JP2019209461A - Repair supporting system and repair supporting method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a repair support system capable of accurately and efficiently carrying out a repair work of a machine element. A repair support system according to an embodiment includes a repair target data creating unit that creates three-dimensional coordinate data that specifies a shape of a mechanical element to be repaired by three-dimensional coordinate values of a point cloud, and the repair target data. The 3D coordinate data created by the creation unit is compared with the reference 3D coordinate data that specifies the shape of a normal machine element by the 3D coordinate values of the point cloud, and the shape of the machine element to be repaired and the normal machine element The difference distribution map creation unit that creates the shape difference distribution map that expresses the difference with the shape of the machine element on the three-dimensional image of the machine element, and the shape difference distribution map and the machine element to be refurbished at a position where they can be visually compared. And a display output unit for displaying the shape difference distribution map. [Selection diagram] Figure 1

Description

  Embodiments described herein relate generally to a repair support system and a repair support method.

  In a hydraulic machine such as a water wheel, erosion may occur on a blade surface of a blade of an impeller (runner) due to a shock wave caused by cavitation. When such erosion has occurred, refurbishment with a hand grinder is usually performed for blades with mild erosion. Such repair work is performed by, for example, creating a template in which a concave portion that matches the blade surface of a blade that is not eroded is formed by cutting a plate material, for example, and erosion occurs while referring to the concave portion of the template. This may be done by grinding the blade surface of the blade. In this case, in general, the template is applied to the blade surface of the blade where erosion occurs, and the blade surface is ground so that the blade surface coincides with the concave portion of the template or is substantially parallel. The blade surface is a pressure surface and a suction surface located between the front edge and the rear edge of the blade.

  When the repair work is performed by the hand grinder as described above, the operator recognizes the correction amount by comparing the template and the blade to be repaired, and performs grinding of the blade based on the recognized correction amount. In this operation, since the worker recognizes the correction amount by visual observation, an error may occur between the desired correction amount and the correction amount recognized by the worker. Various techniques for accurately specifying the correction amount of the three-dimensional shape have been proposed as related to such a problem. As this type of technique, for example, a technique for deriving a mold shape correction amount from a measurement result of a three-dimensional shape of a mold when a press mold is corrected has been conventionally known.

Japanese Patent No. 4390727

  The blade refurbishment work by the hand grinder may not be properly performed because the finish may vary depending on the operator. As a factor of this problem, it is difficult to accurately position the template at a desired position of the blade to be repaired due to the unclear setting standard of the template for the blade to be repaired.

  That is, the template is created corresponding to the blade surface shape of the normal blade height position corresponding to the height position of the erosion portion of the blade to be repaired. After the template is created in this way, the template is positioned with respect to the eroded portion of the blade to be repaired. However, since this operation is performed manually, it is difficult to perform it accurately. Further, since the template is a plate material and the shape of the blade surface is defined two-dimensionally in the blade cross section, the shape of the portion other than the blade cross section cannot be clearly defined. Such a template configuration also makes it difficult to accurately position the template. Due to the difficulty in positioning the template, it is considered that a situation in which the repair work cannot be properly performed occurs.

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

  On the other hand, it is difficult to accurately grasp the grinding amount by the hand grinder during the repair work. Therefore, since it is necessary for the operator to check the grinding amount by frequently applying the template to the blades to be repaired, improvement in work efficiency is also desired.

  The problems related to the renovation work described above can occur in the same way when the impeller blades (swing blades, stationary blades) of a steam turbine, the impeller blades of a centrifugal pump, and the like are repaired by a hand grinder. Furthermore, it is a problem that may occur in various machine elements that are expected to be repaired.

  The present invention has been made in view of the above circumstances, and provides a repair support system and a repair support method capable of accurately and efficiently performing repair work on machine elements such as impeller blades. With the goal.

  A repair support system according to an embodiment is a repair support system for supporting repair work of a machine element. The system includes a repair target data creation unit that creates three-dimensional coordinate data for specifying the shape of a machine element to be repaired by a three-dimensional coordinate value of a point cloud, and the three-dimensional data created by the repair target data creation unit. The coordinate data is compared with the reference three-dimensional coordinate data that specifies the shape of the normal machine element by the three-dimensional coordinate value of the point cloud, and the difference between the shape of the machine element to be repaired and the shape of the normal machine element is determined. A difference distribution diagram creating unit for creating a shape difference distribution diagram expressed on a three-dimensional image of a machine element, and the shape difference at a position where the shape difference distribution diagram and the machine element to be repaired can be visually compared with each other. A display output unit for displaying a distribution map.

  A repair support method according to an embodiment is a repair support method for supporting repair work of a machine element. In this method, the shape of the machine element to be repaired is created by a repair target data creating step for creating three-dimensional coordinate data for specifying the three-dimensional coordinate value of the point cloud, and the three-dimensional data created in the repair target data creating step. The coordinate data is compared with the reference three-dimensional coordinate data that specifies the shape of the normal machine element by the three-dimensional coordinate value of the point cloud, and the difference between the shape of the machine element to be repaired and the shape of the normal machine element is determined. A difference distribution diagram creating step for creating a shape difference distribution diagram expressed on a three-dimensional image of a machine element, and the shape difference at a position where the shape difference distribution diagram and the machine element to be repaired can be visually compared with each other. And a display step for displaying a distribution map.

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

It is a figure which shows the repair assistance system which concerns on 1st Embodiment. It is a block diagram which shows the function structure of the repair assistance system which concerns on 1st Embodiment. It is a conceptual diagram which shows the procedure at the time of creating the shape difference distribution map expressing the difference of the shape of the blade surface of a blade | wing with erosion and the shape of the blade surface of a normal blade | wing. (A) is a figure which shows an example of the mode of the repair assistance by the repair assistance system which concerns on 1st Embodiment, (B) is a figure which shows another example. It is a figure which shows the repair assistance system which concerns on 2nd Embodiment. It is a figure which shows the repair assistance system which concerns on 3rd Embodiment.

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

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

  The runner 1 holds a plurality of blades 2 arranged around the rotation axis between the crown 3 and the band 4. In the runner 1 shown in FIG. 1, damaged portions 5 due to erosion are generated on the blade surfaces of some of the blades 2. The blade surface means a pressure surface and a suction surface located between the front edge and the rear edge of the blade 2.

  Although the system S1 according to the present embodiment is used as a system for supporting the repair work of the runner 1 of the hydraulic machine, the system S1 can also be used in support of repair of an impeller different from the runner 1. For example, the system S1 can be suitably used when repairing the impeller blades of a steam turbine or the impeller blades of a centrifugal pump. The system S1 can also be used to support repair of mechanical elements different from the blades. The same applies to other embodiments described later. In addition, a machine element means the components and members which comprise a machine or another structure.

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

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

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

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

  The data input unit 11 is electrically connected to the three-dimensional scanner 20, takes in the three-dimensional coordinate data created by the three-dimensional scanner 20, and outputs it to the difference distribution diagram creation unit 12. Further, the data input unit 11 can take in various information from the outside. The data input unit 11 may capture, for example, reference 3D coordinate data described later to be compared with the 3D coordinate data from the outside.

  The difference distribution diagram creation unit 12 compares the three-dimensional coordinate data created by the three-dimensional scanner 20 with the reference three-dimensional coordinate data that specifies the shape of the blade surface of a normal blade by the three-dimensional coordinate value of the point group. In addition, a shape difference distribution diagram is created to express the difference between these data on a three-dimensional image of the runner. More specifically, the shape difference distribution diagram shows the difference between the three-dimensional coordinate data created by the three-dimensional scanner 20 and the reference three-dimensional coordinate data as the blade corresponding to the damaged blade 2 (strictly speaking, This is an image expressed on the three-dimensional image of the runner including a three-dimensional image of a normal blade corresponding to the damaged blade 2.

  The reference three-dimensional coordinate data used by the difference distribution diagram creating unit 12 may be three-dimensional coordinate data on the shape of another blade 2 that is not damaged in the runner 1 or damage on the damaged blade 2. The three-dimensional coordinate data before the occurrence of the blade 2 or the design data of the blade 2 created before manufacturing the blade 2 may be used, or an ideal modification generated based on any one or combination of these data. It may be three-dimensional coordinate data indicating the rear blade shape. When using the three-dimensional coordinate data or design data of the blade 2 before the damage occurs as the reference three-dimensional coordinate data, these data may be stored in advance. In addition, when using the three-dimensional coordinate data indicating the ideal modified blade shape as the reference three-dimensional coordinate data, a dedicated program for generating such data may be stored in advance.

  FIG. 3 is a conceptual diagram showing a procedure when the difference distribution diagram creating unit 12 creates a shape difference distribution diagram. In FIG. 3, symbol A indicates the three-dimensional coordinate data for specifying the shape of the blade surface of the damaged blade 2 by the three-dimensional coordinate value of the point group, and symbol B indicates the shape of the blade surface of a normal blade. Is a reference three-dimensional coordinate data that identifies the three-dimensional coordinate value of the point group. A symbol M indicates a shape difference distribution diagram created by the difference distribution diagram creation unit 12 based on a difference (shape difference) between these data. In the shape difference distribution diagram M shown in FIG. 3, the difference between the shape of the damaged blade 2 (three-dimensional coordinate data A) and the shape of a normal blade (reference three-dimensional coordinate data B) is expressed by shading. Has been.

  In FIG. 3, only the three-dimensional image of the blade corresponding to the damaged blade 2 is shown as the shape difference distribution diagram M, and the shape difference is expressed in this, but the shape in the present embodiment In the difference distribution diagram M, the shape difference is actually represented on the three-dimensional image of the entire runner including the three-dimensional image of the blade corresponding to the damaged blade 2. However, such a shape difference distribution map M is not particularly limited, and for example, the shape difference may be expressed only in the three-dimensional image of the blade corresponding to the damaged blade 2 or a plurality of blades. A shape difference may be expressed on a three-dimensional image of a part of the runner including

  The shape difference distribution map M created as described above is input to the display output unit 13, and the display output unit 13 visually checks the shape difference distribution map M and the blade surface of the actual blade 2 that is damaged. Thus, the shape difference distribution map M is displayed at a position that can be compared. Specifically, in the present embodiment, the display output unit 13 can project the shape difference distribution map M via the projector 30 and can display the shape difference distribution map M on the display of the information processing apparatus 10. Yes.

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

  When the display output unit 13 displays the shape difference distribution map M as shown in FIGS. 4A and 4B, for example, the operator W refers to the shape difference distribution map M so that the damage is actually caused. It becomes easy to recognize the position and degree of the damaged portion 5 of the blade 2 that is generated. Even when the display output unit 13 displays the shape difference distribution map M on the display of the information processing apparatus 10, the operator W can recognize the position and degree of the damaged portion 5 of the blade 2. However, as shown in FIGS. 4A and 4B, the operator W is more intuitive when the shape difference distribution map M is displayed at the same size and height position as the actual runner 1 in general. It becomes easier to recognize the damaged portion 5. Further, the shape difference distribution map M may be displayed on the head mounted display. In this case, a transmissive head-mounted display that can visually recognize the outside through the display portion and can display an image such as a shape difference distribution diagram M on the display portion is used. Even in this case, the display portion is so arranged that the actual damaged portion 5 of the runner 1 that is visible through the display portion of the head-mounted display and the corresponding position of the damaged portion 5 on the shape difference distribution map M overlap each other. By displaying the shape difference distribution map M, the operator W can easily recognize the damaged portion 5 intuitively.

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

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

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

  According to such a configuration, the work efficiency of the repair work can be improved, and the repair work can be easily performed accurately.

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

  The system S2 shown in FIG. 5 includes a three-dimensional position and posture of the hand grinder G used in the repair work of the blades 2 in addition to the information processing apparatus 10, the three-dimensional scanner 20, and the projector 30 described in the first embodiment. And a notification unit 50 for notifying the worker W of the progress of the repair work by the hand grinder G.

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

  Further, the notification unit 50 determines the contact position between the hand grinder G and the blade surface of the damaged blade 2 based on the three-dimensional position and posture of the hand grinder G detected by the tool state detection unit 40. A three-dimensional coordinate value specified as a three-dimensional coordinate value on FIG. D and corresponding to the contact position between the hand grinder G and the blade surface of the damaged blade 2, and a reference three-dimensional value corresponding to the three-dimensional coordinate value The operator is notified of the degree of difference from the reference coordinate value on the coordinate data.

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

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

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

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

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

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

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

  In the system S3 according to the present embodiment described above, the hand grinder G and the articulated arm 60 are connected, and the contact position between the hand grinder G and the blade surface of the damaged blade 2 is a shape difference distribution diagram. When the hand grinder G reaches a position where the difference between the three-dimensional coordinate value on the M and the reference coordinate value on the reference three-dimensional coordinate data corresponding to the three-dimensional coordinate value is eliminated, The three-dimensional degree of freedom of the articulated arm 60 is constrained. Thereby, it can suppress that the blade | wing 2 of repair object is shaved by the hand grinder G more than necessary.

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

  As mentioned above, although each embodiment was described, each said embodiment was shown as an example and is not intending limiting the range of invention. The novel embodiment can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the spirit of the invention. This embodiment and its modifications are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

  For example, in each of the above-described embodiments, the example in which the repair work of the damaged blade is supported by each system according to this embodiment has been described. However, each system according to this embodiment has a shape immediately after manufacturing. It can also be suitably used when repairing a machine element having an abnormality such as an error.

S1, S2, S3 ... repair support system, 1 ... runner 1 ... vane, 3 ... crown, 4 ... band, 5 ... damaged part, 10 ... information processing device, 11 ... data input unit, 12 ... difference distribution diagram creation unit, DESCRIPTION OF SYMBOLS 13 ... Display output part, 20 ... Three-dimensional scanner, 30 ... Projector, 40 ... Tool state detection part, 41 ... Target marker, 42 ... Laser tracker, 50 ... Notification part, 51 ... Notification information generation part, 52 ... Speaker, 60 ... articulated arm, 70 ... motion control unit, A ... three-dimensional coordinate data, B ... reference three-dimensional coordinate data, M ... shape difference distribution diagram, W ... worker, G ... hand grinder

Claims (7)

A repair support system for supporting repair work of machine elements,
A repair target data creation unit for creating three-dimensional coordinate data for specifying the shape of the machine element to be repaired by the three-dimensional coordinate value of the point cloud;
The three-dimensional coordinate data created by the modification target data creation unit is compared with reference three-dimensional coordinate data that specifies the shape of a normal machine element by the three-dimensional coordinate value of a point cloud, and the machine element of the modification target A difference distribution diagram creating unit for creating a shape difference distribution diagram expressing a difference between the shape and the shape of the normal machine element on a three-dimensional image of the machine element;
A repair support system comprising: a display output unit that displays the shape difference distribution map at a position where the shape difference distribution map and the machine element to be repaired can be visually compared.   The display output unit displays the shape difference distribution map via a projector so that an actual machine element to be repaired and a three-dimensional image of a corresponding machine element on the shape difference distribution map overlap each other. The repair support system according to claim 1. The repair target data creation unit creates the three-dimensional coordinate data continuously or intermittently,
The difference distribution diagram creating unit sequentially creates the shape difference distribution diagram according to the three-dimensional coordinate data sequentially created by the modification target data creating unit,
The display output unit sequentially displays the shape difference distribution diagrams sequentially created by the difference distribution diagram creation unit,
The repair support according to claim 1 or 2, wherein an operator can check the progress of the repair work based on the shape difference distribution map that is sequentially updated during the repair work of the machine element to be repaired. system. A tool state detection unit for detecting a three-dimensional position and posture of a hand grinder used in the repair work of the machine element;
Based on the three-dimensional position and orientation of the hand grinder detected by the tool state detector, the contact position between the hand grinder and the machine element to be repaired is specified as a three-dimensional coordinate value on the shape difference distribution map. A notification unit for notifying an operator of a degree of difference between the three-dimensional coordinate value and a reference coordinate value on the reference three-dimensional coordinate data corresponding to the three-dimensional coordinate value. The repair support system according to any one of 1 to 3.   The notification unit has different notifications depending on the degree of difference between the three-dimensional coordinate value corresponding to the contact position and the reference coordinate value on the reference three-dimensional coordinate data corresponding to the three-dimensional coordinate value. The repair support system according to claim 4, which emits a sound. An articulated arm connected to a hand grinder for use in the repair work of the machine element;
An operation control unit for controlling the operation of the articulated arm,
The motion control unit is configured to determine the contact position between the hand grinder and the machine element to be repaired based on the three-dimensional position and posture of the hand grinder detected from the three-dimensional position of the articulated arm. The hand grinder reaches the position where there is no difference between the three-dimensional coordinate value and the reference coordinate value on the reference three-dimensional coordinate data corresponding to the three-dimensional coordinate value. The repair support system according to any one of claims 1 to 3, wherein the three-dimensional degree of freedom of the multi-joint arm is constrained. A repair support method for supporting repair work of a machine element,
A modification target data creation step for creating three-dimensional coordinate data for specifying the shape of the machine element to be modified by the three-dimensional coordinate value of the point cloud;
The three-dimensional coordinate data created in the repair target data creation step is compared with reference three-dimensional coordinate data that specifies the shape of a normal machine element by the three-dimensional coordinate value of a point cloud, and the machine target of the repair target A difference distribution diagram creating step of creating a shape difference distribution diagram expressing a difference between the shape and the shape of the normal machine element on a three-dimensional image of the machine element;
A repair support method comprising: a display step of displaying the shape difference distribution diagram at a position where the shape difference distribution diagram and the machine element to be repaired can be visually compared.