle of the scarfing robot, the height of the nozzle, the angle of the nozzle, and the distance from the scarfing area.

[0029] In the step of setting the layer, the processor is characterized in that it sets a plurality of layers by overlapping them in the vertical direction of the slab corresponding to the thickness of the defect in the scarfing area.

[0030] The step of setting the layer further includes the step of setting a plurality of unit bands including at least one layer; and the step of determining one unit band according to the type of the defect.

[0031] In the step of controlling the scarfing robot, the processor is characterized in that it controls the scarfing interval of the scarfing robot in response to the moving speed of the scarfing robot, the temperature of the slab, and the steel grade of the slab.

[0032] After the step of controlling the scarfing robot, if a defect is detected from the slab, the step of changing the layer and controlling the scarfing robot again is further included.

[0033] After the step of controlling the above scarfing robot, if a defect is detected from the slab, the arrangement of the layer of the scarfing area is changed for a new defect of the same type.

[0034]

[0035] A hand scarfing control device and method according to one aspect of the present invention can effectively perform scarfing by setting multiple layers in a scarfing area according to the type of defect.

[0036] A hand scarfing control device and method according to one aspect of the present invention can effectively remove defects by setting scarfing areas in various patterns according to defects.

[0037] A hand scarfing control device and method according to one aspect of the present invention can accurately measure the location and size of a defect by monitoring a slab, and can effectively remove a residual defect by modifying the pattern when a residual defect occurs.

[0038]

[0039] FIG. 1 is a diagram schematically illustrating the configuration of a hand scarfing system according to one embodiment of the present invention.

[0040] FIG. 2 is a block diagram briefly illustrating the control configuration of a hand scarfing control device according to one embodiment of the present invention.

[0041] FIG. 3 is a diagram illustrating a scarfing area of ​​a hand scarfing control device according to one embodiment of the present invention.

[0042] FIG. 4 is an exemplary diagram illustrating a scarfing layer of a hand scarfing control device according to one embodiment of the present invention.

[0043] FIG. 5 is a diagram for reference in explaining a scarfing method for each defect location of a hand scarfing control device according to one embodiment of the present invention.

[0044] FIG. 6 is a diagram for reference in explaining a scarfing operation for removing surface defects of a hand scarfing control device according to one embodiment of the present invention.

[0045] FIG. 7 is a diagram for reference in explaining a scarfing operation for removing a side defect of a hand scarfing control device according to one embodiment of the present invention.

[0046] FIG. 8 is a diagram illustrating a scarfing interval of a hand scarfing control device according to one embodiment of the present invention.

[0047] FIG. 9 is a flowchart illustrating a control method of a hand scarfing control device according to one embodiment of the present invention.

[0048]

[0049] Hereinafter, the present invention will be described with reference to the attached drawings.

[0050] In this process, the thickness of lines and the sizes of components depicted in the drawings may be exaggerated for clarity and convenience. Furthermore, the terms described below are defined based on their functions within the present invention and may vary depending on the intent or custom of the user or operator. Therefore, the definitions of these terms should be based on the overall content of this specification.

[0051] FIG. 1 is a diagram schematically illustrating the configuration of a hand scarfing system according to one embodiment of the present invention.

[0052] As illustrated in FIG. 1, the hand scarfing system (10) may include a plurality of robot equipment (20) that performs scarfing work on a slab (40), a plurality of vision equipment (30) that photographs the slab (40), and a control device (not shown).

[0053] The vision equipment (30) moves and photographs the slab (40) to generate image data.

[0054] The vision equipment (30) includes multiple cameras and can capture the top and side surfaces of the slab (40).

[0055] The robot equipment (20) may include a hand scarfing robot (HSR).

[0056] The robot equipment (20) scarfs the surface of the slab (40) according to the control command of the control device. The robot equipment (20) includes a torch nozzle, and applies heat to the surface of the slab (40) where the defect is located, melts it, and then removes it.

[0057] The vision equipment (30) can re-photograph the slab (40) on which scarfing work has been completed.

[0058] The control device can monitor the slab (40) based on the image of the vision equipment (30) and detect defects. The control device calculates the shape (location, size, and depth) of the defect and sets the scarfing area accordingly.

[0059] The control device can set multiple layers in the scarfing area and control the robot equipment (20) to perform scarfing work for each layer. The control device can arrange the layers according to a predetermined pattern.

[0060] The control device can detect remaining defects based on the image data of the re-photographed slab, change the pattern for the scarfing area, reset the layer, and then control the robot equipment (20) to perform the scarfing operation again.

[0061] The robot equipment (20) and the vision equipment (30) can move in a predetermined direction along a single line and perform work on a slab (40). In addition, the robot equipment (20) and the vision equipment (30) can move to another line along the process line and perform work on another slab. The control device can control the movement speed of the vision equipment (30) and the robot equipment (20).

[0062] FIG. 2 is a block diagram briefly illustrating the control configuration of a hand scarfing control device according to one embodiment of the present invention.

[0063] As shown in FIG. 2, the control device (100) according to the present invention can detect a defect in a slab (40) by controlling the vision equipment (30) and remove the defect by controlling the robot equipment (20).

[0064] The control device (100) may include a memory (120), a communication unit (130), a sensor (140), an input / output unit (180), and a processor (110).

[0065] In addition, the control device (100) can control a plurality of cameras (160) included in the vision equipment (30) and a scarfing robot (170) included in the robot equipment (20).

[0066] The sensor (140) transmits measured sensor data to the processor (110).

[0067] The sensor (140) may include a temperature sensor, a speed sensor, and a distance sensor.

[0068] The sensor (140) can measure the temperature of the slab (40) and the movement speed of the robot equipment (20) during the scarfing operation. In addition, the sensor (140) can measure the distance between defects or the depth of the defects. In addition, the sensor (140) can measure the distance of the robot equipment (20) to the scarfing robot (170).

[0069] The input / output unit (180) may include at least one input means among a button, a switch, and a touchpad, and at least one output means among a speaker (not shown), a display (not shown), and an operation lamp (not shown).

[0070] The input / output unit (180) can receive commands related to process progress and output the process progress status. When a defect is detected, the input / output unit (180) can output information about the defect and information about whether the defect has been removed.

[0071] The input / output unit (180) can output at least one of a sound effect, a warning sound, and a voice guidance according to the control command of the processor (110) when an abnormality occurs during the process. In addition, the input / output unit (180) can output a warning message or a warning light.

[0072] The communication unit (130) communicates by including a wired or wireless communication module.

[0073] The communication unit (130) can receive data from the sensor (140) and communicate with the robot equipment (20) or vision equipment (30) according to the control command of the processor (110). In addition, the communication unit (130) can communicate with a separate process management server or an administrator's terminal.

[0074] The communication unit (130) can communicate using Wi-Fi, Ethernet, Bluetooth, mobile communication (5G, LTE, CDMA, GSM), short-range wireless communication, serial communication, parallel communication, power line communication, etc.

[0075] The memory (120) can store data regarding the robot equipment (20) and the vision equipment (30), data regarding the slab (40), sensor data, and image data, and can store at least one instruction to be executed by the processor (110).

[0076] The memory (120) can store defect data regarding the location, size, and depth of the defect. In addition, the memory (120) can store data regarding a scarfing area set in response to the defect data, data regarding a layer set in the scarfing area, and unit band data.

[0077] Additionally, the memory (120) can store data regarding at least one of a process control algorithm, a robot control algorithm, a scarfing control algorithm, a scarfing area setting algorithm, a layer setting algorithm, a pattern setting algorithm, an image analysis algorithm, and a defect detection algorithm.

[0078] Memory (120) may include non-volatile memory such as RAM (Random Access Memory), ROM, EEPROM (Electrically Erased Programmable ROM), flash memory, HDD, SSD, and SDS, and storage means.

[0079] The processor (110) may include at least one microprocessor and may operate based on data stored in the memory (120). That is, the processor (110) is connected to an electronic device or configuration including the memory (120) and may control the robot equipment (20) and the vision equipment (30) by executing at least one instruction stored in the memory (120).

[0080] The processor (110) controls the vision equipment (30) in response to the slab (40) and can detect a defect by analyzing image data captured from the camera (160). The processor (110) can detect the shape of the defect, i.e., the location of the defect, the size of the defect (width, length), and the depth of the defect.

[0081] The processor (110) can analyze image data regarding the upper and side surfaces of the slab (40) to detect defects located on the upper or side surfaces of the slab (40).

[0082] The processor (110) can set a scarfing area according to the type (location, size, and depth) of the defect. The processor (110) sets the scarfing area to a size that includes all defects.

[0083] The processor (110) can arrange multiple layers in a scarfing area according to a predetermined pattern. If the depth (thickness) of the defect is greater than the thickness of the layer, the processor (110) can set the multiple layers to overlap in the vertical direction of the slab (40).

[0084] The processor (110) can change the pattern for the layer depending on the type of defect.

[0085] The processor (110) sets the layer according to the size and thickness of the area that the scarfing robot (170) of the robot equipment (20) can work on at one time.

[0086] Meanwhile, the processor (110) can generate a unit band composed of at least one layer. The unit band has a shape and arrangement of multiple layers already determined, and when one unit band is selected, the layer can be automatically set.

[0087] The processor (110) can set a plurality of unit bands according to the type of defect detected and store them in the memory (120), and set a unit band corresponding to the detected defect.

[0088] If a residual defect is detected, the processor (110) can control the scarfing robot (170) to perform a scarfing operation by arranging layers in a pattern different from the existing scarfing operation.

[0089] The processor (110) can store data regarding layers and patterns according to the type of defect in the memory (120).

[0090] When a residual defect is detected as described above, the processor (110) may re-establish a band layer for the defect. The above process may be repeated until no residual defect is detected after scarfing with the pattern of the newly established unit band.

[0091] If no residual defect is detected, the processor (110) stores the unit band including the layer that was placed at the time when the residual defect was not detected in the memory (120), and can call and use it from the memory (120) when the same type of defect is detected in the future.

[0092] The processor (110) according to the present invention can increase the efficiency of scarfing operations in the long term and respond to the detection of various types of defects by updating the database of the memory (120) whenever a new type of defect is detected.

[0093] FIG. 3 is a diagram illustrating a scarfing area of ​​a hand scarfing control device according to one embodiment of the present invention.

[0094] As shown in FIG. 3, the processor (110) can analyze image data to detect defects (51, 52) in the slab (40).

[0095] The processor (110) can set an initial area (60) according to the type of defect and set a scarfing area (70) for the operation of the scarfing robot (170).

[0096] The processor (110) sets a first initial region (61) according to the shape of the first defect (51). In addition, the processor (110) can set a second initial region (62) according to the shape of the second defect (52).

[0097] The processor (110) can set the scarfing area (70) to an area wider than the size of the defect. It is preferable that the scarfing area (70) be set to be larger than the initial area, while including all defects in consideration of the operation of the scarfing robot (170).

[0098] The processor (110) can set a first scarfing area (71) that is longer than the first initial area (61). In addition, the processor (110) can set a second scarfing area (72) that is larger in width and height than the second initial area (62).

[0099] When a scarfing area (70) is set, the processor (110) can set a layer for the scarfing robot (170) to perform an operation in the area.

[0100] The processor (110) can set multiple layers depending on the size of the defect.

[0101] Additionally, the processor (110) can detect the depth of the defect, particularly the depth of the defect in the center of the scarfing area (70), and set multiple layers in the vertical direction.

[0102] For example, the processor (110) can set multiple layers in 1 mm units. 1 mm can be changed based on the thickness and operation interval of one scarfing cycle of the scarfing robot (170), for example.

[0103] The processor (110) can increase the number of layers arranged on the cross-section according to the size of the defect and increase the number of layers according to the thickness of the defect.

[0104] Meanwhile, the horizontal size of the scarfing area (70) can be determined in proportion to the depth of the defect detected by the processor and the number of layers placed.

[0105] As described above, the scarfing area (70) may be set to be larger than the initial area, but may include all defects in consideration of the operation of the scarfing robot (170). The extent to which the area is set to be larger may be determined in consideration of the depth of the defect.

[0106] The size of the scarfing area (70) can be readjusted as the number of layers increases in response to the depth of the defect. The layers included in the scarfing area (70) can be set in different shapes for each layer.

[0107] For example, the processor (110) may set a first initial region (61) according to the shape of the first defect (51), and then determine a first scarfing region (71) with an area as wide as a predetermined area based on this. Then, the processor may detect the depth of the defect, set a plurality of layers accordingly, and if a number of layers is set greater than a preset value, control may be made to further expand the area of ​​the predetermined first scarfing region (71).

[0108] FIG. 4 is an exemplary diagram illustrating a scarfing layer of a hand scarfing control device according to one embodiment of the present invention.

[0109] As shown in FIG. 4, for the third defect (53), the processor (110) can set a third initial area (63) and a third scarfing area (73).

[0110] The processor (110) can set multiple layers (81 to 88) for the operation of the scarfing robot (170) for the third scarfing area (73).

[0111] The processor (110) can set a first layer (81), a second layer (82), and a third layer (83) including a first initial region (63) for the third scarfing region (73).

[0112] The processor (110) can be arranged in overlapping layers.

[0113] The processor (110) may also set a fourth layer (84) for the third scarfing area (73).

[0114] Additionally, the processor (110) may additionally set a fourth layer (84) or a first layer (81) underneath depending on the depth of the defect.

[0115] The processor (110) may also set a fifth layer (85) whose length is increased compared to the third initial region (63).

[0116] Additionally, the processor (110) may be arranged so that the layers do not overlap.

[0117] The processor (110) can set up a sixth layer (86) and a seventh layer (87) that divide the third scarfing area (73) into two equal parts.

[0118] The processor (110) may set the sixth layer (86) and the seventh layer (87), and may also set the fifth layer (85) below so as to overlap vertically.

[0119] When a layer is set, the processor (110) controls the scarfing robot (170) to perform the scarfing operation. If a defect is detected even after the scarfing operation, the processor (110) can reset the layer and perform the scarfing operation again.

[0120] Additionally, the processor (110) can change the pattern for the layer for a new defect of the same type during the next scarfing operation.

[0121] The same type is when the shape (location, size, and depth) of the defect matches by a certain percentage or more.

[0122] For example, after performing a scarfing operation by setting the 6th layer (86) and the 7th layer (87), if a residual defect is detected, the layers can be set again to perform an additional scarfing operation.

[0123] Meanwhile, if a residual defect is detected after performing a scarfing operation, the processor (110) sets the pattern for the layers to be changed to the first layer (81), the second layer (82), and the third layer (83) for the same type of defect as the third defect (53), and performs the scarfing operation.

[0124] The scarfing robot (170) can perform scarfing work by moving in layers. The scarfing robot (170) can perform scarfing layer by layer according to a certain pattern.

[0125] The scarfing robot (170) can perform scarfing at equal intervals or can perform scarfing based on the Z-axis coordinate value.

[0126] FIG. 5 is a diagram for reference in explaining a scarfing method for each defect location of a hand scarfing control device according to one embodiment of the present invention.

[0127] The processor (110) can set multiple layers for the scarfing area as one unit band (block).

[0128] The processor (110) can set the unit band based on the temperature, steel type, nozzle distance, nozzle angle, and nozzle movement speed of the slab (40).

[0129] Since the processor (110) has a limit to the nozzle distance of the scarfing robot (170) in the case of a preheated slab, the processor (110) can control the scarfing robot (170) according to the vertical distance (height) from the surface of the slab (40), angle, temperature, gas flow rate, pressure, preheating time, movement speed of the scarfing robot (170), and movement pattern.

[0130] The processor (110) can classify the types of defects, distinguish between fine defects, coarse defects, end defects, and corner defects, and set unit bands of a designated type for each.

[0131] As shown in (a) of Fig. 5, the scarfing robot (170) can scarf the upper surface of the slab (40) to a depth d based on the set scarfing area (70) and layer pattern. At this time, the slab (40) is damaged from the upper surface toward the lower surface.

[0132] As shown in (b) of Fig. 5, the scarfing robot (170) can scarf from the side toward the inside of the slab to a depth d. At this time, the slab (40) is damaged from the side toward the inside in the longitudinal direction (horizontal direction) of the slab.

[0133] As shown in (c) of Fig. 5, the scarfing robot (170) can move in the vertical direction of the slab (40) and perform scarfing from the side to a depth d. The slab (40) experiences a vertical indentation from the side toward the inside.

[0134] FIG. 6 is a diagram for reference in explaining a scarfing operation for removing a surface defect of a hand scarfing control device according to one embodiment of the present invention, and FIG. 7 is a diagram for reference in explaining a scarfing operation for removing a side defect of a hand scarfing control device according to one embodiment of the present invention.

[0135] As illustrated in FIG. 6, the processor (110) can set either the first unit band (74) or the second unit band (75) or can set two unit bands to overlap each other in the vertical direction depending on the height (h) of the nozzle (171), the angle (Θ) of the nozzle, and the distance (d) between the nozzle and the unit band.

[0136] As illustrated in FIG. 7, the processor (101) can set the unit band (76) by considering the distance (L) from the nozzle (171) and the angles (Θ1, Θ2, Θ3) from the nozzle in order to scarf the corner when the defect is located at the corner.

[0137] The scarfing robot (170) can perform scarfing work by layer according to the set unit band.

[0138] FIG. 8 is a diagram illustrating a scarfing interval of a hand scarfing control device according to one embodiment of the present invention.

[0139] As illustrated in FIG. 8, the processor (110) can set the pattern of the scarfing robot (170). The processor (110) can control the scarfing of the scarfing robot (170) in a constant-velocity pattern as illustrated in FIG. 8 (a) in response to the moving speed of the robot equipment (20), the temperature of the slab (40), and the steel grade. At this time, the scarfing robot can perform scarfing at equal intervals at equal times.

[0140] Additionally, the processor (110) can perform scarfing by changing the Z-axis coordinate value of the slab as shown in (b) of Fig. 8. The processor (110) can change the Z-axis coordinate value of the end of the scarfing robot (170) to reduce the step at the edge.

[0141] The processor (110) can set the scarfing interval of the scarfing robot based on the same interval or the Z-axis coordinate value.

[0142] FIG. 9 is a flowchart illustrating a control method of a hand scarfing control device according to one embodiment of the present invention.

[0143] As shown in Fig. 9, the control device (100) detects and removes defects in the slab (40) based on the robot equipment (20) and vision equipment (30) of the system (10).

[0144] The processor (110) scans the slab (40) through a vision device (30) including multiple cameras (160) (S310).

[0145] The processor (110) analyzes image data captured by the camera of the vision equipment (30) to detect defects (S320). The processor (110) can detect surface defects located on the upper surface of the slab (40) or defects located on the side.

[0146] The processor (110) can measure the location, size, and depth of the defect (S330).

[0147] The processor (110) sets a scarfing area according to the type (location, size, and depth) of the defect, layers multiple layers on it, and then configures a unit band (S340).

[0148] The processor (110) sets an area including a unit band as a scarfing area (S350).

[0149] After setting the scarfing area, the processor (110) can also configure a unit band by arranging layers.

[0150] The processor (110) transmits data regarding the set scarfing area and the layer configuration of the unit band to the scarfing robot (170) to control its operation (S360).

[0151] The scarfing robot (170) can perform scarfing work on a designated scarfing area according to the settings.

[0152] The processor (110) monitors the slab (40) through the camera of the vision equipment (30) (S370).

[0153] When a residual defect is detected, the processor (110) can reset the layer pattern for the scarfing area or the pattern for the scarfing interval and perform the scarfing operation accordingly (S390).

[0154] Meanwhile, the processor (110) may reset the band unit to remove the remaining defect (S340).

[0155] If no residual defect is detected, the processor (110) can control the scarfing operation to be performed for the next defect. If no residual defect is detected, the processor (110) can newly store the band unit that was reset at the time when no residual defect was detected in the memory (120) so that it can be called up when the same type of defect is found in the future.

[0156] Additionally, the processor (110) can control the robot equipment (20) and the vision equipment (30) to move the line and perform defect detection and scarfing work on the next slab (40) (S400).

[0157] Therefore, the hand scarfing control device and method according to one aspect of the present invention can effectively remove defects by setting a unit band by arranging a plurality of layers according to the type (location, size, and depth) of the defect and performing scarfing work in layers.

[0158] In addition, the hand scarfing control device and method according to one aspect of the present invention can improve the quality of the slab by removing defects.

[0159] While the present invention has been described with reference to the embodiments illustrated in the drawings, these are merely exemplary, and those skilled in the art will understand that various modifications and equivalent embodiments are possible. Therefore, the true technical protection scope of the present invention should be defined by the following claims.

Claims

1. Multiple cameras that capture the surface of the slab and generate image data; A processor that analyzes the image data to detect a defect in the slab, sets a scarfing area corresponding to the shape of the defect, and sets multiple layers for scarfing work; and A hand scarfing control device comprising a scarfing robot that performs scarfing layer by layer based on the above scarfing area.

2. In paragraph 1, A hand scarfing control device characterized in that the processor sets an initial area including the defect, sets the scarfing area having a larger area than the initial area in accordance with the size of the defect, sets the plurality of layers in accordance with the depth of the defect, and expands the scarfing area in accordance with the plurality of layers.

3. In paragraph 1, A hand scarfing control device characterized in that the processor sets an initial area including the defect in response to the location, size, and depth of the defect, and sets the scarfing area extended from the initial area in accordance with the operating distance and scarfing thickness of the scarfing robot.

4. In paragraph 1, A hand scarfing control device characterized in that the processor sets a plurality of layers to be overlapped in the scarfing area corresponding to the movement distance and scarfing thickness of the scarfing robot.

5. In paragraph 1, A hand scarfing control device characterized in that the processor sets a plurality of layers not to overlap in the scarfing area in response to the movement distance and scarfing thickness of the scarfing robot.

6. In paragraph 1, A hand scarfing control device characterized in that the processor arranges the layers differently according to the length of the nozzle of the scarfing robot, the height of the nozzle, the angle of the nozzle, and the distance from the scarfing area.

7. In paragraph 1, A hand scarfing control device characterized in that the processor sets a plurality of layers to be overlapped in the vertical direction of the slab corresponding to the thickness of the defect in the scarfing area.

8. In paragraph 1, The above processor sets a plurality of unit bands including at least one layer, A hand scarfing control device characterized in that it determines a unit band according to the form of the above defect.

9. In paragraph 1, A hand scarfing control device characterized in that the processor controls the scarfing interval of the scarfing robot in response to the moving speed of the scarfing robot, the temperature of the slab, and the steel grade of the slab.

10. In paragraph 1, A hand scarfing control device characterized in that the processor controls the scarfing robot by changing the layer when a defect is detected from the slab after the work on the scarfing area is completed.

11. In paragraph 1, A hand scarfing control device characterized in that, after the above processor completes work on the above scarfing area, if a defect is detected from the above slab, the arrangement of the layer of the above scarfing area is changed for a new defect of the same type.

12. A step in which, when image data of the surface of a slab is input from multiple cameras, a processor analyzes the image data to detect defects in the slab; A step in which the processor sets a scarfing area corresponding to the type of the defect; The step of the above processor setting a layer for a scarfing operation in the above scarfing area; and A hand scarfing control method comprising: a step of controlling a scarfing robot so that the processor performs scarfing layer by layer based on the scarfing area;

Images