JP2013186087A - Ultrasonic flaw detection system and ultrasonic flaw detection device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an ultrasonic flaw detection system and an ultrasonic flaw detection device that can enhance accuracy of marking while simultaneously performing three-dimensional coordinate measurement and an ultrasonic flaw detection inspection, reducing inspection time and inspection costs and reducing marking time when a flaw of a structural object is found.SOLUTION: An ultrasonic flaw detection device comprises: determination means for determining whether or not a waveform of a reflection wave received by reception means is a predetermined waveform; marking means for marking a portion where the reflection wave occurs when determination results by the determination means indicate that the waveform is the predetermined waveform; and generation means for generating flaw detection data on the basis of the waveform of the reflection wave received. A laser tracker comprises: measurement means that projects a laser beam to reflection means and measures a distance to the reflection means and a direction in which the reflection means is positioned; and calculation means for calculating three-dimensional coordinates of a target on the basis of measurement results by the measurement means.

Description

  The present invention relates to an ultrasonic flaw detection system and an ultrasonic flaw detection apparatus.

  In recent years, various three-dimensional measuring apparatuses have been developed, and this three-dimensional measuring apparatus is used, for example, for measuring three-dimensional coordinates of large structures. In the case of such a large structure, in addition to the measurement of the three-dimensional coordinates, it is necessary to perform an ultrasonic flaw detection accompanying a nondestructive inspection using an ultrasonic flaw detector.

JP 2010-197268 A

  However, in the ultrasonic flaw detector configured as described above, it is necessary to separately measure the three-dimensional coordinates and the ultrasonic flaw inspection, and there is an inconvenience that inspection time and inspection cost are required. Further, when a defect of a structure is found in the ultrasonic flaw detection inspection, the operator manually marks the position of the defect. For this reason, not only does marking take time, but there is an inconvenience that an error occurs.

  The present invention has been made in consideration of the above circumstances, and performs marking at the same time when measuring a three-dimensional coordinate and ultrasonic flaw detection, reducing inspection time and inspection cost, and finding a defect in a structure. It is an object of the present invention to provide an ultrasonic flaw detection system and an ultrasonic flaw detection apparatus that can reduce the time required for marking and improve the accuracy of marking.

  An invention corresponding to one aspect of the present invention is an ultrasonic flaw detection system that includes an ultrasonic flaw detector and a laser tracker, and performs an ultrasonic flaw inspection, wherein the ultrasonic flaw detector projects from the laser tracker. Reflecting means for reflecting the laser beam to be transmitted, transmitting means for transmitting ultrasonic waves to the ultrasonic flaw detection target, receiving means for receiving reflected waves expressed by the transmitted ultrasonic waves, and the received Determining means for determining whether or not the waveform of the reflected wave is a predetermined waveform, and marking means for marking a portion where the reflected wave appears when the result of determination by the determining means indicates that the waveform is a predetermined waveform And generating means for generating flaw detection data based on the waveform of the received reflected wave, the laser tracker projects laser light on the reflecting means, and A measuring unit that measures a distance to the reflecting unit and a direction in which the reflecting unit is located; and a calculating unit that calculates a three-dimensional coordinate of the object based on a measurement result by the measuring unit. It is an ultrasonic flaw detection system.

  According to the present invention, measurement of three-dimensional coordinates and ultrasonic flaw detection are performed at the same time, reducing inspection time and inspection cost, reducing marking time when a defect is found in a structure, and accurate marking. Can increase the sex.

It is a schematic diagram which shows the structural example of the ultrasonic flaw detection system which concerns on 1st Embodiment. It is a flowchart which shows an example of the process which measures the three-dimensional coordinate by the ultrasonic flaw detection system which concerns on the embodiment. It is a flowchart which shows an example of the ultrasonic flaw inspection by the ultrasonic flaw detection system which concerns on the embodiment. It is a schematic diagram which shows the structural example of the ultrasonic flaw detector which concerns on 2nd Embodiment. It is a schematic diagram which shows the structural example of the ultrasonic flaw detector which concerns on 3rd Embodiment. It is a schematic diagram which shows the modification of the ultrasonic flaw detector based on the embodiment. It is a schematic diagram which shows the structural example of the ultrasonic flaw detector which concerns on 4th Embodiment. It is a schematic diagram which shows the structural example of the ultrasonic testing apparatus contained in the ultrasonic testing system which concerns on 5th Embodiment. It is a mimetic diagram showing the modification of the ultrasonic inspection system concerning the embodiment.

[First Embodiment]
FIG. 1 is a schematic diagram showing a configuration example of an ultrasonic flaw detection system according to the first embodiment. The ultrasonic flaw detection system 1 includes a laser tracker 2 and an ultrasonic flaw detection device 3 as shown in FIG.

  The laser tracker 2 projects laser light onto a reflector 31 of the ultrasonic flaw detector 3 described later. The reflector 31 reflects the laser light projected by the laser tracker 2. The laser light reflected by the reflector 31 passes through the same path as the laser light projected by the laser tracker 2 and enters the laser tracker 2. When the laser tracker 2 receives the reflected light from the reflector 31, the laser tracker 2 calculates the position (coordinates) of the center of the reflector 31 using a calculation unit (not shown) in the laser tracker 2. Since the center of the reflector 31 is at a certain offset position with respect to an object for measuring three-dimensional coordinates (hereinafter referred to as a measurement object), the laser tracker 2 performs measurement based on the position of the center of the reflector 31. The three-dimensional coordinates of the object can be calculated (measured). In addition, the calculating part in the laser tracker 2 is provided with the distance meter and angle encoder which are not shown in figure.

  Here, as shown in FIG. 1A, the ultrasonic flaw detector 3 includes a reflector 31, a probe 32, an ultrasonic probe 33, a contact medium supply unit 34, a contact medium recovery unit 35, and a marking unit 36. ing.

  As described above, the reflector 31 reflects the laser light projected from the laser tracker 2 so as to pass through the same path as the laser light projected from the laser tracker 2. The reflector 31 may be referred to as “cat's eye”.

  The probe 32 is provided beside the ultrasonic probe 33 as shown in FIG. Further, the probe 32 is provided such that the front end is in contact with the measurement target and the rear end is in contact with the reflector 31. The probe 32 has a certain length, so that the laser light from the laser tracker 2 can enter the reflector 31 without being blocked by, for example, a shield. Since the probe 32 has a certain length, the laser tracker 2 calculates the three-dimensional coordinates of the object to be measured without changing the center of the reflector 31 at a certain offset position relative to the object to be measured. can do.

  Note that the probe 32 of the ultrasonic flaw detector 3 according to the present embodiment may not be one in which the probe main body can measure three-dimensional coordinates, such as a scanning probe.

  The ultrasonic probe 33 is provided on the flaw detection surface side of the inspection target for performing the ultrasonic flaw detection inspection, and transmits ultrasonic waves to the inspection target. Further, the ultrasonic probe 33 receives a reflected wave that is expressed by propagating the ultrasonic wave to the inspection target. Further, the ultrasonic probe 33 generates flaw detection data to be inspected by analyzing the waveform of the received reflected wave. As the ultrasonic probe 33, for example, a phased array probe, a 3D aperture synthesis ultrasonic probe, or the like is applicable.

  The contact medium supply unit 34 uses a contact medium (for example, water) for efficiently propagating the ultrasonic wave transmitted by the ultrasonic probe 33 to the inspection target at regular time intervals. Between the inspection surface and the inspection surface. The contact medium (water) supplied by the contact medium supply unit 34 is taken from a water storage tank (not shown) in the ultrasonic flaw detector 3 at regular time intervals.

  The contact medium recovery unit 35 recovers the contact medium supplied by the contact medium supply unit 34 at regular time intervals. The contact medium recovered by the contact medium recovery unit 35 may be sent to a water storage tank in the ultrasonic flaw detector 3 and reused as a contact medium supplied by the contact medium supply unit 34.

  The marking unit 36 executes a determination process for determining whether or not the waveform of the reflected wave received by the ultrasonic probe 33 is a predetermined waveform. Here, the predetermined waveform is a waveform that is not normally observed, such as a waveform whose amplitude is larger than a preset magnitude. When the marking unit 36 indicates that the result of determination by the determination process is a predetermined waveform, it is determined that there is a defect in the portion where the reflected wave is expressed, and this is performed using a spray (not shown) included in the marking unit 36. A marking process for coloring the defective portion is executed. In addition to the above method, the marking process includes a method of calculating the three-dimensional coordinates of the defective portion using the laser tracker 2 and storing it in a memory (not shown).

  Next, an example of processing for measuring three-dimensional coordinates by the ultrasonic flaw detection system 1 configured as described above will be described with reference to the flowchart of FIG.

  First, the laser tracker 2 projects a laser beam onto the reflector 31 of the ultrasonic flaw detector 3 (step S1).

  Subsequently, the reflector 31 reflects the projected laser light so as to pass through the same route as the route through which the projected laser light has passed (step S2).

  Next, upon receiving the reflected light from the reflector 31, the laser tracker 2 calculates the position of the center of the reflector 31 using the calculation unit in the laser tracker 2 (step S3).

  Thereafter, the laser tracker 2 calculates the three-dimensional coordinates of the measurement target by correcting the distance from the calculated center position of the reflector to the measurement target by using the length of the probe 32 (step S4). Then, the process returns to step S1.

  Furthermore, an example of the ultrasonic flaw inspection by the ultrasonic flaw detection system 1 configured as described above will be described with reference to the flowchart of FIG. However, it is assumed that the contact medium is supplied in advance between the ultrasonic probe 33 and the flaw detection surface to be inspected by the contact medium supply unit 34.

  First, the ultrasonic probe 33 transmits ultrasonic waves to the inspection surface to be inspected (step S11).

  Subsequently, the ultrasonic probe 33 generates flaw detection data by analyzing the waveform of the received reflected wave after receiving the reflected wave generated by the propagation of the ultrasonic wave transmitted in step S11 ( Step S12).

  Next, the marking unit 36 determines whether or not the waveform of the reflected wave received in step S12 is a predetermined waveform (step S13). If the determination result in step S13 is negative (step S13: “No”), the process returns to step S11 to proceed with the ultrasonic flaw detection inspection.

  When the result of determination in step S13 indicates that the waveform is a predetermined waveform (step S13: “Yes”), the marking unit 36 determines that there is a defect in the portion where the reflected wave is expressed, and the marking unit 36 The defective portion is colored using a spray (not shown) included (step S14).

  Subsequently, the contact medium recovery unit 35 determines whether or not a predetermined time has elapsed (step S15). If the result of the determination in step S15 indicates no (step S15: “No”), the process returns to step S11 to proceed with the ultrasonic flaw detection inspection.

  When the result of the determination in step S15 indicates that the determination has elapsed (step S15: “Yes”), the contact medium recovery unit 35 determines the contact medium between the ultrasonic probe 33 and the flaw detection surface to be inspected. After the collection, an instruction signal for supplying a new contact medium is sent to the contact medium supply unit 34 (step S16), and the process returns to step S11.

  According to the first embodiment described above, the configuration including the laser tracker 2, the reflector 31, and the probe 32 that measure three-dimensional coordinates, and the ultrasonic probe 33 that performs ultrasonic flaw detection, 3 It is possible to reduce the inspection time and the inspection cost by performing the measurement of the dimensional dimension coordinate and the ultrasonic flaw detection at the same time.

  In addition, when the waveform of the reflected wave received by the ultrasonic probe 33 is a waveform that is not normally observed, it is provided with a marking unit 36 that performs marking on the portion where the reflected wave is expressed as being defective. With this configuration, it is possible to reduce the marking time when a defect is found in the structure and to increase the accuracy of the marking.

  Further, a contact medium supply unit 34 for supplying a contact medium between the ultrasonic probe 33 and the inspection surface to be inspected at regular time intervals, and after a predetermined time has passed, the ultrasonic probe 33 and the inspection object to be inspected. With the configuration including the contact medium recovery unit 35 that recovers the contact medium with the flaw detection surface, it is possible to reduce time and effort for supplying and recovering the contact medium.

  It is possible to generate a more accurate three-dimensional image by combining the three-dimensional coordinates calculated by the laser tracker 2 and the flaw detection data generated by the ultrasonic flaw detector 3.

[Second Embodiment]
FIG. 4 is a schematic diagram illustrating a configuration example of the ultrasonic flaw detector according to the second embodiment. Unlike the configuration illustrated in FIG. 1, the ultrasonic flaw detector 3 is configured in place of the reflector 31 and the probe 32. A laser scanner 37 is provided.

  As shown in FIG. 4, the laser scanner 37 includes a plurality of camera units 371 and sensor units 372.

  Each camera unit 371 captures a measurement target and acquires image data of the measurement target. Each camera unit 371 sends the acquired image data to a display device (not shown). Upon receiving the image data sent from each camera unit 371, the display device executes processing such as displaying the received image, for example. Thus, the operator can measure the three-dimensional coordinates based on the image data photographed by each camera unit 371.

  In addition, as each camera part 371, a CCD (Charge Coupled Device Image Sensor) camera etc. are applicable, for example.

  The sensor unit 372 irradiates the measurement target with laser light. The sensor unit 372 calculates the distance from the sensor unit 372 to the measurement target based on the measurement result after measuring the time for which the irradiated laser light reciprocates between the measurement target and the sensor unit 372. To do. Further, the sensor unit 372 measures the direction of the irradiated laser light. The sensor unit 372 calculates the three-dimensional coordinates of the measurement target based on the calculated distance from the sensor unit 372 to the measurement target and the direction of the measured laser light.

  According to the second embodiment described above, the configuration including the laser scanner 37 for measuring the three-dimensional coordinates performs the measurement of the three-dimensional coordinates by the surface (point group) instead of the measurement of the three-dimensional coordinates by the points. The three-dimensional coordinates of the measurement target can be calculated in a short time.

  In the present embodiment, the three-dimensional coordinates of the measurement target are calculated using only the laser scanner 37. However, the present invention is not limited to this, and for example, the laser tracker 2 and the laser scanner 37 shown in the first embodiment described above. And the three-dimensional coordinates of the measurement target may be calculated. In this case, the reflector 31 is provided on the side of the laser scanner 37.

  By doing so, the position of the measurement point can be determined, and the reproducibility of the measurement can be improved.

[Third Embodiment]
FIG. 5 is a schematic diagram illustrating a configuration example of an ultrasonic flaw detector according to the third embodiment. Unlike the configuration illustrated in FIG. 1, the ultrasonic flaw detector 3 includes an articulated arm instead of the reflector 31. 38.

  As shown in FIG. 5, the multi-joint arm 38 is an arm having a plurality of movable joints, and adjusts the position and posture of the probe 32. The articulated arm 38 can perform an operation according to the operation of the operator using a controller (not shown), for example.

  Note that, unlike the probe 32 shown in the first embodiment, the probe 32 in the present embodiment is a probe that can measure the three-dimensional coordinates of the measurement target, such as a scanning probe.

  According to the third embodiment described above, the probe 32 and the ultrasonic probe are configured by the configuration including the probe 32 capable of measuring three-dimensional coordinates and the articulated arm 38 that adjusts the position and posture of the probe 32. The measurement of the three-dimensional coordinates and the ultrasonic flaw detection can be performed in any direction as long as the contact with the child 33 is possible.

  In the present embodiment, the probe 32 is provided at the tip of the articulated arm 38. However, the present invention is not limited to this. For example, as shown in FIG. 37 and the articulated arm 38 may adjust the position and posture of the ultrasonic flaw detector 3.

[Fourth Embodiment]
FIG. 7 is a schematic diagram illustrating a configuration example of an ultrasonic flaw detector according to the fourth embodiment. Unlike the configuration illustrated in FIG. 1, the ultrasonic flaw detector 3 includes a reflector 31 and a probe 32 instead of the reflector 31 and the probe 32. An unillustrated built-in GPS (Global Positioning System) and a display unit 39 are provided.

  The built-in GPS acquires the position information of the ultrasonic flaw detector 3 from the satellite, and calculates the three-dimensional coordinates of the measurement target based on the acquired position information.

  The display unit 39 appropriately displays coordinate data indicating the three-dimensional coordinates calculated by the built-in GPS.

  According to the fourth embodiment described above, the configuration including the built-in GPS that calculates the three-dimensional coordinates based on the position information from the satellite can calculate the three-dimensional coordinates without using the laser beam. It is possible to reduce the trouble of setting the reference point for projecting the laser beam.

[Fifth Embodiment]
FIG. 8 is a schematic diagram showing a configuration example of an ultrasonic flaw detector included in an ultrasonic flaw detection system according to the fifth embodiment.

  As shown in FIGS. 8A and 8B, the ultrasonic flaw detector 3 includes a magnet portion 40 and a tire portion 41 on the ultrasonic probe 33 side. In addition, the ultrasonic flaw detector 3 can perform an operation according to the operation of the operator using, for example, a controller (not shown). Note that the ultrasonic flaw detection system according to the present embodiment is used when the inspection object of the ultrasonic flaw inspection is a magnetic material.

  The magnet part 40 is for adhering the ultrasonic flaw detector 3 to the inspection object, and the tire part 41 is for the ultrasonic flaw detector 3 traveling on the inspection object.

  According to the fifth embodiment described above, for example, a traveling route is set in advance by the configuration including the magnet unit 40 to be attracted to the inspection target of the magnetic body and the tire unit 41 that travels on the inspection target. Thus, the burden on the operator related to the measurement of the three-dimensional coordinates and the ultrasonic flaw detection inspection can be reduced.

  The ultrasonic flaw detector 3 in the ultrasonic flaw detection system 1 according to this embodiment includes a magnet unit 40 and a tire part 41 in any of the ultrasonic flaw detectors shown in the first to fourth embodiments described above. It can be realized by adding.

  In the present embodiment, when the inspection target is a magnetic body, the ultrasonic flaw detector 3 is configured to include the magnet unit 40 and the tire unit 41. However, the present invention is limited to this. For example, as shown in FIG. 9, the first rail mechanism 42 in which the ultrasonic flaw detector 3 can move in the vertical direction, the tire mechanism 43 that can move in the horizontal direction, and the ultrasonic flaw detector 3 are inspected. By adopting a configuration including the second rail mechanism 44 for pressing against the flaw detection surface, the same effect can be obtained even if the inspection object is not a magnetic body.

  In addition, although some embodiment of this invention was described, these embodiment is shown as an example and is not intending limiting the range of invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

  DESCRIPTION OF SYMBOLS 1 ... Ultrasonic flaw detection system, 2 ... Laser tracker, 3 ... Ultrasonic flaw detector, 31 ... Reflector, 32 ... Probe, 33 ... Ultrasonic probe, 34 ... Contact medium supply part, 35 ... Contact medium collection | recovery part, 36 ... Marking part, 37 ... Laser scanner, 38 ... Articulated arm, 39 ... Display part, 40 ... Magnet part, 41 ... Tire part, 42 ... First rail mechanism, 43 ... Tire mechanism, 44 ... Second rail mechanism, 371 ... camera part, 372 ... sensor part.

Claims (8)

An ultrasonic flaw detection system that includes an ultrasonic flaw detector and a laser tracker and performs ultrasonic flaw detection,
The ultrasonic flaw detector is
Reflecting means for reflecting the laser light projected from the laser tracker;
Transmitting means for transmitting ultrasonic waves to the ultrasonic inspection target;
Receiving means for receiving a reflected wave expressed by the transmitted ultrasonic wave;
Determining means for determining whether or not the waveform of the received reflected wave is a predetermined waveform;
When indicating that the result of determination by the determination means is a predetermined waveform, marking means for marking a portion where the reflected wave is expressed;
Generating means for generating flaw detection data based on the waveform of the received reflected wave,
The laser tracker is
Measuring means for projecting laser light onto the reflecting means and measuring the distance to the reflecting means and the direction in which the reflecting means is located;
An ultrasonic flaw detection system comprising: calculation means for calculating a three-dimensional coordinate of the object based on a measurement result by the measurement means. The ultrasonic flaw detection system according to claim 1,
The ultrasonic flaw detector is
Supply means for supplying a contact medium that improves the propagation efficiency of ultrasonic waves transmitted by the transmission means at regular intervals;
An ultrasonic flaw detection system, further comprising: recovery means for recovering the supplied contact medium at regular intervals. An ultrasonic flaw detector that performs ultrasonic flaw inspection,
Transmitting means for transmitting ultrasonic waves to the ultrasonic inspection target;
Receiving means for receiving a reflected wave expressed by the transmitted ultrasonic wave;
Determining means for determining whether or not the waveform of the received reflected wave is a predetermined waveform;
When indicating that the result of determination by the determination means is a predetermined waveform, marking means for marking a portion where the reflected wave is expressed;
Generating means for generating flaw detection data based on the waveform of the received reflected wave;
Irradiation means for irradiating the object with laser light;
First calculation means for calculating a distance to the target based on a time during which the irradiated laser light reciprocates between the target and the target;
An ultrasonic flaw detector comprising: second calculation means for calculating a three-dimensional coordinate of the object based on the calculated distance and the direction of the irradiated laser beam. The ultrasonic flaw detector according to claim 3,
Supply means for supplying a contact medium that improves the propagation efficiency of ultrasonic waves transmitted by the transmission means at regular intervals;
An ultrasonic flaw detector, further comprising: a collecting unit that collects the supplied contact medium at regular intervals. The ultrasonic flaw detector according to claim 3 or 4,
The ultrasonic flaw detection apparatus characterized in that the three-dimensional coordinates are calculated by a laser scanner. The ultrasonic flaw detector according to claim 3 or 4,
The ultrasonic flaw detector according to claim 3, wherein the three-dimensional coordinates are calculated by a scanning probe. The ultrasonic flaw detector according to claim 3 or 4,
Instead of the irradiating means, the first calculating means, and the second calculating means, third calculating means for receiving position information from a satellite and calculating the three-dimensional coordinates of the object based on the received position information. An ultrasonic flaw detector characterized by further comprising: The ultrasonic flaw detector according to any one of claims 3 to 7,
An ultrasonic flaw detector characterized by further comprising movable means having a plurality of movable joints.

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