JPS63711A - Positioning device for ultrasonic flaw detector or the like - Google Patents

Abstract

PURPOSE:To accurately set the reference position of a probe, etc., by using a driving unit to shift a position sensor where a reference mark is formed by arraying plural reflecting parts and light absorbing parts concentrically and alternately to make the sensor read an array pattern. CONSTITUTION:A reference mark 4 is formed with plural reflecting parts 5A, 5B, 5C, 5D and 5E and light absorbing parts 6A, 6B, 6C and 6D arrayed concen trically and alternately in the form of a sticker and stuck on the surface of a check subject. A driving unit 2 is roughly guided to a place near the part to be checked and a position sensor 3 is moved zigzag at the place near the part to be checked by the unit 2. At the same time, the mark 4 is scanned. Then the sensor 3 is set at the approximately center position of the mark 4 when the sensor 3 is stopped. In this case, the error between the mark 4 and the center of a pattern is kept within the radius range of the reflecting part 5A formed at the most inner side of the mark 4.

Description

[Detailed Description of the Invention] "Industrial Application Field" The present invention relates to a positioning device such as an ultrasonic flaw detector, and in particular,
Attach a reference mark near the inspection part of the object to be inspected.
．． The present invention relates to a positioning device that determines the location of a probe by searching for the reference mark.

``Conventional technology - 1 When performing ultrasonic flaw detection on structures such as 82 blades and piping at the Kenji power generation plant, in order to reduce radiation exposure, the probe of the ultrasonic flaw detector is equipped with a remotely controllable traveling unit. A method is often adopted in which the probes are combined and moved along the surface of the object to be inspected.

In such a method, the traveling unit is
In the case of a road traveling unit, the method of positioning the probe on the object to be inspected is important in order to proceed with the flaw detection work efficiently.

Conventionally, for example, a traveling unit is mounted on the object to be inspected, and a control device is provided that transmits a transmitter of laser light, sound waves, etc. at the position of the pond on the object to be inspected. The distance and direction to the traveling unit are not detected using a laser beam or the like, but the traveling unit is guided to the target position of the surveying unit using the location where the traveling unit is located as the base position.

"Problems to be Solved by the Invention" However, since such technology detects the linear distance and direction between the reference position and the traveling unit, the object to be inspected is cylindrical, etc. When the traveling unit has a curved surface, the farther the traveling unit is from the reference position in the circumferential direction of the curved surface, the more difficult it becomes for laser light, etc. to reach the traveling unit, and it becomes necessary to correct the detection distance etc. along the curved surface, making positioning difficult. There are problems such as poor accuracy.

Since the present invention effectively solves the above-mentioned problems, it is an object of the present invention to provide a positioning device that can accurately guide a probe to the position of a portion to be inspected and facilitate its operation.

In order to achieve such an objective, the positioning device of the present invention includes a traveling unit that carries a probe and moves along the surface of the object to be inspected, A reference mark is attached near the part to be inspected of an object and is made up of a plurality of reflective parts and light absorbing parts arranged alternately in a concentric ring shape, and the probe is mounted on a traveling unit to emit light. The present invention is characterized in that it includes a position detection sensor that reads the arrangement pattern of the reflective parts and light absorbing parts of the reference mark using a light emitting part that projects and a light receiving part that receives reflected light.

"Function" In the positioning device of the present invention, a reference mark is attached near the inspected part of the object to be inspected so as to have a fixed positional relationship with the inspected part, and the attachment is performed with the position as the reference position. , while moving the position detection sensor by the traveling unit so as to intersect the reference mark, read the arrangement pattern of the reflective part and the light absorbing part of the reference mark, search for the center position of the reference mark based on the arrangement pattern,
The flaw detection inspection is started based on that position.

"Embodiment" Hereinafter, an embodiment of a positioning device such as an ultrasonic flaw detector of the present invention will be described based on the drawings.

This positioning device includes a traveling unit 2 that carries a probe l and travels on the surface of an object to be inspected, and a position detection device that is attached to the traveling unit 2 so as to have a fixed positional relationship with the probe l. It consists of a sensor 3 and a reference mark 4 that is attached to an object to be inspected to set a reference position.

The reference mark 1 is configured in the form of a so-called sticker that is pasted on the surface of the object to be inspected, and as shown in FIG.
- 5E and light absorbing parts 6A, 6B, 6C, and 6D are arranged alternately in a concentric ring shape. In one embodiment, light absorption +'tl is applied in multiple rings on a corner notebook with a reflective surface.
'< By arranging 6A, 6B, 6C, and 6D,
In between, the reflecting part 5, 5B-5C, 5D, and 5E are arranged, and the light absorbing part 6A, 6B,
The width dimensions of 6C and 6D are formed to become gradually smaller from the radially outer side toward the center.

On the other hand, as shown in FIGS. 2 to 4, the traveling unit 2 has two sets of moss sucking machines +1, a main suction machine 11 7 and an auxiliary suction mechanism 8, which alternately perform suction action. The vehicle is designed to move as a whole by moving the vehicle relatively while causing the motion. That is, four suction pads 7a are connected to the main suction mechanism 7 by guide rods 9, two on each side, and an engaging member 10a is fitted onto the guide rod 9 between these guiderons 19 to connect the main suction pads 7a to the main suction mechanism 7. A moving frame ■0 is supported, and a pair of position control mechanisms 13 having a driving lead screw 11, a stepping morph 12 for rotating the lead screw +1, etc. are connected to the main moving frame 10. By rotating the lead screw 11, the main moving frame lO is moved along the guide rod 9 by equal amounts on the left and right sides.

The main movable frame 10 and its engaging portion (IOa) are connected by a pair of left and right support pins 1, and are swingable by a swing lock (not shown). The main movable frame 10 and its engaging member 10a are held in the longitudinal direction of the guide rod 9 ( An oscillating armature 1 that can be held so as to be tiltable visually is constructed.

Further, in the center of the main moving frame 10, there is a pinion 16 driven by a motor 15, and a turntable 17 that is housed in the hole 10b of the main moving frame 10 with an outer gear meshed with the pinion 16. A turning mechanism 18 consisting of a turntable 17 and a suction pad 8a is supported on the turntable 17 via a suction cup pressing mechanism 19. The suction cup is pressed by machine f.
+W19 is for setting the relative distance between the auxiliary suction mechanism 8 and the rotating Fa 41/118 in the direction perpendicular to the surface of the object to be inspected, and the position is switched between near and far by air silling. There is.

In addition, the turntable 17 has a mechanism 20 for pressing the probe.
is mounted, and the probes 1i7j and 1i7j are connected to the probe pushing mechanism 20 via a feeding mechanism 21 and a probe driving mechanism 22. Probe pressing g9 +1'iI
20 swingably supports the feeding mechanism 21 on the air cylinder 23 attached to the turntable 17 via a support pin 24 along the surface direction of the turntable 17, and also supports the feeding mechanism 21 on the air cylinder 23 attached to the turntable 17.
The turntable 17 is moved in a direction perpendicular to the surface direction of the turntable 17. The feeding mechanism 21 is suspended so as to be located below the turntable 17, and moves the probe drive groove 22 in the traveling direction by driving the suction rod 25, that is, in the left-right direction in FIG. The probe drive mechanism 22 is moved so as to push the probe drive mechanism 22 out of the exclusive area of the main moving frame 10, as shown by the chain line in FIG. . The probe drive mechanism 22 also includes a support guide 26 extending in the left-right direction orthogonal to the pushing direction by the feeding mechanism 21, and a moving block 27 that is movable along the support guide 26.
It is comprised of a drive motor 29 that moves the moving block 27 via an endless belt 28, etc., and a limit switch that detects the left and right movement limit of the moving block 27. Then, the probe I is attached to the moving block 27 of the probe drive mechanism 22.

In this traveling unit, the length direction of the guide rod 9 is the traveling direction as shown by the arrow (A) in FIG. This can be done by moving the movable frame 10 along the guide rod 9 at the same time. One of the suction mechanisms 7 and 8, for example, the main suction mechanism 7, has a suction effect to support the entire weight, and an auxiliary suction machine (1)
■When pressing 8 with the suction cup, leave it in the state where 1 is lifted up by 19 and floating above the surface of the object to be inspected, and the main movable frame 1
0 along the guide rod 9 by the position control mechanism 13, and then bring the auxiliary adsorption mechanism 8 into contact with the object to be inspected to produce an adsorption action. Release the adsorption effect of ・7 from the surface of the object to be inspected, and re-
By repeating this operation, you will develop your driving skills. In this case, both the suction mechanisms 7 and 8 can be held so as to be tiltable relative to each other by the rocker groove of the support pin 1, etc., so that traveling along the circumferential direction of a cylindrical curved surface of a tank or the like can be carried out smoothly. Turning n + ('a 1
By rotating the turntable 17 of g by 90 degrees, for example, the main suction mechanism 7 is rotated as shown by the arrow (b) in FIG.
The direction can be changed by rotating the suction puff door a. - On the other hand, the weight is supported only by the main suction mechanism 7, and the probe I is pressed against the mechanism 20.
The moving frame 10 and the moving block 26 of the probe drive mechanism 22 are moved as appropriate while the probe 1 is advanced by the feeder f121 as necessary. It is possible to carry out flaw detection inspection by moving the

A position exposure sensor 3 is integrally provided on the outer side of the probe 1 in the traveling unit 2. The position detection sensor 3 has a light emitting part that emits light and a light receiving part that receives reflected light. When the light receiving part is not receiving light, it is in an OFF state, and when it is receiving light, it is in an OFF state. It is in the ON state and emits a signal as shown in FIG. For example, when the position detection sensor 3 moves crossing the reference mark 1 as shown by chain yA in FIG. When the position detection sensor 3 moves to intersect as shown by the chain line B, the light is emitted as shown in FIG. 5(b), and each light absorbing portion of the reference mark 4 is The widths of 6A, 6B, 6C, and 6D are shown. The signal from the position detection sensor 3 is transmitted via the amplifier 30 to a control circuit (not shown) including a CPU, data memory, etc., and is processed as described below.

Next, a method for determining the position of the probe 1 using the positioning device configured as described above will be explained.

For example, when installing the object to be inspected, the reference mark 4 is sometimes set in advance.
is pasted at a position that has a certain relative relationship with the part to be inspected of the object to be inspected. Then, the traveling unit 2 is attached to the position of the object to be inspected, and roughly guided to the vicinity of the reference mark 4 by a well-known method such as the conventional example,
The base parrot mark 4 is placed within the flaw detection range of the probe l.

That is, the reference mark 4 is placed between the left and right suction pads 7a of the main suction mechanism 7 at a position ahead of the probe l in the traveling direction. In this case, if the object to be inspected is a tank or the like, the probe 1 is usually arranged vertically so as to face upward, as shown in FIG.

Then, the position detection sensor 3 and the probe l are positioned at one end 1 of the support guide 26, for example, at the left end, and the position detection sensor 3 is driven to drive the probe as shown by the arrow (C) in FIG. The center position of the reference mark 4 is searched for by the procedure shown in the flowchart of FIG. 6 while being moved in a meandering manner by the mechanism 22 and the position control mechanism 13.

This search procedure will be explained according to the flowchart of FIG.

Sl: Scanning processing is performed by moving the position detection sensor 3 along the support guide 26.

S,: Position detection sensor 3 is light absorbing part 6A, 6B, 6C, 6
The control circuit determines whether one of the light absorbing portions D, that is, the outermost light absorbing portion 6D is detected.

S31 The signal detecting the light absorption part 6D is not input from the position detection sensor 3, and the position detection sensor 3 is not connected to the support guide 26.
When the pitch has moved to the end of , the control circuit inputs ΔY indicating the pitch dimension into register Y.

S4: Move the position detection sensor 3 upward in FIG. 2 by the bY dimension input in Se, and move it along the support guide 26 in the opposite direction to the previous movement direction to repeat the processing from Sl. let it happen.

Ss: When it is determined that the light absorbing part 6D has been detected in St, the control circuit puts 1 in register 1 and sets the width data of the light absorbing part 6D detected at that time to Di (that is,
).

S8. Continue scanning further.

S7: Position detection sensor 3 or light absorption part 6A-6B/6C
- Determine whether one of 6D (the light absorbing portion located in front of the light absorbing portion detected in the processing up to S6 in the scanning direction) is detected.

Sll: As a result of S7, if it is determined that the light absorbing part has not been detected and the position detection sensor 3 has moved to the end of the support guide 26, ΔY indicating the pitch dimension in the register Y,
Put in.

Se: By shifting the position detection sensor 3 upward in FIG. 2 by the 7 dimensions input in S- and moving it along the support guide 26 in the opposite direction to the previous movement direction, the treatment from S. make them do it again.

If the light absorption part is detected in S1o and S7 and it is determined to be clear,
Enter i+1 into register 1, enter the data of the width of the light absorbing portion detected at that time into Di, and enter 1 into register m.

S II: Determine whether or not D m-+>D m, that is, whether the width of the light-absorbing portion detected later is smaller than the width of the light-absorbing portion detected first.

S+2: If the determination result in S11 is No, the scanning is continued.

S +:+: In S12, it is determined whether the position detection sensor 3, which continues scanning, has further detected a light absorbing portion. As a result, if it is determined that a light absorbing part has been detected, step S12
Return to

S+4: When the signal detecting the light absorbing part is not input at s+3, that is, when the position detection sensor 3 crosses the reference mark 4 and the position detection sensor 3 moves to the end of the support guide 25, the register Enter the above ΔY2 into Y.

S15: The position detection sensor 3 is shifted upward in FIG. 2 by the seven dimensions manually input in S14, and the processing from Sl is restarted.

S's: When Sz determines that D m-+ > D m, 1 is placed in register n.

S +7: Determine whether n=4, that is, whether the number of light absorption parts detected so far is 4, and N.

If so, return to S8, and if YES, position detection sensor 3
Stop the movement of d-.

Note that ΔY2 in the processes of S6 and S14 is set smaller than ΔY1 in S3, so that the position detection sensor 3 is moved at a small pitch.

In this way, this positioning device roughly guides the traveling unit 2 to the vicinity of the inspection section by a well-known method, and then moves the position detection sensor 3 by the traveling unit 2 in the vicinity of the inspection section as shown in FIG. As shown by the arrow (C), the W'A mark 4 is scanned without being moved in a meandering manner, and when the position detection sensor 3 is stopped at S+7, the position detection sensor 3 Let's place it almost at the center of Basic Mark 4! I will do it. In this case, the error between the reference mark 4 and the center of the figure is suppressed within the radius of the reflective portion 5A located at the innermost position of the binding mark 4. Then, based on the stop position of the position detection sensor 3, the position detection sensor 3 and the probe l are placed at the position of the part to be inspected which is shifted by a predetermined relative position.
The robot is moved to perform the targeted flaw detection inspection. Therefore, not only in the case of an inspection object having a flat surface, but also in the case of an inspection object having a cylindrical curved surface such as a tank, the reference mark 4 is
Accurate positioning can be performed using the position detection sensor 3 and the position detection sensor 3, and positioning can be performed easily and with high precision without being affected by the surface shape.

In addition, in one embodiment, each light absorbing part of Basic Mark 1 is 6 people 6
By changing the width of B, 6C, and 6D, the center position is searched using the width as one of the detection elements.
It is possible to search for the center position only from the number of light absorbing parts, etc. when the position detection sensor 3 is moved across the center of the reference mark. In the academic mark, it is sufficient that at least the light-absorbing portion and the reflecting portion are provided in the number of leaves. In addition, if the traveling unit can move the position detection sensor etc. in a zigzag shape, that is, in two directions orthogonal to each other along the surface of the object to be inspected, then the structure is limited to the one on the surface and the one on the actual blood. This is not the case.

Effects of the Invention J As explained above, according to the positioning device such as an ultrasonic flaw detector of the present invention, the following effects can be achieved.

(i) Since the reference mark is constructed by arranging a plurality of reflective parts and light absorbing parts alternately in a concentric ring shape, the center of the reference mark is determined from the arrangement pattern of the reflective parts and light absorbing parts along the cross direction of the reference mark. The position can be searched, and by reading the array pattern while moving a position detection sensor having a light emitting part and a light receiving part by a traveling unit, the position detection sensor can be placed at the center position of the base mark. It is possible to accurately set the basic position of the probe, etc.

(11) Since the reflective part and the light absorbing part are arranged in a concentric ring shape, the error in the center position can be suppressed to within the range of the inner diameter of the innermost link, and the positioning accuracy can be improved.

(iii) Attached to the vicinity of the autopsy section of the inspection object 4'
Since this is a search for a reference mark, the position of the reference mark can be determined near the inspection section, and it is less affected by the surface shape of the object to be inspected. This eliminates the need for correction of detected values and facilitates positioning operations.

[Brief explanation of the drawing]

Drawings: Figure 1 is a perspective view showing the base thread mark and position detection sensor, and Figure 2 is a perspective view of the traveling unit. Front view, Figure 3 is a view along the line ■-■ in Figure 2, Figure 4 is a view along the line IV-r'/ in Figure 2, and Figure 5 is a signal from the position detection sensor. FIG. 6 is a flowchart showing the positioning procedure. 1... Probe, 2... Traveling unit,
3...Position detection sensor, 4...Basic mark, 5A, 5B, 5C, 5D, jE...Reflector, 6A, 6B, 6C, 6D...・・Light absorbing part, 7・・
...Main suction mechanism, 7a...Suction pad, 8.
...Auxiliary suction number, 8a...Suction pad, 9...Guide rod, lO...Main moving frame, loa...Engagement member , fob...
Hole, 11... Lead screw, 12... Stepping motor, 13... Position control mechanism, 14
...Support pin, 15 ...Motor, 16
... Pinion, 17 ... Turntable, 18 ... Rotating system, 19 ... Suction cup pressing mechanism, 20 ... Exploration Child pusher is mechanism, 2
1... Feeding mechanism, 22... Probe drive mechanism, 23... Air cylinder, 24... Support pin, 25... Reciprocating rod, 26...・・・・・・
・Support guide, 27...Transfer block, 2
8...Endless belt, 29...Probe drive mechanism, 3o...Amplifier. Applicant Ishikawajima Harima Heavy Industries Co., Ltd. Figure 3 Figure 4

Claims (1)

[Claims] A traveling unit that carries a probe and moves it along the surface of the object to be inspected, and a traveling unit that is attached near the part to be inspected of the object to be inspected and has a plurality of reflective parts and light absorbing parts arranged alternately in a concentric ring shape. and a position detection sensor that is mounted on the traveling unit and reads the arrangement pattern of the reflective part and the light absorbing part of the reference mark using a light emitting part that projects light and a light receiving part that receives reflected light. Positioning equipment for flaw detectors, etc.