JPH11326580A - Automatic shroud inspection device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic shroud inspection device capable of automatically detecting defects such as scratches and cracks from the shroud images continuously taken in and detecting the detected defect locations in a more detailed stereoscopic shape. SOLUTION: A sensing device 3 is moved on a shroud 2 surface to photograph the image signal which is stored in an inspection information recording device 10 and input in an image processing device 8. The image processing device 8 operates the stereoscopic shape of the part of the shroud having a possibility of defects such as scratches and cracks and a flaw detector 9 operates more detailed stereoscopic shape of the defects by transmitting flaw detection signals. These operation results are stored in the inspection information recording device 10.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic shroud inspection apparatus for performing nondestructive inspection of a shroud in a nuclear power plant.

[0002]

2. Description of the Related Art In a nuclear power plant, various equipments are regularly inspected in order to maintain safety and reliability. Non-destructive inspections are performed when inspecting reactor shrouds. That is, in the conventional shroud inspection, the state of the shroud surface is photographed as an image with a TV camera, and a skilled inspector visually checks the image to determine whether there is a defect such as a scratch or a crack.

[0003]

However, since the visual judgment depends on the human senses, it is difficult to evaluate the judgment standard uniformly. That is,
The conventional visual inspection method cannot perform quantitative evaluation and detailed shape measurement of the inspection target. For this reason, a system for quantitatively evaluating using a computer or the like is required.

The present invention provides an automatic shroud inspection apparatus capable of automatically detecting a defect such as a scratch or a crack from a continuously captured shroud image and detecting the detected defect portion in a more detailed three-dimensional shape. The purpose is to:

[0005]

An automatic shroud inspection apparatus according to the first aspect of the present invention includes a sensing device attached to a movable trolley for moving a shroud surface of a reactor to detect a flaw or a crack. An image processing device that performs image processing based on a video signal from the device and calculates the three-dimensional shape of the part when there is a possibility of the defect; and when the image processing device determines that there is a possibility of the defect, A flaw detection device that transmits a flaw detection signal from a sensing device and calculates a detailed three-dimensional shape of the defect based on a flaw detection signal generated by the flaw detection signal, a video signal from the sensing device, the image device, and the flaw detection device And an inspection information recording device for recording the three-dimensional shape calculated in the above.

In the automatic shroud inspection apparatus according to the first aspect of the present invention, a video signal is photographed by moving the sensing device on the surface of the shroud, and is stored in the inspection information recording device and input to the image processing device. The image processing apparatus calculates the three-dimensional shape of a portion where the shroud may be damaged or cracked, and the flaw detection device further transmits a flaw detection signal to calculate the detailed three-dimensional shape of the defect. Then, these calculation results are stored in the inspection information recording device.

According to a second aspect of the present invention, in the automatic shroud inspection apparatus according to the first aspect, the sensing device includes a two-dimensional camera and a three-dimensional camera for obtaining a video signal. An ultrasonic probe for obtaining a flaw detection signal and a laser device, wherein the image processing device performs image processing on the image of the two-dimensional camera to determine whether or not there is a possibility of a defect; When there is a fear, the three-dimensional shape is calculated from the image of the three-dimensional camera, and the flaw detection device calculates the three-dimensional shape based on the flaw detection signal from the ultrasonic probe or the laser device. It is characterized by.

In the automatic shroud inspection apparatus according to the second aspect of the present invention, in addition to the function of the automatic shroud inspection apparatus according to the first aspect, whether there is a possibility of a defect due to image processing of the image of the two-dimensional camera of the sensing apparatus. It is determined whether or not there is a possibility that there is a defect. On the other hand, the flaw detector calculates a three-dimensional shape based on a flaw detection signal from an ultrasonic probe or a laser device.

According to a third aspect of the present invention, in the automatic shroud inspection apparatus according to the first aspect, the image processing apparatus samples and quantizes a video signal of a two-dimensional camera and performs an 8-bit digital signal. Convert to quantity,
The line components of the converted image are emphasized to make the shaded region 2
The method is characterized in that a potential processing area is extracted, a processing area to be processed is extracted, and an area and an aspect ratio of the area are measured to detect a position where a defect is likely to occur.

In the automatic shroud inspection apparatus according to the third aspect of the present invention, in addition to the operation of the automatic shroud inspection apparatus according to the first aspect, the image processing apparatus converts a video signal of a two-dimensional camera into a digital signal. By extracting a target processing area and measuring the area and the aspect ratio of the processing area, a point where there is a possibility of a defect is detected.

According to a fourth aspect of the present invention, in the automatic shroud inspection apparatus according to the first aspect of the present invention, the image processing apparatus is configured such that the three-dimensional camera has a different angle with respect to the location where the defect is likely to occur. Shoots two images viewed from the camera, converts the captured images into digital quantities,
A smoothing process for removing noise components of the image is performed, a grayscale difference value of each pixel in the two digital images is calculated, a corresponding point is searched from a certain range, and the X and Y coordinates of the corresponding point are determined based on the principle of triangulation. It is characterized in that depth information is measured from a value to calculate a three-dimensional shape.

According to a fourth aspect of the present invention, in addition to the function of the first aspect of the present invention, in the image processing apparatus, two images of the three-dimensional camera are converted into digital quantities. Then, a corresponding point is searched from within a certain range of each pixel in the two digital images, depth information is measured from the X and Y coordinate values of the corresponding point according to the principle of triangulation, and a three-dimensional shape is calculated.

According to a fifth aspect of the present invention, in the automatic shroud inspection apparatus according to the first aspect, the sensing device is a linear array type in which transducers capable of transmitting and receiving ultrasonic waves are arranged in a line. An ultrasonic controller and an array controller that controls an electronic circuit for deflecting and focusing the ultrasonic waves, wherein the flaw detection device is configured to detect the shape of the shroud based on a detection signal from the ultrasonic probe. Is calculated by calculating a three-dimensional image of, and detects surface openings and intrinsic defects in water.

In the automatic shroud inspection apparatus according to the fifth aspect of the present invention, in addition to the operation of the automatic shroud inspection apparatus according to the first aspect, in the flaw detection apparatus, a detection signal from a linear array type ultrasonic probe is used. Based on this, an image in which the shape of the shroud is three-dimensionally calculated is used to detect underwater surface openings and intrinsic defects.

According to a sixth aspect of the present invention, there is provided an automatic shroud inspection apparatus according to the first aspect, wherein the sensing device includes a probe for transmitting ultrasonic waves and a probe for receiving ultrasonic waves. It has an ultrasonic probe arranged to face at an interval, and the flaw detector uses a phenomenon in which ultrasonic waves radiated from the transmitting probe diffract and scatter at a tip of a defect, The method is characterized in that the depth of the defect is measured from the propagation time of the sound wave, and a three-dimensional image is calculated to detect the surface opening and the intrinsic defect in the water.

In the automatic shroud inspection apparatus according to the sixth aspect of the present invention, in addition to the operation of the automatic shroud inspection apparatus according to the first aspect, in the flaw detection apparatus, the propagation time of the ultrasonic wave radiated from the transmitting probe may be improved. The depth of the defect is measured from the data and a three-dimensional image is calculated, and the surface opening and the intrinsic defect in the water are detected.

According to a seventh aspect of the present invention, there is provided an automatic shroud inspection apparatus according to the first aspect, wherein the sensing device irradiates a laser beam to a surface of the shroud to be inspected to generate an elastic wave. An irradiation laser device to be generated, a measurement laser device and a laser light detector for detecting an elastic wave propagated inside the shroud, and the flaw detection device receives a laser signal received by the laser light detector. And calculating a three-dimensional image of the shape of the defect based on the laser irradiation position of the irradiation laser device, and detecting a fine defect of the shroud in the air in a non-contact manner.

In the automatic shroud inspection apparatus according to the present invention, in addition to the function of the automatic shroud inspection apparatus according to the first aspect, in the flaw detection apparatus, the surface of the shroud to be inspected is irradiated with laser light. Generates an elastic wave, calculates a three-dimensional image of the shape of the defect based on the laser signal received by the laser light detector and the laser irradiation position of the irradiation laser device, and non-contacts shroud fine defects in the air To detect.

An automatic shroud inspection apparatus according to an eighth aspect of the present invention is the automatic shroud inspection apparatus according to the first aspect, wherein the inspection result stored in the inspection information recording apparatus is input via a recording medium, and automatically. And an inspection report preparation device for preparing a report.

[0020] In the automatic shroud inspection apparatus according to the invention of claim 8, in addition to the operation of the automatic shroud inspection apparatus according to claim 1, the inspection result stored in the inspection information recording apparatus is transmitted to the inspection report via a recording medium. The report is input to the report creation device, and a report is automatically created by the inspection report creation device.

[0021]

Embodiments of the present invention will be described below. FIG. 1 is a configuration diagram of an automatic shroud inspection apparatus according to an embodiment of the present invention.

In FIG. 1, a movable trolley 1 is a drive mechanism that moves up, down, left and right along a wall surface of a shroud 2 to be inspected, and is equipped with a sensing device 3 on a vertical leg. The sensing device 3 includes a visual inspection mechanism and an ultrasonic deep wound mechanism. The visual inspection mechanism has a two-dimensional camera and a three-dimensional camera in an imaging system and an optical fiber device in an illumination system.
An image of an object at a certain illuminance by an illumination system is input. The ultrasonic flaw detection mechanism includes a contact type and a non-contact type. The contact type has an ultrasonic probe, and the non-contact type has a laser device for irradiation and measurement. As described above, the sensing device 3 is attached to the movable trolley 1 and moves on the surface of the shroud 2 of the nuclear reactor to detect a flaw or a crack.

The operation of the mobile trolley 1 is controlled by the mobile trolley controller 4, and the current position is accumulated by the encoder counter 5. Further, the mobile trolley control device 4 can be operated externally, and the mobile trolley 1 is remotely controlled from the central control device 7 of the data collection device 6.

A video signal photographed by the two-dimensional camera or the three-dimensional camera of the sensing device 3 is transmitted to the image processing device 8 and used for automatic identification of a defect of the shroud 2 to be inspected and measurement of a three-dimensional shape.

The image processing device 8 is a sensing device 3
It is determined whether or not there is a possibility of a defect based on the video signal from the two-dimensional camera. Calculate the three-dimensional shape.

In the flaw detector 9, when the image processing device 8 determines that there is a possibility of a defect, a flaw detection signal is transmitted from the sensing device 3 and details of the flaw are determined based on a flaw detection signal generated by the flaw detection signal. Calculate the three-dimensional shape.

The inspection information recording apparatus 10 records a video signal, inspection position information, automatic identification and shape measurement results on a recording medium such as a video tape or a magneto-optical disk. These recording media on which test information is recorded are portable,
Information processing work at a remote location is possible. That is,
The recording medium is carried to an analysis device 11 installed in an office or the like remote from the inspection work place for analyzing the inspection information, and the recording medium is inserted into the inspection information recording device 12 of the analysis device 11. Then, a report is automatically created by the inspection report creation device 13 and output to the output device 14.

Next, the operation will be described. FIG. 2 is a flowchart showing the operation of the automatic shroud inspection apparatus according to the embodiment of the present invention. First, at the start of the inspection work (S1), an image from the two-dimensional camera of the sensing device 3 is recorded on a video tape as a recording medium via the inspection information recording device 10 (S2), and the image of the two-dimensional camera is also recorded. The data is input to the image processing device 8 (S3). Image processing device 8
Then, the image input from the two-dimensional camera is image-processed (S
4) The presence or absence of a portion similar to a linear defect such as a scratch or a crack is identified and determined (S5).

If it is determined in step S5 that there is no defect and that it is normal, the mobile trolley 1 is moved and the process returns to step S3. On the other hand, when it is determined that there is a defect similar part, the position of the three-dimensional camera is moved to the defect position coordinates on the screen (S6), and the parallax image of the three-dimensional camera is input to the image processing device 8. (S7). Then, from the three-dimensional input image, a shroud 2 as an object is obtained.
Is measured (S8), and the presence or absence of a linear defect in the extraction area is determined based on the measurement result (S8).
9). The three-dimensional shape of the object, which is the result of the determination, is expressed and displayed by a wire frame model, a surface model, and a texture model, and the measurement result is saved (S
10).

Next, the process proceeds to step S11, where the ultrasonic probe of the sensing device 3 is moved to the defect position. It is determined whether or not the environment at the defect position is underwater (S12). That is, the electronic scanning of the ultrasonic probe is performed for the underwater inspection (S13), and the laser scanning is performed by the laser device for the aerial inspection (S14). Then, the measurement result is converted into a stereoscopic image (S15), and the result is displayed and stored (S1).
6).

In step S17, it is determined whether or not to continue the examination. If the examination is to be resumed, the process proceeds to step S3, and if the examination is to be ended, the recording is stopped and terminated in step S18 (S19). .

As described above, the inspection image of the shroud wall surface transmitted from the two-dimensional camera in real time is automatically inspected by image processing, and all portions similar to linear defects are detected. Then, in order to inspect the detected portions for detailed irregularities, a three-dimensional camera is used to capture a target, reconstruct a three-dimensional model by image processing, and display the model on a display. At the same time, 3
Measure the dimensional shape. These processes are automatically repeated to inspect all target surfaces.

Next, FIG. 3 is a configuration diagram of the image processing device 8 in the automatic shroud inspection device according to the embodiment of the present invention.

The two-dimensional camera and 3 of the sensing device 3
The video signal from the three-dimensional camera is transmitted to the A / D
It is input to the conversion processing means 15. A / D conversion processing means 1
In step 5, the video signal of the two-dimensional camera is sampled and quantized and converted into an 8-bit digital quantity, and two images viewed from different angles from the three-dimensional camera are converted into a digital quantity to display a three-dimensional shape. I do. The image converted by the A / D conversion processing means 15 and the processed image are temporarily stored in the frame memory 16. The frame memory 16 includes a plurality of frames. Spatial filtering means 17
Then, the line component included in the image from the two-dimensional camera stored in the frame memory 16 is enhanced, and
A smoothing process for removing noise components of the image from the two-dimensional camera is performed.

The area division processing means 18 binarizes and divides the shaded area of the image from the two-dimensional camera, the logical filtering means 19 extracts the target processing area, and the image measurement processing means 20 executes the area measurement. Measure the aspect ratio. In addition, the corresponding check measure processing means 21 receives the information from the three-dimensional camera.
A gray point difference value of each pixel in one digital image is calculated, a corresponding point is searched from a certain range, and depth information is measured from the X and Y coordinate values of the corresponding point according to the principle of triangulation. The A / D conversion means 15 to the corresponding inspection measure processing means 21 are connected to the control bus 22 and the image bus 23,
Is controlled by

Next, an image processing procedure for detecting a defect similar part from a continuously input two-dimensional camera image will be described with reference to FIG. In FIG. 4, when the processing is started (S1), an analog video signal from the two-dimensional camera of the sensing device 3 is taken into the A / D conversion processing means 15, converted into a digital image quantized by 8 bits, and converted into a frame memory. 16 (S2).

Then, the image in the frame memory 16 is input to the spatial filtering means 17, and a differentiation process is performed to detect a linear component (S3). The differentiated image is input to the region division processing means 18 and a binarization process for extracting a region where the magnitude of the differential component is equal to or larger than a certain threshold is performed (S4).

Next, the processed image is input to the logical filtering means 19, and noise removal processing for selecting an area of the extraction area equal to or larger than a certain threshold value is executed (S5). The extracted image is input to the image measurement processing means 20. Then, the feature is measured for the region extracted by the processing so far (S6). For this feature, the aspect ratio of the circumscribed rectangle surrounding the area is applied. Then, the aspect ratio is determined to determine whether the aspect ratio is within a predetermined threshold range (S7). If there is no maximum or minimum area in the aspect ratio, the process proceeds to step S2. On the other hand, if present, the area is colored by pseudo-color processing (S8), and the result is displayed on the display device (S8).
9), the processing result image is saved, and the processing is shifted to the three-dimensional shape measurement processing (S10), a series of processing is terminated, and the processing is restarted again (S11).

Next, in the video signal from the three-dimensional camera, there are three locations where there is a possibility of a defect (a location where a similar defect is detected).
An image processing procedure for measuring a dimensional shape will be described with reference to FIG.

The process starts after the detection of a similar defect portion in the similar defect detection process shown in FIG. 4 (S1). The first image (left viewpoint image) from the three-dimensional camera is input to the A / D conversion processing means 15 and stored in the first frame memory 16 (S2). Similarly, the second image (right viewpoint image) is input and stored in the second frame memory 16 (S
3). Then, the two images are subjected to spatial filtering means 1
7 to perform a smoothing process to remove image noise (S4).

Each processed image after the smoothing process is sent to the corresponding point search processing means 21 to calculate a luminance difference for each small area and search for a corresponding point of each pixel (S5). Further, the three-dimensional coordinate value of the target object is calculated from the corresponding point coordinates and the physical positional relationship of the camera using the principle of triangulation (S6). In order to compensate for the missing data of the calculation result, an interpolation process for averaging with neighboring coordinate values is executed (S7). 3 for display from the coordinates
Recalculate the dimensional coordinates (S8),
One of the three forms, the surface model and the texture model, is selected and displayed on the display (S9), and the processing result is saved (S10), a series of processing is completed, and the inspection is restarted again (S11).

Next, the ultrasonic flaw detection mechanism of the sensing device 3 will be described. The sensing device 3 includes a linear array type ultrasonic probe in which transducers capable of transmitting and receiving ultrasonic waves are arranged in a line, and an array controller which controls an electronic circuit for deflecting and focusing ultrasonic waves. , Flaw detector 9
Calculates an image in which the shape of the shroud is three-dimensional based on the detection signal from the ultrasonic probe, and detects surface openings and intrinsic defects in water.

The sensing device 3 has an ultrasonic probe in which an ultrasonic transmitting probe and an ultrasonic transmitting probe are arranged facing each other at a certain interval. Utilizing the phenomenon in which ultrasonic waves emitted from a transmitting probe diffract and scatter at the tip of a defect, the depth of the defect is measured from the propagation time of the ultrasonic wave, a three-dimensional image is calculated, and the surface underwater is calculated. Detect openings and intrinsic defects.

The sensing device 3 includes an irradiation laser device that irradiates a laser beam to the surface of the shroud to be inspected to generate an elastic wave, and a measurement laser device that detects the elastic wave propagated inside the shroud. The flaw detector 9 calculates a three-dimensional image of the defect shape based on the laser signal received by the laser light detector and the laser irradiation position of the irradiation laser device. Non-contact detection of fine shroud defects inside.

Next, a description will be given of a first ultrasonic deep flaw technique using a laser beam input from a laser device and using the laser beam.

When a pulse-like or intensity-modulated laser beam is condensed spatially in a point-like manner and irradiates the object to be inspected, the irradiation point undergoes volume expansion due to a time change of heating and cooling (non-heating), An elastic wave is generated with the irradiation point as a vibration source. If no defect exists in the inspection object, the elastic wave propagates three-dimensionally in a spherical shape, is reflected on the back surface, and reaches the irradiation surface. Due to the arrival of the elastic wave, a small vibrational displacement having a certain smooth distribution is generated on the surface of the irradiation surface. Conversely, if a defect exists in the inspection object, the elastic wave is reflected and scattered there, and a displacement corresponding to the size and shape of the defect occurs in the displacement distribution generated on the irradiation surface.

On the other hand, the irradiated surface is irradiated with a laser beam oscillated from a measuring laser device different from the above in a point-like manner, and an optical system such as a Michelson interferometer, a knife edge method, or an optical heterodyne method is used. When the optical signal is detected by the laser light detector, the minute vibration at each point can be measured.

Therefore, the measuring laser beam is two-dimensionally scanned by an operating mechanism such as a galvanometer mirror so as to cover a part or the whole of the portion where the displacement distribution occurs, and the displacement at each point is sequentially measured. This makes it possible to detect the degree of distortion of the displacement distribution, that is, the defect information in the target as an image. In this case, it is also possible to irradiate a pulsed or intensity-modulated laser beam spatially or linearly. In addition, the laser beam for measurement can be spatially irradiated to the machine in a linear or planar manner.

Next, a second ultrasonic deep flaw technique using laser light will be described. As described above, when the pulsed or intensity-modulated laser light is condensed spatially in a point-like manner and irradiates the inspection object, volume expansion occurs due to a time change of heating / cooling (non-heating) at the irradiation point, An elastic wave is generated with the irradiation point as a vibration source. As is evident from the fact that the process of generating an elastic wave is a thermal phenomenon, the frequency component of the generated elastic wave is broad and includes low to very high frequency components. The propagation direction is also isotropic, which includes a surface wave component propagating on the surface to be inspected.

It is known that the amplitude of a surface wave appearing along the surface of a medium decreases exponentially at about one wavelength in the depth direction. Therefore, when there is an opening defect of a certain depth on the surface to be inspected, a surface wave having a longer wavelength (that is, a lower frequency) than the defect depth propagates beyond the defect, whereas a surface wave having a wavelength longer than the defect depth. Short (ie high frequency) surface waves are blocked by the defect and do not propagate beyond the defect.

Therefore, an elastic wave is generated at a certain part of the surface to be inspected, and the elastic wave is detected at a part away from the same by the same method as described above, and the frequency spectrum of the detected vibration is analyzed. Thus, it is possible to measure the existence of a defect between the occurrence site and the detection site and the depth thereof.

By appropriately selecting the irradiation position of the laser beam for generating the elastic wave and the irradiation position of the measurement laser beam by the operation mechanism, the shape and depth of the defect opened on the surface can be recognized as an image. it can. The inspection result is recorded on a video tape and a magneto-optical disk as recording media.

At the same time as recording the inspection video of the two-dimensional camera on the video track of the video tape, the absolute address and characters of the inspection location are converted into sound and recorded on the audio track. A bit string or a character string code at an absolute address is modulated by the FSK method and recorded at a speed of 300 bps. On the other hand, on the magneto-optical disk, numerical data of the three-dimensional shape obtained by the automatic inspection is filed for each processing, and the date and time, the target location, and the like are stored in association with each other. Since these recording media are portable, the inspection results can be analyzed and stored in an office or the like remote from the inspection location.

That is, the value of the encoder counter 5 of the mobile trolley 1 is converted to an absolute address, the bit string of the address is converted to sound, and recorded on the audio track of the video table. Also,
To reproduce the test information, a recording medium is inserted into the test information recording device 12 of the analysis device 11, the sound recorded on the audio track of the video tape is reproduced, and the characters and numerical values are arranged in a bit string and reproduced. Then, the data is added to the database of the inspection report creation device 13.

Then, by selecting the inspection data to be created from the list of the database, the inspection data is output to the display device of the output device 14, and the inspection date and time, the building name,
The object name, the inspection location, and the inspection image are developed in a specified format, and the screen becomes editable. After the contents are confirmed or edited, the data is output to the printer of the output device 14.

As is clear from the above results, according to this embodiment, the presence or absence of a defect is determined based on a uniform standard without an inspector, and a detailed three-dimensional shape is automatically determined. Since the measurement can be performed, the inspection of the shroud wall surface can be automated.

[0057]

As described above, according to the present invention, the shroud is automatically inspected by applying the image processing technology and the ultrasonic deep wound technology, and the inspection information for each time is managed as a database. A highly efficient and highly reliable inspection can be secured.

That is, the inspection image of the shroud wall surface transmitted in real time from the two-dimensional camera is automatically inspected by image processing, all the parts similar to the linear defect are detected, and the detailed irregularities are inspected at the parts. For this purpose, a three-dimensional camera captures an object, reconstructs a three-dimensional model by image processing, and displays the model on a display device.
At the same time, a detailed three-dimensional shape is measured by the ultrasonic flaw detection technique, and the entire target surface is inspected. Therefore, highly efficient and highly reliable inspection can be secured.

Inspection information, such as inspection date and time, inspection location, and inspection video, is stored in a recording medium such as a videotape or a magneto-optical disk, and can be carried to a remote place such as an office. Because we manage the database,
In addition to being able to refer to inspection results when necessary, information to be output can be automatically output as an inspection record report.

As described above, by automatically inspecting the shroud by applying the image processing technology and the ultrasonic flaw detection technology,
A highly efficient and highly reliable inspection can be secured.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of an automatic shroud inspection apparatus according to an embodiment of the present invention.

FIG. 2 is a flowchart showing an operation of the automatic shroud inspection apparatus according to the embodiment of the present invention.

FIG. 3 is a block diagram of the image processing apparatus according to the embodiment of the present invention.

FIG. 4 is a flowchart showing details of a similar defect detection process in the image processing apparatus according to the embodiment of the present invention.

FIG. 5 is a flowchart showing details of a three-dimensional shape measurement process in the image processing apparatus according to the embodiment of the present invention.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 mobile trolley 2 shroud 3 sensing device 4 mobile trolley control device 5 encoder counter 6 data collection device 7 general control device 8 image processing device 9 flaw detection device 10 inspection information recording device 11 analysis device 12 inspection information recording device 13 inspection report preparation device DESCRIPTION OF SYMBOLS 14 Output device 15 A / D conversion processing means 16 Frame memory 17 Spatial filtering means 18 Area division processing means 19 Logical filtering means 20 Image measurement processing means 21 Corresponding inspection measure processing means 22 Control bus 23 Image bus 24 CPU

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Junichi Takabayashi 2-4-4 Suehirocho, Tsurumi-ku, Yokohama-shi, Kanagawa Prefecture Inside the Toshiba Keihin Works Co., Ltd. (72) Koji Murakami 2--4, Suehirocho, Tsurumi-ku, Yokohama-shi, Kanagawa Address Toshiba Keihin Works Co., Ltd. (72) Inventor Masuda Kurata 2-4, Suehirocho, Tsurumi-ku, Yokohama-shi, Kanagawa Prefecture In-house Keio Works Co., Ltd. (72) Inventor Ichiro Furumura 2--4, Suehirocho, Tsurumi-ku, Yokohama-shi, Kanagawa Address: Toshiba Keihin Works Co., Ltd. (72) Inventor Takashi Enraku 66-2, Horikawa-cho, Saiwai-ku, Kawasaki-shi, Kanagawa Prefecture Inside Toshiba Engineering Co., Ltd. (72) Shigeru Kanuki, Horikawa-cho 66, Saiwai-ku, Kawasaki-shi, Kanagawa 2 Inside Toshiba Engineering Co., Ltd. (72) Inventor Yoshimochi Sakurai 2-4 Suehirocho, Tsurumi-ku, Yokohama-shi, Kanagawa Location: Toshiba Keihin Works Co., Ltd.

Claims (8)

[Claims] 1. A sensing device which is attached to a movable trolley and moves along a shroud surface of a nuclear reactor to detect a defect such as a flaw or a crack, and there is a possibility that the defect is caused by performing image processing based on a video signal from the sensing device. When the image processing device calculates the three-dimensional shape of the portion, and when the image processing device determines that there is a possibility of the defect, the device transmits a flaw detection signal from the sensing device and detects a flaw detected by the flaw detection signal. A flaw detection device that calculates a detailed three-dimensional shape of the defect based on a signal, and an inspection information recording device that records a video signal from the sensing device, the three-dimensional shape calculated by the image device and the flaw detection device. An automatic shroud inspection device, characterized in that: 2. The automatic shroud inspection apparatus according to claim 1, wherein the sensing device has a two-dimensional camera and a three-dimensional camera for obtaining a video signal, and an ultrasonic probe for obtaining a flaw detection signal. The image processing apparatus performs image processing of the image of the two-dimensional camera to determine whether or not there is a possibility of a defect. Calculate the three-dimensional shape from the image,
An automatic shroud inspection apparatus, wherein the flaw detector calculates a three-dimensional shape based on a flaw detection signal from the ultrasonic probe or the laser device. 3. The automatic shroud inspection apparatus according to claim 1, wherein the image processing device samples and quantizes the video signal of the two-dimensional camera, converts the video signal into an 8-bit digital quantity, and converts the converted image line. It is characterized in that a component which is likely to be defective is detected by emphasizing a component, dividing a shaded region into binary, extracting a target processed region, and measuring an area and an aspect ratio of the region. Shroud automatic inspection equipment. 4. The automatic shroud inspection apparatus according to claim 1, wherein the image processing apparatus captures two images of the place where the defect is likely to be viewed from different angles with the three-dimensional camera, and captures the images. The obtained image is converted into a digital amount, a smoothing process for removing noise components of the image is performed, a grayscale difference value of each pixel in the two digital images is calculated, a corresponding point is searched from a certain range, and triangulation is performed. An automatic shroud inspection apparatus characterized in that depth information is measured from X and Y coordinate values of corresponding points to calculate a three-dimensional shape according to the principle. 5. The automatic shroud inspection device according to claim 1, wherein the sensing device is a linear array type ultrasonic probe in which transducers capable of transmitting and receiving ultrasonic waves are arranged in a line, and deflects ultrasonic waves. And an array controller that controls an electronic circuit for focusing, wherein the flaw detection apparatus includes:
An automatic shroud inspection apparatus, wherein a three-dimensional image of the shape of the shroud is calculated based on a detection signal from the ultrasonic probe to detect a surface opening and an intrinsic defect in water. 6. The automatic shroud inspection apparatus according to claim 1, wherein the sensing device includes an ultrasonic transmitting probe and an ultrasonic transmitting probe which are arranged to face each other at a certain interval. A probe, wherein the flaw detector uses the phenomenon in which ultrasonic waves emitted from the transmitting probe diffract and scatter at the tip of the defect, and measures the depth of the defect from the propagation time of the ultrasonic wave. An automatic shroud inspection apparatus, which calculates a three-dimensional image and detects surface openings and intrinsic defects in water. 7. The shroud automatic inspection device according to claim 1, wherein the sensing device irradiates a laser beam to a surface of a shroud to be inspected to generate an elastic wave, and an inside of the shroud. Having a measuring laser device and a laser light detector for detecting an elastic wave that has propagated, the flaw detection device is provided with a laser signal received by the laser light detector and a laser irradiation position of the irradiation laser device. An automatic shroud inspection apparatus wherein a three-dimensional image of the shape of a defect is calculated based on the detected defect, and a fine defect of a shroud in the air is detected in a non-contact manner. 8. The inspection report creation device according to claim 1, wherein the inspection result stored in the inspection information recording device is input via a recording medium and a report is automatically created. An automatic shroud inspection device comprising: