Management system

Abstract

This management system includes: a processing tool for processing an object; a sensor (a transmitting device 110 and a receiving device 120) for identifying a processing range in which the processing tool is processing the object; a control device 80 for deriving a cumulative result of the processing range, which changes as the processing tool moves, on the basis of the processing range identified by the sensor; and a reporting device 200 for reporting information relating to the derived cumulative result of the processing range.

Description

Management system

[0001] This disclosure relates to a management system. This application claims the benefit of priority based on Japanese Patent Application No. 2025-019718 filed on February 10, 2025, the content of which is incorporated herein by reference.

[0002] Conventionally, in order to improve the wear resistance, fatigue strength, stress corrosion cracking resistance, etc. of an object, a process called shot peening is performed in which spherical shot materials are collided with the surface of the object at high speed. For example, Patent Document 1 discloses performing a shot peening process on an object by projecting shot materials from a nozzle held by an operator onto the object.

[0003] International Publication No. 2019 / 008901

[0004] By the way, when processing an object by an operator as in the technique described in Patent Document 1, there is no means to grasp the progress, so there may be variations in the quality of the processing.

[0005] An object of the present disclosure is to suppress variations in the quality of processing.

[0006] To solve the above problems, the management system of the present disclosure includes a processing tool for processing an object, a sensor for specifying a processing range in which the processing tool processes the object, and a control device for deriving a cumulative result of the processing range that changes with the movement of the processing tool based on the processing range specified by the sensor, and a notification device for notifying information regarding the derived cumulative result of the processing range.

[0007] The control device may derive a progress degree indicating a ratio until the processing amount applied to the object by performing the processing reaches a specified value as a cumulative result of the processing range, and the notification device may notify the progress degree.

[0008] The control device may derive a progress degree indicating a ratio of the processed processing range to the entire processing range as a cumulative result of the processing range, and the notification device may notify the progress degree.

[0009] The control device may control the driving mode of the processing tool based on the cumulative result of the processing range.

[0010] The sensor includes a first transmitting device provided on the processing tool that transmits information capable of identifying the position of the processing tool, a second transmitting device provided on the object that transmits information capable of identifying the position of the object, and a receiving device that receives the information transmitted from the first transmitting device and the information transmitted from the second transmitting device. The control device may derive the relative position and orientation of the object and the processing tool based on the information received by the receiving device, and derive the cumulative result of the processing range based on the derived position and orientation.

[0011] The processing tool is a nozzle that projects shot material onto the object, the control device derives the cumulative result of the compressive residual stress of the object as the cumulative result of the processing area, and the notification device may notify information regarding the cumulative result of the processing area based on the derived compressive residual stress.

[0012] According to this disclosure, it becomes possible to suppress variations in processing quality.

[0013] Figure 1 is a schematic block diagram showing the configuration of the management system according to the first embodiment. Figure 2 is a schematic block diagram of the control device according to the first embodiment. Figure 3 is a schematic diagram showing the configuration of the detection device according to the first embodiment. Figure 4 is a block diagram showing an example of the functional configuration of the control device according to the first embodiment. Figure 5 is a schematic diagram showing the planned processing range where shot peening processing is planned to be performed on the object according to the first embodiment. Figure 6 is a schematic diagram for explaining an example of element division information according to the first embodiment. Figure 7 is a distribution diagram showing a first example of the distribution of compressive residual stress applied to the surface of the object according to the first embodiment. Figure 8 is a distribution diagram showing a second example of the distribution of compressive residual stress applied to the surface of the object according to the first embodiment. Figure 9 is a schematic diagram showing an example of compressive residual stress for each centroid position of each "surface element" derived by the control unit according to the first embodiment. Figure 10 is a schematic diagram showing an example of an image of information regarding the cumulative result of compressive residual stress according to the first embodiment. Figure 11 is a schematic diagram showing the configuration of the detection device according to the second embodiment. Figure 12 is a schematic diagram showing the configuration of the detection device according to the third embodiment.

[0014] Embodiments of this disclosure will be described below with reference to the attached drawings. The dimensions, materials, and other specific numerical values ​​shown in the embodiments are merely examples for the purpose of facilitating understanding and do not limit this disclosure unless otherwise specified. In this specification and drawings, elements having substantially the same function or configuration are denoted by the same reference numerals to avoid redundant explanations, and elements not directly related to this disclosure are omitted from the illustrations.

[0015] (First Embodiment) Figure 1 is a schematic block diagram showing the configuration of the management system 1 according to the first embodiment. As shown in Figure 1, the management system 1 includes an object 10, a dehumidifier 20, an air receiver 30, a blast tank 40, a blast hose 50, a nozzle 60, a projection device 70, and a control device 80.

[0016] Object 10 is an object whose surface is treated by shot peening. In this embodiment, object 10 is a metal product. Examples of object 10 include liquid ammonia storage tanks made of low-temperature steel, refrigerated ammonia storage tanks, nuclear power plants and their associated equipment, and steel bridges.

[0017] The dehumidifier 20 is a device that absorbs moisture. In this embodiment, the dehumidifier 20 is connected to a compressor (not shown) via piping. The compressor (not shown) supplies compressed air to the dehumidifier 20. A desiccant is provided inside the dehumidifier 20. The dehumidifier 20 absorbs moisture from the compressed air supplied from the compressor (not shown) using the desiccant.

[0018] The air receiver 30 is a tank for storing air. In this embodiment, the air receiver 30 is connected to the dehumidifier 20 through piping. Compressed air that has been dehumidified by the dehumidifier 20 is supplied to the air receiver 30. Hereinafter, the compressed air that has been dehumidified by the dehumidifier 20 will simply be referred to as post-dehumidification compressed air. The air receiver 30 stores the post-dehumidification compressed air supplied from the dehumidifier 20.

[0019] The blast tank 40 is a tank for storing shot material S. The blast tank 40 is connected to the air receiver 30 via piping. Dehumidified compressed air is supplied to the blast tank 40. Shot material S is supplied to the blast tank 40 by a supply device (not shown) or by the operator H. Shot material S is, for example, spherical particles of ferrous, non-ferrous, glass, ceramic, or resin-based materials.

[0020] The blast tank 40 mixes the dehydrated compressed air supplied from the blast tank 40 with the shot material S. Hereinafter, the mixed dehydrated compressed air and shot material S will be collectively referred to as the mixed fluid F. A blast hose 50 is connected to the blast tank 40. The blast tank 40 supplies the mixed fluid F to the blast hose 50.

[0021] One end of the blast hose 50 is connected to the blast tank 40, and the other end of the blast hose 50 is connected to a nozzle 60 so that a mixed fluid F can flow through it. The nozzle 60 is an example of a processing tool for processing an object 10. The nozzle 60 has a projection port for projecting the mixed fluid F. The nozzle 60 projects the mixed fluid F containing shot material S onto the object 10. In the first embodiment, the nozzle 60 is a gripping member that is held by the hand of the operator H. With the projection port of the nozzle 60 held by the operator H facing the object 10, the nozzle 60 can project the mixed fluid F from the projection port toward the object 10.

[0022] The projection device 70 is provided on the nozzle 60. The projection device 70 can, for example, adjust the opening degree of the projection port of the nozzle 60. Specifically, the projection device 70 can adjust the opening degree of the projection port of the nozzle 60 to a fully open state or a fully closed state. In other words, the projection device 70 can open and close the projection port of the nozzle 60. Furthermore, by changing the opening degree of the projection port of the nozzle 60 between a fully open state and a fully closed state, the projection device 70 can adjust the flow rate of the mixed fluid F projected from the projection port. In addition, the projection device 70 can adjust the pressure of the mixed fluid F projected from the projection port of the nozzle 60. Specifically, the projection device 70 is provided with a pressure regulator (not shown). The pressure regulator is, for example, a regulator. By rotating the pressure adjustment handle of the regulator, the pressure of the mixed fluid F can be lowered or raised. The pressure regulator does not have to be provided on the projection device 70, but may be provided upstream of the projection device 70. For example, the pressure regulator may be provided on the blast hose 50, the blast tank 40, the air receiver 30, or the dehumidifier 20. In the first embodiment, an example of adjusting the pressure of the mixed fluid F is described, but instead of adjusting the pressure of the mixed fluid F, the flow velocity of the mixed fluid F may be adjusted.

[0023] The control device 80 is electrically connected to the projection device 70. The control device 80 controls the driving mode of the nozzle 60. For example, the control device 80 controls the driving mode of the nozzle 60 so that the mixed fluid F is projected from the projection port of the nozzle 60. The control device 80 also controls the driving mode of the nozzle 60 so that the projection of the mixed fluid F from the projection port of the nozzle 60 is stopped. Furthermore, the control device 80 controls the flow rate and pressure of the mixed fluid F projected from the projection port of the nozzle 60.

[0024] Figure 2 is a schematic block diagram of a control device 80 according to the first embodiment. As shown in Figure 2, the control device 80 includes an I / F 81, a storage device 82, a system bus 83, one or more processors 84, and one or more memories 85. The I / F 81 is an interface for transmitting signals with the detection device 100, the projection device 70, and the notification device 200.

[0025] Figure 3 is a schematic diagram showing the configuration of the detection device 100 according to the first embodiment. As shown in Figure 3, the detection device 100 includes a transmitter 110, a receiver 120, and a pressure sensor 130. The transmitter 110 and the receiver 120 function as sensors that identify the processing range on the object 10 that the nozzle 60 processes. The transmitter 110 includes a first transmitter 112, a second transmitter 114, and a third transmitter 116. The first transmitter 112, the second transmitter 114, and the third transmitter 116 are provided on the nozzle 60. The first transmitter 112, the second transmitter 114, and the third transmitter 116 emit, for example, infrared light.

[0026] The receiving device 120 receives signals transmitted from the transmitting device 110. The receiving device 120 is, for example, an infrared camera. The receiving device 120 receives infrared signals transmitted from the first transmitter 112, the second transmitter 114, and the third transmitter 116.

[0027] In the first embodiment, the first transmitter 112, the second transmitter 114, and the third transmitter 116 are mounted on the nozzle 60 at a distance from each other. A specific position on the nozzle 60, the first position on which the first transmitter 112 is mounted, the second position on which the second transmitter 114 is mounted, and the third position on which the third transmitter 116 is mounted have a predetermined positional relationship. The specific position on the nozzle 60 is, for example, the center position of the nozzle 60 or the center position of the projection opening of the nozzle 60. Information regarding the positional relationship between the specific position on the nozzle 60, the first position of the first transmitter 112, the second position of the second transmitter 114, and the third position of the third transmitter 116 is pre-stored in the storage device 82 shown in Figure 2. The receiving device 120 determines the positions of the first transmitter 112, the second transmitter 114, and the third transmitter 116 by triangulation. Furthermore, the receiving device 120 identifies a specific position of the nozzle 60 based on positional relationship information stored in the storage device 82. Then, the receiving device 120 identifies the orientation of the nozzle 60 based on the identified positions of the first transmitter 112, the second transmitter 114, and the third transmitter 116.

[0028] For example, the receiving device 120 determines the angle between the horizontal plane and the plane passing through the positions of the identified first transmitter 112, second transmitter 114, and third transmitter 116. Then, the receiving device 120 determines the orientation of the nozzle 60 from the determined angle.

[0029] In this way, by the receiving device 120 identifying the position and orientation of the nozzle 60, it becomes possible to identify the processing range in which the nozzle 60 will perform processing on the target object 10.

[0030] The pressure sensor 130 is installed in the blast hose 50 and determines the pressure inside the blast hose 50. In other words, the pressure sensor 130 determines the projection pressure of the mixed fluid F projected from the projection port of the nozzle 60.

[0031] Returning to Figure 2, the storage device 82 consists of RAM, flash memory, HDD, etc., and holds various information necessary for processing by the processor 84. The system bus 83 is a transmission path that electrically connects the I / F 81, storage device 82, processor 84, and memory 85, and transmits data between them.

[0032] The processor 84 includes, for example, a CPU (Central Processing Unit). The memory 85 includes, for example, ROM (Read Only Memory) and RAM (Random Access Memory). ROM is a memory element that stores programs and arithmetic parameters used by the CPU. RAM is a memory element that temporarily stores data such as variables and parameters used in processing performed by the CPU.

[0033] Figure 4 is a block diagram showing an example of the functional configuration of the control device 80 according to the first embodiment. For example, as shown in Figure 4, the control device 80 includes an acquisition unit 80a and a control unit 80b.

[0034] Furthermore, the various processes performed by the acquisition unit 80a and the control unit 80b can be executed by the processor 84 in cooperation with the program stored in the memory 85. Specifically, the various processes are executed by the processor 84 executing the program stored in the memory 85.

[0035] The acquisition unit 80a acquires information transmitted from the detection device 100. Specifically, the acquisition unit 80a acquires information regarding the position of the nozzle 60, which is identified by the receiving device 120. The acquisition unit 80a also acquires information regarding the attitude of the nozzle 60, which is identified by the receiving device 120. Furthermore, the acquisition unit 80a acquires information regarding the projection pressure of the mixed fluid F, which is identified by the pressure sensor 130.

[0036] The control unit 80b controls the projection device 70 and the notification device 200 based on the information acquired by the acquisition unit 80a. An example of the control processing performed by the control unit 80b will be described in detail below.

[0037] The control unit 80b acquires shape information, construction range information, and element division information of the object 10 that are pre-stored in the storage device 82. The shape information of the object 10 is information relating to the shape of the object 10, and is, for example, "surface information" in CAD software.

[0038] The work area information is information regarding the processing area to be treated on the object 10. In the first embodiment, it is information regarding the processing area to be treated on the object 10 with shot peening.

[0039] Figure 5 is a schematic diagram showing the planned processing area R of the object 10 to be subjected to shot peening treatment according to the first embodiment. In Figure 5, the object 10 is formed integrally by joining multiple plate materials by welding. As shown in Figure 5, the planned processing area R includes the weld line 12 of the object 10. The weld line 12 is the bold black line portion in Figure 5, and the planned processing area R is the hatched portion in Figure 5. This information indicating the planned processing area R is pre-stored in the storage device 82 as information regarding the processing area to be subjected to shot peening treatment on the object 10.

[0040] The element division information is information about the "surface elements" provided on the surface of the object 10, based on the "surface information". The "surface element" information includes the element number and the coordinates of the element nodes.

[0041] FIG. 6 is a schematic diagram for explaining an example of element division information according to the first embodiment. In the example shown in FIG. 6, the "surface element" is a rectangular element, and each element is assigned numbers "element number 1", "element number 2", "element number 3", and "element number 4".

[0042] Also, for "element number 1", coordinates "P1", "P2", "P3", and "P4" are associated as element node coordinates. For "element number 2", coordinates "P3", "P4", "P5", and "P6" are associated as element node coordinates. For "element number 3", coordinates "P2", "P4", "P7", and "P8" are associated as element node coordinates. For "element number 4", coordinates "P4", "P6", "P8", and "P9" are associated as element node coordinates.

[0043] The control unit 80b can specify the coordinates of the position of the surface of the object 10 shown in FIG. 5 and the coordinates of the position of the processing planned range R based on the shape information, construction range information, and element division information of the object 10.

[0044] As shown in FIG. 1, when the mixed fluid F is projected from the projection port of the nozzle 60 and the shot material S contained in the mixed fluid F collides with the surface of the object 10, compressive residual stress is applied to the surface of the object 10.

[0045] FIG. 7 is a distribution diagram showing a first example of the distribution of compressive residual stress applied to the surface of the object 10 according to the first embodiment. FIG. 8 is a distribution diagram showing a second example of the distribution of compressive residual stress applied to the surface of the object 10 according to the first embodiment. FIG. 7 shows a state where the central axis of the nozzle 60 coincides with the direction orthogonal to the surface of the object 10. FIG. 8 shows a state where the central axis of the nozzle 60 is inclined by an angle θ from the direction orthogonal to the surface of the object 10.

[0046] The shot material S projected from the projection port of the nozzle 60 moves radially while spreading as it moves away from the projection port of the nozzle 60 within the projection range of the projection angle α with respect to the central axis of the nozzle 60. Therefore, for example, the collision angle at which the shot material S projected along the central axis of the nozzle 60 collides with the surface of the object 10 is different from the collision angle at which the shot material S projected in the direction of the projection angle α with respect to the central axis of the nozzle 60 collides with the surface of the object 10. The magnitude of the compressive residual stress applied to the surface of the object 10 when the shot material S collides with the surface of the object 10 varies depending on the projection distance, density, and collision angle. The collision angle can be obtained from the angle θ of the nozzle 60 and the projection angle α.

[0047] In the example shown in FIG. 7, the central part of the projection range has a shorter projection distance, a higher density of the shot material S, that is, a higher pressure, and a larger collision angle of 90 degrees compared to the peripheral part of the projection range. Therefore, the magnitude of the compressive residual stress in the central part of the projection range is larger than the magnitude of the compressive residual stress in the peripheral part of the projection range.

[0048] InIn the left side in the drawing of the projection range has a shorter projection distance, a higher density of the shot material S, that is, a higher pressure, and a larger collision angle compared to the right side in the drawing of the projection range in the example shown in FIG. 8. Therefore, the magnitude of the compressive residual stress in the left side in the drawing of the projection range is larger than the magnitude of the compressive residual stress in the right side in the drawing of the projection range.

[0049] When the shot peening processing is executed, the control unit 80b derives the compressive residual stress applied to the surface of the object 10. Specifically, the control unit 80b derives the compressive residual stress applied to the surface of the object 10 based on the element division information, the position and orientation of the nozzle 60, the projection pressure, and the information on the projection time.

[0050] Here, the control unit 80b derives the opening and closing time of the nozzle 60 by the projection device 70 as the projection time, and can use the derived projection time information as information related to projection time. Furthermore, the control unit 80b can derive the nozzle angle θ, projection angle α, and projection distance from the element division information and the position and orientation information of the nozzle 60. The projection distance may be obtained, for example, by a laser displacement meter attached to the nozzle 60. The angle θ may be obtained, for example, by a tilt sensor attached to the nozzle 60.

[0051] The control unit 80b derives the compressive residual stress for each center of gravity position of each "surface element" of the object 10 based on the collision angle, projection distance, projection pressure, and projection time of the shot material S with respect to the center of gravity position of each "surface element". Here, the storage device 82 has in advance stored information regarding the type of shot material S and information regarding the projection angle α of the nozzle 60.

[0052] Furthermore, the memory device 82 pre-stores a map that associates the type of shot material S, the nozzle angle θ, the projection angle α, the projection distance, the projection pressure, and the compressive residual stress. This map is, for example, created based on data obtained in advance through experiments. This map also uniquely derives the compressive residual stress for the type of shot material S, the nozzle angle θ, the projection angle α, the projection distance, and the projection pressure. Using this map, it is possible to derive the compressive residual stress applied to the surface of the object 10 per unit time when shot peening is performed using the shot material S, the nozzle angle θ, the projection angle α, the projection distance, and the projection pressure. The unit time is, for example, 1 second. Note that the map may also include the projection time in addition to the above parameters.

[0053] The control unit 80b refers to a map stored in the storage device 82 and derives the compressive residual stress for each centroid position of each "surface element" based on information such as the type of shot material S, the nozzle angle θ, projection angle α, projection distance, projection pressure, and projection time. This allows the magnitude and distribution of the compressive residual stress applied to the surface of the object 10 to be obtained.

[0054] Figure 9 is a schematic diagram showing an example of compressive residual stress at each centroid position of each "surface element," derived by the control unit 80b according to the first embodiment. In the example shown in Figure 9, the denser the hatching, the greater the magnitude of the compressive residual stress. Therefore, in Figure 9, the closer to white, the smaller the magnitude of the compressive residual stress, and the closer to black, the larger the magnitude of the compressive residual stress.

[0055] The control unit 80b derives the cumulative result of compressive residual stress applied to the surface of the object 10 when multiple shot peening processes are performed on a predetermined area of ​​the surface of the object 10. For example, if two shot peening processes are performed on a predetermined area of ​​the surface of the object 10, the control unit 80b adds the value of the compressive residual stress derived during the second shot peening process to the value of the compressive residual stress derived during the first shot peening process.

[0056] However, the control unit 80b may add to the value of compressive residual stress derived during the second shot peening process a weighting coefficient multiplied by the value of compressive residual stress derived during the first shot peening process.

[0057] In the first embodiment, the control unit 80b derives a progress rate indicating the percentage of time until the compressive residual stress applied to the object 10 by the shot peening process reaches a specified value, as a result of the cumulative compressive residual stress applied to the surface of the object 10. However, it is not limited to this, and the control unit 80b may also derive a coverage rate indicating the percentage of the area where dents have occurred due to the shots relative to the total surface area to be measured, as a result of the cumulative compressive residual stress applied to the surface of the object 10.

[0058] The control unit 80b transmits information regarding the cumulative result of compressive residual stress applied to the surface of the derived object 10 to the notification device 200.

[0059] The notification device 200 notifies information regarding the cumulative result of compressive residual stress acquired from the control unit 80b. The notification device 200 is, for example, a display device that displays an image of the information regarding the cumulative result of compressive residual stress on its screen. The notification device 200 may also be a wearable device that can be worn by the worker H. Specifically, the notification device 200 may be, for example, AR goggles, VR goggles, smart glasses, etc.

[0060] However, the notification device 200 is not limited to this, and may also be an acoustic device that generates sound. In that case, the notification device 200 may, for example, notify worker H of the cumulative result of compressive residual stress by voice. Below, an example in which the notification device 200 is a display device will be described.

[0061] Figure 10 is a schematic diagram showing an example of image I, which represents information regarding the cumulative result of compressive residual stress according to the first embodiment. Image I in Figure 10 includes the object 10, the planned processing area R, and the processing area Ra. The processing area Ra is the area of ​​the surface of the object 10 after the shot peening process has been performed.

[0062] As shown in Figure 10, Image I shows the progress of the shot peening process, indicated by hatching superimposed on the processing area Ra. The progress of the processing area Ra shown in Image I increases as the density of the hatching increases. This allows the worker H to easily confirm and understand the processing status of the shot peening process. Because the processing status can be easily confirmed and understood in this way, the worker H can evenly perform the shot peening process on areas of the surface of the object 10 where the progress is less than 100%, so that the progress reaches 100%. As a result, even when the worker H performs the shot peening process on the object 10, it is possible to suppress variations in the quality of the shot peening process.

[0063] In the first embodiment, an example was described in which the notification device 200 notifies the progress, which indicates the percentage of the processing amount due to the shot peening process that has reached a specified value. However, the invention is not limited to this, and the notification device 200 may also notify the progress, which indicates the percentage of the processed area that has been shot peened relative to the total processing area that is scheduled to be shot peened on the surface of the object 10.

[0064] Furthermore, the control unit 80b controls the driving mode of the nozzle 60 based on the cumulative result of the processing range Ra. Specifically, if the progress of the processing range Ra targeted for shot peening in the direction the nozzle 60 is facing at that time is 100%, the control unit 80b controls the opening of the nozzle 60's projection port to a fully closed state, so that the shot material S is not projected onto the processing range Ra. This prevents shot peening from being performed on the processing range Ra where the progress has reached 100%, and prevents the surface of the object 10 from being over-processed.

[0065] Furthermore, if the tilt angle θ of the nozzle 60 shown in Figure 8 exceeds the reference angle, the control unit 80b controls the opening of the nozzle 60's projection port to a fully closed state, preventing the shot material S from being projected onto the surface of the object 10. This prevents shot peening from being performed on areas of the object 10's surface that are outside the planned processing area R.

[0066] Furthermore, the control unit 80b controls the projection pressure to be reduced when the projection distance on the central axis of the nozzle 60, as shown in Figure 7, is less than the reference distance. Specifically, the control unit 80b controls the projection pressure to be reduced as the projection distance on the central axis of the nozzle 60 decreases relative to the reference distance. On the other hand, the control unit 80b controls the projection pressure to be increased when the projection distance on the central axis of the nozzle 60 is greater than or equal to the reference distance. Specifically, the control unit 80b controls the projection pressure to be increased as the projection distance on the central axis of the nozzle 60 increases relative to the reference distance. As a result, a constant compressive residual stress can be applied to the surface of the object 10 regardless of changes in the distance between the operator H and the surface of the object 10, thereby suppressing variations in the quality of the shot peening process.

[0067] In the first embodiment, an example was described in which shot peening was performed as the treatment to be performed on the object 10. However, the process is not limited to this, and the treatment to be performed on the object 10 may be a processing treatment such as painting, cutting, or thermal spraying, or an inspection treatment such as non-destructive testing.

[0068] If the treatment performed on the object 10 is a painting treatment, a painting nozzle, for example, is used as the processing tool for performing the treatment on the object 10. If the treatment performed on the object 10 is a cutting treatment, a grinder, for example, is used as the processing tool for performing the treatment on the object 10. If the treatment performed on the object 10 is a thermal spraying treatment, a thermal spray nozzle, for example, is used as the processing tool for performing the treatment on the object 10. If the treatment performed on the object 10 is an inspection treatment, a probe, for example, is used as the processing tool for performing the treatment on the object 10.

[0069] Furthermore, if the process performed on the object 10 is a painting process, the control unit 80b derives a progress rate as an accumulated result of the processing range Ra, indicating the percentage of time until the amount of paint applied to the object 10 as a processing amount reaches a specified value. Furthermore, if the process performed on the object 10 is a cutting process, the control unit 80b derives a progress rate as an accumulated result of the processing range Ra, indicating the percentage of time until the amount of cutting applied to the object 10 as a processing amount reaches a specified value. Furthermore, if the process performed on the object 10 is a thermal spraying process, the control unit 80b derives a progress rate as an accumulated result of the processing range Ra, indicating the percentage of time until the amount of thermal spray applied to the object 10 as a processing amount reaches a specified value.

[0070] Furthermore, if the process performed on the object 10 is an inspection process, the control unit 80b derives a progress rate as the cumulative result of the processing range Ra, which represents the percentage of the inspected processing range where the inspection process has been performed relative to the total processing range of the non-destructive inspection.

[0071] As described above, according to the first embodiment, the management system 1 has a processing tool for processing the object 10. The management system 1 also has a detection device 100 that identifies the processing range Ra that the processing tool applies to the object 10. The management system 1 also has a control device 80 that derives the cumulative result of the processing range Ra that changes as the processing tool moves, based on the processing range Ra identified by the detection device 100. The management system 1 also has a notification device 200 that notifies information regarding the cumulative result of the derived processing range Ra. As a result, the worker H can easily confirm and understand the processing status of the processing he / she is performing, or the inspection status of the inspection processing. As a result, even when the processing is performed on the object 10 by the worker H, variations in the quality of the processing can be suppressed.

[0072] Furthermore, the control device 80 derives a progress rate, which indicates the percentage of the processing amount applied to the object 10 by processing that will reach a specified value, as an accumulated result within the processing range Ra. The notification device 200 also notifies the progress rate. This allows the operator H to confirm and understand the degree of progress of the processing within the current processing range Ra.

[0073] Furthermore, the control device 80 derives a progress rate, which represents the ratio of the processed processing area Ra to the planned processing area R as the total processing area, as an accumulated result of the processing area Ra. The notification device 200 also notifies the progress rate. This allows the operator H to confirm and understand the degree of progress in all processing steps of the machining process and all inspection steps of the non-destructive testing.

[0074] Furthermore, the control device 80 controls the driving mode of the processing tool based on the cumulative result of the processing range Ra. This prevents, for example, further processing from being performed on the processing range Ra when the progress has reached 100%, thereby preventing the object 10 from being over-processed.

[0075] The processing tool is a nozzle 60 that projects shot material S onto the object 10. The control device 80 derives the cumulative result of the compressive residual stress of the object 10 as the cumulative result of the processing range Ra. The notification device 200 notifies information regarding the cumulative result of the processing range Ra based on the derived compressive residual stress. This allows the operator H to easily check and understand the status of the shot peening process they are performing.

[0076] (Second Embodiment) Figure 11 is a schematic diagram showing the configuration of the detection device 100A according to the second embodiment. Components that are substantially the same as those in the management system 1 of the first embodiment are denoted by the same reference numerals and their descriptions are omitted.

[0077] The management system 1A of the second embodiment includes a structure 300. The structure 300 is, for example, a scaffold for worker H to perform work at a height. The structure 300 includes a first plate member 310, a second plate member 320, a third plate member 330, and a plurality of support columns 340.

[0078] The first plate member 310 is positioned parallel to the horizontal plane and is positioned vertically above the second plate member 320 and the third plate member 330 in the vertical direction. The second plate member 320 is positioned parallel to the horizontal plane and is positioned vertically between the first plate member 310 and the third plate member 330 in the vertical direction. The third plate member 330 is positioned parallel to the horizontal plane and is positioned vertically below the first plate member 310 and the second plate member 320 in the vertical direction.

[0079] Multiple support columns 340 are arranged to extend vertically and support the first plate member 310, the second plate member 320, and the third plate member 330. The structure 300 is placed on the ground or floor surface.

[0080] In the example shown in Figure 11, worker H is standing on the second plate member 320 and performing shot peening on the surface of the object 10 using the nozzle 60A. A structure 300 is arranged around worker H. Therefore, in the second embodiment, the receiving device 120 is installed behind worker H and the structure 300. Consequently, the receiving device 120 receives the signal transmitted from the transmitting device 110A behind worker H.

[0081] At this time, worker H is holding the nozzle 60A in front of him and performing the treatment on the surface of the object 10. Therefore, even if the nozzle 60A is equipped with a first transmitter 112, a second transmitter 114, and a third transmitter 116 as shown in Figure 3, the signals transmitted from these transmitters 112, 114, and 116 may be blocked by worker H's body and may not reach the receiving device 120. In other words, the receiving device 120 may not be able to determine the position and orientation of the nozzle 60A.

[0082] Therefore, a stock-type part is attached to the nozzle 60A in the second embodiment. Worker H performs the work holding the stock-type part attached to the nozzle 60A under his arm. A transmitting device 110A capable of transmitting information regarding the position of the nozzle 60A is provided at the rear end of the stock-type part. In addition to information regarding the position of the nozzle 60A, the transmitting device 110A in the second embodiment may also be capable of transmitting information regarding the orientation of the nozzle 60A. In other words, the transmitting device 110A in the second embodiment is configured to transmit at least information regarding the position of the nozzle 60A. When the stock-type part is held under worker H's arm, the transmitting device 110A is located behind worker H's back.

[0083] The transmitter 110A emits, for example, infrared light. The transmitter 110A is positioned within the field of view of the receiver 120. The receiver 120 is placed on the ground or floor. Because the transmitter 110A is positioned behind the back of the worker H, the receiver 120 is able to receive the infrared signal emitted from the transmitter 110A more easily than if the transmitter 110A were positioned in front of the back of the worker H.

[0084] In the second embodiment, a tilt sensor (not shown) is provided on the nozzle 60A to which the stock-type part is attached. The tilt sensor is configured to communicate with a transmitter 110A. The transmitter 110A acquires information regarding the orientation of the nozzle 60A from the tilt sensor and transmits information regarding the position and orientation of the nozzle 60A to the receiver 120. This makes it possible for the receiver 120 to determine the position and orientation of the nozzle 60A even when it is positioned behind the worker H and the structure 300.

[0085] As described above, according to the second embodiment, even when worker H is performing work at height, the receiving device 120 can receive information regarding the position and orientation of the nozzle 60. As a result, similar to the first embodiment, worker H can easily confirm and understand the processing status of the processing he is performing, or the inspection status of the inspection process. Consequently, even when worker H is performing processing on the object 10, variations in processing quality can be suppressed.

[0086] (Third Embodiment) Figure 12 is a schematic diagram showing the configuration of the detection device 100B according to the third embodiment. Components that are substantially the same as those of the management system 1 of the first embodiment and the management system 1A of the second embodiment are denoted by the same reference numerals and their descriptions are omitted.

[0087] The management system 1B of the third embodiment includes a structure 300. Since the structure 300 is the same as the structure 300 of the second embodiment, a detailed description is omitted.

[0088] In the example shown in Figure 12, worker H stands on the second plate member 320 and performs shot peening on the surface of the object 10 using the nozzle 60A. In the third embodiment, a stock-type part is attached to the nozzle 60A, similar to the second embodiment. Worker H performs the work holding the stock-type part attached to the nozzle 60A under his arm. A transmitter 110A is provided at the rear end of the stock-type part. Hereinafter, the transmitter 110A may be referred to as the "first transmitter". When the stock-type part is held under worker H's arm, the transmitter 110A is located behind worker H's back.

[0089] In the third embodiment, a transmitting device 110B is provided on the surface of the object 10. Hereinafter, the transmitting device 110B may be referred to as the "second transmitting device." The transmitting device 110B has the same configuration as the transmitting device 110A. Therefore, the transmitting device 110B is configured to transmit information regarding the position of the object 10. In addition to the information regarding the position of the object 10, the transmitting device 110B may also be capable of transmitting information regarding the orientation of the object 10. In other words, the transmitting device 110B of the third embodiment is configured to transmit at least information regarding the position of the object 10. The transmitting device 110B is provided on the surface of the object 10 at a position that fits within the field of view of the receiving device 120. The transmitting device 110A is also provided at a position that fits within the field of view of the receiving device 120.

[0090] Transmitters 110A and 110B emit, for example, infrared light. The receiver 120 receives signals emitted from transmitters 110A and 110B. Because transmitter 110A is located behind the back of worker H, the receiver 120 can more easily receive the infrared signal emitted from transmitter 110A compared to when transmitter 110A is located in front of the back of worker H.

[0091] In the third embodiment, similar to the second embodiment, a tilt sensor (not shown) is provided on the nozzle 60A to which the stock-type part is attached. The tilt sensor is configured to communicate with the transmitter 110A. The transmitter 110A acquires information regarding the orientation of the nozzle 60A from the tilt sensor and transmits information regarding the position and orientation of the nozzle 60A to the receiver 120.

[0092] In the third embodiment, the receiving device 120 is attached to the structure 300. Specifically, the receiving device 120 is fixed by a fixing member 400 provided on the first plate member 310. Here, for example, when worker H moves on the second plate member 320, the structure 300 vibrates due to the movement of worker H, and this vibration may be transmitted to the receiving device 120 via the fixing member 400.

[0093] In that case, since the receiving device 120 also vibrates due to the vibration of the structure 300, there is a risk that the accuracy of the position and orientation of the nozzle 60A identified by the receiving device 120 will decrease. Therefore, in the third embodiment, a transmitting device 110B is provided on the surface of the object 10, in addition to the transmitting device 110A attached to the nozzle 60A.

[0094] This allows the relative position and orientation of the object 10 and the nozzle 60A to be derived based on the information received by the receiving device 120. Furthermore, changes in the position and orientation of the structure 300 relative to the object 10 can be derived. Based on these derived results, deviations in the position and orientation of the nozzle 60A due to vibrations of the structure 300 can be corrected. As a result, a decrease in the accuracy of the position and orientation of the nozzle 60A identified by the receiving device 120 can be suppressed.

[0095] The displacement of the nozzle 60A due to vibration of the structure 300 can be corrected, for example, by the following formula: (Position and orientation of the nozzle 60A in the coordinate system of the object 10) = (Position and orientation of the nozzle 60A in the coordinate system of the structure 300) - (Change in the position and orientation of the structure 300 relative to the coordinate system of the object 10 due to vibration).

[0096] As described above, according to the third embodiment, the detection device 100B includes a first transmitting device provided on the processing tool that transmits information capable of identifying the position of the processing tool. The detection device 100B also includes a second transmitting device provided on the object 10 that transmits information capable of identifying the position of the object 10. The detection device 100B also includes a receiving device 120 that receives information transmitted from the first transmitting device and information transmitted from the second transmitting device. The control device 80 derives the relative position and orientation of the object 10 and the processing tool based on the information received by the receiving device 120. The control device 80 also derives the cumulative result of the processing range Ra based on the derived position and orientation. As a result, even if there is a change in the environment in which the worker H works, the position and orientation of the nozzle 60A can be accurately determined. As a result, the progress can be accurately determined.

[0097] While embodiments of this disclosure have been described above with reference to the attached drawings, it goes without saying that this disclosure is not limited to such embodiments. It will be obvious to those skilled in the art that various modifications or alterations can be conceived within the scope of the claims, and these will naturally also fall within the technical scope of this disclosure.

[0098] 1 Management System 10 Target Object 60 Nozzle (Processing Tool) 60A Nozzle (Processing Tool) 80 Control Device 100 Detection Device 110 Transmitting Device 110A Transmitting Device (First Transmitting Device) 110B Transmitting Device (Second Transmitting Device) 120 Receiving Device 200 Notification Device

Claims

1. A management system comprising: a processing tool for processing an object; a sensor for identifying the processing range in which the processing tool processes the object; a control device for deriving the cumulative result of the processing range that changes as the processing tool moves, based on the processing range identified by the sensor; and a notification device for notifying information regarding the derived cumulative result of the processing range.

2. The control device derives a progress rate indicating the percentage of time until the amount of processing applied to the object by performing the processing reaches a specified value, as an cumulative result of the processing range, and the notification device notifies the progress rate, the management system according to claim 1.

3. The control device derives a progress rate indicating the ratio of the processing range to the total processing range as an cumulative result of the processing range, and the notification device notifies the progress rate, as described in claim 1.

4. The control device controls the driving mode of the processing tool based on the cumulative result of the processing range, as described in claim 1.

5. The sensor includes a first transmitting device provided on the processing tool and transmitting information that can identify the position of the processing tool; a second transmitting device provided on the object and transmitting information that can identify the position of the object; and a receiving device that receives information transmitted from the first transmitting device and information transmitted from the second transmitting device, wherein the control device derives the relative position and orientation of the object and the processing tool based on the information received by the receiving device, and derives the cumulative result of the processing range based on the derived position and orientation, the management system according to claim 1.

6. The management system according to any one of claims 1 to 5, wherein the processing tool is a nozzle for projecting shot material onto the object, the control device derives the cumulative result of compressive residual stress of the object as the cumulative result of the processing range, and the notification device notifies information regarding the cumulative result of the processing range based on the derived compressive residual stress.

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