JP2003269945A - Self-propelled wall thickness measuring apparatus and position identification method using the same - Google Patents

Abstract

(57) [Problem] To provide a self-propelled wall thickness measuring apparatus which can obtain sufficient position identification accuracy in thickness measurement. A suction moving mechanism (8) that moves on a wall surface such as a plane, a curved surface, and a spherical surface, an ultrasonic plate thickness measuring means (2) that measures the thickness of the wall surface, Marking means 5 for performing marking; relative position detecting means 6 for detecting the relative positional relationship between the position reference on the wall surface and the suction moving mechanism 8; and movement amount detection for detecting the movement amount of the suction movement mechanism 8 Since the wall thickness self-propelled thickness measuring device 1 is equipped with the means 7, sufficient position identification accuracy can be obtained in the thickness measurement.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a wall surface self-propelled plate thickness measuring apparatus for measuring the plate thickness of a wall surface constituent member while moving on a wall surface such as a flat surface, a curved surface or a spherical surface, and a position by this plate thickness measuring apparatus. It relates to an identification method.

[0002]

2. Description of the Related Art FIG. 5 is a conceptual view of a suppression chamber (hereinafter abbreviated as S / C) of a conventional boiling water reactor, showing a MARK-I reactor as an example. As shown in the figure, S / C 101 is a hollow annular steel structure located in the lower part of the containment vessel 103, and the center diameter of the annular ring is 25 m.
The strength and the diameter of the vertical section are about 8 m, and water 104 is stored inside the hollow ring. When a large amount of water vapor leaks from the reactor pressure vessel 102 into the reactor containment vessel 103, it has the function of condensing it with water 104 and lowering the pressure inside the reactor containment vessel 103.

Since the S / C 101 is made of steel, its inner and outer surfaces are coated for anticorrosion, but corrosion may occur on the inner surface in contact with the water 104. Therefore, it is necessary to regularly inspect and confirm that the corroded portion has a plate thickness that can maintain the required strength. As a method of inspection,
Conventionally, a method of draining water and visually inspecting it and a method of inspecting it underwater by a diver have been performed.

[0004]

As an S / C inspection method, the visual inspection method is not efficient because it takes time for water treatment, clad removal, scaffold assembly, etc. There is a problem that it is difficult to implement because some plants have rust preventive agents added.

As a method for solving this, ultrasonic plate thickness measurement accepted as a substitute for visual inspection is applied, and S / C
It is conceivable to perform a plate thickness inspection from the outer surface of the. here,
If a wall surface self-propelled plate thickness measuring device equipped with an ultrasonic plate thickness measuring device is installed in the suction moving mechanism that moves on the wall surface while adsorbing to the wall surface, scaffolding assembly etc. necessary for inspection will not be required,
Work can be done efficiently.

When such a wall surface self-propelled plate thickness measuring device is used, the wall surface self-propelled plate thickness measurement is performed in order to discriminate between the measured region and the unmeasured region and to periodically re-inspect the corroded portion found. It is necessary to identify the position on the wall surface of the device with sufficient accuracy. However, the target surface of the wall self-propelled plate thickness measuring device has a large area and is a curved surface, and there is not enough space around the wall because the wall of the reactor building is close, and there are obstacles near the wall. The visibility is poor because it is present, and the accessibility is high for workers because it is located at a high place.

Due to such conditions, it is difficult to apply a commonly used method using an external sensor using laser, ultrasonic waves, electromagnetic waves, etc., or a position identification method using a triangulation method using a camera or the like. Also in the method using an internal sensor such as wheel rotation detection or a gyro, a movement error (lateral deviation) particularly in the traveling direction and the vertical direction becomes a problem due to the size of the target surface. It is also difficult to mark the position reference on the S / C in advance and use it as a guide because of poor accessibility.

The present invention has been made in view of the above situation, and an object thereof is to provide a wall surface self-propelled plate thickness measuring device which can obtain sufficient position identification accuracy in S / C plate thickness measurement. . Another object of the present invention is to provide a position identification method using a wall surface self-propelled plate thickness measuring device which has a high accuracy in identifying a measurement position in S / C plate thickness measurement.

[0009]

According to the invention of a wall surface self-propelled plate thickness measuring apparatus as set forth in claim 1, a suction moving mechanism for moving on a wall surface, and this suction moving mechanism measures the plate thickness of the wall surface. Ultrasonic plate thickness measuring means, marking means for marking on the wall surface, relative position detecting means for detecting a relative positional relationship between the position reference on the wall surface and the suction moving mechanism, and movement of the suction moving mechanism A moving amount detecting means for detecting the amount is installed.

According to a second aspect of the present invention, there is provided a position identifying method for a wall surface self-propelled plate thickness measuring apparatus, which comprises a reference line on a wall serving as a position reference, or a mark on the wall surface whose distance from the reference line is known. The distance to the ultrasonic plate thickness measuring device is measured by the relative position detecting means, and the ultrasonic plate thickness measuring device is moved while being steered by the line trace means so that the distance becomes constant, and further the position reference generating means. According to the above, a mark serving as a new position reference is marked on the wall surface with the reference line or the mark as a reference.

According to a third aspect of the present invention, there is provided a position identification method using the wall surface self-propelled plate thickness measuring apparatus according to the second aspect,
It is characterized in that the reference line is a weld line of a wall surface constituting member.

According to a fourth aspect of the present invention, there is provided a position identifying method using the wall surface self-propelled plate thickness measuring apparatus according to the second aspect,
The relative position detection means is a camera whose position on the wall surface self-propelled plate thickness measuring device is known, and the image processing means recognizes and recognizes the display position of the reference line or the mark in the image of the camera. The relative position in the wall parallel direction between the reference line or the mark and the camera is detected from the displayed position.

According to a fifth aspect of the present invention, there is provided a position identifying method using the wall surface self-propelled plate thickness measuring apparatus according to the second aspect,
The line tracing means keeps the distance and posture of the wall surface self-propelled plate thickness measuring device constant with respect to the reference line or the mark, and the wall surface while keeping the distance between the marking means and the reference line or the mark constant. It is characterized by marking a mark on the top.

According to a sixth aspect of the present invention, there is provided a position identifying method using the wall surface self-propelled plate thickness measuring device according to the second aspect,
The reference line is a weld line of a wall surface constituent member, the relative position detection means is a plurality of eddy current flaw detection sensors whose position on the wall surface self-propelled plate thickness measuring device is known, and in each of the eddy current flaw detection sensors It is characterized in that the relative position of the wall surface self-propelled plate thickness measuring device and the welding line in the direction parallel to the wall surface is detected depending on whether or not the welding line is detected.

According to a seventh aspect of the present invention, there is provided a position identifying method using the wall surface self-propelled plate thickness measuring device according to the second aspect,
The position in the direction parallel to the reference line is identified based on the amount of movement from the movement origin whose position on the wall surface obtained by the movement distance detecting means is known.

The invention according to claim 8 is the wall surface self-propelled plate thickness measuring apparatus according to claim 1, wherein the wall surface self-propelled plate thickness measuring apparatus according to claim 1 is arranged along a reference line on the wall surface. A second suction moving mechanism for moving on the wall surface, the wall surface self-propelled plate thickness measuring means, a distance measuring means for measuring the distance to the second suction moving mechanism, and a constant distance. Further, there is provided steering means for steering the wall surface self-propelled plate thickness measuring means.

The invention according to claim 9 is the wall surface self-propelled plate thickness measuring device according to claim 8, wherein the distance measuring means is
It is a rangefinder that measures the propagation time of a sound wave to obtain the distance.

[0018]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a configuration diagram showing the concept of a wall surface self-propelled plate thickness measuring device according to a first embodiment (corresponding to claim 1 to claim 7) of the present invention.

As shown in the drawing, the wall surface self-propelled plate thickness measuring apparatus 1 according to the embodiment of the present invention includes a suction moving mechanism 8, an ultrasonic plate thickness measuring means 2 mounted on the suction moving mechanism 8 and a marking. Means 5, relative position detecting means 6, and moving distance detecting means 7
It consists of and. Further, the plate thickness measuring probe (not shown) of the ultrasonic plate thickness measuring means 2 is configured to be capable of scanning in the direction shown in the drawing. It is possible to simultaneously measure the area. The marking means 5 has a function of marking a predetermined position on the outer surface of the S / C with ink or the like, and this function can be realized by a mechanism principle that is generally used such as an inkjet method and a laser marker method. The camera used as the relative position detecting means 6 is
A CCD camera or the like can be used, and the moving distance detecting means 7 detects the moving distance from the moving origin.
It can be realized by detecting the rotation amount of.

The attracting / moving mechanism 8 is composed of a plurality of drive wheels 3, a permanent magnet 4 and a frame 9.
By the action of the above, it is adsorbed on the S / C, and it can move freely on the S / C by the rotation operation of the drive wheel 3. The drive wheels 3 are configured so that the direction of the wheels can be changed by a steering device (not shown), and by this action, operations such as straight traveling, curving, and traverse are possible.

FIG. 2 is a conceptual diagram of a position identifying method using the wall surface self-propelled plate thickness measuring apparatus of the first embodiment shown in FIG. 1. As shown in the top view of FIG. / C consists of 18 segments, one of which is a hollow cylinder. This cross section (cross section AA) is the same figure (b), and a part of the developed cylinder is shown in the same figure (c).
10 horizontal weld lines and 1 horizontal weld line for one S / C segment
1, a vertical welding line 12 and a vertical welding line 13 are present at the positions shown in the figure.

Next, a specific position identifying method will be described with reference to FIGS. 1 and 2. The plate thickness measurement is performed by moving the wall surface self-propelled plate thickness measuring device 1 in a direction parallel to the vertical welding line 13 (or the vertical welding line 12) while measuring an elongated area having a scanning stroke of the plate thickness measuring probe as a width. , The first column, the second column, the third column, ...

First, the wall surface self-propelled plate thickness measuring device 1 is moved to the measurement starting position shown in the figure, and the vehicle body is set so that the intersection of the horizontal welding line 10 and the vertical welding line 13 is displayed at a predetermined point in the image of the camera 6. Adjust the position. Alternatively, the camera 6 is configured to be movable on the wall surface self-propelled plate thickness measuring device 1, and the horizontal welding line 10 is set at a predetermined point in the image of the camera 6.
The camera 6 may be moved so that the intersection of the vertical welding line 13 and the vertical welding line 13 is displayed.

The predetermined one point may be anywhere on the image, but here, the case where the image is centered on the image will be described. After that, the ultrasonic plate thickness measuring means 2 moves downward while measuring the plate thickness. During this movement, the drive wheels 3 are steered so that the vertical welding line 13 is displayed at the center of the image of the camera 6 (that is, the center of the camera 6 traces on the vertical welding line 13). This steering may be performed manually by the operator, or may be automatically controlled by automatically detecting the image of the camera 6 by image processing or the like. By doing this, the wall surface self-propelled plate thickness measuring device 1 is welded to the vertical welding line.
It can be moved in parallel with 13, and at the same time, the lateral position (direction orthogonal to the longitudinal welding line 13) of the plate thickness measurement point can be identified.

During the downward movement, the marking means 5 is used to mark the solid line mark 14 on the outer surface of the S / C 101.
Draw. By the above-mentioned steering control, the wall surface self-propelled plate thickness measuring device 1 is moving downward while maintaining a parallel and equidistant distance from the vertical welding line 13, and the camera 6 and the marking means 5.
Since the positional relationship of is, the mark 14 is the vertical welding line 13
And the distance between the mark 14 and the vertical welding line 13 is also known.

After the measurement up to the position of the horizontal welding line 11,
The plate thickness of the second row is measured while moving up to the position of the horizontal welding line 10 and moving downward similarly to the measurement of the first row. This is basically performed in the same procedure as the measurement in the first row, but the object to be traced by the camera 6 is the mark 14 instead of the vertical welding line 13 in the first row. Along with this, the mark 15 to be traced by the camera 6 at the time of measurement in the third row is marked. The same applies to the third and subsequent columns.

As described above, by tracing a line whose distance from the vertical welding line is known and which is parallel to the vertical welding line, the horizontal position of the measurement point can be grasped as the distance from the vertical welding line. Further, the vertical position of the measuring point can be grasped by detecting the moving distance from the horizontal welding line 10 as the moving origin and using the moving distance detecting means 7. That is, the position of the measurement point can be identified.

For identifying the vertical position of the measurement point, in addition to the method of detecting the moving distance from the moving origin as described above, the marking means 5 and the camera 6 are operated by the same principle as the identification of the horizontal position. It is also possible to use.

In this embodiment, the mark 14, the mark 15 and the like are marked as solid lines. However, as shown in FIG. 3, for example, instead of the solid line 31, some figure such as + mark 32 or ○ mark 33 is used. It may be drawn at regular intervals. 30 is a welding line.
However, since there is no tracing target between the figures, the traveling direction cannot be corrected by steering, but there is no problem as long as the distance between the figures is short enough to neglect the lateral displacement caused by the steering.

When the position reference is a welding line, not only the camera shown in this example but also an eddy current flaw detection sensor can be used as the relative position detecting means. Eddy current testing sensor
Has a function that can detect the presence of defects such as cracks on members,
It is known that the presence or absence of weld lines can also be detected. For example, by arranging multiple eddy current flaw detection sensors at known positions on a wall surface self-propelled plate thickness measuring device and measuring whether or not there is a welding line in the vicinity, the welding line can measure the wall surface self-propelled plate thickness. It is possible to detect the position of the device.

As means for adsorbing and moving on the wall surface of the first embodiment, magnetic adsorption or vacuum adsorption as an adsorption method,
The moving method includes a wheel type, a crawler type and a wiping type, and the present invention is basically applicable to any combination thereof.

FIG. 4 shows a second embodiment of the present invention (claim 8).
And (corresponding to claim 9) conceptual diagram of the position identification method of the wall surface self-propelled plate thickness measuring device, the same figure (a) is a top view, the same figure (b) is one of the AA line of the same figure (a). Partial cross-sectional view, (c) of the figure is a developed hollow cylindrical segment.

As shown in the figure, in this embodiment, a wall surface self-propelled plate thickness measuring means 20 similar to the first embodiment and a slave unit 21 are main components. Handset 21 is wall self-propelled plate thickness measuring means 20
This is a small-sized suction moving mechanism (second suction moving mechanism) that sucks and moves on the wall surface by the same principle as. In addition, the slave unit 21 has a line trace function capable of automatically moving along the welding line by detecting the welding line position with a sensor (not shown) and performing steering control so that the sensor is located on the welding line. ing. Examples of the sensor for detecting the position of the welding line include an eddy current flaw detection sensor. On the slave unit 21 or on the wall surface self-propelled plate thickness measuring means 20, the wall surface self-propelled plate thickness measuring means
A distance measuring device (not shown) for measuring the distance between the slave unit 21 and the slave unit 21 is installed. As the principle of this distance measurement, it is possible to use one by measuring the propagation time of sound wave / ultrasonic wave, or a laser distance meter.

On the other hand, the wall surface self-propelled plate thickness measuring means 20 includes the wall surface self-propelled plate thickness measuring means 20 measured by the distance measuring device and the slave unit.
Based on the distance information with respect to 21, a steering means (not shown) is provided to control the traveling direction of the wall surface self-propelled plate thickness measuring means 20 so that this distance becomes constant. Further, the wall surface self-propelled plate thickness measuring means 20 and the slave 21 are provided with moving distance detecting means (not shown) for detecting the moving amount from the origin of movement.
This can be realized, for example, by detecting the rotation of the drive wheels. Further, by using this moving distance detecting means, there is provided master-slave control means for controlling the movement so that the slave unit 21 is moved by the same amount as the moving amount of the wall surface self-propelled plate thickness measuring means 20. This is, for example, a controller (such as a personal computer) that controls the operation of the wall surface self-propelled plate thickness measuring means 20 and the child device 21.
According to this, the amount of movement of the slave unit 21 is calculated from the information on the amount of movement of the wall surface self-propelled plate thickness measuring means 20, and an operation command is given to the slave unit 21 to give the same amount as the wall surface self-propelled plate thickness measuring unit 20. It can be realized by programming to move the amount of.

These line trace functions, steering means,
By using the master-slave control means, it is possible to control the movement of the wall surface self-propelled plate thickness measuring means 20 at an arbitrary distance from the welding line and parallel to the welding line. That is,
The slave unit 21 is placed on the welding line and the wall surface self-propelled plate thickness measuring means 20
When the wall surface self-propelled plate thickness measuring means 20 is moved, the child machine 21 moves by the same amount along the welding line. Since the wall surface self-propelled plate thickness measuring means 20 moves by changing the traveling direction so as to maintain the initial distance from the slave 21, it becomes possible to move the wall surface parallel to the welding line.

Similar to the first embodiment, the plate thickness measurement is performed by moving the wall surface self-propelled plate thickness measuring device 1 in a direction parallel to the vertical welding line 13 while making the width of the scanning stroke of the plate thickness measuring probe narrow. The regions are shown in the first, second, and third columns ...
・ Measure in the order of. First, the wall surface self-propelled plate thickness measuring means 20 and the slave 21 are moved to the position of the horizontal welding line 10 shown in the figure. At this time, the slave unit 21 is arranged on the vertical welding line 12 and the wall surface self-propelled plate thickness measuring means 20 is arranged in the vicinity of the vertical welding line 13. Or on the contrary, the wall surface self-propelled plate thickness measuring means 20 on the vertical welding line 12,
The slave 21 may be arranged near the vertical welding line 13. After that, the ultrasonic plate thickness measuring means 20 moves downward while measuring the plate thickness. As mentioned above, the ultrasonic plate thickness measuring means 20 is a vertical welding line.
The horizontal position of the measurement point is identified because it proceeds parallel to the longitudinal weld line 12 while maintaining the initial distance from 12. The vertical position of the measurement point can be identified as the amount of movement from the horizontal welding line 10, which is the movement origin, by the movement distance detecting means described above. That is, the position of the measurement point can be identified.

After the measurement up to the position of the horizontal welding line 11,
The plate thickness of the second and subsequent rows is measured while moving up to the position of the horizontal welding line 10 and moving downward similarly to the measurement of the first row. The same applies to the third and subsequent columns.

[0038]

As described above, according to the present invention,
Sufficient position identification accuracy can be obtained in S / C plate thickness measurement.

[Brief description of drawings]

FIG. 1 is a configuration diagram showing a concept of a wall surface self-propelled plate thickness measuring device according to a first embodiment of the present invention.

FIG. 2 is a conceptual diagram showing a position identification method by the wall surface self-propelled plate thickness measuring device of the first embodiment of FIG.

FIG. 3 is a diagram showing an example of a mark pattern which is an example of a position identifying method of the wall surface self-propelled plate thickness measuring device of the first embodiment of FIG. 1.

FIG. 4 is a conceptual diagram showing a position identifying method by a wall surface self-propelled plate thickness measuring device according to a second embodiment of the present invention.

FIG. 5 is a conceptual diagram of a conventional boiling water reactor suppression chamber to which the present invention is applied.

[Explanation of symbols]

1 ... Wall surface self-propelled plate thickness measuring device, 2 ... Ultrasonic plate thickness measuring means, 3 ... Drive wheel, 4 ... Permanent magnet, 5 ... Marking means, 6 ... Relative position detecting means (camera), 7 ... Moving distance detection Means, 8 ... Adsorption moving mechanism, 10, 11 ... Horizontal welding line, 12,
13 ... Longitudinal welding line, 14, 15 ... Mark, 20 ... Ultrasonic plate thickness measuring means, 21 ... Child machine (second suction moving mechanism), 30 ... Welding line, 3
1, 32, 33 ... Mark pattern, 101 ... Suppression chamber, 102 ... Reactor pressure vessel, 103 ... Reactor containment vessel,
104 ... water.

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Motomura Kimura             8th Shinsugita Town, Isogo Ward, Yokohama City, Kanagawa Prefecture             Ceremony company Toshiba Yokohama office (72) Inventor Takuya Uehara             8th Shinsugita Town, Isogo Ward, Yokohama City, Kanagawa Prefecture             Ceremony company Toshiba Yokohama office (72) Inventor Mitsuhiro Goto             8th Shinsugita Town, Isogo Ward, Yokohama City, Kanagawa Prefecture             Ceremony company Toshiba Yokohama office (72) Inventor Koji Sada             66-2 Horikawa-cho, Saiwai-ku, Kawasaki-shi, Kanagawa Prefecture             Engineering Co., Ltd. F term (reference) 2F065 AA03 AA04 BB13 BB27 FF04                       JJ26 LL57 MM23 QQ24 QQ31                       RR06                 2F068 AA29 BB11 BB23 CC01 DD13                       FF03 FF12 HH01 JJ03 JJ13                       PP02 TT07                 2G047 AC01 AD11 BC02 BC18 EA10                       GA19 GA21 GH06 GJ02 GJ07                 2G075 AA03 BA17 CA26 DA02 DA14                       FA16 FC14 GA21 GA24

Claims (9)

[Claims] 1. A suction moving mechanism for moving on a wall surface, an ultrasonic plate thickness measuring means for measuring the plate thickness of the wall surface, a marking means for marking the wall surface, and a marking means for the wall surface. A wall surface self-propelled type, which is equipped with a relative position detecting means for detecting a relative positional relationship between the position reference and the suction moving mechanism and a moving amount detecting means for detecting a moving amount of the suction moving mechanism. Plate thickness measuring device. 2. The relative position detecting means measures the reference line on the wall surface serving as the position reference, or the distance between the ultrasonic plate thickness measuring device and the mark on the wall surface whose distance from the reference line is known, The ultrasonic trace thickness measuring device is moved while being steered by the line trace means so that the distance becomes constant, and further, a mark serving as a new position reference is set with the reference line or the mark as a reference by the position reference generating means. A position identification method using a wall surface self-propelled plate thickness measuring device characterized by marking on a wall surface. 3. The wall surface self-propelled plate thickness according to claim 2, wherein the reference line is a weld line of a wall surface constituent member in the position identification method using the wall surface self-propelled plate thickness measuring device. Position identification method using a measuring device. 4. The position identification method using the wall surface self-propelled plate thickness measuring device according to claim 2, wherein the relative position detecting means is a camera whose position on the wall surface self-propelled plate thickness measuring device is known. Yes, the display position of the reference line or the mark in the image of the camera is recognized by the image processing means, and the relative position of the reference line or the mark and the camera in the wall parallel direction is detected from the recognized display position. A position identification method using a wall surface self-propelled plate thickness measuring device. 5. The position identifying method using the wall surface self-propelled plate thickness measuring device according to claim 2, wherein the line tracing means causes the distance and posture of the wall surface self-propelled plate thickness measuring device with respect to the reference line or the mark. Positioning using a wall surface self-propelled plate thickness measuring device characterized in that a mark is printed on a wall surface while holding a constant distance between the marking means and the reference line or the mark. Method. 6. The position identifying method using the wall surface self-propelled plate thickness measuring device according to claim 2, wherein the reference line is a welding line of a wall surface constituent member, and the relative position detecting means is the wall surface self-propelling type. A plurality of eddy current flaw detection sensors whose positions on the plate thickness measuring device are known, and the wall surface self-propelled plate thickness measuring device and the wall surface parallel to the welding line are detected depending on whether the welding line is detected by each eddy current flaw detecting sensor. A position identification method using a wall surface self-propelled plate thickness measuring device characterized by detecting relative positions in directions. 7. The position identification method using the wall surface self-propelled plate thickness measuring device according to claim 2, wherein the position in the direction parallel to the reference line is the position on the wall surface obtained by the movement distance detecting means. A position identification method using a wall surface self-propelled plate thickness measuring device characterized by performing identification based on a known movement amount from a movement origin. 8. The wall surface self-propelled plate thickness measuring device according to claim 1, wherein a second suction moving mechanism that moves on the wall surface along a reference line on the wall surface, and the wall surface self-propelled plate thickness. A measuring means; a distance measuring means for measuring the distance to the second suction moving mechanism; and a steering means for steering the wall surface self-propelled plate thickness measuring means so as to keep the distance constant. A self-propelled wall thickness measuring device. 9. The wall surface self-propelled plate thickness measuring apparatus according to claim 8, wherein the distance measuring means is a distance meter that measures a propagation time of a sound wave to obtain a distance. Plate thickness measuring device.