JP6076141B2 - Corrosion diagnostic equipment - Google Patents

Description

  The present invention relates to a corrosion diagnosis apparatus and a corrosion diagnosis method using ultrasonic waves, and more particularly to a corrosion diagnosis apparatus and a corrosion diagnosis method suitable for pump casings such as cast iron sewage pumps and rainwater pumps.

  Sewage pumps and rainwater pumps, which are the heart of sewage lines that are indispensable for daily life, are regularly inspected and diagnosed for deterioration such as corrosion to prevent accidents and breakdowns. We are taking measures such as renovation and replacement. The casing and pumping pipe, which are the main components of the sewage pump and storm water pump, are manufactured from cast iron, carbon steel, and the like, and are likely to deteriorate due to corrosion over many years. If the progress of corrosion is left unattended, the structural strength of the casing and pumping pipe gradually decreases, and in the worst case, there is a risk of progressing to a breakage accident. Therefore, it is necessary to periodically inspect and diagnose the casing and pumping pipe to grasp the progress of deterioration.

  A conventional example in which corrosion in cast iron pump parts is inspected and diagnosed by nondestructive inspection is described in Non-Patent Document 1 by the present inventors. In the deterioration diagnosis using the ultrasonic diagnostic method described in Non-Patent Document 1, an ultrasonic probe is brought into contact with the casing surface of the pump that is the object to be diagnosed, and the corrosion or deterioration state of the flow path surface inside the casing is determined. Is diagnosed.

  According to the ultrasonic diagnostic method described in Non-Patent Document 1, since the probe is brought into direct contact with the casing, it is possible to accurately determine the degree of progress of corrosion on the back surface that is the flow path surface. In addition, the progress of corrosion is detected using the grid intersections of the grid-like film affixed to the site to be inspected in advance as a measurement point, and the degradation status is visualized by displaying contours of the calculation results by the computer. Therefore, it becomes easy to grasp the deterioration state of the portion that cannot be directly seen.

  On the other hand, various methods for accurately grasping coordinates on an object constituted by a three-dimensional curved surface such as a pump casing have been proposed. For example, in Patent Document 1, in order to confirm the three-dimensional positional relationship between measured values, the positional relationship of each ultrasonic tomographic image is grasped by a digitizer, and a three-dimensional image is reconstructed.

  Further, in Patent Document 2, using a robot arm having a plurality of joints whose posture and position can be adjusted three-dimensionally, based on a plurality of flaw detection information obtained from around the temporary center position of the spot welded portion, The actual center position is specified. Thereby, the quality of the spot welding part is determined.

JP-A-11-128224 JP 2006-220608 A

Yoshiyuki Hashimoto and two others, “Ultrasonic Diagnosis of Graphitization Corrosion in Cast Iron Pump Parts”, Turbomachine, Association of Turbomachines, January 2010, Vol. 38, No. 1, p. 54-63

  By the way, the deterioration of the flowing water part of the casing of the pump gradually progresses due to the action of the fluid contained in the interior, mainly impurities contained in the water as the water circulates inside the casing wall. Therefore, the deterioration becomes noticeable early several years later, and if the progress of the deterioration is slow, almost no change is seen even after several tens of years. Therefore, periodic inspections are also performed once a year to once every several years. In the meantime, the installation situation of the pump casing does not change, but the outer surface is repainted to maintain its normality, so the measurement position several years ago cannot be easily reproduced.

  If the measurement points cannot be reproduced in this way, it is difficult to determine the difference between the casting thickness variation at the time of manufacture and the thinning due to corrosion if the casing or the like is made of casting. In addition, the outer diameter of the casing part and the pumping pipe part of the sewage pump and rainwater pump is in most cases exceeding 1000 mm, and a large number of man-hours are required for position reproduction by hand.

  In Non-Patent Document 1, a lattice film is applied to the casing of the pump and a plurality of measurement points are set. As described above, the same measurement points are searched after several years and several decades to detect deterioration due to corrosion. This is not fully considered. As a result, it is difficult to accurately obtain a temporal change important in deterioration diagnosis. In particular, when the pump surface is painted several times, marking or the like cannot be used, and special marking parts cannot be attached from the aspect of appearance.

  In the apparatus described in Patent Document 1, the positional relationship between the respective ultrasonic tomographic images is grasped, and a three-dimensional image is reconstructed. In the apparatus described in Patent Document 2, the temporary center position of the spot welded portion. The actual center position is specified based on a plurality of pieces of flaw detection information obtained from the periphery. However, in any of the apparatuses described in Patent Documents 1 and 2, no consideration is given to reproducing the measurement target point after several years or decades.

  The present invention has been made in view of the above-mentioned problems of the prior art, and the object thereof is an apparatus and method for diagnosing deterioration due to corrosion on the inner surface side of an apparatus having a cast iron part such as a pump casing using ultrasonic waves. The purpose is to accurately determine the change over time and to provide inspection and diagnosis of corrosion. Another object is to easily reproduce the measurement point even after a long period of time in order to accurately determine the change with time, and to realize labor saving in the measurement.

  A feature of the present invention that achieves the above object is that an apparatus for transmitting ultrasonic waves to a diagnostic object and diagnosing corrosion of the diagnostic object according to the intensity of the reflected wave of the ultrasonic waves from the diagnostic object The generated ultrasonic flaw detector, the contact for transmitting the ultrasonic wave generated by the ultrasonic flaw detector to the diagnostic object and detecting the reflected wave, and the three-dimensional coordinate detection for detecting the position of the contact in three dimensions And a portable control means capable of displaying the position of the contact and the ultrasonic waveform detected by the contact. The three-dimensional coordinate detection device is in the vicinity of the contact and the relative position remains unchanged. There is a means for detecting the position of the contact at a certain position.

  In this feature, the control device includes a relational expression of corrosion determined from a ratio of a primary component and a secondary component of the reflected wave with respect to a thickness of the diagnosis target, and an initial diagnosis target detected by the three-dimensional coordinate detection device. Measurement position information is stored, and the three-dimensional coordinate detection device has a transparent or translucent film to be attached to the diagnosis target, and the initial measurement position information has the film attached to the diagnosis target. The coordinate information of the measurement points described on the film at the time, and the control device detects the coordinates of the measurement points detected by the three-dimensional coordinate detection device when the film is reapplied. Preferably, the controller has a display means for displaying the diagnosis result of the corrosion when substantially matching the coordinates, and the control device is configured to display the three-dimensional seat according to a movement path of the contact in space. It is intended to control the detection operation of the detection device.

  Another feature of the present invention that achieves the above-described object is that the ultrasonic wave generated by the ultrasonic flaw detector is transmitted to the diagnostic object, and a reflected wave is detected and the diagnostic object is detected using a portable control means. Corrosion diagnostic method for transmitting ultrasonic waves to the diagnostic object and diagnosing corrosion of the diagnostic object according to the intensity of the reflected wave of the ultrasonic wave from the diagnostic object, and obtained based on the reference position set for the diagnostic object The thickness of the diagnosis target at the initial measurement position of the diagnosis target is stored in the control unit, and in the subsequent corrosion diagnosis, a new measurement position is stored in the control unit based on the reference position. The initial measurement position is matched, the ratio of the primary reflected wave and the secondary reflected wave with respect to the thickness of the diagnosis target is obtained at the matched measurement position, and the rank of corrosion is determined from this ratio and displayed on the control device. is there.

  And in this feature, when obtaining the initial measurement position of the diagnostic object based on the reference position set for the diagnostic object, a film in which a plurality of measurement points are described is pasted on the diagnostic object to detect three-dimensional coordinates In the subsequent diagnosis of corrosion, the film is reattached to the object to be diagnosed and the reattachment position of the film detected by the three-dimensional coordinate detection device is input to the control means. It may be matched with the stored initial measurement position.

  In the above feature, the control means may determine that at least one of the position detection of the three-dimensional coordinates and the detection of the reflected wave is appropriate or inappropriate according to a movement path of the contactor in space. The control means has a tablet-type display means, which displays the initial measurement position, the current contact position, and the detected ultrasonic waveform on the display means, and confirms the movement of the contact and the detected waveform. It is preferable to be able to be performed by one operator.

  According to the present invention, a measurement point is stored in three-dimensional coordinates with a portion such as a flange not deformed as a reference position, and the stored coordinate value can be referred to by moving a flaw detector position held by an operator at a measurement site. As a result, it is possible to reproduce the fixed measurement points necessary for accurately obtaining the change with time, even after a long period of time, and to obtain the change with time accurately for inspection and diagnosis of corrosion. In addition, since the measurement position can be presented to the operator using the flaws held by the operator, the measurement one can be easily reproduced and the labor saving of the corrosion inspection and diagnosis work can be realized.

The figure explaining the corrosion diagnostic method using one Example of the corrosion diagnostic apparatus concerning this invention. The perspective view of the three-dimensional coordinate detection apparatus which the corrosion diagnostic apparatus shown in FIG. 1 has. The perspective view of the pump for demonstrating a three-dimensional coordinate. The figure explaining the film used with the corrosion diagnostic apparatus shown in FIG. The figure which shows an example of the display screen displayed on the control apparatus shown in FIG. The figure explaining the corrosion diagnosis using an ultrasonic wave. The perspective view of the other Example of the corrosion diagnostic apparatus which concerns on this invention. The figure which shows an example of the contact with which the corrosion diagnostic apparatus shown in FIG. 7 is provided.

  Hereinafter, several embodiments of a corrosion diagnostic apparatus and a diagnostic method using the corrosion diagnostic apparatus according to the present invention will be described in detail with reference to the drawings.

  FIGS. 1 to 6 are diagrams relating to an embodiment of the corrosion diagnosis apparatus 90 according to the present invention. FIG. 1 is a schematic diagram of an example of diagnosing corrosion in the casing 1 of the double suction type centrifugal pump 100 using the corrosion diagnosis apparatus 90. FIG. FIG. 2 is a perspective view of an arm-type three-dimensional coordinate detection device 80 provided in the corrosion diagnostic device 90 shown in FIG.

  The pump 100 to be diagnosed includes a casing 1 containing an impeller. The casing 1 is a horizontal division type, and has an upper casing 2 and a lower casing 3. An upper casing flange 4 is provided at the lower end portion of the upper casing 1, and a lower casing flange 5 is provided at the upper end portion of the lower casing 3.

  An airtight container is formed by interposing a sealing means such as an O-ring or a gasket between the upper casing flange 4 and the lower casing flange 5 and fastening the flanges 4 and 5 with bolts or the like. A suction flange 6 is provided on the suction side of the lower casing 3 and a discharge flange 9 is provided on the discharge side. The suction flange 6 is connected to the suction pipe 6d on the upstream side and the discharge pipe 9a on the downstream side by flanges 6 and 9, respectively. . Legs 1 a and 1 b are attached to the lower surface of the lower casing 3, and are fixed to the floor surface 10 at the installation position of the pump 100 by anchor means (not shown). The arrows in FIG. 1 indicate the direction of water flow.

  The arm-type three-dimensional coordinate detection device 80, which will be described in detail later, has two arms 12, 13 and three joints, and the base 11 is magnetically applied to the upper surface 4 a of the casing flange 4 of the upper casing 2. It is fixed with etc. A contact 14 for transmitting and receiving ultrasonic waves is attached to the tip of the three-dimensional coordinate detection device 80. A signal cable runs inside the arms 12 and 13 in order to transmit the ultrasonic wave in contact and transmit the signal received by the contact, and the end of the signal cable is the base 11 of the three-dimensional coordinate detector 80. Is connected to the control device 8 held by the operator 19. In consideration of portability, the control device 8 uses a tablet PC having an interface between a display unit, a calculation unit, a data storage unit, and each device.

  An ultrasonic flaw detector 7 is connected to the tablet-type control device 8 with a cable 7a. For the ultrasonic flaw detector 7, for example, Epoch IV (trade name) manufactured by Parametrics is used. The three-dimensional coordinate detection device 80 and the contact 14, the tablet-type control device 8, and the ultrasonic flaw detector 7 constitute a corrosion diagnostic device 90.

  FIG. 2 shows details of the three-dimensional coordinate detection apparatus 80. The magnet base 11 is provided with a first joint 81 to which one end of the first arm 12 is attached. The other end of the first arm 12 is attached to the second joint 82. One end of the second arm 13 is also attached to the second joint 82, and the other end of the second arm 13 is attached to the third joint 83. A contact 15 and one or a plurality of measurement balls 16 are attached to the third joint.

  The first joint 81 provided on the base 11 has two degrees of freedom of rotation. A θ1 axis that allows the first arm 12 to rotate about an axis extending in a direction perpendicular to the base 11, and a θ2 axis that allows the first arm 12 to rotate about an axis extending in a direction perpendicular to the θ1 axis. is there. If the base 11 is disposed horizontally, the θ1 axis is a vertical axis.

  The second joint 82 also has two degrees of freedom of rotation, and constitutes the θ3 axis that is the degree of freedom on the first arm 12 side and the θ4 axis that is on the second arm side. At the tip portion to which the contact 14 is connected, the θ5 axis that is the degree of freedom of rotation of the second arm and the θ6 axis that is the degree of freedom of rotation of the contactor 14 are configured. The relative positional relationship between the contactor 14 and one or more measurement balls 16 provided is unchanged. That is, when the contact 14 is brought into contact with the surface of the casing 1 with the contact surface 15, the measuring ball 16 is positioned in the vicinity of the surface of the casing 1, detects its position coordinate, and transmits it to the control device 8. At this time, since the relative positional relationship between the measurement sphere 16 and the contact 14 is unchanged, the position of the contact 14 can be obtained from the measurement result of the measurement sphere 16 by a geometric relationship.

  As described above, the contact 14 fixed to the tip of the three-dimensional coordinate detection device 80 is electrically connected to the ultrasonic flaw detector 7 by the cables 8a and 7a, and the ultrasonic flaw detector 7 is connected to the control device 8. Therefore, the control device 8 can control the operation of the ultrasonic flaw detector 7. The control device 8 can also obtain information such as ultrasonic waveform data obtained from the contact 14.

  The degrees of freedom θ1 to θ6 are rotational degrees of freedom when the subscript is an odd number, that is, θ1, θ3, and θ5, and are free to swing when the subscript is an even number, that is, θ2, θ4, and θ6. Degree. The length L1 of the first arm 12, the length L2 of the second arm 13, the shortest length L3 from the central axis of the swinging freedom degree θ6 to the contact surface 15, and the central axis of the swinging degree of freedom θ6 The length L4 from the center of the measuring sphere 16 to the center is known. The relative positional relationship between the contact surface 15 and the center of the measurement ball 16 is also known.

  Since the contact 14 used in this embodiment is cylindrical, the shortest length L3 from the central axis of the swinging degree of freedom θ6 to the contact surface 15 is from the central axis of the swinging degree of freedom θ6. It is a distance to the center of the circle constituting the contact surface 15. The first to third joints 81 to 83 of the three-dimensional coordinate detection device 80 are provided with encoders (not shown) for the respective degrees of freedom of rotation or swing θ1 to θ6. The rotation angles of the degrees of freedom θ1 to θ6 are electrically transmitted to the control device 8.

  Note that the control device 8 always calculates the positions of the contact surface 15 and the center of the measurement ball 16 from the encoder information and the length information, and displays the current position on the display screen of the control device 8 (see the coordinate column 24 in FIG. 5). Displays the value of. The coordinate values at this time are temporarily set to the origin O (0, 0, 0) at the intersection of the rotation centers related to the degrees of freedom θ1 and θ2 of the first joint 81 in the state where the measurement coordinates described later are not set. ). Since the encoders arranged in the joints 81 to 83 are of the absolute type, even after the power is turned off, the indicated value after turning on the power again is the same.

  Next, measurement of three-dimensional coordinates using the three-dimensional coordinate detection device 80 arranged in this way will be described with reference to FIG. FIG. 3 is a perspective view showing only the casing 1 of the pump 100 taken out. This is the case where the center coordinate 17 of the measurement sphere 16 is the reference coordinate, that is, the origin. The coordinates of the contact 14 can be obtained by applying the relative positional relationship between the contact 14 and the measurement sphere 16 to the center coordinate 17 of the measurement sphere 16.

  In order to obtain the center coordinate 17 of the measurement sphere 16, two reference planes and a reference circle are used. In the present embodiment, the two reference planes are set on the pump-side surface 6 a of the suction flange 6 and the upper surface 4 a of the upper casing flange 4. The reference circle is set on the pump-side surface 6 a of the suction flange 6 and on the outer peripheral surface 6 b of the suction flange 6. Details describing an arbitrary point on the casing 1 with which the contact 14 contacts in the coordinate system determined from the reference plane and the reference circle will be described below.

  First, the measurement ball 16 is brought into contact with the pump-side surface 6a of the suction flange 6 using a three-dimensional Cartesian coordinate system that is provisionally instructed with the power supply of the control device 8 turned on, and at least 3 in this state. Get coordinate values at more than 20 locations if possible. The coordinate value acquired at this time is desirably acquired from as wide a range as possible of the surface 6a of the suction flange 6 on the pump side.

  Thereby, a plane is tentatively determined. The measuring ball 16 is moved from the temporary plane. That is, the coordinate value of an air point not in contact with the casing 1 of the pump 100 is acquired. The reason why the coordinates of the point in the air are obtained is that the coordinate value obtained by bringing the measurement sphere 16 into contact with the plane is a value offset by the radius of the measurement sphere 16. In order to determine the direction in which this offset value is corrected, a point in the air is acquired. The provisional plane determined from the 3 to 20 coordinate values obtained by bringing the measurement sphere 14 into contact with the surface of the casing 1 is offset in the direction opposite to the above-mentioned air point by the radius of the measurement sphere 16. Thus, the XY plane 42 serving as a reference is obtained. The direction of the above-mentioned point in the air is the normal direction.

  The measurement ball 16 attached to the third joint 83 of the three-dimensional coordinate detection device 80 is brought into contact with three or more different points on the cylindrical surface 6b, which is the outer peripheral surface of the suction flange 6, and preferably 20 or more points. Find the value. At this time, it is desirable to distribute the points for obtaining the coordinate values over as wide a range as possible on the outer peripheral surface 6 b of the suction flange 6. The obtained coordinate values are projected onto the XY plane. Then, the reference circle 43 is obtained by approximating the projected outer peripheral surface 6b of the suction flange 6 with a circle. From the obtained reference circle 43, the coordinates of the center point 50 are obtained. The radius of the reference circle 43 is larger than the radius of the suction flange 6 by the radius of the measurement sphere 16, but it does not become an obstacle when the center point 50 is obtained.

  The measurement ball 16 is moved on the upper surface 4a of the upper casing flange 4 by moving the measurement ball 16 on the pump-side outer peripheral surface 6a of the suction flange 6 and measuring 3 to 20 points. The coordinates of 20 points are obtained and the reference plane is obtained. At that time, similarly to the above procedure, the offset of the measurement sphere 16 is corrected to obtain the upper plane 41 serving as a reference.

  The center point 50 of the reference circle 43 is newly set as the origin O, and its coordinate value is O (0, 0, 0). A line passing through the origin O and perpendicular to the intersection line 43 between the upper plane 41 and the XY plane 42 is taken as a Y axis. With respect to the direction of the Y-axis, the direction from the origin O toward the upper plane 41 is the positive direction. Since the XY plane 42 is defined, the right-handed measurement coordinate 40 is determined. The coordinate values in the following measurements are all values at the measurement coordinates 40.

  In the above embodiment, the reference planes 41 and 42 and the reference circle 43 are obtained from the measurement using the measurement sphere 16, but the reference plane and the reference circle can be obtained using the contact 14 of the ultrasonic flaw detector 7. It is. Since the control device 8 always obtains the coordinates of the center point of the contact surface 15 of the contact 14, the numerical value is used.

  However, it is necessary to pay attention to whether or not the center of the contact surface 15 is in contact with the floating due to dust during contact or the measurement of the outer peripheral surface of the suction flange 6 because it affects the measurement accuracy. In the measurement of the reference plane, there is no offset with the contact portion, so it is not necessary to correct the obtained coordinate value. However, in order to determine the positive direction of the XY plane 42, a procedure for obtaining the coordinate value of the point in the air is necessary. It is.

  In this embodiment, the arm type three-dimensional coordinate detection device 80 is fixed to the upper surface 4a of the upper casing flange 4 of the casing 1 which is a measurement object. However, the relative positional relationship between the measurement object and the arm-type three-dimensional coordinate detection device 80 does not change except for the measurement object, and the operator does not interfere with the measurement while moving the measurement ball 16 or the contact 14. If the condition is satisfied, the arm type three-dimensional coordinate detection device 80 may be fixed at any place.

  Next, a corrosion diagnosis method using the ultrasonic flaw detector 7 will be described with reference to FIGS. 4 is a diagram illustrating an example of the film 20 used when the corrosion diagnostic apparatus 100 acquires ultrasonic waveform data, and FIG. 5 is a diagram illustrating an example of a display screen of a control device (tablet) 8 provided in the corrosion diagnostic apparatus 100. It is.

  In order to determine the corrosion of the casing 1 using the ultrasonic flaw detector 7, as described above, it is necessary to obtain the changed thickness of the casing 1 from the previous state of the casing 1. And if it measures at the same point as the previous state used as a standard, measurement accuracy will improve. Therefore, attempts have been made to use the film 20 or the like to set the measurement points to the same point. This is an effective method for solving such a problem that a previously marked point becomes unclear due to a change in the casing surface over time.

  In order to confirm the change over time of the inner wall of the casing 1, the thickness of the casing 1 as an initial state is measured when the pump 100 is installed. This is the first measurement. In the present embodiment, a total of 100 measurement points 21 of 10 rows × 10 columns are set, and a transparent film 20 with numbers from measurement point 1 to measurement point 100 is used. The film 20 is also used as a target for a position where the contact 14 is brought into contact.

  The part of the casing 1 where the measurement is performed is cleaned with a wet cloth to remove dust and the like, and the glycerin paste is spread in a film shape somewhat wider than the film 20 to be used. The film 20 is pasted on the glycerin paste film and within the measurement target range. At this time, care is taken not to form air bubbles between the film 20 and the casing 1, and when air bubbles are formed, the air bubbles are pushed out from below the film 20. Further, the glycerin paste is spread on the surface of the film 20 that is in contact with the contact surface 15 of the contact 14 of the three-dimensional coordinate detection device 80 and is opposite to the surface that contacts the casing 1.

  In the display screen 50 shown in FIG. 5, when a “keyboard display / non-display” tab 24d at the bottom of the mode switching tab field 24 is depressed, a keyboard display screen (not shown) appears. Therefore, the measurement target and measurement part name and information on the film 20 are input to the control device 8. The measurement target is the location of the target device (the casing 1 of the pump 100 in this embodiment), information on the target device such as the model and serial number of the target device, and is used to identify the target device at a later date when organizing data. . The measurement part name is a name of a part such as the discharge-side upper casing. Information on the film 20 includes the number of measurement points, the pitch between the measurement points, the arrangement of the measurement points, and the like. These pieces of information are stored in the control device 8.

  Next, three-dimensional coordinate data of the position where the film 20 is pasted is acquired. The “keyboard display / non-display” tab 24d of the mode switching tab 24 is depressed to obtain a display screen 50 as shown in FIG. The data call tab 24c3 is selected from the measurement-related tabs 24c of the mode switching tab 24. The measurement-related tab 24c is set with tabs over a plurality of pages, and as other tabs, a measurement mode 24c1, a display mode 24c2, a data storage tab 24c4, and the like are set. The operator switches between these tabs as appropriate to perform measurement.

  Since the data call tab 24c3 is selected, the position of the film 20 is acquired. The position of the film 20 is registered in the control device 8 in advance, and by specifying the positions of two points on the diagonal line of the film 20, each measurement point (measurement point 1 to measurement point 100) is obtained from the information of the film 20. The control device 8 recognizes how and at which position is arranged.

  For example, the contact 14 is brought into contact with the center of the contact surface 15 at the center of the circle of the circled numeral 1 representing the measurement point 1 described on the film 20 and is allowed to stand for 3 seconds. . On the measurement display screen 50 of the control device 8 shown in FIG. 5, “3” is first displayed in the data input timer column 22 shown at the upper left, and then counts down. When the display of the data input timer column 22 becomes “0”, the coordinate value of the measurement point 1 is acquired.

  Next, the contact surface 15 is brought into contact with the film 20 and is allowed to stand still for 3 seconds so that the center of the circle of the encircled numeral 100 of the measurement point 100 marked on the film 20 coincides with the center of the contact 14. Thereby, the coordinate value of the measurement point 100 is obtained.

  If there is no problem in the acquisition of the position coordinates for the measurement point 1 and the measurement point 100 described above, the contact 14 is moved in the air to draw a circle. In the status window 28 provided at the bottom of the measurement display screen 50 of the control device 8, “Do you want to end? OK: ○, Cancel: ×” is displayed. Therefore, the contact 14 is moved in the air and a circle is drawn again. This completes the position measurement of the film 20. In the case of cancellation, a cross is drawn in the air and the position is obtained again. Since the position of the film 20 has been determined, the control device 8 determines in which position and how the measurement points 1 to 100 on the film 20 are arranged based on information about the film 20 that has been input in advance. Is calculated.

  Next, ultrasonic waveform data is acquired for measurement points 1 to 100. The control device 8 is set to a mode for acquiring ultrasonic waveform data. The ultrasonic waveform acquisition mode is registered in the control device 8 in advance. In the state after the controller 8 obtains the positions of the measurement points 1 to 100 of the film 20 by calculation, the ultrasonic wave acquisition mode is entered. Since the measurement point position information has already been obtained, it is determined from the position information of the contact 14 which measurement point the ultrasonic waveform data belongs to. Thereby, the display in the measurement point column 26 on the display screen 50 of the control device 8 and the corrosion state display column 27 are created, and the corrosion level is calculated.

  In the display screen 50 of the control device 8 shown in FIG. 5, the gray portion 26a in the measurement point column 26 indicates a portion where the measurement has been completed, the white portion 26b is a portion where the measurement has not been completed, and the black circle is a white numeral. The highlighted portion 26c shows the current measurement point. That is, FIG. 5 shows that the ultrasonic waveform data is acquired in order from the measurement point 1 on the film 20 and the measurement up to the measurement point 57 is completed, and the measurement point 58 is prepared for measurement. The measurement point 58 is highlighted.

  At that time, the current coordinate position 23 a of the contact surface 15 of the contact 14 is displayed in the coordinate field 23 at the upper center of the display screen 50, and the coordinate position determined as the measurement point 58 previously calculated by the control device 8. Next, the position error 23b between the current contact 14 and the current contact 14 is displayed. In the present embodiment, the current position of the contact 14 is (1181.8, 256.3, −775.2), and the position error from the measurement point 58 is (0.3, 1.1, −1.8). It can be seen that the contactor 14 is moved while being in contact with the film 20 so that the center of the circle of the circled numeral 58 indicating the measurement point 58 and the center of the contact surface 15 coincide.

  The ultrasonic corrosion measurement data that has already been measured before the measurement of the measurement point 58 is shown as a corrosion state display column 27 next to the measurement point column 26 of the display screen 50. Next to the right side of the corrosion state display column 27, a legend of a category used in the corrosion state display column 27 is displayed as a legend column 27b. In the corrosion state display column 27, the intersection of the grids indicates the measurement point. In addition, the portion where the data has already been acquired is indicated by contour lines indicating the corrosion state, and the portion where the data has not yet been acquired is indicated in white. In the corrosion state display column 27, the intersections of the grids corresponding to the measurement points 58 are highlighted with circles.

  The coordinates of the measurement point 58 displayed in the measurement point coordinate field 23 and calculated in advance by the control device 8 and the current coordinates of the contact 14 displayed in the contactor coordinate field 24 are within an allowable range. When there is only an error, the contact 14 is stopped. When the display in the data input timer column 22 of the display screen 50 counts down from “3” and the display becomes “0”, the ultrasonic flaw detector 7 transmits the signal to the casing 1 via the contact 14, and the contact The waveform data of the ultrasonic echo received by the ultrasonic flaw detector 7 via 14 is acquired.

  The transmission data of the ultrasonic flaw detector 7 and the echo data of the ultrasonic waveform acquired through the contact 14 are displayed in a frozen state in the ultrasonic waveform data display column 25 at the upper right of the display screen 50. Based on the transmission data and the echo data, the corrosion level is displayed in the corrosion state display column 27, and the corrosion state is numerically displayed in the status window 28 at the bottom of the display screen.

  At this time, if there is a problem with the waveform or numerical value, re-measurement is possible. As a remeasurement method, the contactor 14 is moved once, and the contact surface 15 is brought into contact again so that the center of the contact surface 15 coincides with the center of the circle of the circled number 58 on the film 20 corresponding to the measurement point 58 again. On the square of the measurement point 58 in the measurement point column 26, “58” is highlighted in white on a black circle. At the same time, the number in the data input timer field 22 is counted down from “3”. When the contactor 14 is kept stationary as it is, the countdown display in the data input timer field 22 becomes “0”, the acquisition of the ultrasonic waveform data is completed, and the data is overwritten and saved.

  The ultrasonic waveform data can be acquired for any of measurement points 1 to 57 for which data has already been acquired, and measurement points 59 to 100 for which data has not yet been acquired. Therefore, it is not necessary to acquire data in order from the measurement point 1, and the data may be acquired in the order of arbitrary measurement points.

  When all the cells in the measurement point column 26 of the display screen 50 are gray and the measurement is finished, the contact 14 is moved in the air to draw a circle. Since “Do you want to finish? OK: ○, Cancel: ×” is displayed in the status window 28, the contact 14 is moved in the air and ○ is drawn again. This completes a series of measurements.

  Here, the principle of creating the corrosion state display column 27 on the display screen 50 will be described with reference to FIG. 6A is a graph corresponding to the ultrasonic waveform display field 25 in the display screen 50 shown in FIG. 5, and FIG. 6B is a corrosion state display field 27 in the display screen 50 shown in FIG. It is a graph which shows the level division | segmentation for creating.

  FIG. 6A is a diagram schematically showing the signal intensity A on the vertical axis and the elapsed time t on the horizontal axis. A signal 61 is an ultrasonic signal transmitted from the contact 14 of the ultrasonic flaw detector 7, and signals 62 and 63 are echo signals reflected by the casing 1 and detected by the contact 14. The first reflected signal 62 is called a primary echo, and the second reflected signal 63 is called a secondary echo. As described in Non-Patent Document 1, the corrosion state of the casing correlates with the ratio of the primary echo 62 and the secondary echo 63.

  FIG. 6B is a graph showing the corrosion state as a parameter with the ratio R of the primary echo and the secondary echo as the vertical axis, the wall thickness T of the casing as the horizontal axis, and the corrosion state as a parameter. The thickness T at this time is calculated by multiplying the time difference between the peaks of the primary echo 62 and the secondary echo 63 by the speed of sound when the ultrasonic wave is transmitted through the measurement target. Level 0 is a state in which the progress of corrosion is hardly seen, and level 5 is a state in which the corrosion progresses and needs to be replaced or repaired. The level 0 to level 5 are divided into four equal parts to determine whether repair or replacement by corrosion is necessary, whether or not immediate repair or replacement is necessary. FIG. 6 (a) is a diagram obtained experimentally based on data relating to corrosion so far. When the wall thickness T of the gray cast steel casing 1 is thin, repair may be necessary even if the echo ratio R is large. It turns out that it may not be. This is because the raw water of ultrasonic waves increases as the wall thickness T increases. The relationship shown in FIG. 5B is input to the control device in advance and used for diagnosis of corrosion.

  Next, in order to diagnose the corrosion of the casing 1 over time, a method for diagnosing the corrosion of the casing 1 after several years to several tens of years from the measurement of the initial state will be described in detail. In order to measure the thickness change of the casing, it is necessary to measure at the same position as possible as the initial measurement position. This is because the casing 1 is manufactured by casting, and in the case of casting, it is inevitable in manufacturing that the wall thickness varies from place to place. In particular, in the case of a large pump casing, precision casting or the like cannot be used from the viewpoint of cost, and a considerable tolerance of wall thickness is recognized at the design stage. Further, when the shape becomes complicated, the thickness changes in each part of the shape. Therefore, if the initial measurement state is not reproduced, the thinning state becomes unknown.

  There are several methods for reproducing the initial state. The first is a case where corrosion diagnosis is performed after a predetermined time elapses using the same film 20 used in the initial state or the film 20 having the same shape. In this case, the condition is that the surface of the pump casing 1 does not change.

  When the initial state is measured, the glycerin paste is removed with a waste cloth or the like. While checking the coordinate column 24 of the contact 14 on the display screen 50 of the control device 8, the contact 14 is moved so as to coincide with the coordinate value of the measurement point 1 indicated in the coordinate column 23. When the contactor 14 is moved within the allowable range, the position of the contactor 14 is marked on the casing 1 as a measurement target with an oil marker.

  In the marking method, the contact 14 is brought into contact with the measurement object 1, the cylindrical outer periphery of the contact 14 is traced with an oil marker, and 1 is written in the marking circle. Similarly, at the measurement point 100, the outer periphery of the contact 14 is marked and 100 is entered in a circle. In the case of corrosion diagnosis, using the film 20 used for measuring the initial state or a similar film, the marking circle 1 is set to the measurement point 1 on the film 20 and the marking circle 100 is set on the film 20. Align to the measurement point 100. Thereby, measurement at the same position as the initial state is possible, and the initial state can be reproduced. In addition, what is necessary is just to refer the data of an initial state about the information of the film 20. FIG.

  Next, there is a case where one surface of the casing is repainted from the viewpoint of preventing the surface of the casing 1 from being soiled and aesthetic. In this case, the second method is used to reproduce the initial state. The film 20 is also used in this method. Since the marking created in the initial state can no longer be used, a new marking position is created. In that case, two reference planes and one reference circle that were implemented in the initial state are created again, and the same measurement coordinates 17 are reproduced. When the same measurement coordinates are obtained, the contacts 14 are moved so as to coincide with these coordinates using the measurement point 1 and the measurement point 100 coordinates in the initial state that are already stored, and the marking is executed again. Thereby, marking can be performed at the same position as before repainting.

Here, due to repainting or the like, the film 20 cannot be fixed at the same place as the initial state, and the fixing state of the film 20 may have to be changed. If the fixed position of the film 20 is changed, the same coordinate system may not be used, and it is difficult to grasp the relative positional relationship between the measurement points in the initial state and the measurement points after aging. Therefore, it is necessary to acquire coordinate values using common measurement coordinates. In this case, the third method is used. That is, when the film 20 is newly fixed after aging and two reference planes and one reference circle are measured in this state and the coordinate system is set, the measurement coordinates become common before and after the change. When the coordinates are shifted to the right by 100 mm from the coordinates in the initial state, the measurement point 1 after aging becomes the same position as the measurement point 6 in the initial state. Even if the measurement point 1 is compared, a correct value cannot be obtained. In this case, the correct corrosion state can be obtained by comparing the measurement point 6 in the initial state with the measurement point 1 after aging, so the film 20 is set to have a common coordinate value.

  By the way, in the said Example, the contactor 14 is moved and it substitutes for the operation of a mouse | mouth or a keyboard. This is because glycerin paste or the like is normally used as a contact medium on the contact surface 15 in order to transmit the ultrasonic wave transmitted from the contact 14 to the object to be measured. An operator who is performing the measurement work is likely to have glycerin paste or the like attached to his / her hand, and this glycerin paste may cause malfunction during input work to the control device 8.

  Therefore, in this embodiment, a symbol such as “◯” is input in the case of OK, and “X” in the case of cancellation is input to the control device 8 by drawing the figure by moving the contactor 14 in the air. Since the measurement procedure is registered in the control device 8 in advance, when the measurement operation using the ultrasonic flaw detector 7 is started, most of the inputs can be performed only by “OK” and “Cancel”.

  Conventionally, the timing for acquiring the ultrasonic waveform data and the three-dimensional coordinate data has been a mouse click, an arbitrary keyboard key press, or a voice instruction. In the present embodiment, data acquisition is realized by allowing the contactor 14 to stand still for a predetermined set time without using a mouse or a keyboard for the reasons described above. Specifically, when the predetermined set time is 3 seconds, data is acquired after 3 seconds have passed since the contactor 14 is stopped, and the elapsed time is counted down from “3” on the display screen 50 of the control device 8. To be displayed. The data is acquired when the display time reaches “0”. If the contact 14 is moved before the display time reaches “0”, the display time is reset to “3”. When the contact 14 is stationary, the countdown starts again from “3”. After data acquisition, the next countdown is not executed until the contact 14 is moved.

  Next, another embodiment of the corrosion diagnosis according to the present invention will be described with reference to FIGS. FIG. 7 is a schematic view of another embodiment of the corrosion diagnostic apparatus 90A. In FIG. 7, illustration of an operator and the like is omitted. The control device 8 is a portable computer and is held by an operator 19 via a belt. FIG. 8 is a perspective view of a contact 14A provided in the corrosion diagnostic apparatus 90A of FIG.

  This embodiment differs from the description of the first embodiment in that a plurality of cameras 30a and 30b are used instead of the arm type three-dimensional coordinate detection device, and that the contact 14 and its surroundings are used instead of the third joint portion. A plurality of recognition spheres 32 provided in the sensor unit of the ultrasonic flaw detector 7.

  The measurement target is the casing 1 of the pump 100 as in the first embodiment. A holder 31 is formed on the opposite side of the contact surface 15 of the contact 14, and three recognition balls 32 are attached to the holder 31. The recognition sphere 32 and the contactor 14 are fixed so that the relative positional relationship thereof does not change. The positional relationship between the recognition sphere 32 and the contact 14 and the contact surface 15 is known.

  The contact 14 is electrically connected to the ultrasonic flaw detector 7, and the ultrasonic flaw detector 7 is electrically connected to the control device 8. Thereby, the operation of the ultrasonic flaw detector 7 can be controlled from the control device 8, and the control device 8 can also acquire information such as ultrasonic waveform data obtained from the contactor 14.

  The left camera 30a and the right camera 30b are arranged at a position where the recognition sphere 32 brought close to the casing 1 can be imaged. The left camera 30a and the right camera 30b are electrically connected to the control device 8. The operator 19 determines the measurement position of the contact 14 so that the recognition sphere 32 is in the imaging range of the left and right cameras including the position of his / her body. If it is confirmed that the recognition sphere 32 is present in the imaging range, the images captured by the left camera 30 a and the right camera 30 b are input to the control device 8. From the video input to the control device 8, the control device 8 calculates the center position of each recognition sphere 32 using image processing software (not shown). Further, the three-dimensional coordinate value of each recognition sphere 32 is calculated from the parallax between the left camera 30 a and the right camera 30 b and the size between the recognition spheres 32.

Furthermore, although the three recognition spheres 32 have the same diameter, the recognition spheres 32 are positioned so that a triangle formed by connecting the center points of the respective recognition spheres 32 becomes an unequal side triangle. This is because, when the recognition sphere 32 is positioned in an isosceles triangle or equilateral triangle state, it becomes line symmetric with respect to an arbitrary line, and even if the coordinates of the vertex of the triangle are known, the same triangle exists on both sides and is recognized as the contact surface 15. This is because the positional relationship with the sphere 32 becomes indefinite. By making the three sides have different dimensions, an indefinite problem does not occur, and the coordinates of the center point of the contact surface 15 can be calculated from the three-dimensional coordinate values of the three recognition spheres 32. Since the recognition sphere 32 moves together with the contact 14, specific three-dimensional coordinate acquisition by the recognition sphere 32 will be described below. (1) The recognition sphere 32 is observed with the two cameras 30a and 30b, and the three-dimensional coordinates of the center points of the three recognition spheres 32 are obtained. (2) A triangle is formed by connecting the center points of the three recognition spheres 323 with line segments. (3) Since the created triangle is an unequal triangle, the front and the back can be distinguished. (4) Using the formed triangle, for example, a position separated by a predetermined distance in the surface direction on the normal passing through the center of gravity of the triangle is defined as the center of the contact surface. Thereby, it functions as a three-dimensional measuring instrument in the same manner as the arm-type three-dimensional coordinate detection apparatus described in the above embodiment.

  The method of setting the measurement coordinates 17 is the same as the method of directly measuring with the contact 14 of the embodiment shown in FIG. 1, and the method of acquiring the ultrasonic waveform data and the data processing method are the same as those of the first embodiment. .

  Also in this embodiment, if the parts and procedures used for setting the measurement coordinates 17 are the same as those in the first embodiment, the same coordinate system is used, so the three-dimensional coordinate detection apparatus shown in the first embodiment is used. The measured result can be directly compared with the data obtained in this embodiment, or can be used for replacement / combination. In the present embodiment, when measuring a narrow part, there is a possibility that a blind spot of the camera is generated. Such a case can be dealt with by increasing the number of cameras.

  According to each of the above embodiments, the contour of the measurement range in the initial state or the frame of the previous measurement range and the thickness distribution obtained from the measurement result and the position of the contact are displayed in real time on the screen of the tablet PC. It becomes possible. This makes it possible to check whether the position of the contact is within the range and whether there is a measurement position for measurement omission.

  Moreover, in each said Example, although it measures using a film, this makes it easy to set the lattice-shaped measurement range in the surface area of a measuring object, and to acquire the data in the measurement range Because. In addition, the contact position can be set as a target, and both the measurement target position and the real-time contact position are displayed on the screen of the PC, which has the effect of improving work efficiency. As a result, it is possible to increase the efficiency of the corrosion measurement in the field where the work is limited due to the complicated arrangement.

  In each of the above embodiments, in order to improve the reproducibility of the measurement position, the coordinate setting accuracy is improved. That is, it is possible to select and measure a reference surface or circle with high accuracy. In particular, since the reference surface has a large effect on accuracy, the reference surface is set from a large area, and a flange that can form the maximum reference surface in the measurement target is used as the reference surface. Thereby, the reproducibility of the measurement position is improved.

DESCRIPTION OF SYMBOLS 1 ... Casing, 1a, 1b ... Leg part, 2 ... Upper casing, 3 ... Lower casing, 4 ... Upper casing flange, 4a ... Upper surface, 5 ... Lower casing flange, 6 ... Suction flange, 6a ... Pump side surface, 6b ... flange peripheral surface (cylindrical surface), 6c ... center point, 6d ... suction pipe, 7 ... ultrasonic flaw detector, 7a ... cable, 8 ... control device, 8a ... cable, 9 ... discharge flange, 9a ... discharge pipe, 10 ... floor surface, 11 ... base, 12 ... first arm, 13 ... second arm, 14 ... contact, 15 ... contact surface, 16 ... measurement ball, 19 ... worker, 20 ... film, 21 ... measurement point 22 ... Data input timer column, 23 ... Sensor position coordinate column, 24 ... Mode switching tab column, 25 ... Ultrasonic waveform data display column, 26 ... Measurement point column, 27 ... Corrosion state display column, 28 ... Status window, 30a , 0 ... Camera, 31 ... Holder, 32 ... Recognition sphere, 40 ... Measurement coordinate, 41 ... Upper plane, 42 ... XY plane, 43 ... Reference circle, 44 ... Intersection line, 50 ... Display screen, 61 ... Transmission wave (signal) 62 ... primary echo (signal), 63 ... secondary echo (signal), 80 ... (arm type) three-dimensional coordinate detector, 81 ... first joint, 82 ... second joint, 83 ... second joint, 90, 90A ... corrosion diagnostic device, 100 ... diagnostic object (both suction pumps).

Claims (2)

An ultrasonic flaw detector that transmits ultrasonic waves to a diagnostic object with a film attached and diagnoses corrosion of the diagnostic object according to the intensity of the reflected wave of the ultrasonic waves from the diagnostic object. A contactor for transmitting ultrasonic waves generated by the ultrasonic flaw detector to the diagnostic object and detecting a reflected wave, a three-dimensional coordinate detection device for detecting the position of the contactor in three dimensions, and the contact A portable control device capable of displaying the position of the child and the ultrasonic waveform detected by the contact;
The three-dimensional coordinate detection device have a means for detecting the position of the contactor to the relative position is unchanged position in the vicinity of the contacts,
In the control device, a relational expression of corrosion determined from a ratio of a primary component and a secondary component of the reflected wave with respect to a thickness of the diagnosis target, initial measurement position information of the diagnosis target detected by the three-dimensional coordinate detection device, and Is stored, and the initial measurement position information is coordinate information of measurement points described on the film when the film is attached to the diagnosis target, and the control device detects the three-dimensional coordinate detection device. A corrosion diagnostic apparatus , wherein the waveform data of the reflected wave of the ultrasonic wave is acquired when the coordinates of the measurement point to be substantially matched with the coordinates of the initial measurement position information . The corrosion diagnosis apparatus according to claim 1, wherein the control device controls a detection operation of the three-dimensional coordinate detection device according to a movement path of the contact in space .

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