JPH02118448A - In-tube inspection system and in-tube inspection result display method - Google Patents

Abstract

PURPOSE:To accurately recognize the presence position of an inspection device which is sent in even a curved or branch tube after the movement by computing the delay time of a signal which is propagated in the tube between an originator and a receiver. CONSTITUTION:Receivers 12 and 12' are provided at one-end sides of tubes 1 and 1' to be inspected, an automatic in-tube inspection device (inspection probe 3) which is inserted into the tubes from the other-end sides is provided with inspectors for in-tube ultrasonic flaw detection and the originator 5, and a range finder 8 is connected electrically to the originator 5 and receivers 12 and 12'. Then the distance measuring instrument 8 calculates the distances between the inspection probe 3 and receivers 12 and 12' from the time difference between a signal sent by the transmitter and the arrival time at the receivers 12 and 12' after the propagation of the signal in the conduit and also records the distance information on a recording medium. Consequently, the current position of the inspection device which is sent in even the curved or branch tube after the movement can accurately be recognized.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a system for recognizing the position of an inspection device when inspecting the inside of a pipe while moving inside the pipe. provides a pipe inspection system that is useful when, for example, inspecting individual pipes in power plants, chemical plants, etc. from inside using ultrasonic waves. This paper proposes a method for displaying in-service test results for processing and confirming test results.

[Conventional technology]

BACKGROUND ART Conventionally, there has been a device that inspects the inside of a pipe while moving inside the pipe. This device is suitable for inspection work such as using ultrasonic waves to detect flaws in piping installed in places where one person cannot approach, or 11 visual inspection using a small TV camera. It is common to move horizontally as proposed in Publication No. 14371/1983.

By the way, when performing ultrasonic flaw detection work while this type of device is moving inside a pipe, it is necessary to perform the inspection while checking the position of the device.

[Problem to be solved by the invention]

Conventionally, one method for confirming this position is to use an encoder to measure the length of the cable wire routed by an ultrasonic flaw detector, and calculate the current position within the pipe.

However, this method of determining the position is effective with small errors when the pipe is straight, but errors may occur when determining the position when the pipe is complicatedly curved or branched. do. Particularly, when the inspection work begins, the flaw detection inspection may be performed while reciprocating inside the pipe, and there is a risk that errors will accumulate during these reciprocating operations, making it impossible to determine the position.

An object of the present invention is to provide a system that can accurately determine the current position of an inspection device sent into a bent pipe or a branched pipe after it has been moved. This saves labor in inspection work,
The purpose of this invention is to provide an in-pipe inspection display method that can achieve efficiency.

[Means to solve the problem]

As a means for achieving the above object, the pipe inspection system of the present invention includes a receiver provided at one end of the pipe to be inspected, a transmitter provided in an automatic pipe inspection device inserted into the pipe from the other end, and a transmitter. The device and the receiver are connected to a distance measuring device, and the distance measuring device transmits the signal. ! : Calculates the distance between the blind automatic pipe inspection device and the receiver based on the difference between the signal transmitted by + and the time it takes for the signal to propagate through the pipe and reach the receiver, and calculates the distance information. can be recorded on a recording medium.

In addition, in order to apply it when the pipe is branched, a receiver is provided for each branched pipe, and one of the receivers is selectively operated prior to the operation of the distance meter dIg device described above. With this, we have added a function to specify the pipe line to be inspected.

In addition, this type of in-pipe inspection system may be used in cases where it is impossible to directly check the test results at that location depending on the location of the pipe line, or where it is necessary to comprehensively consider the results of inspecting a large number of pipes. Inspection information and distance information extracted by the inspection system of the present invention are stored in a storage medium, and based on the storage medium, the inspection results are processed and displayed or recorded using a program in which pipes are patterned in advance. This paper proposes a display method for

[Effect]

The pipe inspection system described above can accurately confirm the current position of the pipe inspection device by calculating the delay time of the signal propagating through the pipe between the transmitter and receiver, and the error is , by selecting the signal frequency
This can be achieved in less than 100 lbs.

In addition, even in a branched piping system, by selecting an appropriate position on the piping and installing a receiver, it is possible to select and inspect the pipes to be inspected. In combination with a processable inspection display method, it is possible to provide a system that enables rational inspection work.

Furthermore, as mentioned above, the ability to confirm the position with high accuracy is high, and the error is extremely small, making it possible to process the resulting position information and inspection information on a computer, making it possible to perform this type of pipe inspection work. It is possible to improve efficiency, save labor, and improve the accuracy of identifying the flaw detection position.

〔Example〕

An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 shows the entire pipe inspection system of the present invention.

1.1' is a piping system with branches to which this inspection system is applied. 2 is an inspection probe feeding device configured as a part of the piping. Reference numeral 3 denotes an inspection probe that is sent into the pipe from the feeding device, and is composed of probes 4 and 4' for performing ultrasonic flaw detection inside the pipe, and a transmitter 5. Ultrasonic flaw detection device7.
and is connected to the distance measuring device 8. 9 is a processing device that processes input and output of each of the devices described above. F and D are recording media such as floppy disks (hereinafter simply referred to as F and D)
and is attached to the processing device 9. 10 is a computer. 12.12' is a receiver, which is installed at a suitable end of the pipes 1 and 1', and is located at a distance that allows the inspection probe '3 sent into the pipe by the multiple feeding device 2 to travel. will be installed in

When the plumber has a branched pipe 1', this receiver 12 is also independently installed at a suitable end of the branched pipe 1'. The number is determined by the number of branched pipes and the configuration conditions of the piping system to which the system of the present invention is applied.

The receiver 12 is connected to the distance measuring device 8 described above using a receiving cable. 13 is a pump, and 14 is a medium liquid tank such as water.

The pipe inspection system of the present invention has the above-described configuration. Next, the operation will be explained.

When a plumber who needs to perform ultrasonic flaw detection is selected and set by the processing device 9, the transmitter 5 provided on the inspection probe 3 and the receiver 12 provided at the end of the pipe 1 are connected to the distance measuring device 8. The flaw detection work is carried out based on the set amplifier as the relevant tube.

At this time, the test probe 3 is at the outlet end of the delivery device 2. Next, the pipes 1' other than the pipe 1 are closed by valves (not shown), the pump 13 is operated, and a liquid, such as water, is sent into the pipe 1 from the medium liquid tank 14.

The inspection probe 3 moves through the pipe along the flow of water, and a flaw detection operation is performed by a combination of the tester 4 and the ultrasonic flaw detector 7, and the results are recorded as flaw detection signals in F and D.

A transmitter 5 provided on the inspection probe 3 emits, for example, ultrasonic waves toward a receiver 12 of the tube 1.

This ultrasonic wave needs to propagate in a uniform medium between the transmitter 5 and the receiver 12, and a pulse-like signal with varying amplitude is used as the signal.

The signal transmitted by the transmitter 5 propagates inside the pipe and is received by the receiver (11
2 and receives the signal with a time delay proportional to the distance.

This reception delay is calculated within the distance meter 411 device 8 and is calculated as distance data between the transmitter 5 and the receiver 12. This calculated distance data is used as data for recognizing the position of the inspection probe 3 moving inside the tube. Further, the distance data from the distance measuring device 8 is also used for operation control of the feeding device 2. The processed distance data is recorded in F and D by the processing device n9. Needless to say, this recording is performed in synchronization with the recording of the probe signal by the ultrasonic flaw detection device 7 described above.

In this way, the inside of the tube 1 is inspected for flaws using ultrasonic waves, and the results are recorded in F and D by the processing device 9. When the initial purpose of flaw detection inside the pipe is completed, the inspection probe 3 is collected by the feeding device 2. Then, the receiver 12' of the pipe 1' that will carry out the next flaw detection operation is selected and set by the processing device J9, and the operations as already explained are repeated to sequentially carry out the ultrasonic flaw detection operation in the pipe, and the results are F, D. recorded in

As can be understood from the above explanation, when the inspection probe 3 is sent into the tube 1 from the feeding device 2.

Utilizing the fact that the signal propagating between the transmitter 5 and the receiver 12 has a time difference depending on the length of the tube 1, the distance measuring device 8 calculates the time difference between the propagation signals based on a coefficient prepared in advance. This is to be displayed or recorded as the distance between the inspection probe 3 and the receiver 12.

Incidentally, in this embodiment, ultrasonic waves were used as the propagation signal between the transmitter 5 and the receiver 12, but this is an example of application in the case of a piping system in which a medium such as water can flow inside the pipe 1. be. If the piping system is a gas, a signal that propagates through the gas will be selected appropriately, but it is also possible to use the pipe itself as a propagation means, and as a signal means, other than ultrasonic waves may be used. For example, pulsed currents or electromagnetic waves can also be used.

FIG. 2 is a diagram showing an example in which the pipe inspection system of the present invention is applied to an actual piping system.

Piping 1 is complicatedly branched into pipes 1.1'1'1'''.
However, a feeding device 2 is provided at the central position of these piping systems, and an inspection probe delivery port 21 connected to the piping 1 is configured. This figure shows the medium liquid return port 22.
It is also a piping system that can return to the feeding device 2. Of course, it goes without saying that the return ports of the other pipes 1', 1'''1', etc. are constructed in the same way.The return port 22 has the same diameter as the pipe 1, since it is sufficient that only the medium liquid can return. There is no need to configure it with a small pipe.

Receivers 12, 12', 12", 12#, etc. are provided for each tube and communicated with the distance measuring device 8 by radio.Of course, the selection setting of the tube to be inspected is executed by the distance measuring device 8 selecting a receiver.This embodiment is highly effective when applied to a case where the piping system is spread over a wide area.

However, in the case of a wide area, it becomes difficult to provide a return port for returning the medium liquid to the feeding device, so if it is practical to configure a system in which the medium liquid is collected or disposed of on the receiver 12 side, it is practical. It is also possible.

In addition, as will be described later, in the case of a self-propelled inspection probe, there is no need to supply the medium from the feeding device 2, but the probe advances while selecting the branching part of the tube between the transmitter and the receiver. Motor skills are required.

However, it is not difficult to provide this motor function. - For example, a piping system that is understood three-dimensionally in advance can be disassembled tube by tube, and the path spanning between the transmitter and receiver can be programmed and stored in the processing device to create an inspection probe. This is because the motor function can be controlled by the processing device 9.

This control has a transmitter and a receiver as in the present invention,
This will only be possible with a system that can operate the inspection probe while accurately determining the distance between them.

FIG. 3 shows F,
This is for explaining an examination display device that displays information accumulated in D and confirms examination results.

As already explained, the inside of the pipe is inspected by the inspection probe running between the transmitter and the receiver, but the inspection is performed on a tube-by-tube basis and is stored in F and D.

However, this kind of in-pipe inspection is not carried out all the time, but it is common and efficient to carry out it periodically and all at once over a certain area.

To do this, examining and confirming test results for each tube is time-consuming and often makes it difficult to quickly produce accurate judgment results.

The system of the present invention records distance information and flaw detection information in F and D, and combines it with piping system information preprogrammed into a large computer to display the position of the piping system and inspection results on a graphic screen. This is what I did.

FIG. 3(a) shows an example of a situation in which the corresponding piping system is displayed on the graphic screen as a result of inputting the piping Nα and the working conditions. Figure (b) exemplifies a situation in which the data of F and D provides position information and flaw detection information based on the above-mentioned specifications, and progresses while displaying the position on the graphic screen. . Figure (C) is a display example when the flaw detection information in the information of F and D mentioned above indicates an abnormality, and the abnormality position and degree of abnormality are displayed in brightness.
It also displays numerical values on the graphic screen.

This type of display from Figures (a) to (C) allows you to inspect a certain range of the piping system all at once, and check the inspection results for each pipe one by one using F and D, which record the results. . Such inspection and display devices are ineffective unless performed based on the accurate distance information achieved by the system of the present invention.

This is because the system cannot extract accurate distance information.
However, if the location where an abnormality is recognized differs each time an inspection is performed, especially if the location of fatigue cracks due to welds differs each time an inspection is performed, it is difficult to have the ability to record the history of the entire piping system. Therefore, it will not result in a highly reliable flaw detection inspection system.

When displaying the data stored in F and D on a graphic screen, the flaw detection data may be corrected by a pre-programmed function in the computer.
In particular, functions such as cutting noise that changes depending on the environment of the inspection system and enlarging the display of the degree of abnormality are processed by a computer based on accumulated data, as in the display device of the present invention. Therefore, it can be achieved.

〔Effect of the invention〕

According to the pipe inspection system of the present invention, it is possible to accurately recognize the current position of the inspection probe moving inside the pipe, and when detecting abnormalities in the corresponding piping system during exploration work using ultrasonic waves, etc. This makes it possible to provide a system that can accurately grasp the

In addition, even in a branched piping system, by simply installing a receiver at the end of the branched piping system, inspection of the corresponding piping can be carried out, increasing the efficiency of flaw detection inspection of branched piping.

It can save labor.

Furthermore, since the inspection position can be accurately recognized, it is possible to display and output information through computer processing based on the information, and it is also possible to accumulate inspection history. In particular, in technologies such as ultrasonic flaw detection, where removing noise signals is the key to improving flaw detection accuracy, the ability to extract data that can be processed by a computer improves accuracy and improves efficiency. This makes it possible to reduce costs and save labor.

[Brief explanation of the drawing]

FIG. 1 is a diagram of the pipe inspection system of the present invention. FIG. 2 illustrates another embodiment of the pipe inspection system of the present invention. FIG. 3 is a diagram for explaining the inspection display device of the present invention. 1... Piping, 2... Feeding device, 3... Inspection probe,
4. Test element, 5... Transmitter, 6... Cable line, 7
...Ultrasonic flaw detection device, 8...Distance measurement device, 9...
Processing device, 11... Computer, 12... Receiver, 21... Output port, 22... Return port. Map 1 Picture 3 Picture 2-day procedural amendment (self-motivated),,,'] Agency Director Fumitake Yoshida) I! No. 19 1 Cow's surface p [] 63 hand held; I'rlli 1' + 270th
No. 683 S and 1 name In-jurisdiction inspection system, In-jurisdiction inspection result display method Agent 1.! 1 (〒llX, 11 Marunouchi, Chiyo IB-ku, Tokyo)
Page 10, line 14 of the detailed description of the invention in the detailed description of the specification, column 1, section 1, page 10, line 14, ``It goes without saying... Add the following sentence after "No." In addition, in the embodiment, the propagation signal between the transmitter 5 and the receiver 12 is transmitted by providing a receiver at one end of the pipe to be inspected, and inserting an in-pipe inspection device equipped with a transmitter from the other end. As explained in , if the pipe is not branched or if the pipe to be inspected can be identified because the pipe diameter is different even if it is branched, an in-pipe inspection device equipped with a transmitter 5 is inserted. By installing a receiver 12 at the end of the tube where the transmitter and receiver are moving, and capturing the degree to which the transmitter and receiver are moving apart from each other using the propagation signal,
It is possible to measure distance. Furthermore, as another constituent means of the receiver 12, the pipe inspection device is equipped with both a transmitter and a receiver, and a device having a reflection function is placed at the end of the pipe to be inspected. It is also possible to configure the device so that the distance to the reflecting device is measured by reflecting the child's signal and receiving the result by the receiving device. The reflecting device in this case has the same function as the receiver 12 described above, and by selecting a specific one, it is possible to determine the pipe line to be inspected. "that's all

Claims (1)

[Claims] 1. A receiver is provided at one end of the pipe to be inspected, and a transmitter is provided in an automatic pipe inspection device that is inserted into the pipe from the other end and moves, and the transmitter and receiver are The distance measuring device is electrically connected to a distance measuring device, and the distance measuring device detects the distance within the pipe based on the difference between the time when the transmitter sends the signal and the time when the signal propagates through the pipe and reaches the receiver. An in-pipe inspection system, characterized in that the distance between an inspection device and the receiver is calculated. 2. The pipe inspection system according to claim 1, wherein the receiver provided at one end of the pipe is a transmitter, and the transmitter provided in the automatic pipe inspection device is a receiver. Inspection system. 3.Inside pipe inspection in systems where a receiver is installed at an appropriate location on the end side of each pipe in a branched piping system, and a transmitter is installed on an automatic pipe inspection device that is inserted into the pipe from the other end. An in-pipe inspection system that allows one of the receivers to be selected to specify a pipe line to be inspected before starting work. 4. A receiver is provided at one end of the pipe to be inspected, and a transmitter is provided in the automatic pipe inspection device that is inserted into the pipe from the other end and moves, and the transmitter and receiver are electrically connected to a distance measuring device. The distance measuring device generates distance information indicating the position of the inspection device based on the difference between the time when the transmitter sends the signal and the time when the signal propagates through the pipe and reaches the receiver. and recording inspection information output by the inspection device as a result of inspecting the inside of the pipe on a storage medium by a processing device,
A pipe inspection result display method configured to inspect a piping system by processing information recorded on the recording medium with a computer. 5. The information regarding the distance and the information regarding the inspection output by the in-service inspection system according to claims 1 to 3 are recorded on a recording medium, and the information recorded on the recording medium is processed by a computer to output an inspection result. A method of displaying in-duct inspection results configured as follows. 6. A method for displaying pipe inspection results, wherein the computer according to claim 5 stores in advance a piping pattern necessary for displaying the inspection results as a program.