JP2001041717A - Equipment soundness evaluation method and evaluation device and equipment repairing method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an equipment soundness evaluation method and an evaluation device capable of knowing accurately a moving quantity and a stress caused by heat or a load during operation of an equipment such as piping, instruments or the like, and an equipment repairing method by using the evaluation method or the evaluation device. SOLUTION: Image data relative to the shape of an equipment in operation and in suspension are acquired (SA1), a coordinate reference point is set on the equipment (SA2), three-dimensional coordinates of the coordinate reference point are calculated (SA3), three-dimensional coordinates of an evaluation point on the equipment are calculated from the image data and the three-dimensional coordinates of the coordinate reference point (SA4), a moving quantity of the evaluation point is calculated from the three-dimensional coordinates of the evaluation point in operation and the three-dimensional coordinates of the evaluation point in suspension and a stress generated in the equipment is calculated from the moving quantity of the evaluation point (SA7), and the generated stress value is compared with an allowable stress value to thereby evaluate soundness of the equipment (SA8, SA9).

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The present invention relates to the spatial position (3) of equipment such as piping and equipment installed in power plants and various plants.
The present invention relates to an equipment soundness evaluation method and an evaluation apparatus for evaluating the soundness of equipment by measuring (dimensional coordinates), and an equipment repair method performed using three-dimensional coordinates obtained by the equipment.

[0002]

2. Description of the Related Art A power plant or the like is provided with many facilities such as piping and equipment. For these facilities, it is necessary to confirm that stress and deformation caused by heat and load during operation are within allowable values.

Conventionally, this confirmation has been performed by creating an analysis model of piping and equipment and analyzing it by a computer. However, when conducting the analysis, it is difficult to know the generated stress and deformation accurately because the calculation results may include errors due to errors in the coordinate data of piping and equipment, assumptions in the analysis, etc. It is.

[0004]

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is possible to accurately know the amount of movement and stress generated by heat or load during operation of facilities such as piping and equipment. An object of the present invention is to provide an equipment soundness evaluation method and an evaluation device, and an equipment repair method using the evaluation method or the evaluation device.

[0005]

According to a first aspect of the present invention, image data relating to the shape of a running or stopped facility is acquired, a coordinate reference point is set on the facility, and the coordinate reference point is determined. Calculating three-dimensional coordinates, calculating three-dimensional coordinates of the evaluation points on the equipment from the image data and the three-dimensional coordinates of the reference coordinate points, and calculating the three-dimensional coordinates of the evaluation points during operation and the evaluation points during stoppage The movement amount of the evaluation point is calculated from the three-dimensional coordinates, and the soundness of the equipment is evaluated based on the movement amount. In the invention corresponding to claim 1, it is preferable that the three-dimensional coordinates of the points on the equipment be calibrated using a calibrating device.

[0006] The invention corresponding to claim 2 is the invention according to claim 1.
In the invention corresponding to (1), stress generated in the equipment is calculated from the movement amount of the evaluation point, and the generated stress value is compared with an allowable stress value to evaluate the soundness of the equipment.

[0007] The invention corresponding to claim 3 is based on claim 2.
The three-dimensional CAD data is used to determine the stress, and the color of a portion exceeding the allowable stress value is changed and displayed.

[0008] The invention corresponding to claim 4 is the above-described claim 1.
The three-dimensional coordinates of the points on the running and stopped facilities are acquired by a laser beam instead of image data.

[0009] The invention corresponding to claim 5 is the above-mentioned claim 1.
In the invention corresponding to (1), when the equipment extends inside and outside the predetermined room, a three-dimensional coordinate connection point for associating the predetermined room three-dimensional coordinates with the predetermined outdoor three-dimensional coordinates is provided in the opening of the predetermined room.

The invention corresponding to claim 6 uses the three-dimensional coordinates of the equipment obtained by the equipment soundness evaluation method according to the invention according to claim 5 for positioning the equipment in a predetermined room. Features.

According to a seventh aspect of the present invention, there is provided an input unit for inputting image data relating to the shape of the facility during operation and at a stop and three-dimensional coordinates of a coordinate reference point set on the facility. The three-dimensional coordinates of the evaluation points on the equipment are calculated from the data and the three-dimensional coordinates of the reference coordinate points, and the movement amount of the evaluation points is calculated based on the three-dimensional coordinates of the evaluation points when the equipment is operating and the three-dimensional coordinates of the evaluation points when the equipment is stopped. Calculating and judging the soundness of the equipment based on the amount of movement, a display for displaying the result of the judgment, and a storage for storing the three-dimensional coordinates of the reference coordinate points and the three-dimensional coordinates of the evaluation points. And characterized in that:

[0012] The invention corresponding to claim 8 is the invention according to claim 7.
In the invention corresponding to the above, the calculation / determination unit calculates the stress generated in the equipment from the movement amount of the evaluation point, and compares the generated stress value with the allowable stress value to determine the soundness of the equipment. .

The invention corresponding to claim 9 is the invention according to claim 8.
In the invention corresponding to (1), the calculation / judgment unit creates three-dimensional CAD data from the three-dimensional coordinates of the evaluation points, and the display unit changes and displays the color of the part exceeding the allowable stress value.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of the present invention will be described with reference to FIGS. FIG. 1 is a flowchart showing the equipment soundness evaluation method of the present embodiment, and FIG. 2 is a hardware configuration diagram of the equipment soundness evaluation apparatus. As shown in FIG. 1, first, an image data acquisition device, for example, a film camera,
The equipment image data is acquired by a digital camera or the like (step SA1).

Next, for example, the coordinate reference device shown in FIG. 3 is installed on the surface of the equipment to set a coordinate reference point (step SA).
2). In addition, the present coordinate reference device has a design that facilitates acquisition of three-dimensional coordinates performed in the next step.

Next, the three-dimensional coordinates of the coordinate reference point are calculated by measurement using a theodolite or a tape measure using a surveying principle (step SA3). Step S
The image data of the equipment acquired in A1 and step SA3
The three-dimensional coordinates of the coordinate reference point calculated in step (1) are input to the input unit 1 of the equipment soundness evaluation apparatus shown in FIG.

Next, the calculation / judgment unit 2 of the equipment soundness evaluation device uses the three-dimensional coordinates of the coordinate reference point as a reference to evaluate three-dimensional evaluation points on the equipment in the image data acquired by the image data acquisition device. The coordinates are calculated (step SA4). One or more evaluation points are assigned to the equipment as necessary for soundness evaluation.

Referring now to FIG. 4, a photogrammetric method for obtaining three-dimensional coordinates will be described. As shown in FIG. 4, the objects 1, 2, 3 are arranged, and the three-dimensional coordinates of the point A of the object 3 are calculated.

First, a photograph of an object is taken at camera positions 1 and 2. At that time, the target object is projected on photographs 1 and 2 as shown in the figure. As shown in FIG. 5, the coordinates on the points on photos 1 and 2 are (X ₁ , Y ₁ ), (X ₂ , Y ₂ ).
I take the. Then, the coordinate systems (X ₁ , Y ₁ ) of the photos 1 and 2,
The whole coordinate system including (X ₂ , Y ₂ ) is (X, Y, Z). Assuming that the focal length of the camera is f and the distance between the camera 1 and the camera 2 in the X direction is α, the origin of the coordinate system of the photograph 1 is (0, 0, f) in the global coordinate system, and the origin of the coordinate system of the photograph 2 is In the coordinate system, it is located at (α, 0, f). On the other hand, the coordinates of B1 point on Photo ₁ and B ₂ point on Photo 2 are represented by B1 (x ₁ , y ₁ ), B
₂ (x ₂ , y ₂ ), B ₁ (x
_1, y _1, f), a _{B2 (x 2, y 2,} f).

In FIG. 5, if a point obtained by translating the point B ₂ on the photograph 1 is denoted by B ₂ ′, the triangle O ₁ B ₁ B ₂ ′ and the triangle AO ₁ O ₂ are similar, so that the coordinates The following relationship holds:

[0021]

(Equation 1)

As described above, if the focal length f of the camera and the camera position interval α are known and the coordinates of the points B ₁ and B _{2 on} the photograph are obtained, the three-dimensional coordinates of the point A are calculated. be able to. The three-dimensional coordinates of the evaluation points on the equipment calculated in this way are stored in the storage unit 3 of the soundness evaluation device (step SA5).

FIG. 6 shows the state of the equipment during stoppage and during operation. During operation, for example, the temperature of the fluid in the pipe increases, so that the equipment has a shape different from that in the stopped state, and the coordinate value of the evaluation point changes. Therefore, as shown in FIG. 6, evaluation points are set in advance at appropriate positions, all the stopped data of those evaluation points are acquired, and the storage unit 3 of the soundness evaluation device is acquired.
To save. After that, the coordinate values of all the evaluation points in the operating state are acquired and stored in the storage unit 3 in the same manner (step SA)
5). FIG. 7 shows an example of the three-dimensional coordinate data of the evaluation points during stopping and during operation of the equipment stored in the storage unit 3.

Next, the stopped / operating three-dimensional coordinate data stored in the storage unit 3 is compared by the calculation / judgment unit 2,
The moving amount is calculated from the arithmetic expression of coordinates during operation−coordinates during stopping = moving amount (step SA6). When the soundness of the equipment is determined based on the amount of movement, step SA in FIG.
This movement amount is displayed on the display unit 4 without going through steps 7 and 8 (step SA9). FIG. 8 shows a display example. When the determination is made based on the stress, the calculation / determination unit 2 calculates the stress of the equipment from the movement amount of the evaluation point using the finite element method or the like (step SA7).

Next, the calculated and determined stress at each evaluation point and the allowable stress determined from the material of the equipment, the operating temperature and the like are compared and determined by the calculation / determination unit 2 (step SA8). If the generated stress exceeds the allowable stress, it is determined that there is a high possibility that the equipment is in a dangerous state, and it is displayed on the display unit 4 and an alarm is issued to the operator by light, sound, or the like to urge the operator to confirm the state of the equipment ( Step SA9). FIG. 9 shows a display example of the calculated stress value, allowable stress, and judgment.

Next, a second embodiment of the present invention will be described with reference to FIG. Steps SB1 to SB6 shown in this figure correspond to steps SA1 to SA shown in FIG.
Same as up to 7. In the present embodiment, the calculation / determination unit 2 shown in FIG. 2 is provided with a three-dimensional CAD data creation function and a three-dimensional CAD stress determination function.

According to the equipment soundness evaluation method and apparatus having such a configuration, the three-dimensional coordinates of the equipment that is operating and stopped are received from the storage unit 3, and the three-dimensional CAD data of the equipment is calculated and determined by the calculation / determination unit 2. It is created (step SB7). Further, the calculation / determination unit 2 calculates the stress generated in the equipment (step SB6), and the result is compared with the three-dimensional C.
The three-dimensional CAD stress is determined using the AD data (step SB8). The display unit 4 changes and displays the color of the equipment part exceeding the allowable stress (step SB9), and visually transmits the color to the operator.

Next, a third embodiment of the present invention will be described with reference to FIG. In the present embodiment, a laser beam is used for obtaining the three-dimensional coordinates of the above-mentioned equipment, instead of the photogrammetry. In other words, by emitting a laser beam to the equipment and receiving the reflected light, the three-dimensional measurement of the equipment is performed using triangulation from the laser emission angle and the reflected laser reception angle, and the distance between the laser emission position and the laser reception position. Calculate the coordinates. This makes it possible to acquire the three-dimensional coordinates of the equipment even in a high place where it is difficult to install the coordinate reference device, or in a place where a human cannot approach due to a high radiation dose.

As shown in FIG. 12, the coordinate reference device is attached to the equipment in advance as a paint or the like, so that it is difficult for humans to approach due to high places or high radiation dose where it is difficult to install the coordinate reference device. Regarding the location, etc.
The dimensional coordinates can be obtained.

FIG. 13 shows a fifth embodiment of the present invention.
Piping installed in the plant penetrates each room, which is a closed space in the plant, and is connected to devices such as pumps and valves. In such a case, the equipment installed in each room has a three-dimensional coordinate space in each room and a three-dimensional coordinate space in the entire plant. However, usually, the three-dimensional coordinate measurement of the equipment is performed based on the coordinates of each room, and the coordinates of the equipment installed in different rooms are not related. For this reason, it is difficult to accurately adjust the position of the pipe penetrating the inside and outside of the chamber when changing the pipe arrangement by replacing the pump or the like.

Therefore, in the present embodiment, a three-dimensional coordinate connection point to which the coordinate reference device 5 is attached is provided in the opening of the predetermined room, image data is taken in from inside and outside the predetermined room, and the three-dimensional coordinates of the connection point are stored inside and outside. Used to associate the coordinate space of. By doing so, it is possible to integrate the three-dimensional coordinates inside and outside the predetermined room. Further, by providing the three-dimensional coordinate connection points in this way, it is possible to easily perform alignment of pipes and equipment when repairing equipment installed inside and outside the predetermined room.

FIG. 14 shows a sixth embodiment. This embodiment relates to a calibration device. Calibration device L ₁ shown in FIG. 14,
The L ₂ and H dimensions are strictly measured in advance, and the L ₁ , L ₂ , and H dimensions of the calibration device are measured by the equipment integrity evaluation device before the equipment integrity evaluation. And make calibration of the equipment integrity evaluation device. By doing so, it is possible to accurately measure the shape of the equipment and make a correct judgment on soundness.

[0033]

According to the present invention, the amount of equipment movement is calculated from the three-dimensional coordinates of the equipment while the plant is stopped and operating, and the stress generated in the equipment is determined from the amount of movement to determine the allowable stress value. Since the comparison is made, the soundness of the equipment can be accurately evaluated, and the reliability of the plant can be improved.

[Brief description of the drawings]

FIG. 1 is a flowchart illustrating a facility soundness evaluation method according to a first embodiment of the present invention.

FIG. 2 is a diagram showing a configuration of a facility soundness evaluation device according to the first embodiment of the present invention.

FIG. 3 is a diagram illustrating a coordinate reference device.

FIG. 4 is a diagram showing a photogrammetry method.

FIG. 5 is a diagram showing a coordinate system in photogrammetry.

FIG. 6 is a diagram exemplifying shapes of equipment during stop and operation.

FIG. 7 is a table exemplifying equipment three-dimensional coordinates stored in a storage unit.

FIG. 8 is a diagram exemplifying an equipment movement amount calculated by a calculation / determination unit.

FIG. 9 is a diagram illustrating a determination result displayed on a display unit.

FIG. 10 is a flowchart showing a facility soundness evaluation method according to a second embodiment of the present invention.

FIG. 11 shows a third embodiment of the present invention, and is a diagram showing a surveying method using a laser beam.

FIG. 12 shows the fourth embodiment of the present invention, and shows an example in which a coordinate reference device is preliminarily applied to a pipe surface.

FIG. 13 is a view showing a fifth embodiment of the present invention and showing association between a predetermined indoor and an outdoor.

14A and 14B show a sixth embodiment of the present invention, in which FIG. 14A is a plan view of a calibration device, and FIG. 14B is a side view of the same.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... input part, 2 ... calculation / determination part, 3 ... storage part, 4 ... display part, 5 ... coordinate reference apparatus, 6 ... piping.

Claims (9)

[Claims] 1. An image data relating to a shape of a running or stopped facility is acquired, a coordinate reference point is set on the facility, three-dimensional coordinates of the coordinate reference point are calculated, and the image data and the reference are calculated. Calculating the three-dimensional coordinates of the evaluation points on the equipment from the three-dimensional coordinates of the coordinate points, calculating the amount of movement of the evaluation points from the three-dimensional coordinates of the evaluation points during operation and the three-dimensional coordinates of the evaluation points at rest, An equipment soundness evaluation method characterized by evaluating the soundness of equipment based on the movement amount. 2. The equipment according to claim 1, wherein a stress generated in the equipment is calculated from a movement amount of the evaluation point, and the generated stress value is compared with an allowable stress value to evaluate the soundness of the equipment. Soundness evaluation method. 3. The equipment soundness evaluation method according to claim 2, wherein three-dimensional CAD data is used to determine the stress, and a color of a portion exceeding the allowable stress value is changed and displayed. 4. The equipment soundness evaluation method according to claim 1, wherein the three-dimensional coordinates of the points on the equipment that are in operation or stopped are acquired by using a laser beam instead of the image data. 5. When a facility extends in and out of a predetermined room, a three-dimensional coordinate connection point for associating three-dimensional coordinates of the predetermined room with three-dimensional coordinates of the predetermined outdoor is provided at an opening of the predetermined room. Equipment soundness evaluation method described. 6. A facility repair method, wherein three-dimensional coordinates of a facility obtained by the facility soundness evaluation method according to claim 5 are used for positioning of the facility over a predetermined room. 7. An input unit for inputting image data relating to the shape of the equipment during operation and stop and three-dimensional coordinates of a coordinate reference point set on the equipment, and the image data and the reference coordinate point 3. The three-dimensional coordinates of the evaluation points on the equipment are calculated from the three-dimensional coordinates, and the movement amount of the evaluation points is calculated from the three-dimensional coordinates of the evaluation points during operation of the equipment and the three-dimensional coordinates of the evaluation points while the equipment is stopped. A calculation / determination unit for determining the soundness of the equipment; a display unit for displaying a result of the determination; and a storage unit for storing the three-dimensional coordinates of the reference coordinate points and the three-dimensional coordinates of the evaluation points. Equipment integrity evaluation device. 8. The calculation / determination unit calculates stress generated in the equipment from the movement amount of the evaluation point, and compares the generated stress value with an allowable stress value to determine the soundness of the equipment. The equipment health evaluation device according to claim 7. 9. The operation / judgment unit creates three-dimensional CAD data from the three-dimensional coordinates of the evaluation points, and the display unit changes and displays the color of a portion exceeding the allowable stress value. 8. The equipment soundness evaluation device according to 8.