JP2010071818A - Method and device for identifying position inside of space - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a method for identifying position that is used for inspecting the inside of a space surrounded by the surface of a boiler furnace, or the like and can identify a position even if a reference point cannot be disposed on a floor surface. <P>SOLUTION: A front sidewall and a rear sidewall are in parallel each other and are perpendicular to the left and right sidewalls. A plurality of projections in the same shape are provided in parallel at an equal interval on the lengthwise and crosswise sidewalls. A position inside the space to be identified is on the sidewall. A laser disposed at the position applies laser beams vertically to calculate the distance from the irradiator to the upper and lower walls each according to each arrival time. Two laser beams are applied from the irradiator in two directions orthogonal to two sidewalls orthogonal to a sidewall where the position to be identified exists at an interval of half the projection interval. Also, the position of the irradiator is identified by calculating the distance to the two sidewalls each from the irradiator according to the arrival time and arrival time difference of the two laser beams to the sidewall or the projections. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a method for specifying a work position used for work such as maintenance inspection in a space enclosed by front, rear, left and right side walls, an upper wall, and a lower wall, and particularly in an interior of a large tank, a boiler furnace, etc. The present invention relates to a position specifying method for specifying a worker's whereabouts or mainly an inspection position of a wall surface when an operator enters a maintenance inspection.

A boiler furnace used in a thermal power plant is required to be opened at the time of production and periodically after the start of operation, and an operator needs to enter the inside for maintenance inspection. At the time of maintenance inspection, it is necessary to clarify the inspection location, but the boiler furnace has a large capacity, and it is difficult to accurately grasp the inspection location visually.
Therefore, conventionally, the worker's whereabouts, that is, the maintenance inspection position, is grasped by measuring the height position and the right and left position of the inspection place using a tape measure or the like, but this method requires a great deal of time and manpower to grasp the position. Cost.

  Therefore, it is conceivable to specify the position using a method called a three-dimensional positioning system. This is a method of calculating the distance from a known position coordinate to a point whose position is to be identified from the propagation speed and propagation time using sound waves, and identifying the position using the distance. Such a three-dimensional positioning system is disclosed in, for example, Patent Document 1 and Patent Document 2. Further, for example, Patent Document 3 discloses a three-dimensional positioning system that specifies a position using laser light instead of sound waves.

The case where the maintenance inspection position in a boiler furnace is specified using the conventional three-dimensional positioning system is demonstrated using FIG.8 and FIG.9.
FIG. 9 is a perspective view showing a boiler furnace. As shown in FIG. 9, the boiler furnace 102 has many pipes 104 attached in the vicinity of the outer wall, and has a combustion chamber 106 for burning fuel inside, and an evaporation pipe (not shown) along the inner wall surface. ) Is installed.
When the operation of the boiler furnace 102 is stopped and an operator enters the inside and inspects the wear and corrosion state of the evaporation pipe, it is necessary to specify the inspection location using the three-dimensional positioning system. . This will be described in detail with reference to FIG.

FIG. 8 is a schematic diagram for explaining a conventional method for specifying the position in the boiler furnace 102.
In FIG. 8, reference numeral 102 denotes a boiler furnace schematically shown. When the position of a certain point A in the boiler furnace 102 is specified, first, received waves that can receive radio waves and sound waves at three reference positions R ₁₀₁ , R ₁₀₂ , and R ₁₀₃ whose position coordinates in the boiler furnace 102 are known. Install the vessel. Thereafter, radio waves and sound waves are simultaneously transmitted from the point A, and the arrival time differences between the radio waves and the sound waves are measured by the receivers disposed at the three reference positions R ₁₀₁ , R ₁₀₂ , and R _103. each reference position _R 101 and position a using _sonic, R _102, calculates the distance _{L 101, L 102, L 103} between the _{R 103,} the distance _{L 101, L 102, L 103} and the reference position R The position of the point A is specified using the position coordinates of ₁₀₁ , R ₁₀₂ , and R ₁₀₃ .

JP-A 63-266376 JP 2004-108978 PR JP-A-3-251706

However, the A'said reference position _R 101 of the _3-point, R _102, points A symmetrical point with respect to the plane formed by _{R 103,} to the reference position _R 101 of the _3-point, R _{102, R 103} The distances L ₁₀₁ ′, L ₁₀₂ ′, and L ₁₀₃ ′ satisfy L ₁₀₁ = L ₁₀₁ ′, L ₁₀₂ = L ₁₀₂ ′, and L ₁₀₃ = L ₁₀₃ ′, respectively.
That is, that the distance from the three reference positions _{R 101,} R _{102, R 103} is _{L 101, L 102, L 103,} respectively, formed by the reference position _{R 101,} R _{102, R 103} of the three-point That is, there are two locations (A, A ′) at symmetrical positions with respect to the plane. If the position corresponding to the point A ′ shown in FIG. 8 is outside the boiler furnace 102, the position corresponding to A ′ can be excluded from the candidates for the point A, so that the point A can be specified. As shown in FIG. 8, when the point A ′ is in the boiler furnace 102, the position of the point A cannot be specified.

In Patent Document 1, since the position is specified in a state in which the specified point is located in a plane formed by the three reference positions, it is formed by the three reference positions. In Patent Document 2, three reference positions are arranged on the ground and the position in the air is specified in Patent Document 2 because the point is symmetrical to the point specified with respect to the plane to be specified. Points that are symmetric with respect to a point specified with respect to a plane formed by the reference position of the point are not considered because they are underground. For this reason, it is not always possible to specify the position in the boiler furnace using any of the methods disclosed in Patent Documents 1 and 2.
Further, the position calculation method disclosed in Patent Document 2 obtains the distance between the positioning point and the known position from the sound wave arrival time, and it is necessary to count the time at which the sound wave is transmitted at the positioning point. For this reason, the transmitter needs a radio wave transmission means for separately transmitting the transmission time to the arithmetic unit, which increases the size of the device. Furthermore, in the method disclosed in Patent Document 2, when a scaffold is assembled in the vicinity of the boiler side wall that specifies the position as in the inspection in the boiler furnace, the scaffold becomes an obstacle to sound wave transmission and reception, and positioning accuracy is increased. Is expected to decline.
In addition, the method using laser light disclosed in Patent Document 3 cannot measure if there is an obstacle that blocks the laser light between the transmitter and the receiver, and there is an obstacle such as a scaffold inside during inspection. It is not suitable for use in inspection in many boiler furnaces.

  Also, in the boiler furnace, for example, all three reference points should be arranged on the floor of the boiler furnace bottom so that the direction from the plane formed by the three points to the specified point (inspection position) can be specified. However, when three reference points are arranged on the floor surface, there is a scaffold that interferes with sound wave propagation between the transmission position and the reception position, which causes a reduction in positioning accuracy.

  Furthermore, since the boiler furnace has a large capacity, a plurality of workers enter the inside during open inspection. Therefore, it is necessary to detect the inspection positions of a plurality of workers, but none of Patent Documents 1, 2, and 3 can cope with the detection of the positions of a plurality of workers.

  Therefore, in view of the problems of the prior art, the present invention is used for inspection inside a space surrounded by a surface of a boiler furnace or the like, and the position can be specified even when the reference point cannot be arranged on the floor surface. Further, it is an object of the present invention to provide a position specifying method used for inspection inside a container capable of detecting a plurality of positions.

In order to solve the above problems, in the present invention,
A method for specifying a position inside a space surrounded by front, rear, left and right side walls, an upper wall and a lower wall, wherein the front side wall and the rear side wall are parallel to each other and perpendicular to the left and right side walls, A plurality of projections having the same shape are provided in parallel at equal intervals on the upper side, and the position inside the specified space is on the side wall, and the vertical direction is higher than the irradiator capable of irradiating the laser disposed at the position. Each is irradiated with a laser, and the distance from the irradiator to each of the upper wall and the lower wall is calculated from the arrival time of the laser on each of the upper wall and the lower wall, and the identification is made from the irradiator. Two lasers are irradiated at intervals of ½ of the projection interval in each of two directions perpendicular to the two sidewalls perpendicular to the side wall where the position exists, and the sidewalls or projections of the two lasers From the arrival time and arrival time difference, By calculating the serial distance from the illuminator to the respective two side walls, and identifies the location of the illuminator.

If the position that needs to be specified is on the side wall, the position can be specified by calculating the distance from the position to the two side walls and the upper and lower walls perpendicular to the side wall where the position exists.
The distance from the position that needs to be specified to the upper and lower walls can be obtained from the arrival time of the laser that irradiates from the irradiator provided at the position that needs to be specified.
Also, the distance from the specified position to the two side walls perpendicular to the side wall where the position exists is that the same shape of protrusions are provided in parallel at equal intervals on the side wall. If it calculates | requires, exact distance may not be able to be calculated by presence of the said protrusion. Therefore, two lasers are irradiated at an interval of 1/2 of the protrusion interval, and from the arrival time and the arrival time difference of the two lasers to the side wall or the protrusion, the irradiation device to each of the two side walls. By calculating the distance, it is possible to calculate an accurate distance.
Therefore, since the distance from the position which needs to be specified to the two side walls perpendicular to the side wall where the position exists and the upper and lower walls can be calculated, the position can be specified.

  Furthermore, even when it is necessary to specify a plurality of positions, it is only necessary to irradiate laser from each of the plurality of positions, and a plurality of positions can be specified.

  Furthermore, if the sum of the distance from the irradiator to the upper wall and the distance from the lower wall is not within the design distance error allowable range from the upper wall to the lower wall of the space, the measurement is not performed accurately. Therefore, it can be said that this is a highly reliable position detection method. The same applies to the sum of the distances from the irradiator to each of the two side walls.

  Furthermore, if a laser distance sensor capable of continuous measurement is used, the position can be detected in real time even if the specified position moves.

  Further, it is a method for specifying the position inside the space surrounded by the front and rear left and right side walls, the upper wall and the lower wall, wherein the front side wall and the rear side wall are parallel to each other and perpendicular to the left and right side walls. On the left and right side walls, a plurality of protrusions having the same shape are provided in parallel at equal intervals, the position inside the space to be specified is on the side wall, and from an irradiator capable of irradiating a laser disposed at the position, A laser is irradiated in each of the vertical directions, and the distance from the irradiator to each of the upper wall and the lower wall is calculated from the arrival time of the laser on each of the upper wall and the lower wall. While irradiating the laser in two directions perpendicular to the two side walls perpendicular to the side wall where the specified position exists, the irradiator is slid more than the distance between the protrusions, and the time from the arrival time of the laser to the side wall is determined. The irradiator By calculating the two distances to each side wall, and identifies the location of the illuminator.

If the position that needs to be specified is on the side wall, the position can be specified by calculating the distance from the position to the two side walls perpendicular to the side wall where the position exists and the upper and lower walls.
The distance from the position that needs to be specified to the upper and lower walls can be obtained from the arrival time of the laser that irradiates from the irradiator provided at the position that needs to be specified.
Also, the distance from the specified position to the two side walls perpendicular to the side wall where the position exists is that the same shape of protrusions are provided in parallel at equal intervals on the side wall. If it calculates | requires, exact distance may not be able to be calculated by presence of the said protrusion. Therefore, the irradiator is slid by the distance between the protrusions, and the longest distance among the distances between the irradiator and the side walls or protrusions required during the sliding is the distance from the irradiator to the side wall where no protrusions are present. It can be calculated as a distance.
Therefore, since the distance from the position which needs to be specified to the two side walls perpendicular to the side wall where the position exists and the upper and lower walls can be calculated, the position can be specified.

  Further, since the irradiator is slid, the laser irradiated toward the upper wall and the lower wall is also slid. Therefore, as for the distance from the irradiator to the upper wall and the lower wall, the same as the distance from the irradiator to the side wall, and adopting the longest distance among the distances required for sliding, the adhering matter on the upper wall or the lower wall The distance from the irradiator to the upper wall and the lower wall can be accurately obtained even if there is etc.

  Furthermore, the number of laser beams emitted from the irradiator may be four, and the structure of the irradiator can be simplified.

  Furthermore, even when it is necessary to specify a plurality of positions, it is only necessary to irradiate laser from each of the plurality of positions, and a plurality of positions can be specified.

  Furthermore, if the ring between the distance from the irradiator to the upper wall and the distance from the lower wall is not within the design distance error allowable range from the upper wall to the lower wall of the space, the measurement is not performed accurately. Therefore, it can be said that this is a highly reliable position detection method. The same applies to the sum of the distances from the irradiator to each of the two side walls.

Further, instead of the upper wall and the lower wall, a plate-like member provided so as to be perpendicular to the front, rear, left and right side walls below the upper wall and above the irradiator, and above the lower wall and below the irradiator. A plate-like member provided so as to be perpendicular to the front, rear, left and right side walls is used for specifying the position.
Thereby, even if an upper wall and a lower wall are not horizontal shapes, the height position of the said irradiator can be specified correctly.

The space surrounded by the front, rear, left and right side walls, the upper wall, and the lower wall is a boiler furnace, and the protrusion is an evaporation pipe.
In a boiler furnace, many evaporation pipes are provided in parallel at equal intervals, and it is often necessary to specify the position. However, the present invention makes it possible to easily specify the position. .

  Furthermore, as an apparatus invention for realizing the object, an apparatus for specifying a position inside a space surrounded by front, rear, left and right side walls, an upper wall and a lower wall, the front side wall and the rear side wall being parallel to each other and the left and right sides A plurality of protrusions having the same shape are provided on the front, rear, left, and right side walls in parallel at equal intervals, and a position inside the specified space is on the side wall and is disposed at the position. And an irradiator capable of irradiating a laser, and the irradiator has a projection interval of 1 in each of a vertical direction and two directions perpendicular to two side walls perpendicular to the side wall on which the specified position exists. Can be irradiated with two lasers at intervals of / 2, and the irradiation time from the irradiator to the upper wall and the lower wall of the laser irradiated in the vertical direction from the irradiator, respectively, from the irradiator to the upper wall and the lower wall The first to calculate the distance to each The two lasers irradiated from the arithmetic unit and the irradiator at two intervals that are perpendicular to the two side walls perpendicular to the side wall where the specified position is present, respectively, at half the projection spacing. There is provided a second calculation means for calculating a distance from the irradiator to each of the two side walls from the arrival time to the side wall or the protrusion and a difference in arrival time.

  Further, it is a device for identifying the position inside the space surrounded by the front and rear left and right side walls, the upper wall and the lower wall, wherein the front side wall and the rear side wall are parallel to each other and perpendicular to the left and right side walls, On the left and right side walls, a plurality of projections having the same shape are provided in parallel at equal intervals, and the position inside the space to be specified is on the side wall, and there is an irradiator capable of irradiating a laser. The irradiator emits two lasers at intervals of ½ of the protrusion interval in the vertical direction and in two directions perpendicular to the two side walls perpendicular to the side wall where the specified position exists. Irradiation is possible, and it is possible to slide more than the interval of the projections. From the arrival time of the laser irradiated in the vertical direction from the irradiator to each of the upper wall and the lower wall, the irradiator From top wall to bottom wall A first arithmetic unit that calculates a distance; and two side walls and a right angle that are obtained by sliding the irradiator by an amount equal to or greater than the distance between the protrusions and that are perpendicular to the side wall where the specified position exists. The distance from the irradiator to each of the two side walls is determined from the arrival time and the difference in arrival time of the two lasers irradiated at intervals of ½ of the projection interval in each of the two directions. And a second calculating means for calculating.

  Used to inspect the interior of a space surrounded by a surface of a boiler furnace, etc., and even when the reference point cannot be placed on the floor surface, the position can be specified, and more than one position can be detected. A location method used for internal inspection can be provided.

  Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the drawings. However, the dimensions, materials, shapes, relative arrangements, and the like of the components described in this embodiment are not intended to limit the scope of the present invention unless otherwise specified, but are merely illustrative examples. Not too much.

  The principle of the working position specifying method in the first embodiment will be described with reference to FIGS. 1, 2, and 4 in the case of performing an inspection operation on an evaporation tube provided on the side wall in the boiler furnace. The evaporator tube may be provided in a vertical or oblique direction with respect to the ground by a furnace, or may be provided in a spiral shape. However, in the present invention, the evaporator tube is installed in any direction and state. Can be applied.

  FIG. 1 is a schematic diagram for explaining a method for specifying the position in the boiler furnace in the first embodiment, FIG. 2 is an upper plan view showing a part in the boiler furnace in the first embodiment, and FIG. It is a figure for demonstrating the calculation method to calculate.

In FIG. 1, reference numeral 2 denotes a boiler furnace for performing an internal inspection schematically shown. The boiler furnace 2 is inclined downwardly toward the central direction of the boiler furnace 2 from a pair of side walls (front and rear walls) 4 and 6 surrounding the side, a pair of side walls 8, and lower ends of the pair of front and rear walls 4 and 6. An inclined surface 10 and an upper wall 12 are schematically configured.
When the position of a point on the side wall 8 in the boiler furnace 2 is specified, an irradiator 16 capable of irradiating a laser is installed at the position. Further, a horizontal plate-like member 14 is installed at a position below the irradiator 16 and above the inclined surface 10. Although not provided in the present embodiment, a similar plate-like member may be provided at a position above the irradiator 16 and below the upper wall 12.

In addition, as shown in FIG. 2, the front and rear walls 4, 6 and the side wall 8 are provided with a large number of evaporation pipes 18 having a circular cross section at equal intervals L _P.

At this time, one laser beam is irradiated in the vertical direction and two laser beams are irradiated in the left-right direction from the irradiator 16 arranged at a position that needs to be specified. The distance between the two laser irradiating in the lateral direction and 1 / 2L _p is 1/2 of the evaporator tube spacing.
Due to the irradiation of the laser, the distance L _u from the irradiator 16 to the upper wall 12 and the distance L _b from the irradiator 16 to the plate member 14 are set to the upper wall 12 and the plate member 14 of the laser irradiated from the irradiator 16. It can be obtained from the arrival time until.
The distance from the irradiator 16 to the front wall 4 is obtained from the arrival time and the arrival time difference of the two lasers to the front wall 4 or the projection, and the distance and distance difference from the irradiator to the side wall or the projection are obtained. The distance and the distance difference can be used for calculation.

Calculation of the distance from the irradiator 16 to the front wall 4 will be described with reference to FIG.
The laser from the irradiator 16 is irradiated to the evaporation tubes 18A and 18B by A (x _A , y _A ) and B (x _B , y _B ) in an xy coordinate system described later. A fin 19 is provided between the evaporation tubes 18A and 18B.
In FIG. 4, the front wall 4 is taken as the x-axis, and the center line perpendicular to the front wall 4 of the evaporation tube 18A irradiated with one of the lasers from the irradiator 16 is taken as the y-axis.

Furthermore, in FIG. 4, each dimension is as follows.
Tube radius: r
Fin width: _{L F}
Tube interval: L _p = 1/2 (r + L _F )
Distance from irradiator 16 to point A: L _A
Distance from irradiator 16 to point B: L _B
Distance from point A to front wall 4: α _A

At this time, the distance from the irradiator 16 to the front wall 4 is L _A + α _A , and since L _A is a measured value, the distance from the irradiator 16 to the front wall 4 can be obtained by obtaining α _A. Therefore, the difference between L _A and L _B is ΔL _AB, and α _A is obtained from ΔL _AB .

Since the interval between the two lasers is 1/2 of the tube interval as described above,
x _B = x _A + 1 / 2L _p (1)
The _{1 / 2L p = x A +} (r-x A) + 1 / 2L F = r + 1 / 2L F ··· (2)
Therefore, substituting equation (2) into equation (1), x _B = x _A + r + 1 / 2L _F (3)
Is established. Further, _B'a point on the evaporation tube 18A points B and y coordinates are the same _{(x B ', y B'} ), B'' (x B'', y B'') When,
_{y B = y B '= y} B'', | x B' | = | x B'' | a is from _{-x B '= L P -x B} = x B'' ··· (4)
When substituting (2) and (3) into equation (4),
_{-X B '= (2r + L} F) - (x A + r + 1 / 2L F) = x B'' ··· (5)
When formula (5) is rearranged: x _{B ″} = x _A −r−1 / 2L _F (6)
It becomes. Further, since the evaporation pipe 18A is a circle having a radius r centered on the origin, r ² = x ² + y ²
That is,
y = (r ² −x ² ) ^1/2 (7)
As for the point A which is a point on the evaporation pipe 18A, y _A = (r ² −x _A ² ) ^1/2 (8)
Holds. Similarly, for point _{B ″,} y _{B ″} = (r ² −x _{B ″} ² ) ^1/2 (9)
When substituting (6) into (9),
y _{B ″} = [r ² − (x _A −r−1 / 2L _F ) ² ] ^1/2 (10)
Holds. Here, the measured value ΔL _AB is given by ΔL _AB = L _A −L _B = | y _A −y _{B ″} | (11)
Therefore, if the expressions (8) and (10) are substituted into the expression (11), ΔL _AB = (r ² −x _A ² ) ^1/2 − [r ² − (x _A −r−1 / 2L) _F ) 2] ^1/2 (12)
Holds. Here, when the equation (12) is modified, x _A becomes a function of ΔL _{AB and} the equation (13) is established.
x _A = f (ΔL _AB ) (13)
Further, by substituting the relationship y _A = α _{A into} equation (8) and further substituting equation (13),
α _A = (r ² −x _A ² ) ^1/2 = (r ² −f (ΔL _AB )) ^1/2 (14)
Holds. Since r is the radius of the evaporation tube and is a known value, and ΔL _AB is a measured value obtained from the laser emitted from the irradiator 16, α _A is obtained from equation (14). Accordingly, since the distance between the irradiator 16 and the front wall 4 is L _A + α _{A as} described above, the distance between the irradiator 16 and the front wall 4 can be obtained.
Further, the distance from the irradiator 16 to the rear wall 6 can be obtained in the same manner.

  As described above, by determining the distances from the irradiator 16 to the upper wall 12, the plate member 14, the front wall 4, and the rear wall 6, the position of the irradiator 16, that is, the position that needs to be specified is specified. can do.

Next, the irradiator 16 will be described with reference to FIGS. 1 and 3, and the case where the operator specifies the inspection work position will be described. FIG. 3 is an enlarged perspective view of the vicinity of the irradiator 16 in FIG.
The irradiator 16 includes a fixing unit 60 that is fixed to an evaporation tube on a side wall at a position that needs to be specified, and laser oscillation units 64, 66, 68, 70, 72, and 74 that are attached to the fixing unit 60 and will be described later. The main part is composed of a supporting base for a laser oscillation part 62 and laser oscillation parts 64, 66, 68, 70, 72, and 74 for oscillating a laser. The laser oscillators 64 and 66 are provided so as to be able to irradiate the front wall 4 with laser, and the interval is 1/2 (1/2 L _P ) of the interval between the evaporation tubes. The laser oscillators 68 and 70 apply laser to the rear wall 6. the interval provided so as to be irradiated is 1/2 (1 / 2L _P) of the evaporator tube spacing, the laser oscillation section 72 is provided to be capable of irradiating a laser beam to the upper wall 12, the laser oscillator unit 74 is plate-like member 14 Are provided so as to be able to irradiate a laser. The irradiator 16 is provided with a controller 76.

  When an operator specifies a position using such an irradiator 16, the operator owns the irradiator 16 and enters the boiler furnace, and fixes the fixing portion 60 of the irradiator 16 to the side wall where the inspection work is performed. .

Next, a laser oscillation switch (not shown) provided in the controller 76 is turned on, and lasers are oscillated from the laser oscillation units 64, 66, 68, 70, 72 and 74.
When the laser oscillated from the laser oscillators 64, 66, 68, 70, 72, and 74 is respectively applied to the front wall 4, the rear wall 6, the upper wall 12, and the plate member 14, the irradiator is operated according to the above-described principle. A first arithmetic unit that calculates the distance from 16 to the upper wall 12 and the plate-like member 14 and a second arithmetic unit that calculates the distance from the irradiator 16 to the front wall 4 and the rear wall 6 are incorporated. Each distance is calculated by the controller 76, and the position of the irradiator 16 is specified and displayed on the controller 76.

  In addition, the boiler furnace is large, and from the viewpoint of work efficiency, there are cases where a plurality of workers enter the inside to perform work, and it is necessary to specify a plurality of work positions. If the vessel 16 is owned and enters the boiler furnace, each of a plurality of workers can specify their own position.

  Furthermore, if the sum of the distance from the irradiator to the upper wall and the distance from the lower wall is not within the design distance error allowable range from the upper wall to the lower wall of the space, the measurement is not performed accurately. It is also possible to display an error message on the controller 76, and it can be said that this is a highly reliable position detection method. The same applies to the sum of the distances from the irradiator to each of the two side walls (front and rear walls).

  Furthermore, if a laser distance sensor capable of continuous measurement is used, the position can be detected in real time even if the specified position moves.

  5, 6, and 7, with respect to the principle of the method for specifying the work position in Example 2 and the specification of the worker's inspection work position, the work for inspecting the evaporation pipe provided on the side wall in the boiler furnace is performed. The case will be described. The evaporator tube may be provided in a vertical or oblique direction with respect to the ground by a furnace, or may be provided in a spiral shape. In this embodiment, the evaporator tube is installed in any direction and state. Even if it is done, it can be applied.

In Example 2, since it is the same as that of Example 1 about structures other than an irradiator, illustration and description other than an irradiator are abbreviate | omitted, and the same code | symbol as FIGS. 1-4 shall represent the same thing. . 5 is an enlarged perspective view of the vicinity of the irradiator 26 in the second embodiment, FIG. 6 is an upper plan view showing a part of the boiler furnace in the second embodiment, and FIG. 7 is a diagram when the laser in the second embodiment is slid. Is a graph representing the distance L _R from the irradiator to the side wall or the evaporation tube, wherein the vertical axis represents L _R and the horizontal axis represents the position on the side wall.

  In FIG. 5, the irradiator 26 includes a fixing unit 80 that is fixed in parallel to the side wall of the evaporation tube on the side wall that needs to be specified, and laser oscillation units 84 and 88 that are attached to the fixing unit 80 and will be described later. , 90, and 92, and a laser oscillation unit base 82 that oscillates lasers and laser oscillation units 84, 88, 90, and 92 that oscillate lasers. The laser oscillation unit 84 is provided so that the front wall 4 can be irradiated with laser, the laser oscillation unit 88 is provided so that the rear wall 6 can be irradiated with laser, and the laser oscillation unit 90 is provided so that the upper wall 12 can be irradiated with laser. The laser oscillation part 92 is provided so that the plate-like member 14 can be irradiated with laser. Further, the laser oscillation unit pedestal 82 is provided with a handle 83, and is configured to be movable by an interval (one pitch) or more between the evaporation tubes 18 in parallel with the fixed unit 80 by pushing and pulling the handle 83. .

  When an operator specifies a position using such an irradiator 26, the operator owns the irradiator 26 and enters the boiler furnace, and fixes the fixing portion 80 of the irradiator 26 to the side wall where the inspection work is performed. . The fixing may be performed using a fixing device as needed, but it is sufficient to manually press the handle 81 provided on the fixing portion 80 to a position where it is necessary to specify.

Next, a laser oscillation switch provided in a controller (not shown) connected to the irradiator 26 is turned on, and lasers are oscillated from the laser oscillation units 84, 88, 90, and 92.
Lasers oscillated from the laser oscillators 84, 88, 90, and 92 irradiate the front wall 4, the rear wall 6, the upper wall 12, and the plate member 14, respectively. By the irradiation of the laser, first, the distance L _u from the irradiator 26 to the upper wall 12 and the distance L _b from the irradiator 26 to the plate member 14 are irradiated with the upper wall 12 and the plate member of the laser irradiated from the irradiator 26. It can be obtained from the arrival time up to 14. Moreover, it obtained even if the distance L _R from the irradiator 26 to the evaporation pipe 18 provided on the front wall 4 or the front wall wall 4.
Further, the distance from the irradiator 26 to the front wall 4 and the rear wall 6 can be obtained as follows. When the laser is oscillated from the laser oscillating unit, the operator pushes and pulls the handle 83 to move the laser oscillating unit support 82 by an interval (one pitch) or more between the evaporation tubes 18. Thus different L _R is obtained according to the position of the laser oscillating unit for pedestal 82. B irradiated portion of the laser from P _A, a graph as shown by moving the laser oscillating unit for pedestal 82 in FIG. 7 (A) to move to the P _B through a obtained in 6, 6 In FIG. 7B, a graph as shown in FIG. 7B is obtained by moving the laser oscillating unit support 82 so that the laser irradiation unit moves from P _A ′ to P _B ′ through a and c. As is apparent from the graphs of FIGS. 7A and 7B, when the laser oscillator base 82 is moved by an interval of the evaporation tube 18 (one pitch) or more, for example, the position indicated by a is evaporated. It passes through a position where there is no tube, and the position has the maximum _LR . Thus, by moving the laser oscillating unit for pedestal 82 evaporation tube spacing (1 pitch) or more, it can be a maximum of L _R obtained therebetween the distance between the radiator 26 and the front wall 4.
The distance between the irradiator 26 and the rear wall 6 can be obtained in the same manner.
Based on such a principle, the distance from the irradiator 26 to the upper wall 12 and the plate upper member 14 is obtained by the first arithmetic device (not shown), and the front wall from the irradiator 26 by the second arithmetic device (not shown). 4. Obtain the distance to the rear wall 6. The obtained result can be displayed on the PDA by giving the operator a display result device.

  Further, when the laser oscillation unit pedestal 82 is moved, the laser oscillation units 90 and 92 are also moved, so that the distance from the irradiator 26 to the upper wall 12 and the plate-like member 14 is also equal to the distance between the irradiator 26 and the front wall 4. The distance between the irradiator 26 and the upper wall 12 and the plate-like member 14 can be accurately obtained even if the deposits are present on the upper wall 12 and the plate-like member 14. be able to.

  In addition, the boiler furnace is large, and from the viewpoint of work efficiency, there are cases where a plurality of workers enter the inside to perform work, and it is necessary to specify a plurality of work positions. If the vessel 16 is owned and enters the boiler furnace, each of a plurality of workers can specify their own position.

  Further, since the number of lasers emitted from the irradiator may be four, the structure of the irradiator is simple.

  In addition, although the boiler furnace was demonstrated in Example 1 and Example 2, of course, this invention is applicable to the test | inspection of outer wall parts, such as a large tank of a chemical plant, and an inner wall part.

  Used to inspect the interior of a space surrounded by a surface of a boiler furnace, etc., and even when the reference point cannot be placed on the floor surface, the position can be specified, and more than one position can be detected. It can be used as a position specifying method used for internal inspection.

It is a schematic diagram for demonstrating the method to specify the position in the boiler furnace in Example 1. FIG. 1 is an upper plan view showing a part in a boiler furnace in Example 1. FIG. It is a perspective view of the periphery of the irradiator in Example 1. It is a figure for demonstrating the calculation method which calculates a position. 6 is an enlarged perspective view of the vicinity of an irradiator in Example 2. FIG. 6 is an upper plan view showing a part of a boiler furnace in Embodiment 2. FIG. It is a graph showing the distance from the irradiator calculated | required when sliding the laser in Example 2 to a side wall or an evaporation tube. It is a schematic diagram for demonstrating the conventional method of specifying the position in a boiler furnace. It is a perspective view showing the conventional boiler furnace.

Explanation of symbols

2 Boiler furnace 4 Front wall 6 Rear wall 8 Side wall 10 Inclined surface 12 Upper wall 14 Plate member 16 Irradiator 18 Evaporating tube

Claims (6)

A method for specifying a position inside a space surrounded by front and rear, left and right side walls, an upper wall and a lower wall,
The front side wall and the rear side wall are parallel to each other and perpendicular to the left and right side walls;
On the front, rear, left and right side walls, a plurality of protrusions having the same shape are provided in parallel at equal intervals,
A position inside the specified space is on the side wall;
From the irradiator capable of irradiating the laser disposed at the position, the laser is irradiated in the vertical direction, and the arrival time of the laser to each of the upper wall and the lower wall from the irradiator to the upper wall and the lower wall While calculating the distance to each,
Two lasers are emitted from the irradiator in two directions perpendicular to the two side walls perpendicular to the side wall on which the specified position exists, at intervals of ½ of the projection interval. The position of the irradiator is identified by calculating the distance from the irradiator to each of the two side walls from the arrival time and the arrival time difference between the laser beam and the protrusion of the book. A way to locate. A method for specifying a position inside a space surrounded by front and rear, left and right side walls, an upper wall and a lower wall,
The front side wall and the rear side wall are parallel to each other and perpendicular to the left and right side walls;
On the front, rear, left and right side walls, a plurality of protrusions having the same shape are provided in parallel at equal intervals,
A position inside the specified space is on the side wall;
From the irradiator capable of irradiating the laser disposed at the position, the laser is irradiated in the vertical direction, and the arrival time of the laser to each of the upper wall and the lower wall from the irradiator to the upper wall and the lower wall While calculating the distance to each,
While irradiating laser from the irradiator in two directions perpendicular to the two side walls perpendicular to the side wall where the specified position exists, the irradiator is slid more than the distance between the projections, and the laser A method for specifying a position inside a space, wherein the position of the irradiator is specified by calculating the distance from the irradiator to each of the two side walls from the arrival time to the side wall.   Instead of the upper wall and the lower wall, a plate-like member provided so as to be perpendicular to the front, rear, left and right side walls below the upper wall and above the irradiator, and the front, rear, left and right above the lower wall and below the irradiator 3. A method for specifying a position inside a space according to claim 1, wherein a plate-like member provided so as to form a right angle with each side wall is used for specifying the position.   The space defined in any one of claims 1 to 3, wherein a space surrounded by the front, rear, left and right side walls, an upper wall, and a lower wall is a boiler furnace, and the protrusion is an evaporation pipe having a circular cross section. A way to identify the internal location. A device for specifying a position inside a space surrounded by front, rear, left and right side walls, an upper wall and a lower wall,
The front side wall and the rear side wall are parallel to each other and perpendicular to the left and right side walls,
On the front, rear, left and right side walls, a plurality of protrusions having the same shape are provided in parallel at equal intervals,
A position inside the specified space is on the side wall;
An irradiator disposed at the position and capable of irradiating a laser;
The irradiator irradiates two lasers at intervals of ½ of the protrusion interval in the vertical direction and in two directions perpendicular to the two side walls perpendicular to the side wall where the specified position exists. Is possible,
A first arithmetic unit that calculates the distance from the irradiator to each of the upper wall and the lower wall from the arrival times of the laser irradiated in the vertical direction from the irradiator to each of the upper wall and the lower wall;
Side walls or protrusions of two lasers irradiated from the irradiator at two intervals that are perpendicular to the two side walls perpendicular to the side wall where the specified position is present, respectively. A device for specifying a position in the space, comprising: a second calculation means for calculating a distance from the irradiator to each of the two side walls based on the arrival time and the arrival time difference. A device for specifying a position inside a space surrounded by front, rear, left and right side walls, an upper wall and a lower wall,
The front side wall and the rear side wall are parallel to each other and perpendicular to the left and right side walls;
On the front, rear, left and right side walls, a plurality of protrusions having the same shape are provided in parallel at equal intervals,
A position inside the specified space is on the side wall;
An irradiator disposed at the position and capable of irradiating a laser;
The irradiator irradiates two lasers at intervals of ½ of the protrusion interval in the vertical direction and in two directions perpendicular to the two side walls perpendicular to the side wall where the specified position exists. It is possible to slide more than the interval of the projections, and from the arrival time of the laser irradiated to the upper wall and the lower wall respectively in the vertical direction from the irradiator, the upper wall from the irradiator A first arithmetic unit that calculates a distance to each of the lower walls;
The projection interval is 1 in each of two directions perpendicular to two side walls perpendicular to the side wall where the specified position exists from the irradiation unit, which is obtained by sliding the irradiation unit more than the interval of the projections. And a second calculation means for calculating the distance from the irradiator to each of the two side walls from the change in the arrival time of the two lasers irradiated at intervals of / 2 and the arrival time difference between the two lasers. A device for identifying a position inside a space characterized by the above.

Images