JP2014191242A - Inner surface inspection device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an inner surface inspection device capable of determining a state where an imaging unit can be inserted into an object even when a lance vibrates.SOLUTION: An inner surface inspection device comprises: an imaging section 20 that images an object inner surface facing the inner space of an object in a direction of advance to and retraction from the inner space of the object; a lance section 30 that supports the imaging section 20 and relatively advances to and retracts from the inner space of the object; a vibration detection sensor 35 that detects vibration of the lance section 30; and a vibration determination section 40 that determines whether or not there is abnormality on the basis of a vibration pattern of the lance section 30.

Description

  The present invention relates to an inner surface inspection apparatus and relates to a technique for photographing an inner surface of a hole of an object, an inner surface of a pipe, and the like.

  Conventionally, this type of photographing apparatus has a principle shown in FIG. 8, for example. This is called a ring beam device, and the conical mirror 3 is irradiated with a circular laser beam 2 from the semiconductor laser of the laser irradiation unit 1, and the laser beam 2 incident on the conical mirror 3 is incident on the incident optical axis. Thus, a disk-like light 4 is formed which is reflected in a right angle direction and has a light trace extending 360 °. The laser irradiation unit 1 and the conical mirror 3 are integrated by a transparent cylindrical body 5.

  When the disk-shaped light 4 is irradiated onto the inner surface of the object, the inner surface of the object is illuminated in a ring shape, and the ring-shaped light cutting surface is illuminated. As shown in FIG. 9, the ring of light reflected as the light cut surface is a single ring-shaped light 6 that represents the cross-sectional contour of the inner surface of the object. In the following, the light section is used as a term indicating the cross-sectional contour of the inner surface of the object.

By capturing this ring-shaped light 6 with a camera (not shown) of an imaging unit located behind the laser irradiation unit 1, contour shape information on the inner surface of the object can be obtained.
In the optical device described in Patent Document 1, the measurement light from the light source is reflected by the reflection part of the cone mirror through the lens system, and is measured as wide, radial defect measurement light through the opening of the light shielding member. Output to the target side. The measurement light that has passed through the through hole of the cone mirror is reflected by the reflection portion around the top of the cone mirror, and is passed through the opening of the light shielding member to the measurement target side as narrow and radial length characteristic measurement light. Is output. The defect measurement light and the length characteristic measurement light reflected by the measurement object are each detected by the measurement unit, and the operation control unit determines the presence / absence of the defect to be measured, calculates the shape, and the like.

  Further, the inner surface inspection apparatus in which the laser irradiation unit 1 and the imaging unit located behind the laser irradiation unit 1 are integrated is supported by a long lance when inserted into an object such as a tube.

JP2009-25006

  Incidentally, in the configuration shown in FIG. 8 described above, it is necessary to insert the laser irradiation unit 1 and the imaging unit located behind the laser irradiation unit 1 into an object such as a tube. For this reason, the imaging unit integrally provided with the laser irradiation unit 1 and the imaging unit located behind the laser irradiation unit 1 is supported by a long lance when inserted into an object such as a tube.

  When the photographing unit is inserted into, for example, a tubular product using this lance, a collision prevention flange is provided on the photographing unit or the lance in order to prevent the photographing unit from being damaged by contact with the inner surface of the tube.

  The anti-collision flange has an outer diameter that is slightly larger than the outer diameter of the photographing unit around the axis of the lance and is made of a material that does not damage the inner surface of the tube. Even when there is a possibility that the photographing unit may come into contact, the photographing unit is held away from the inner surface of the tube with the outer peripheral edge of the collision preventing flange in contact with the inner surface of the tube.

  When this lance is used, the lance may vibrate greatly. The cause of this is that when the collision prevention flange comes into contact with the inner surface of the pipe in the previous inspection, vibration occurs, and the lance vibration remains even after the lance is pulled out. In some cases, people or objects come into direct contact with the lance.

  If the camera unit is inserted into the tubular product while the lance and the camera unit vibrate, the camera unit and the tubular product may collide and damage both, and the camera unit is inserted into the tube product while the lance vibrates greatly. You must avoid doing it.

  SUMMARY OF THE INVENTION The present invention solves the above-described problems, and an object thereof is to provide an inner surface inspection apparatus capable of determining a state in which an imaging unit can be inserted into an object even when a lance vibrates. To do.

  In order to solve the above-described problems, an inner surface inspection apparatus according to the present invention supports a photographing unit that photographs an inner surface of an object facing the inner space of the object along an advancing / retreating direction of the inner surface of the object, and the photographing unit. The presence or absence of an abnormal event is determined based on the vibration pattern of the lance part that relatively moves forward and backward in the internal space of the object, the vibration detection sensor that detects the vibration of the lance part, and the lance part vibration pattern obtained as the output of the vibration detection sensor. And a vibration determination unit.

  The inner surface inspection apparatus according to the present invention includes a transport driving device that relatively moves the photographing unit and the lance portion relative to the inner space of the object, and the vibration determination unit moves the photographing unit and the lance portion within the target by the transport driving device. When the relative entry to the space is determined based on the presence or absence of an abnormal event, the vibration of the lance part in the vibration pattern is below the set value within the waiting time for holding the imaging unit outside the interior space of the object It is judged that there is no abnormal event and permitted to enter, and when the vibration of the lance part in the vibration pattern becomes larger than the set value within the standby time, it is judged that there is an abnormal event and entry is prohibited.

  In the inner surface inspection apparatus of the present invention, the vibration determination unit records a vibration pattern over a plurality of times of repeating the step of photographing the inner surface of the object, and the vibration of the lance portion in the vibration pattern causes the photographing unit to move within the inner space of the object. It is determined that a contact event has occurred between the imaging unit and the inner surface of the object within the inspection time held in the case, and if there are multiple vibration patterns representing a contact event, it is determined that there is a sign of abnormality. And output an alarm.

  As described above, according to the present invention, the vibration determining unit determines the vibration pattern of the lance unit, and determines that the vibration is abnormal when the vibration of the lance unit causes a collision between the imaging unit and the object. However, even when the lance portion vibrates, it is determined that the vibration is normal if the vibration does not cause a collision between the imaging portion and the object. In this way, by determining whether or not there is a danger of a collision by determining the vibration pattern of the lance part, that is, whether or not there is an abnormality, in all cases where there is vibration in the lance as in the past, the photographing work by the inner surface inspection device is performed. It is no longer necessary to stop and wait until the vibration has subsided, greatly improving the work efficiency of the inspection.

It is sectional drawing which shows the inner surface inspection apparatus in embodiment of this invention, (a) is a figure which shows the state which the imaging | photography unit of an inner surface inspection apparatus interferes with a tubular product, (b) is the imaging | photography unit of an inner surface inspection apparatus tubular. The figure which shows the state normally inserted in the product, (c) is the figure which shows the state which the imaging | photography unit of an inner surface inspection apparatus contacts with the pipe | tube inner surface of a tubular product. Schematic diagram showing the inspection process of the inner surface inspection equipment Schematic diagram showing the inspection process of the inner surface inspection equipment Side view showing the entire inner surface inspection device Block diagram showing the configuration of the vibration determination unit of the inner surface inspection apparatus The graph figure which shows an example of the change of the sensor output voltage in the vibration detection sensor of the same inner surface inspection apparatus A graph illustrating the vibration pattern of the inner surface inspection apparatus Schematic diagram showing the conventional configuration Schematic diagram showing normal ring light

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. 1 to 5, the inner surface inspection apparatus advances and retreats with respect to an object, for example, a hollow portion 101 which is an inner space of the tube 100, and the inner surface of the object facing the inner space of the object, here, the inner surface of the tube. Is taken along the advancing and retreating direction along the tube axis, and includes an irradiating unit 10, an imaging unit 20, a lance unit 30, a vibration determining unit 40, and a transport driving device 50 as main components.

  In the present embodiment, the tube 100 has a receiving port 102 at one end and the other end forms an insertion port. However, the object of the present invention is not limited to the tube 100 according to the present embodiment. A straight barrel type without the receiving port 102 may be used, and other than the tube 100 may be used.

  The irradiating unit 10 irradiates the light source light toward the inner surface of the target tube as radial irradiation light, and the semiconductor laser stored in the light source unit 12 of the support holder 11 emits the laser light as the light source light. A reflection part 13 made of a transparent glass cylinder is disposed in front of the light source part 12, and the reflection part 13 houses a conical mirror therein. The conical mirror reflects the laser beam emitted from the semiconductor laser in a direction perpendicular to the incident optical axis, and forms a disk-shaped irradiation beam in which the light trace spreads radially at 360 °.

The connecting part 14 connects the irradiation part 10 and the photographing part 20, is made of a resin or metal pipe body, and has sufficient strength necessary to support the irradiation part 10.
The photographing unit 20 continuously photographs the light cut surface of the inner surface of the object illuminated with the irradiation light along the advancing and retreating direction, and includes a connecting unit 21, a lens unit 22 that forms a photographing device, and a camera unit 23. . The connecting portion 21 is screwed and connected to the hood 24 of the lens portion 22 on the rear end side, and has a flange 25 on the front end side.

  A transparent protective material 26 disposed in the field of view of the photographing unit 20 is connected to the flange 25, and the transparent protective material 26 covers the front of the lens unit 22. The transparent protective material 26 is a glass material, and in the present embodiment is made of plate glass.

The lens unit 22 includes a hood 24 and a camera lens 27 connected to the hood 24. The camera unit 23 includes a camera 28 as a photographing device connected to a camera lens 27.
The photographing unit 20 is provided with a collision prevention flange 29. The collision prevention flange 29 has an outer diameter that is slightly larger than the outer diameter of the photographing unit, and is made of a material that does not damage the inner surface of the tube, so that the inner surface of the tube and the photographing unit come into contact due to variations in the inner diameter of the tube. Even when there is a fear, the photographing unit is held away from the inner surface of the tube with the outer peripheral edge of the collision preventing flange 29 contacting the inner surface of the tube.

  An imaging unit including the irradiation unit 10 and the imaging unit 20 is provided at the distal end of the insertion lance 31 of the lance unit 30, and the insertion lance 31 supports the imaging unit on the distal end side and is relatively relative to the inner space of the tube 100. Advance and retreat.

  The lance portion 30 includes a lance support base 32 that holds the proximal end side of the insertion lance 31. The lance support base 32 supports the insertion lance 31 by an elevating portion 33. The vertical position of 31 can be adjusted. The lance unit 30 is connected to the photographing unit 20 via a lance extension pipe 34, and a vibration detection sensor 35 including an acceleration sensor is attached to the lance extension pipe 34.

  The vibration determination unit 40 compares a set value input unit 41 for inputting a set value (threshold value) serving as a criterion for determination of abnormality and normal, and an output signal (voltage signal) of the vibration detection sensor 35 with a set value (threshold value). A voltage comparator 42 that determines whether the vibration pattern (vibration waveform) of the photographing unit and the insertion lance 31 indicates abnormality or normality, and a data storage unit 43 that records the vibration pattern (vibration waveform) are provided. ing.

  The conveyance driving device 50 includes a pipe carriage 51 and a carriage control device 52 that controls the travel of the pipe carriage 51. The pipe carriage 51 supports the pipe 100 via a support roller 53. The pipe carriage 51 advances and retreats between a retraction station 54 that delivers the pipe 100 to and from the conveyance line 60 of the pipe 100 and an inspection station 55 in which the imaging unit and the insertion lance 31 are inserted into the hole 101 of the pipe 100. To do.

The operation of the above configuration will be described below.
(basic action)
As shown in FIG. 3 (a), the carriage control device 52 receives the pipe 100 from the transfer line 60 on the pipe carriage 51 at the retreat station 54, and then, as shown in FIG. Move to inspection station 55. When the tube carriage 51 moves to the inspection station 55, the irradiation unit 10 and the imaging unit 20 of the imaging unit are inserted into the hole 101 of the tube 100 together with the insertion lance 31.

Then, while the insertion lance 31 is inserted into the tube 100 or the insertion lance 31 is pulled out from the tube 100, the inner surface of the tube that is the inner surface of the object is photographed by the photographing unit 20.
(Shooting operation)
In the irradiation unit 10, the semiconductor laser of the light source unit 12 stored inside the support holder 11 emits laser light as light source light toward the conical mirror of the reflection unit 13. The conical mirror of the reflecting section 13 reflects the laser beam emitted from the semiconductor laser in a direction perpendicular to the incident optical axis, and forms a disk-shaped irradiation light in which the light trace radiates at 360 °. Irradiate toward the surface. When this disc-shaped light is irradiated onto the inner surface of the object, the inner surface of the object is illuminated in a ring shape, and the ring-shaped light cutting surface is illuminated. The ring of light reflected on the light cut surface becomes one ring-shaped light that represents the cross-sectional contour of the inner surface of the object. The ring-shaped light is photographed by the camera 28 of the photographing unit 20 to obtain contour shape information on the inner surface of the object. And the presence or absence of the defect in the inner surface of the pipe | tube 100 is judged based on outline shape information.
(Collision prevention inspection)
As shown in FIG. 1B, when the photographing unit is normally inserted into the tube 100 and the photographing unit and the tube 100 can be inspected without contact, the photographing unit hardly vibrates. However, after the vibration of the peripheral equipment is transmitted to the lance part 30 or the state where the collision preventing flange 29 is in contact with the inner surface of the pipe as shown in FIG. In some cases, the lance 30 and the photographing unit vibrate.

  In this way, the lance 30 and the photographing unit vibrate, and in the basic operation described above, as shown in FIG. 1A, for example, the connection part 21 of the photographing part 20 and the end of the straight pipe part of the pipe 100 are connected. If the lance portion 30 is inserted further when the interference occurs, the photographing unit and the tubular product may collide and be damaged. For this reason, a collision prevention inspection described later is performed.

FIG. 6 exemplifies a change in the output voltage of the output signal of the vibration detection sensor 35 when the collision prevention flange 29 comes into contact with the inner surface of the pipe as shown in FIG.
Before moving the tube carriage 51 to the inspection station 55 and inserting the photographing unit into the hole 101 of the tube 100 (step A), the output signal shows a gentle waveform with a small amplitude and is equal to or less than the set value (threshold value). A substantially constant voltage is maintained.

  During the inspection time, that is, in the measurement process (step B) in which the imaging unit is inserted into the hole 101 together with the insertion lance 31, the insertion lance 31 is placed on the inlet side of the tube 100, for example. Even when the position is equal to the axial center of the hole 101, the collision preventing flange 29 may come into contact with the inner surface of the pipe in the latter half of the insertion stroke. In this case, in the latter half of the drawing stroke, The vibration possible range is expanded and the vibration becomes larger than the set value (threshold value). This vibration is within the range regulated on the inner surface of the tube.

  Thereafter, when the insertion lance 31 is pulled out from the tube 100 (step C), the contact between the collision preventing flange 29 and the inner surface of the tube disappears, and the restriction by the inner surface of the tube disappears, and the insertion lance 31 is set to freely vibrate. It vibrates more than the value (threshold) and then decays over time.

  Prior to the next inner surface inspection, in order to determine whether or not the insertion lance 31 can be inserted into the tube 100, until the imaging unit is inserted into the hole 101 of the tube 100 after the previous inspection, In other words, a collision prevention test is performed in which the waiting time is a period during which the photographing unit is held outside the hole 101 of the tube 100 from the end of the process B to the end of the process A through the process C, during which the vibration state of the insertion lance 31 is inspected. Do.

  In the collision prevention inspection, the vibration detection sensor 35 detects the vibration of the insertion lance 31, and the output signal (voltage signal) of the vibration detection sensor 35 is input to the voltage comparator 42 of the vibration determination unit 40. The set value serving as a criterion for determining whether the abnormality is normal is compared with the output signal (voltage signal) of the vibration detection sensor 35.

  When the vibration of the lance 30 in the vibration pattern is not attenuated and the voltage value of the output signal of the vibration detection sensor 35 exceeds the set value during the standby period, the vibration pattern (vibration waveform) of the insertion lance 31 is Judged to indicate the presence of an abnormal event. Further, when the vibration of the lance portion in the vibration pattern is attenuated and the voltage value of the output signal of the vibration detection sensor 35 falls within the set value within the standby time, the vibration pattern (vibration waveform) is normal without an abnormal event. It is judged that it shows.

  The vibration determination unit 40 determines whether or not the image capturing unit 20 and the lance unit 30 can be relatively moved into the hole 101 of the target tube 100 by the transport driving device 50 depending on the presence or absence of an abnormal event.

  That is, when it is determined that the vibration pattern indicates that there is no abnormal event, a permission signal is given to the carriage control device 52 to enable the traveling of the pipe carriage, and when it is determined that the vibration pattern indicates that there is an abnormal event, the carriage control device 52 is notified of the pipe carriage. A prohibition signal for driving prohibition is issued.

  In this way, by determining whether there is a danger of a collision, that is, whether there is an abnormality by determining the vibration pattern of the lance part 30, the photographing operation by the inner surface inspection device is stopped in all cases where the lance has vibration. There is no need to wait until the vibration has subsided, and the work efficiency of inspection is greatly improved.

This vibration pattern is stored in the data storage unit 43 as data for specifying a vibration factor, and changes with time of the vibration pattern are observed.
FIG. 7 shows the change over time of the vibration pattern recorded over the course of repeating the inner surface inspection process for photographing the inner surface of the object a plurality of times, and the upper line in the graph of each stage shows the inspection timing, The first half of each inspection process such as the first, second, and third shows the timing when the lance portion 30 is inside the hole 101 of the tube 100, and the latter half is that the lance portion 30 is outside the hole 101 of the tube 100. Timing is shown. The middle broken line indicates a set value (threshold value) for determining whether there is vibration abnormality. A lower line is a lance vibration signal indicating a vibration pattern.

(A) has shown the normal vibration pattern, and a lance vibration signal is always in the range below a setting value (threshold value).
(B) is a contact event in which the vibration (amplitude) of the lance portion becomes larger than the set value (threshold value) within the inspection time in the vibration pattern in the first inner surface inspection step, and the collision prevention flange 29 contacts the inner surface of the pipe. After that, the vibration (amplitude) of the lance 30 is attenuated to a set value (threshold value) or less within the standby time, and the second and third inner surface inspections are continuously performed. This is a possible vibration pattern.

  (C) is a contact event in which the vibration (amplitude) of the lance portion becomes larger than the set value (threshold value) within the inspection time in the vibration pattern in the first inner surface inspection step, and the collision prevention flange 29 contacts the inner surface of the pipe. After that, the vibration (amplitude) of the lance 30 is not attenuated below the set value (threshold value) even during the standby time, and it is impossible to continue the second inner surface inspection. is there. In this case, it is determined that there is an abnormality, the inspection is stopped until the vibration is settled, and the vibration returns to the inspection after the vibration is attenuated to a set value (threshold) or less.

  (D) shows a contact event in which the vibration (amplitude) of the lance portion becomes larger than the set value (threshold value) within the inspection time in the vibration pattern in each inner surface inspection process, and the collision prevention flange 29 contacts the inner surface of the pipe. Although this indicates that it has occurred, the vibration (amplitude) of the lance 30 has been attenuated below the set value (threshold value) within the waiting time, and the second and third inner surface inspections should be continued. This is a possible vibration pattern.

  However, with this vibration pattern, the inner surface inspection can be continued, but the collision prevention flange 29 contacts the inner surface of the tube every inspection due to an axial shift between the lance portion 30 and the tube 100 due to equipment factors. An alarm is output when it is judged that there is a cause such as equipment wear or a small pipe inner surface being manufactured as a sign of abnormality. As a result, it is possible to promote maintenance of the equipment.

(E) shows a vibration pattern in which the lance 30 is vibrated due to a factor other than the contact with the tube 100 and the inspection cannot be continued, and the vibration is generated at a timing when the lance 30 is outside the hole 101 of the tube 100. It is judged that there is an abnormality, the cause of vibration is confirmed, the countermeasure is taken, and then the inspection is restored.
(Other embodiments)
In the above-described embodiment, the imaging carriage and the insertion lance 31 are placed in the hole 101 of the tube 100 by the tube carriage 51 on which the tube 100 to be inspected is moved back and forth between the retraction station 54 and the inspection station 55. The configuration for inserting and inspecting the inner surface of the tube 100 is shown. However, the configuration is not limited to this as long as the object to be inspected and the imaging unit are relatively moved. For example, the imaging unit and the insertion lance 31 can be moved back and forth in the hole 101 of the tube 100 by moving means for supporting and moving the imaging unit and the insertion lance 31 while the tube 100 of the inspection object is stationary. It may be a configuration.

DESCRIPTION OF SYMBOLS 10 Irradiation part 11 Support holder 12 Light source part 13 Reflection part 14 Connection part 20 Imaging part 21 Connection part 22 Lens part 23 Camera part 24 Hood 25 Flange 26 Transparent protective material 27 Camera lens 28 Camera 29 Collision prevention flange 30 Lance part 31 For insertion Lance 32 Lance support base 33 Elevating part 34 Lance extension pipe 35 Vibration detection sensor 40 Vibration determination part 41 Setting value input part 42 Voltage comparator 43 Data storage part 50 Transport drive unit 51 Pipe carriage 52 Carriage control device 53, 53 Support roller 54 Retreat station 55 Inspection station 60 Conveyance line 100 Tube 101 Hole 102 Receiving port

Claims (3)

  An imaging unit that images the inner surface of the object facing the inner space of the object along the direction of advancement and retreat to the inner space of the object, and a lance unit that supports the imaging unit and relatively moves forward and backward with respect to the inner space of the object An inner surface inspection apparatus comprising: a vibration detection sensor that detects vibration of the lance portion; and a vibration determination portion that determines presence or absence of an abnormal event based on a vibration pattern of the lance portion obtained as an output of the vibration detection sensor. A transport drive device that relatively moves the photographing unit and the lance part back and forth in the internal space of the object,
The vibration determining unit determines whether or not the photographing unit and the lance unit can be relatively moved into the inner space of the target object by the conveyance driving device, and the vibration of the lance unit in the vibration pattern determines the photographing unit. If it is less than the set value within the waiting time that is held outside the inner space of the object, it is judged that there is no abnormal event and entry is permitted, and the vibration of the lance part in the vibration pattern becomes greater than the set value within the waiting time. 2. The inner surface inspection apparatus according to claim 1, wherein intrusion is prohibited by determining that there is an abnormal event.   The vibration determination unit records the vibration pattern over the process of photographing the inner surface of the object a plurality of times, and the vibration of the lance part in the vibration pattern is set within the inspection time for holding the photographing unit in the inner space of the object. When it exceeds the value, it is judged that a contact event has occurred between the imaging unit and the inner surface of the object, and if multiple vibration patterns indicate a contact event, it is judged that there is an abnormal sign and an alarm is output. The inner surface inspection apparatus according to claim 1 or 2.

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