JP2007147645A - Device for measuring thickness of vessel steel plate - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a device for measuring the thickness of a vessel steel plate that has a vessel mirror part formed by a spherical or conical curved surface such as a reaction vessel and can easily measure the thickness of the vessel steel plate even in the case having various kinds of obstructions at a vessel barrel. <P>SOLUTION: The device for measuring thickness comprises a traveling carrier 6 that is a traveling carrier, has a steering mechanism capable of varying the radius of curvature of a travel locus in the front wheel or rear wheel, and can travel on a steel plate of the vessel mirror part 1a that is formed of a curved surface having a predetermined curvature and has a circular projected shape, an ultrasonic probe unit 7 that is mounted to the traveling carrier 6 and has a plurality of ultrasonic probes 7, a supporting point member 20 detachably provided from a supporting point set at the central axis of the vessel mirror part 1a, a supporting point whose one end is connected with the traveling carrier 6 rotatably via a guide joint, and the other end is disposed in the supporting point member 20 rotatably about the supporting point member 20, and that is set about the axis of the vessel mirror part 1a, and a turning radius regulating member 19 for regulating the separation distance from the traveling carrier 6. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an apparatus for measuring the thickness of a container steel plate, and in particular, a container mirror (container bottom) such as a reactor (reaction container) has a spherical or conical curved surface, and a baffle is formed on the container body. The present invention relates to a thickness measuring apparatus for a container steel plate that can easily measure the thickness of the container steel plate even when there is an obstacle such as a stirring member.

  Conventionally, welded steel structures such as tower tanks, spherical tanks, tanks, containers, etc. (hereinafter simply referred to as “containers”) have deteriorated over time due to external corrosion. It is necessary.

  As a means for measuring the thickness of the container steel plate, the thickness of the steel plate is measured by an ultrasonic probe. For example, an ultrasonic probe is used to measure the thickness of the flat bottom plate of a cylindrical tank. The tactile sensors and eddy current sensors are arranged in a staggered pattern (alternately) and mounted on a traveling cart, and the traveling cart is run on the coating coated on the bottom plate surface of the cylindrical tank, and the steel plate thickness on the tank bottom plate plane is continuously increased. The one to measure is proposed (refer to Patent Document 1).

  In addition, ultrasonic probes arranged in a staggered pattern (see Patent Document 2), ultrasonic probes arranged side by side in the width direction, and measuring the thickness of the tank bottom plate via a universal joint mechanism (See Patent Document 3), an ultrasonic probe supported by an elevating mechanism through a gimbal joint (see Patent Document 4) has been proposed.

  In addition, in order to measure the thickness of the curved surface plate of the floating roof tank, a horizontal traveling guide is provided near the top and bottom of the side of the tank, and a measuring carriage equipped with an ultrasonic probe and a permanent magnet for adsorption. Are connected to a magnet wire rope and moved up and down by a cable winding device (see Patent Document 5).

  Further, a scanning carriage equipped with an ultrasonic probe is configured to be movable in the vertical and horizontal directions (see Patent Document 6), and an ultrasonic probe is configured to be movable in the XY directions (patent) Various techniques such as Document 7) have been proposed.

JP 2001-50736 A JP-A-2-194355 US Pat. No. 5,440,929 JP-A-5-26654 JP-A-8-304062 JP-A-6-347250 Japanese Patent Application Laid-Open No. 11-19890

  However, if the flat bottom plate of a large tank for the purpose of simply containing the contents or a container body without any obstacles, it is possible to measure the plate thickness effectively with the various conventional examples described above. Pressure vessels such as containers) are smaller than large tanks simply for the purpose of containing their contents, and are further equipped with a stirrer, a stirring blade, a baffle as an injection pipe that also serves as an agitation, and a gas suction pipe. Because there are many obstacles such as thermometers, and the container mirror part is composed of a spherical or conical curved surface, it is difficult to measure the entire surface thickness automatically using an ultrasonic flaw detector. Inspection was common.

  Also, depending on the reactor, jacket steel for circulating hot water or water for the purpose of keeping the reaction temperature or adjusting the temperature may be provided on the outer periphery of the shell body by welding or the like, and between the jacket steel material and the shell body. Is exposed to a corrosive environment due to the water environment, but the outer surface of the shell body where the jacket steel material is provided is covered with the jacket steel material, so visual inspection from the outer surface side of the shell body is difficult, and the jacket steel material is temporarily removed. Then, there is a problem that enormous costs are required to perform visual inspection from the outer surface side of the shell body and restore the jacket steel material again.

  In such a case, if necessary, the obstacle inside the reactor may be temporarily removed, and a scaffold may be temporarily installed inside the reactor, and the thickness of the container steel plate may be measured manually using an ultrasonic flaw detector. However, once the obstacle inside the reactor is removed, the work of returning again is complicated, and the temporary and removal work of the scaffold is also troublesome.

  In addition, when the thickness of a container steel plate is measured by hand using an ultrasonic flaw detector while leaving the obstacle inside the reactor, the inspector must be in an unstable posture in a narrow space. Measurement must be carried out, the working environment is poor, and it takes much time to measure the thickness of the entire surface of the container steel plate without omission, so it is not practical in terms of container operation. Therefore, the plate thickness is measured at the representative part of the container.

  However, just measuring the plate thickness at the representative part of the container is not reliable in grasping the thinning state of the entire container, so as described above, the jacket steel material is once removed and a visual inspection is performed from the outer surface side of the shell body. May do.

  On the other hand, in a multi-channel type plate thickness measuring apparatus using a plurality of ultrasonic probes, as shown in FIG. The echo monitoring gate 42 was fixed, and the plate thickness value calculated at the position where the threshold level of the bottom echo monitoring gate 42 cuts the reflected echo waveform was used as the measurement result.

  However, with such a plate thickness measurement method, a multi-channel type plate thickness measurement apparatus using an ultrasonic probe can flexibly cope with changes in the measurement state of each channel and the damage state of the subject. In other words, problems such as overlooking the accurate thickness value and erroneous detection of extra noise have occurred, and these have become a major error factor in thickness measurement.

  For example, in channel 1 to channel 4 in FIG. 23, the start time of the bottom surface echo monitoring gate 42 and the rising time point of the bottom surface echo waveform 43b are substantially the same, and the plate thickness value can be accurately detected. In this case, since the thickness of the bottom echo monitoring gate 42 is calculated at the position where the bottom echo waveform 43b is cut off, a thickness value that is thicker than the actual thickness is detected. Accordingly, this is an example in which a thin plate thickness cannot be measured and is overlooked.

  In order to cope with variations in measurement between many channels, the conventional fixed gate method can be handled by expanding the monitoring range of the bottom echo monitoring gate 42 as shown in FIG. Even in this case, there is a demerit that it becomes easy to pick up extra noise. For example, in FIG. 24, since the bottom echo monitoring gate 42 corresponding to the widened monitoring range calculates the plate thickness at the position where the multiple echo waveform 43c of the boundary echo waveform 43a is mistaken for the bottom echo waveform 43b, it is thinner than the actual thickness. The plate thickness value is detected.

  Also, if the container steel plate is composed of different materials such as clad steel (for example, SUS + SS material) or steel material coated with glass lining (GL + SS material), if peeling (air layer) occurs at each interface Therefore, it is difficult to accurately obtain the entire thickness of the object, which causes a large measurement error.

  FIG. 28 (a) shows a boundary surface echo waveform 43a in the case where there is separation at the boundary surface between the surface layer of the container steel plate formed by bonding surface layers made of different materials and the container steel plate. When there is separation in the ultrasonic path, the multiple echo waveform 43c reflected and returned from the separation surface multiple times jumps into the gate range of the bottom echo monitoring gate 42, and the bottom echo monitoring gate 42 cuts the multiple echo waveform 43c. Since the plate thickness is calculated at the position, a plate thickness value thinner than the actual thickness is detected.

  Further, when inclusions, laminations, and the like are present in the steel plate of the container steel plate, as shown in FIG. 28 (c), the scratch echo waveform 43d appears before the bottom echo waveform 43b of the steel material appears. Therefore, as shown in 8ch (channel) of FIG. 31, the bottom echo monitoring gate 42 detects the scratch echo waveform 43d instead of the bottom echo waveform 43b, and a thickness significantly smaller than the actual steel thickness is detected. As shown in Fig. 31, even if the steel material is not corroded, a thin plate thickness value 44 as if it was corroded is calculated and displayed, reducing the corrosion of the container steel plate. There is a problem that it is impossible to distinguish between the presence of meat and inclusions.

  In addition, in the case where the jacket steel material is provided on the outer peripheral portion, even if the steel plate thickness is measured from the inner side using an ultrasonic probe, the position cannot be easily specified from the outer side. It was necessary to roughly identify from the outside the position that needs repair from the plate thickness information measured in, and to repair in a wide range centered on the identified position. As a result, there is a problem that the jacket steel material is largely removed and the strength of the container is lowered, and it takes time and cost to repair in a wide range.

  The present invention solves the above-mentioned problems, and the object of the present invention is to form a container mirror part with a spherical or conical curved surface, such as a reactor (reaction vessel), and various obstacles to the container body. It is an object of the present invention to provide a container steel plate thickness measuring device that can easily measure the thickness of a container steel plate even when there is an object.

  In order to achieve the above object, a container steel plate thickness measuring apparatus according to the present invention is a traveling cart that travels with left and right front wheels and left and right rear wheels, and changes the radius of curvature of the travel locus to the front wheels or rear wheels. A traveling carriage having a steering mechanism capable of traveling on a steel plate of a container mirror portion formed of a curved surface having a predetermined curvature and formed in a circular shape, and a plurality of ultrasonic waves mounted on the traveling carriage An ultrasonic probe unit on which a probe is mounted; a fulcrum member that can be attached to and detached from a fulcrum set at the axial center of the container mirror; and a rotatable guide joint at one end of the ultrasonic probe unit. A traveling carriage is connected, and the other end portion is provided to be rotatable about the fulcrum member with respect to the fulcrum member, and the fulcrum set at the center of the axis of the container mirror is separated from the traveling carriage. A turning radius regulating member for regulating the distance Characterized in that it.

  Since the present invention is configured as described above, when measuring the steel plate thickness of a container mirror portion formed of a curved surface such as a spherical shape or a conical shape having a predetermined curvature and having a circular projection shape, the container mirror is measured. A fulcrum member is attached to a fulcrum set at the center of the axis of the part, and the circumference of a predetermined radius of curvature is defined while defining the traveling radius of the traveling carriage on which a plurality of ultrasonic probes are mounted by the turning radius defining member It is possible to continuously measure the steel plate thickness of the container mirror part for the circumference of the circumference of the radius of curvature by setting the center of the axis of the traveling carriage and the container mirror part by the turning radius defining member. If the distance from the fulcrum is continuously increased or decreased every round, the steel plate thickness can be measured over substantially the entire surface of the container mirror. The fulcrum member can be configured to be easily attachable to and detachable from the container mirror by an attractive force of a magnetic material such as a permanent magnet or an electromagnet, or an attractive force of a suction cup or the like.

  The traveling cart has a steering mechanism that can change the radius of curvature of the travel locus, and travels on the circumference of a predetermined radius of curvature, and the steel plate thickness of the container mirror part for one circumference of the radius of curvature is measured. It can be measured continuously. The steel plate thickness can be measured over substantially the entire surface of the container mirror by continuously increasing or decreasing the radius of curvature of the travel locus for each turn by the steering mechanism.

  As an example of a plate thickness measuring apparatus for a container steel sheet according to the present invention, the container mirror part (container bottom part) is formed of a spherical curved surface, the projection shape is circular, and is continuous in a direction substantially perpendicular to the container mirror part. Specific embodiment of a plate thickness measuring apparatus for a container steel plate when applied to a reactor (reaction vessel) having a substantially cylindrical container body and an obstacle such as a baffle provided on the container body Explained.

  1 and 2, reference numeral 1 denotes a reactor (reaction vessel), which is a container mirror portion 1a formed of a curved surface having a predetermined curvature and whose projection shape is circular, and is continuous with the container mirror portion 1a in the height direction. And a substantially cylindrical container body 1b.

  An example of the case where the container mirror part 1a of the present embodiment is configured by a spherical curved surface will be described, but the container mirror part 1a can be similarly applied to a container mirror part configured by a conical curved surface. In addition, a stirrer 2 that is rotationally driven by a motor (not shown) is provided at the central portion of the reactor 1 of the present embodiment, and a baffle 3 as an injection tube that also serves to promote stirring is supported on the container body 1b. .

  In this embodiment, the stirrer 2 and the baffle 3 become obstacles in the plate thickness measurement. Although not shown, as other obstacles, a stirring blade, a gas suction pipe, a thermometer, and the like may be disposed inside the reactor 1.

  A jacket steel material 4 for circulating hot water or water for the purpose of keeping the reaction temperature or adjusting the temperature is provided by welding or the like on the outer periphery of the reactor 1 from the container mirror 1a to the container body 1b.

  A traveling carriage 5 shown in FIG. 1 has a plurality of ultrasonic probes 7 and travels in the vertical direction (height direction) or the horizontal direction (circumferential direction) on the steel plate of the container body 1b. The traveling carriage 6 shown in FIG. 2 is also a traveling carriage that is equipped with a plurality of ultrasonic probes 7 and travels on the steel plate of the container mirror portion 1a in the circumferential direction with a predetermined radius of curvature.

  The ultrasonic probe 7 is supported by a small cart 7a that also serves as a probe unit, and the small cart 7a is supported by a support frame of the ultrasonic probe unit 13 through a gimbal mechanism. In the ultrasonic probe unit 13 of the present embodiment, twelve ultrasonic probes 7 are arranged in a zigzag manner (alternately) and integrally provided.

  As shown in FIGS. 3 to 5, the traveling carriage 6 traveling on the steel plate of the container mirror portion 1 a is provided with a steering mechanism 8 capable of changing the curvature radius of the traveling locus on the front wheel 10. The steering angle of the front wheel 10 can be adjusted by sliding the steering angle adjustment knob 8a connected to the link mechanism in the vertical direction of FIG.

  On the other hand, the left and right rear wheels 11 are provided with a traveling motor 12 serving as a traveling drive mechanism capable of independently rotating the left and right rear wheels 11.

  Reference numeral 9 denotes a magnet that is a magnetic body that exerts an attractive force by magnetic force on the container steel plate. As the magnetic material, a permanent magnet or an electromagnet can be used. Further, the four wheels of the front and rear wheels 10 and 11 may be configured by magnets.

  Reference numeral 13 denotes an ultrasonic probe unit on which a plurality of ultrasonic probes 7 are integrally mounted. The ultrasonic probe unit 13 is configured to be detachable from the main body frame 14 of the traveling carriage 6. Yes. The ultrasonic probe unit 13 is configured to be detachable from a carriage member 15 of the traveling carriage 5 which will be described later with reference to FIGS. 7 to 12, so that a common ultrasonic probe unit can be obtained. 13 is selectively attachable to and detachable from the traveling cart 6 that travels through the container mirror 1a and the traveling cart 5 that travels through the container body 1b.

  As an attaching / detaching means for attaching / detaching the ultrasonic probe unit 13 to / from the traveling carriages 5 and 6, bolting or screwing may be used, but in this embodiment, it is configured to be attachable / detachable with a single touch using a buckle 28. . In addition, various attachment / detachment means can be applied.

  Reference numeral 16 denotes an encoder serving as a distance measuring mechanism, and reference numeral 17 denotes a control cable connector to which a power cable and a signal cable 17a are connected. The control cable connector 17 of the traveling carriage 6 transmits a power cable for the traveling motor 12 and a signal cable for transmitting a control signal, and further transmits a control signal for the ultrasonic probe 7 and a plate thickness measurement data by the ultrasonic probe 7. A signal cable for transmitting mileage data measured by the encoder 16, and the like are connected.

  A rotation guide joint 18 is provided on the side of the main body frame 14 of the traveling carriage 6, and one end of a rotation radius defining member 19 shown in FIG. 6 is connected to the rotation guide joint 18.

  In FIG. 6, reference numeral 20 denotes a fulcrum member that can be attached to and detached from a fulcrum set at the axial center of the container mirror 1a. It is configured to be easily detachable from the part 1a.

  The other end of the turning radius defining member 19 is supported by a holder member 21 that is rotatably provided on the fulcrum member 20, and by adjusting the fixed length of the turning radius defining member 19 by the length adjustment knob 21a, The separation distance between the fulcrum set at the axial center of the container mirror portion 1a and the traveling carriage 6 can be defined.

  With the above configuration, when measuring the steel plate thickness of the container mirror part 1a formed of a curved surface having a predetermined curvature, such as a spherical surface or a conical shape, and having a circular projection shape, the axial center of the container mirror part 1a is measured. A fulcrum member 20 is attached to the set fulcrum, and the turning radius defining member 19 defines a traveling radius of the traveling carriage 6 on which a plurality of ultrasonic probes 7 are mounted, and has a predetermined radius of curvature. Can be measured and the steel plate thickness of the container mirror part 1a for the circumference of the radius of curvature can be measured, and the rotational radius defining member 19 is set to the axial center of the traveling carriage 6 and the container mirror part 1a. If the distance from the fulcrum is increased or decreased continuously, the steel plate thickness can be measured over substantially the entire surface of the container mirror 1a.

  7-12, the traveling cart 5 that travels on the steel plate of the container body 1b is equipped with a magnet 9 that is a magnetic body that acts on the container steel plate to attract the magnetic force to the container steel plate, similar to the traveling cart 6 described above. is doing. As the magnetic material, a permanent magnet or an electromagnet can be used. Further, the four wheels of the front and rear wheels 10 and 11 may be configured by magnets.

  The four wheels of the front and rear wheels 10 and 11 are provided with a traveling motor 12 that serves as a traveling drive mechanism that can independently rotate and drive the four wheels. A traveling drive mechanism is configured that can be moved forward / backward independently by controlling the reverse rotation.

  As shown in FIGS. 10 and 11, the main body frame 14 of the traveling carriage 5 is provided with a turning arm 22 which is a moving means and constitutes a turning means so as to be rotatable about a turning shaft 22a. A carriage member 15 configured to be swingable with respect to the rotary arm 22 is provided at the tip of the rotary arm 22.

  The ultrasonic probe unit 13 on which a plurality of ultrasonic probes 7 are mounted is configured to be detachable with respect to the carriage member 15, and the attaching / detaching means includes the ultrasonic probe unit 13 and the main body frame 14 described above. Like the attaching / detaching means, the buckle 28 is used to attach and detach with one touch. It should be noted that various other attachment / detachment means can be employed as described above.

  Then, the traveling arm 22 is rotated to move the carriage member 15 on which the ultrasonic probe unit 13 is mounted in a direction intersecting with the traveling direction of the traveling carriage 5 (a direction orthogonal in the present embodiment). 5 can be projected in the width direction.

  Further, a bumper-shaped collision sensor 24 serving as an obstacle detection means for detecting an obstacle in the traveling direction of the traveling carriage 5 is provided at the front end of the main body frame 14, and the obstacle detection information by the collision sensor 24 is included in the obstacle detection information. Based on this, the control unit 31 shown in FIG. 16 controls the drive of the running motor 12 of the running carriage 5 to prevent the running carriage 5 from running away and falling, and as an example of a notification means, an alarm is output from the speaker 27e of the controller 27 shown in FIG. Or the like, or an LED (light emitting diode) 27a or the like emits light to notify the presence of an obstacle.

  When the traveling carriage 5 hits an obstacle, the traveling motor 12 can be driven and controlled by detecting an overload current of the traveling motor 12. Further, as another configuration of the obstacle detection means for detecting the obstacle in the traveling direction of the traveling carriage 5, an ultrasonic sensor, an infrared sensor, or the like may be employed.

  The control cable connector 17 of the traveling carriage 5 is a power cable for the traveling motor 12, a signal cable for transmitting control signals, a signal cable for transmitting obstacle detection information detected by the collision sensor 24, and the control of the ultrasonic probe 7. A signal cable for transmitting signals and plate thickness measurement data by the ultrasonic probe 7, a signal cable for transmitting travel distance data measured by the encoder 16, and the like are connected.

  The support frame of the carriage member 15 is equipped with an auxiliary magnet 25 that is a magnetic body that exerts an attracting force by a magnetic force on the container steel plate. As the magnetic material, a permanent magnet or an electromagnet can be used. An auxiliary wheel 26 is provided on the support frame of the carriage member 15. The auxiliary wheel 26 may be composed of a magnet.

  8, 9 and 11 are views showing the traveling cart 5 traveling in the vertical direction (height direction) on the steel plate of the container body 1b. FIG. 12 is a diagram showing the traveling cart 5 of the container body 1b. It is a figure which shows a mode that it runs on a steel plate in a horizontal direction (circumferential direction).

  13 and 14 show an ultrasonic probe unit in which the traveling carriage 5 traveling on the steel plate of the container body 1b avoids the support member 3a that supports the baffle 3 serving as an obstacle provided on the container body 1b. 13 shows a state in which the plate thickness of the line of the support member 3a that protrudes in the width direction of the traveling carriage 5 and becomes an obstacle is measured.

  A bumper-type collision sensor 24 is provided on the front surface of the traveling carriage 5, and as shown in FIG. 13 (a), the baffle 3 serving as an obstacle when the ultrasonic probe unit 13 is mounted at the home position. As shown in FIG. 13 (b), the traveling carriage 5 that has traveled while measuring the plate thickness of the line of the support member 3a collides with the support member 3a to detect an obstacle. At this time, the unmeasured portion 30 shown in FIG. 13 (e) remaining between the traveling carriage 5 and the supporting member 3a serving as an obstacle is recorded in a personal computer (hereinafter referred to as “personal computer”) 34.

  The unmeasured portion 30 recorded in the personal computer 34 as described above is a carriage on which the ultrasonic probe unit 13 is mounted by rotating the rotating arm 22 about the rotating shaft 22a in the clockwise direction of FIG. The member 15 is projected in the width direction of the traveling carriage 5 and the lane can be shifted to perform remeasurement.

  Further, the measurement direction by the traveling carriage 5 can be changed by 90 ° depending on the positional relationship of the unmeasured part 30. In this case, the left and right wheel operation sticks 27b and 27c of the controller 27 shown in FIG. First, the left wheel operation stick 27b of the controller 27 in FIG. 15 is tilted in the forward direction (upward in FIG. 15), and the right wheel operation stick 27c is tilted in the backward direction (downward in FIG. 15). The left front and rear wheels are rotationally driven in the forward direction and the right front and rear wheels are rotationally driven in the reverse direction (FIG. 13C), and are rotated 90 ° right with an extremely small turning radius (FIG. 13D).

  Further, the left and right wheel operation sticks 27b, 27c are tilted in the backward direction (downward in FIG. 15) to rotate all the wheels of the traveling carriage 5 in the backward direction so as to avoid the support member 3a which becomes an obstacle, and the traveling carriage 5 is The traveling carriage 5 is moved backward by a predetermined distance that can be turned to a position where the thickness measurement of the unmeasured portion 30 can be performed by the ultrasonic probe unit 13 that protrudes while traveling (FIG. 13E).

  Next, the left wheel operation stick 27b of the controller 27 in FIG. 15 is tilted in the backward direction (downward in FIG. 15), and the right wheel operation stick 27c is tilted in the forward direction (upward in FIG. 15). The left front and rear wheels are rotated in the backward direction and the right front and rear wheels are rotated in the forward direction (FIG. 13 (e)) and rotated 90 ° to the left with an extremely small turning radius (FIG. 13 (f)).

  At this time, as shown in FIG. 13 (f), the traveling carriage 5 measures the plate thickness of the unmeasured portion 30 by the ultrasonic probe unit 13 protruding while traveling while avoiding the support member 3a serving as an obstacle. The lane is changed to a position where it can be moved, and the left and right wheel operation sticks 27b and 27c of the controller 27 are further moved in the forward direction (upward in FIG. 15) to rotate all the wheels of the traveling carriage 5 in the forward direction. The plate thickness of the unmeasured portion 30 left before the support member 3a serving as an obstacle is measured by the ultrasonic probe unit 13 which is advanced and protruded.

  When the measurement of the thickness of the unmeasured portion 30 is completed, the rotating arm 22 is rotated counterclockwise in FIG. 11 about the rotating shaft 22a, and the ultrasonic wave protruding in the width direction of the traveling carriage 5 The carriage member 15 on which the probe unit 13 is mounted is stored in the home position as shown in FIG. 7 (FIG. 14A).

  Then, the left and right wheel operation sticks 27b and 27c of the controller 27 shown in FIG. 15 are tilted in the forward direction (upward in FIG. 15) and all the wheels of the traveling carriage 5 are rotationally driven in the forward direction to advance the traveling carriage 5. When passing through the support member 3a serving as an obstacle, the rotation arm 22 is again rotated about the rotation shaft 22a in the clockwise direction of FIG. 11, and the carriage on which the ultrasonic probe unit 13 is mounted. The member 15 is protruded in the width direction of the traveling carriage 5 (FIG. 14B).

  Then, the left and right wheel operation sticks 27b and 27c of the controller 27 shown in FIG. 15 are tilted in the backward direction (downward in FIG. 15), and all the wheels of the traveling carriage 5 are rotationally driven in the backward direction to After the tentacle unit 13 is retracted until it comes close to the supporting member 3a serving as an obstacle (FIG. 14C), the left and right wheel operation sticks 27b and 27c of the controller 27 shown in FIG. 15 (upward direction) and all the wheels of the traveling carriage 5 are rotationally driven in the forward direction to advance the traveling carriage 5 and measure the unmeasured portion on the other side of the support member 3a which becomes an obstacle (FIG. 14 ( d)).

  According to the above configuration, an obstacle in the traveling direction of the traveling carriage 5 is detected by the collision sensor 24 serving as an obstacle detection means, and the control unit 31 shown in FIG. Driving control of the motor 12 prevents runaway and falling of the traveling carriage 5, and as an example of a notification means, an alarm such as an alarm is emitted from the speaker 27e of the controller 27 shown in FIG. 15, and an LED (light emitting diode) 27a is emitted. It is possible to notify the presence of an obstacle.

  In this way, even if there are obstacles such as the stirrer 2, the stirring blade, the baffle 3 serving as an injection pipe that also serves as an agitation, a gas suction pipe, a thermometer, etc. in the container body 1 b, the traveling carriage 5 is provided. The four-wheel-drive driving motors 12 serving as the driving mechanisms that have been driven are moved forward and backward independently from each other left and right to avoid the obstacles, and the steel plate on substantially the entire surface of the container body 1b. Thickness can be measured. The travel drive mechanism may be a caterpillar drive mechanism that can be moved forward / backward independently on the left and right sides, or a travel drive mechanism such as a walking robot can be applied.

  In the above-described embodiment, the carriage member 15 is rotated by the rotation arm 22 so that the ultrasonic probe unit 13 is moved in the width direction of the traveling carriage 5 and protruded. A configuration may be adopted in which a slide mechanism is provided in the main body frame and the carriage member 15 on which the ultrasonic probe unit 13 is mounted is slid and moved in the width direction of the traveling carriage 5 by electric means or the like.

  When the carriage member 15 on which the ultrasonic probe unit 13 is mounted is slid in the width direction of the traveling carriage 5, a carriage drive such as a motor is driven based on the obstacle detection information of the collision sensor 24 serving as an obstacle detection means. The slide mechanism is driven by the means, and each wheel of the small carriage 7a of the ultrasonic probe 7 is made a caster capable of changing its direction independently, or the ultrasonic probe unit 13 is mounted. A lifting mechanism for raising and lowering the carriage member 15 may be provided, and the carriage member 15 may be lifted at one end and slid in the width direction of the traveling carriage 5 and then lowered.

  Further, a main body frame 14 of a traveling carriage 6 that travels on a steel plate of the container mirror section 1a through a common ultrasonic probe unit 13 on which a plurality of ultrasonic probes 7 are mounted by a buckle 28 serving as an attaching / detaching means, It can be selectively mounted on the carriage member 15 of the traveling carriage 5 traveling on the steel plate of the container body 1b with one touch.

  The controller 27 shown in FIG. 15 shows an example in which an inspector who enters the reactor 1 from a manhole or the like operates, and the microphone 27d and the speaker 27e are used for communication with an inspector waiting outside the reactor 1. Used for. 27f is a speed adjustment knob for the traveling carriage 5, and 27g is a speed balance adjustment knob for finely adjusting the speed balance of the left and right wheels of the traveling carriage 5.

  Reference numeral 27h denotes a direction reversing button for switching between the forward / reverse directions of the traveling cart 5, and the left / right wheel operation stick 27b is switched by switching the direction reversing button 27h according to the front / rear direction of the traveling cart 5 facing the inspector to be operated. , 27c can be reversed to facilitate remote operation.

  27 i is a travel start button for starting travel of the travel cart 5, and 27 j is a travel stop button for stopping travel of the travel cart 5. In addition, the traveling operation of the traveling carriage 6 traveling on the container mirror 1a can be operated using the controller 27 shown in FIG.

  Next, signal processing during plate thickness measurement will be described with reference to FIG. First, a pulse voltage is periodically sent from the ultrasonic thickness meter 32 shown in FIG. 16 to the ultrasonic probe 7 to oscillate the transmission transducer T of the ultrasonic probe 7, and the generated ultrasonic wave is covered. It feeds into the steel plate that becomes the specimen.

  Next, the reflected wave from the bottom surface of the subject is received by the receiving transducer R of the ultrasonic probe 7, and the voltage obtained by the oscillation of the receiving transducer R is amplified by the ultrasonic thickness meter 32, The data is output to a high-speed analog / digital converter (hereinafter simply referred to as “high-speed A / D”) 33 a of a computer (hereinafter referred to as “microcomputer”) 33.

  The microcomputer 33 transmits the digital conversion value of the waveform obtained by the high speed A / D 33a to the personal computer 34 together with the travel position information of the travel carts 5 and 6 by the encoder 16 obtained through the counter 33b.

  The personal computer 34 calculates the plate thickness of the subject using the sound velocity of the subject obtained in advance based on the digital conversion value of the waveform obtained by the high speed A / D 33a.

  The above processing is sequentially performed for 12 ultrasonic probes 7 (a pair of the transmission transducer T and the reception transducer R is 12ch (channel)), and the plate thickness is continuously measured. For example, when the period of the pulse voltage sent from the ultrasonic thickness meter 32 to the ultrasonic probe 7 is 12 kHz, the measurement is performed at 1 kHz per channel.

  On the display screen of the personal computer 34, the plate thickness information currently being measured is displayed in real time together with the travel position information of the travel carts 5 and 6 by the encoder 16 on the measurement screen 35 as shown in FIG. Click the save end button 35c to save the measurement data as a file.

  Next, the software configuration of the plate thickness measuring apparatus will be described with reference to FIG. The microcomputer software 33c shown in FIG. 17 uses a synchronization signal (1 kHz / ch, total 12 kHz) from the ultrasonic thickness gauge 32 to detect a channel identification signal, length measurement data (encoder count), and an ultrasonic total waveform digital value (40 MHz × 2048). Data such as dot, 151 mm) is acquired and transmitted to the personal computer 34. The microcomputer software 33c controls the ultrasonic flaw detector.

  The sampling software 34a that captures the plate thickness data communicates with the microcomputer 33 and processes the captured ultrasonic full waveform digital value to detect a peak. FIG. 20 shows an example of the measurement screen 35 of the sampling software 34a being measured. Then, control of the ultrasonic thickness meter 32, setting and acquisition of sampling conditions, acquisition of measurement data, and the like are executed according to instructions from the data processing software 34b.

  The data processing software 34b for forming a plate thickness image as shown in FIG. 21 and FIG. 22 sets the conditions of the ultrasonic thickness gauge 32, calibrates (obtains the sound velocity of the subject), plots and measures the reactor 1, and the reactor 1 Processing such as creation, display, and printing of a thickness distribution diagram (color-coded).

Next, the data processing operation executed by the data processing software 34b will be described with reference to FIG. FIG. 18 (a) is an operation that performs drawing of the reactor 1, in step S _1, if you enter the dimensions of the reactor 1 by using an input means such as a keyboard or a mouse of the personal computer 34, the reactor 1 by the data processing software 34b Drawing (step S ₂ ) and saving the drawn file (step S ₃ ).

FIG. 18 (b) is an operation for performing thickness measurement, the step S ₃ reads the drawing file of the reactor 1 stored at (Step S _11), and sets the measurement start position traveling vehicle 5,6 (Step S ₁₂ ). The measurement start position is input using an input means such as a keyboard or a mouse of the personal computer 34 (step S ₁₃ ), and the measurement start button 35 a of the measurement screen 35 shown in FIG. 20 displayed on the display screen of the personal computer 34 is clicked. (step S _14), press the traveling start button 27i of the controller 27 shown in FIG. 15 (step S _15).

The traveling carts 5 and 6 measure the plate thickness of the container steel plate with the ultrasonic probe 7 while traveling (step S ₁₆ ). If the traveling cart 6 measures the plate thickness of the container mirror 1a of the reactor 1, the traveling carts 6 and 6 rotate. When one round of the radius of curvature defined by the radius defining member 19 is completed, and when the container body 1b is measured in the vertical direction with the traveling carriage 5 that measures the plate thickness of the container body 1b of the reactor 1 At the stage when one straight line is completed, and when the container body 1b is measured in the circumferential direction by the traveling carriage 5, at the stage when one turn of the container body 1b of the reactor 1 is completed ( step S _17), (step S ₁₈ with pressing the travel stop button 27j of the controller 27 shown in each FIG. 15), and click the measurement stop button 35b of the measurement screen 35 shown in FIG. 20 displayed on the display screen of the PC 34 (Step S ₁₉ ), measurement screen 35 Save end button 35c Click the save file thickness measurement data associated with the traveling position information of the traveling carriage 5 and 6 detected by the encoder 16 (step S _20).

Until the thickness of the entire area of the container mirror portion 1a and the container body 1b of the reactor 1 measurement is completed (step S ₂₁₎ sequentially moves to the next thickness measurement locations (step S _22), the reactor 1 vessel The plate thickness measurement is finished at the stage where the plate thickness measurement of the entire area of the mirror portion 1a and the container body portion 1b is completed.

Figure 18 (c) shows an operation to create a distribution diagram of the plate thickness measured, the read drawing file of the reactor 1 stored in step S ₃ (step S _31), and stored at step S ₂₀ thickness A measurement file is read (step _S32 ).

Then, the data processing software 34b associates the plotting data of the reactor 1 with the plate thickness measurement data and creates a plate thickness distribution diagram as shown in the plate thickness distribution screen 36 of FIG. 21 (step _S33 ). When the creation of the plate thickness distribution diagram is completed (step S ₃₄ ), the plate thickness distribution screen 36 shown in FIG. 21 is output (step S ₃₅ ), and when printing is performed (step S ₃₆ ), it is output to the printer. (Step _S37 ) and the process ends.

  FIG. 22 is a view showing an example of the plate thickness measurement result, FIG. 22 (a) is a view showing the corroded portion of the vessel steel plate of the reactor 1, FIG. 22 (b) is a view showing the plate thickness distribution by color, and FIG. FIG. 22 (c) is a diagram in which measured thickness values are displayed for each unit cell of 5 mm × 5 mm.

Usually, a coating film is applied to the surface of the steel plate to prevent corrosion, and the value obtained by subtracting the thickness of the coating film is the actual plate thickness. Therefore, in this embodiment, when measuring the plate thickness of the container steel plate by the ultrasonic probe 7 installed on the coating film surface, the peak position detected from the digital value of the total waveform of the ultrasonic wave is shown in FIG. As described above, the coating film based on the bottom surface echo that is transmitted from the transmitting transducer T of the ultrasonic probe 7 placed on the coating film surface at the bottom surface of the steel plate and received by the receiving transducer R for the first time. the the total thickness tR · B ₁ containing, ultrasonic wave transmitted from the transmitting transducer T of the ultrasound probe 7 placed on the surface of the coating film is folded back at the bottom surface of the steel sheet, further at the interface between the coating and the steel sheet The actual thickness of the steel sheet tB ₁ · B ₂ is calculated by the difference from the total thickness tR · B ₂ including the coating film based on the bottom echo received by the receiving transducer R for the second time. You can ask.

Here, if the bottom echo signal received for the first time is obtained, but the bottom echo signal received for the second time is too small to obtain the plate thickness tB ₁ · B ₂ , The plate thickness tB ₁ · B ₂ is obtained using the obtained position data.

That is, the estimated value of the thickness at the position where the bottom echo signal received at the second time is small and the thickness tB ₁ · B ₂ cannot be obtained is t _cur , and the position where the thickness tB ₁ · B ₂ cannot be obtained. T (R · B ₁ ) _cur is the total thickness including the coating thickness, and t (R · B ₁ ) _{near is the} total thickness including the coating thickness at the position where the plate thickness tB ₁ · B ₂ can be obtained in the vicinity. If the plate thickness at the position where the plate thickness tB ₁ · B ₂ can be obtained with t (B ₁ · B ₂ ) _near , then t _cur = t (R · B ₁ ) _cur − {t (R · B ₁ ) _near A predicted value of the plate thickness can be calculated by −t (B ₁ · B ₂ ) _near }, and this value can be adopted as the plate thickness.

  In the above-described embodiment, an example of a container in which the substantially cylindrical container body 1b is arranged in the vertical direction and the container mirror 1a is arranged up and down has been described. However, the substantially cylindrical container body 1b is described. Can be similarly applied to a container when the container mirror 1a is disposed on the left and right.

  Next, a plate thickness measuring method will be described with reference to FIGS. In this embodiment, the container mirror unit 1a of the reactor 1 serving as a container by detecting the voltage value of the echo height of the ultrasonic response waveform using the ultrasonic probe 7 mounted on the traveling carriages 5 and 6; The plate | board thickness of the container trunk | drum 1b is measured continuously.

  As shown in FIG. 26, the bottom surface echo monitoring gate 42 for detecting the voltage value of the echo height of the bottom surface echo waveform 43b which is the ultrasonic response waveform by the ultrasonic probe 7 on the bottom surface of the container steel plate is provided in a predetermined time width range. And the first echo of the container steel plate calculated at the position where the bottom echo monitoring gate 42 cuts the bottom echo waveform 43b when the start time of the bottom echo monitoring gate 42 is the first start time t (n). And the start time of the bottom echo monitoring gate 42 are moved to a second start time t (n + 1) which is a response time earlier than the first start time t (n) by a predetermined time. The second plate thickness S (n + 1) is compared with the second plate thickness S (n + 1) of the container steel plate calculated at the position where the bottom echo monitoring gate 42 cuts the bottom echo waveform 43b. The bottom is less than the plate thickness S (n) Move the start time of the echo monitoring gate 42 to fast response time for a predetermined time.

  In FIG. 26, the starting point of the bottom echo monitoring gate 42 is t (n) → t (n + 1) → t (n + 2) → t (n + 3) → t (n + 4) → t (n + 5) → t (n + 6) → t ( (n + 7)> S (n)> S (n + 1)> S (n + 2)> S (n + 3) calculated at the position where the bottom echo monitoring gate 42 cuts the bottom echo waveform 43b when moving to n + 7) )> S (n + 4)> S (n + 5)> S (n + 6) = S (n + 7).

  Then, when the second plate thickness S (n + 7) matches the first plate thickness S (n + 6), the start time t (n + 6) of the bottom echo monitoring gate 42 is fixed.

  Thereby, as shown in FIG. 25, the start time t of the bottom surface echo monitoring gate 42 can be brought close to the rising time point of the bottom surface echo waveform 43b that becomes an ultrasonic response waveform by the ultrasonic probe on the bottom surface of the container steel plate, As shown in FIG. 26, when the second plate thickness S (n + 7) and the first plate thickness S (n + 6) coincide with each other, by fixing the start time t (n + 6) of the bottom echo monitoring gate 42, The plate thickness S of the container steel plate calculated at the position where the bottom echo monitoring gate 42 cuts the bottom echo waveform 43b can be accurately measured.

  In FIG. 26, even if the start time of the bottom echo monitoring gate 42 is moved to t (n + 7), as shown in FIG. 26, there is no scratch echo waveform, multiple echo waveform, etc. before the bottom echo waveform 43b. Although there is no problem, if a scratch echo waveform or multiple echo waveform (not shown) is present before the bottom echo waveform 43b, the bottom echo monitoring gate 42 detects the scratch echo waveform, multiple echo waveform, or the like. By fixing the start time t (n + 6) of the echo monitoring gate 42, even if a scratch echo waveform or multiple echo waveform (not shown) exists before the bottom echo waveform 43b, the scratch echo waveform or multiple echo waveform is present. Etc. are not detected by the bottom echo monitoring gate 42.

When the start time t of the bottom echo monitoring gate 42 is moved to a response time that is earlier by a predetermined time, the time pitch corresponding to a half wavelength of the vibration period of the ultrasonic probe 7 can be set as a minimum unit. For example, the time for a half wavelength when the vibration frequency of the ultrasonic probe 7 is 5 MHz is 0.1 × 10 ⁻⁶ [sec], and the start point of the bottom echo monitoring gate 42 is set with this time pitch as a minimum unit. t can be moved to an earlier response time sequentially.

  Accordingly, as described above with reference to FIG. 24, the monitoring range of the bottom echo monitoring gate 42 is not inadvertently widened, and a narrow monitoring range of the bottom echo monitoring gate 42 is provided in the vicinity of the bottom echo waveform 43b. The correct thickness of the steel sheet can be obtained without erroneous detection of noise such as 43c.

  FIG. 27 shows the movement of the bottom echo monitoring gates 42 in all channels ch1 to ch12 of each ultrasonic probe 7, and the start time t of the bottom echo monitoring gates 42 is determined by the ultrasonic waves on the bottom surface of the container steel plate. This is an example in which the bottom echo waveform 43b is not overlooked in all channels by fixing the bottom echo waveform 43b, which becomes an ultrasonic response waveform by the probe 7, close to the rising point.

  In this way, in the multi-channel type plate thickness measuring apparatus that continuously measures the plate thickness of the vessel steel plate using the ultrasonic probe 7, each bottom echo waveform 43b reflected from the bottom surface of the steel plate is detected. Therefore, it is possible to automatically set the start time t of the monitoring range of each bottom echo monitoring gate 42 to be set for each channel.

  Next, with reference to FIG. 28 to FIG. 30, a noise determination method in the case where there is separation between a container steel plate and a surface layer of a container steel plate formed by bonding surface layers made of different materials will be described.

  FIG. 28 is an ultrasonic response waveform by an ultrasonic probe at the interface between the surface layer and the container steel plate, and (a) is an example of an ultrasonic response waveform when there is a separation between the container steel plate and the surface layer. And (b) is a diagram showing an example of an ultrasonic response waveform having a healthy part and a thinned part when there is no separation between the container steel plate and the surface layer, and (c) is an inclusion in the container steel plate. It is a figure which shows an example of an ultrasonic response waveform in case there exists damage | wounds, such as lamination.

  In the present embodiment, the container is obtained by detecting the voltage value of the echo height of the ultrasonic response waveform using the ultrasonic probe 7 from the surface layer side of the container steel plate formed by bonding the surface layers made of different materials. When continuously measuring the plate thickness of the steel plate, as shown in FIG. 28, the boundary reflection echo waveform 43a that becomes the ultrasonic response waveform by the ultrasonic probe 7 at the boundary surface between the surface layer and the container steel plate. The boundary surface echo monitoring gate 41 that detects the voltage value of the echo height is set within a predetermined time width range.

  Then, at least one of the average voltage value of the echo height, the cumulative voltage value of the echo height, and the peak voltage value of the echo height in the time width range of the boundary surface echo monitoring gate 41 is calculated, Create a statistical distribution.

  FIG. 29 (a) shows the statistical distribution of the entire container by calculating the average voltage value of the echo height in the time width range of the boundary surface echo monitoring gate 41, and is constructed by bonding the surface layers made of different materials. When peeling occurs between the container steel plate and the surface layer, a peeling waveform consisting of a voltage value having a high echo height appears as a boundary echo waveform 43a as shown in FIG. 28 (a), The non-peeling distribution consisting of the normal boundary surface echo waveform 43a shown in FIG. 28B and the peeling distribution consisting of the peeling waveform shown in FIG. 28A are divided into two in the statistical distribution.

  Then, the separation distribution with the higher average voltage value of the echo height divided into two from the statistical distribution is determined as a noise group due to separation between the container steel plate and the surface layer.

  FIG. 29B shows a statistical distribution in the entire container by calculating the cumulative voltage value of the echo height in the time width range of the boundary surface echo monitoring gate 41, as shown in FIG. It is divided into a distribution without separation and a separation distribution as shown in FIG. Then, a separation distribution having a higher cumulative voltage value of echo height divided into two from the statistical distribution is determined as a noise group.

  FIG. 29 (c) shows a statistical distribution in the entire container by calculating the peak voltage value of the echo height in the time width range of the boundary surface echo monitoring gate 41, as shown in FIG. 28 (b). It is divided into a distribution without separation and a separation distribution as shown in FIG. Then, the separation distribution with the higher peak voltage value of the echo height divided into two from the statistical distribution is determined as the noise group.

  Fig. 30 shows the result of calculating the peak voltage value of the echo height in the time width range where the boundary surface echo monitoring gate 41 is set and creating a statistical distribution for the entire container. It is a figure which shows an example in case 2 cannot be divided. In such a case, the statistical distribution of the average voltage value of the echo height in the entire container shown in FIG. 29 or the statistical distribution of the cumulative voltage value of the echo height in the entire container is used in combination. The differentiated separation distribution can be determined as a noise group.

  That is, using at least two of the statistical distributions of the average voltage value of the echo height, the cumulative voltage value of the echo height, and the peak voltage value of the echo height shown in FIG. The separation distribution divided into two from the statistical distribution can be determined as a noise group, thereby improving the noise group determination accuracy.

  And, by designating a noise group consisting of the separation distribution divided into two from each statistical distribution and not displaying the plate thickness, erroneous display indicating a thickness thinner than the actual thickness due to separation between the container steel plate and the surface layer is prevented. I can do it.

  Next, a noise determination method in the case where inclusions, laminations, and the like are present in the steel plate of the container steel plate will be described with reference to FIGS.

  A curve a shown in FIG. 32 shows how the plate thickness changes when the thickness of the vessel steel plate is reduced by corrosion at a 1 mm pitch using the ultrasonic probe 7, and a curve b shows the vessel steel plate. Shows the change of the plate thickness when the thickness is measured at 1 mm pitch using the ultrasonic probe 7 in the portion where the lamination exists in the steel material, and curve c shows the inclusion in the steel material of the container steel plate. It is a figure which shows a mode that a plate | board thickness changes when a plate | board thickness is measured by the 1 mm pitch using the ultrasonic probe 7 for the existing part.

  As shown by the curve a in FIG. 32, the thickness of the portion where the vessel steel plate is reduced due to corrosion is slow, but as shown by the curves b and c, lamination and inclusions are contained in the steel plate of the vessel steel plate. In the portion where there is, the change in the plate thickness changes abruptly at both ends of the lamination and inclusions.

  For example, if the ultrasonic probe 7 changes only 1 mm and the measured steel plate thickness changes abnormally by 5 mm, the measured plate thickness data is regarded as noise. Can be separated and removed.

  When the plate thickness of the container steel plate is continuously measured by detecting the voltage value of the echo height of the ultrasonic response waveform using the ultrasonic probe 7, when the entire container is first measured at a predetermined pitch A statistical distribution in the entire container is created by calculating the difference in the thickness values of the adjacent sides.

  Fig. 33 shows the result of calculating the statistical distribution of the entire container by calculating the difference between adjacent plate thickness values when the entire container is measured at a predetermined pitch, and as a result, there are laminations and inclusions in the steel of the container steel plate. It is a figure which shows an example of the standard difference distribution centering on the average value "0", and the sudden change value distribution distributed away in the-(minus) side and + (plus) side.

  Then, from the statistical distribution shown in FIG. 33, the point where the difference in the plate thickness value is smaller than the normal range on the-(minus) side is taken as the starting point of the noise group, and the difference in the plate thickness value is normal on the + (plus) side. A location that is larger than the range is set as the end point of the noise group, and a range in which the thickness between the pair of adjacent portions at the start point and end point of the noise group is continuously small is determined as the noise group.

  Figure 31 shows the starting point of the noise group when the difference between adjacent plate thickness values when the entire container is measured at a predetermined pitch and the difference in plate thickness values is smaller than the normal range on the-(minus) side. Furthermore, the point where the difference in thickness value is larger than the normal range on the + (plus) side is the end point of the noise group, and the plate thickness between the pair of adjacent parts at the start point and end point of the noise group is continuous. FIG. 32 is a diagram for explaining a state in which an extremely small range is determined as a noise group, and a thin plate thickness value 44 measured by the multiple echo waveform 43c detected by the 8-ch ultrasonic probe 7 shown in FIG. Can be determined as a noise group in which laminations and inclusions exist in the steel plate of the container steel plate.

  And by designating the noise group and not displaying the plate thickness, it is possible to prevent erroneous display indicating a thickness thinner than the actual thickness due to inclusions, lamination, etc. existing in the steel of the container steel plate.

  Next, by using FIG. 34 to FIG. 36, by detecting the voltage value of the echo height of the ultrasonic response waveform using the ultrasonic probe 7 from the inside of the container in which the jacket steel material 4 is provided on the outer peripheral portion. After continuously measuring the plate | board thickness of a container steel plate, the method to designate a repair location from the jacket steel material 4 outer side is demonstrated.

  First, as shown in FIG. 34, the inner surface of the substantially cylindrical container body 1b is developed on the two-dimensional coordinates (X, Y), and continuously by the ultrasonic probe 7 mounted on the traveling carriage 5. The thickness of the steel plate of the container body 1b is plotted.

Here, each part of the development view seen from the inner surface side of the container body 1b and each part of the development view seen from the outer surface side are symmetrical, and further, the development view seen from the inner surface side of the container body 1b. 36, and the dimensions of each part of the developed view seen from the outer surface side of the jacket steel material 4, the inner radius of the container body 1b is r and the plate thickness of the container body 1b as shown in FIG. S _1, when the separation distance between the outer surface of the container body 1b and the inner surface of the jacket steel 4 g, the thickness of the jacket steel 4 was S ₂ and the inner circumference of the container body 1b is 2.pi.r, jacket Since the outer peripheral length of the steel material 4 is 2π (r + S ₁ + g + S ₂ ), it is expanded to (r + S ₁ + g + S ₂ ) / r times in the left-right direction.

Accordingly, the inner surface of the container body 1b is developed, and the plate thickness of the steel plate of the container body 1b continuously measured by the ultrasonic probe 7 from the inner surface side of the container body 1b is plotted (X, Y). The two-dimensional coordinates of () are subjected to coordinate transformation symmetrically, and at the same time, (r + S ₁ + g + S ₂ ) / r-fold enlarged coordinate transformation is performed in the horizontal direction.

In this case, when the two-dimensional coordinates (X, Y) are coordinate-converted symmetrically, and at the same time the (r + S ₁ + g + S ₂ ) / r-fold enlarged coordinate conversion is performed, the coordinate conversion is performed using the following conversion formula. I can do it.

  The two-dimensional coordinates (X ′, Y ′) thus transformed are created as two-dimensional coordinates in which the outer surface of the jacket steel material 4 is developed as shown in FIG.

  In the two-dimensional coordinates (X, Y) shown in FIG. 34, the lower left of FIG. 34 is the origin, the X axis is displayed with the right side in the + direction, and the Y axis is displayed with the upper side in the + direction. In the two-dimensional coordinates (X ′, Y ′), the lower right in FIG. 35 is the origin, the X ′ axis is the left side in the + direction, and the Y ′ axis is the upper side in the + direction.

  Then, as shown in FIG. 35, the repair location can be accurately designated from the outside of the jacket steel material 4 based on the thickness of the container steel plate plotted on the two-dimensional coordinates (X ′, Y ′). .

  In this way, it is possible to specify the repair location accurately from the outside of the jacket steel material 4 in a narrow pinpoint range, and the repair work of the container body 1b can be performed more efficiently than the repair method based on the conventional experience. Can be implemented.

  INDUSTRIAL APPLICABILITY The present invention can be applied to an apparatus for measuring the thickness of a container steel plate, and in particular, a container mirror part (container bottom part) such as a reactor (reaction container) is configured with a spherical or conical curved surface. Even when there are obstacles such as baffles and stirring members, the present invention can be applied to a plate thickness measuring device for a vessel steel plate that can easily measure the plate thickness of a vessel steel plate.

It is a cross-sectional explanatory drawing which shows a mode that the plate | board thickness of the container trunk | drum of a reactor is measured with the plate | board thickness measuring apparatus of the container steel plate which concerns on this invention. (A), (b) is the top view and cross-sectional side view which show a mode that the plate | board thickness of the container mirror part of a reactor is measured with the plate | board thickness measuring apparatus of the container steel plate which concerns on this invention. It is a top view which shows the structure of the 1st traveling trolley which can drive | work on the steel plate of the container mirror part which consists of a spherical curved surface. It is a side view showing the composition of the 1st run cart which can run on the steel plate of the container mirror part which consists of a spherical curved surface. It is a front view which shows the structure of the 1st driving | running | working trolley which can drive | work on the steel plate of the container mirror part which consists of a spherical curved surface. (A)-(c) is the top view, side view, and front view which show the structure of the fulcrum member which can be attached or detached with respect to the fulcrum set to the axial center of a container mirror part. It is a top view which shows the structure of the 2nd traveling cart which can drive | work on the steel plate of the substantially cylindrical container trunk | drum continuous in the direction substantially orthogonal to a container mirror part. It is a side view which shows the structure of the 2nd traveling cart which can drive | work on the steel plate of the substantially cylindrical container trunk | drum continuous in the direction substantially orthogonal to a container mirror part. It is a front view which shows the structure of the 2nd traveling cart which can drive | work on the steel plate of the substantially cylindrical container trunk | drum continuous in the direction substantially orthogonal to a container mirror part. In a second traveling carriage capable of traveling on a steel plate of a substantially cylindrical container body continuous in a direction substantially orthogonal to the container mirror section, a carriage member carrying a plurality of ultrasonic probes is moved along the traveling carriage. It is a top view which shows the structure which moved and protruded in the direction which cross | intersects a direction. In a second traveling carriage capable of traveling on a steel plate of a substantially cylindrical container body continuous in a direction substantially orthogonal to the container mirror section, a carriage member carrying a plurality of ultrasonic probes is moved along the traveling carriage. It is a rear view which shows the structure which moved and protruded in the direction which cross | intersects a direction. It is a side view which shows a mode that a 2nd driving | running | working trolley drive | works on the steel plate of a container trunk | drum in the circumferential direction. It is a plane schematic diagram which shows a mode that the 2nd driving | running | working cart | bowl measures a plate | board thickness of a container trunk | drum by making a some ultrasonic probe protrude in the width direction, avoiding an obstruction. It is a plane schematic diagram which shows a mode that the 2nd driving | running | working cart | bowl measures a plate | board thickness of a container trunk | drum by making a some ultrasonic probe protrude in the width direction, avoiding an obstruction. It is a figure which shows the structure of the controller of a traveling vehicle. It is a block diagram which shows the structure of a control system. It is a block diagram which shows the structure of the information processing system which processes plate | board thickness measurement data. It is a flowchart which shows a mode that plate | board thickness measurement data is processed. It is a figure explaining an example of a plate thickness measuring method. It is a figure which shows an example of the measurement screen of sampling software during measurement. It is a figure which shows an example of the board thickness distribution map of data processing software. It is a figure which shows an example of a measurement result. It is a figure explaining the subject of the prior art example which fixed the bottom face echo monitoring gate. It is a figure explaining the subject of the prior art example which extended the bottom face echo monitoring gate range. It is a figure which shows a mode that plate | board thickness is measured close to the starting time of the ultrasonic response waveform by the ultrasonic probe in the bottom face of a container steel plate by moving the start time of a bottom face echo monitoring gate. It is a figure which shows a mode that the starting time of a bottom face echo monitoring gate is moved sequentially, and it approaches the rising time of the ultrasonic response waveform by the ultrasonic probe in the bottom face of a container steel plate. It is a figure which shows a mode that plate | board thickness is measured close to the starting time of the ultrasonic response waveform by each ultrasonic probe in the bottom face of a container steel plate, respectively by moving the start time of each bottom face echo monitoring gate of 1ch-12ch. . In the ultrasonic response waveform by the ultrasonic probe at the interface between the surface layer and the container steel plate, (a) is an example of the ultrasonic response waveform when there is a separation between the container steel plate and the surface layer, b) is a diagram showing an example of an ultrasonic response waveform when there is no separation between the container steel plate and the surface layer, and (c) is an ultrasonic wave when there are scratches such as inclusions or lamination in the container steel plate. It is a figure which shows an example of a response waveform. (A) to (c) are containers for calculating the average voltage value of the echo height, the cumulative voltage value of the echo height, and the peak voltage value of the echo height in the time width range in which the boundary surface echo monitoring gate is set. It is a figure which shows a mode that it divided into the distribution without peeling and peeling distribution as a result of producing statistical distribution in the whole. As a result of calculating the peak voltage value of the echo height in the time width range where the boundary echo monitoring gate is set and creating the statistical distribution in the entire container, it cannot be easily divided into two due to the overlap between the non-peeling distribution and the peeling distribution. It is a figure which shows an example of a case. Calculate the difference between adjacent plate thickness values when the entire container is measured at a predetermined pitch, and set the point where the difference in plate thickness values is smaller than the normal range on the-(minus) side as the starting point of the noise group. The point where the difference in the plate thickness value is larger than the normal range on the + (plus) side is set as the end point of the noise group, and the plate thickness between the pair of adjacent sites at the start point and end point of the noise group is continuously small. It is a figure explaining a mode that a range is determined as a noise group. It is a figure which shows a mode that the plate | board thickness measured with the ultrasonic probe at a pitch of 1 mm each changes, when a steel plate is reduced by corrosion, when a lamination exists, and when an inclusion exists. As a result of calculating the statistical distribution of the entire container by calculating the difference in adjacent plate thickness values when measuring the entire container at a predetermined pitch, it is standard when there are laminations and inclusions in the steel of the container steel plate. It is a figure which shows a mode that difference distribution is aggregated to the normal distribution of average value "0", and the sudden change value distribution is distributed apart on the-(minus) side and + (plus) side. It is a figure which shows a mode that the plate | board thickness of the measured container steel plate was plotted on the two-dimensional coordinate which expand | deployed the substantially cylindrical container trunk | drum inner surface. FIG. 35 is a diagram showing a state in which coordinate conversion is performed symmetrically and two-dimensional coordinates shown in FIG. 34, in which the plate thickness of the measured container steel plate is plotted, and enlarged coordinates are converted in the horizontal direction. When the inner diameter radius of the container body is r, the plate thickness of the container body is S ₁ , the separation distance between the outer surface of the container body and the inner surface of the jacket steel is g, and the thickness of the jacket steel is S ₂ , FIG. FIG. 6 is a diagram for explaining the principle of performing (r + S ₁ + g + S ₂ ) / r times enlarged coordinate transformation in the left-right direction for the two-dimensional coordinates shown in FIG.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Reactor, 1a ... Container mirror part (container bottom part), 1b ... Container trunk | drum, 2 ... Stirrer, 3 ... Baffle, 3a ... Support member, 4 ... Jacket steel material, 5,6 ... Running cart, 7 ... Ultrasonic probe Tensile, 7a ... small carriage, 8 ... steering mechanism, 8a ... steering angle adjustment knob, 9 ... magnet, 10 ... front wheel, 11 ... rear wheel, 12 ... travel motor, 13 ... ultrasonic probe unit, 14 ... main body Frame, 15 ... Carriage member, 16 ... Encoder, 17 ... Control cable connector, 17a ... Power cable and signal cable, 18 ... Rotation guide joint, 19 ... Rotation radius defining member, 20 ... Supporting member, 21 ... Holder member, 21a ... Length adjusting knob, 22 ... rotating arm, 22a ... rotating shaft, 24 ... collision sensor, 25 ... auxiliary magnet, 26 ... auxiliary wheel, 27 ... controller, 27a ... LED, 27b, 27c ... left and right wheel operation stick, 27d ... Microphone, 27e ... 27f ... Speed adjustment knob, 27g ... Speed balance adjustment knob, 27h ... Direction reversal button, 27i ... Running start button, 27j ... Running stop button, 28 ... Buckle, 30 ... Unmeasured part, 31 ... Control part, 32 ... Super Sound wave thickness meter, 33 ... Microcomputer, 33a ... High-speed A / D, 33b ... Counter, 33c ... Microcomputer software, 34 ... PC, 34a ... Sampling software, 34b ... Data processing software, 35 ... Measurement screen, 35a ... Measurement start button 35b ... measurement stop button, 35c ... save end button, 36 ... plate thickness distribution screen, 41 ... boundary echo monitoring gate, 42 ... bottom echo monitoring gate, 43a ... boundary echo waveform, 43b ... bottom echo waveform, 43c ... Multiple echo waveform, 43d ... Scratch echo waveform, 44 ... Thin plate thickness value

Claims (1)

A traveling vehicle that travels with left and right front wheels and left and right rear wheels, the front wheel or the rear wheel having a steering mechanism capable of changing the radius of curvature of the travel locus, and having a curved surface with a predetermined curvature and having a projected shape A traveling carriage capable of traveling on a steel plate of a circular container mirror part;
An ultrasonic probe unit mounted on the traveling carriage and mounted with a plurality of ultrasonic probes;
A fulcrum member that can be attached to and detached from a fulcrum set at the axial center of the container mirror part;
The traveling carriage is rotatably connected to one end portion via a rotation guide joint, and the other end portion is provided to be rotatable about the fulcrum member with respect to the fulcrum member. A turning radius defining member that defines a separation distance from the fulcrum set to the traveling carriage,
An apparatus for measuring the thickness of a container steel plate.