TW201022631A - Method and device for determining position in space - Google Patents

Abstract

The present invention provides a position determination method, which is used to inspect the inside of a space enclosed by the faces of a boiler furnace or the like, is capable of determining a position even if a reference point cannot be arranged on a floor face, and can further be used for inspecting the inside of a container where a plurality of positions can be detected therein. The present invention discloses a method for determining a position inside of a space, which is characterized in that: a position inside of a space surrounded by a front side wall, a back side wall, a left side wall, a right side wall, an upper wall and a lower wall can be determined, wherein the front and back side walls are parallel to each other, and are perpendicular to the left and right side walls; a plurality of protrusions of a similar shape are formed in parallel at an equal spacing on the front, back, left and right side walls; the position to be determined inside of the space is located on the side wall; an irradiator arranged at the position and capable of irradiating a laser irradiates the laser upward and downward to thereby calculate individual distances from the irradiator to the upper wall and the lower wall; two lasers are irradiated from the irradiator at an interval of one half of the protrusion spacing individually in two directions, which are perpendicular to the two side walls, perpendicular to the side wall where the position to be determined exists, so that the distances from the irradiator to the two side walls are calculated to determine the position of the irradiator.

Description

201022631 VI. Description of the Invention: [Technical Field] The present invention relates to a method for a specific working position, which is used for maintenance inspection of a space surrounded by front, rear, left and right side walls, an upper wall and a lower wall In particular, it relates to a position-specific method for inspecting a location of a specific operator or a main wall when an operator enters a large tank, a boiler, or the like for maintenance inspection or the like. [Prior Art] It is necessary to open the boiler used in a thermal power plant at the time of production and after the start of operation, so that the operator can enter the interior for maintenance inspection. At the time of maintenance inspection, it is necessary to clarify the inspection office, but the capacity of the boiler is large to visually and correctly grasp the inspection department. Therefore, the height position and the left and right positions of the inspection site are measured using a tape measure or the like to grasp the position of the operator, that is, the maintenance inspection position, but the position of the method requires a lot of time and manpower. Therefore, it is conceivable to use a method called a three-dimensional positioning system to specify a position. This method uses a sound wave to calculate a distance from a position of a known position coordinate of 3 or more points to a point to be a specific position by using the sound velocity and the propagation time, and uses the distance to a specific position. Such a three-dimensional positioning system is, for example, in Patent Document 1. Patent Document 2 discloses. Further, a two-dimensional positioning system that uses laser light instead of sound waves to specifically position is disclosed, for example, in Patent Document 3. The case of using the previous three-dimensional positioning system to specify the maintenance inspection position in the boiler will be described with reference to Figs. 8 and 9. Figure 9 is a perspective view of a boiler. In the boiler 1〇2, as shown in Fig. 9, a plurality of pipes 104 are installed in the vicinity of the outer wall 143188.doc 201022631, and a combustion chamber 106 for burning fuel is provided inside, and an evaporation pipe (not shown) is provided along the inner wall surface. When the operation of the boiler 102 is stopped, the operator is allowed to enter the inside to perform the inspection of the abrasion and corrosion state of the above-mentioned evaporation tube, and it is necessary to use the front position=dimensional positioning system to specify the inspection position. This is explained in detail in Figure 8. Figure 8 is a schematic view of a prior method for illustrating the position within a particular boiler 1〇2. In Fig. 8, '102 is a pin furnace schematically shown. When the position of a certain point a in the specific steel furnace 1〇2 is first set to the three-point reference position Rioi, Ri〇2, R1〇3 of the known position coordinates in the boiler 1〇2, a wave receiver that can receive radio waves and sound waves is provided. Thereafter, the radio wave and the sound wave are simultaneously transmitted from the point A, and the arrival time difference and the sound speed are measured by measuring the arrival time difference between the radio wave and the sound wave by the respective receivers arranged at the reference positions Rigi, R1G2, and R1 of the three points (> The distances Lm, l丨02, and L丨03 between the position A and each of the reference positions R101 R2 and Ri〇3 are calculated, and the distances L10丨, Li〇2, L1()3, and the reference position r1〇丨 are used. The position coordinates of the coordinates of Ri〇2, 尺...the position of the specific point A. However, from the plane formed by the three-point reference positions Rm, Riq2, Riq3, from the point A symmetrical with the point A, to the aforementioned three points The distances Ligii and Li()3 of the reference positions R101, Ri〇2, and R1G3 are respectively established, and B 102=L102' and l103=L103, that is, the distance from the three-point reference position Ri (n, Riq2, respectively) The point of Lioi and Li〇3, relative to the three-point reference position Rl〇1

The plane formed by Ri〇2 and R1G3 has two places (A, A) at the position of symmetry. Compared with the point 8 in Figure 8, if the position is equivalent to the boiler 〇2, the position corresponding to 143188.doc 201022631 A' may not be included in the candidate of point A, so the point A can be specified, but as shown in Fig. 8. As shown, when the point Α is in the boiler 1〇2, the position of the point a cannot be specified. According to Patent Document 1, since the plane formed by the three-point reference position is specified in a state in which a specific point is known, it is not considered to be formed with respect to the three-point reference position. The plane is located at a point of symmetry with a specific point. In Patent Document 2, a three-point reference position is placed on the ground to specify the position of the air, so that it is located at a specific point with respect to the plane formed by the point reference position. The point of the symmetrical position is not considered because it becomes underground. Therefore, regardless of the method disclosed in Patent Documents 1 and 2, it is not always possible to specify the position in the boiler. Further, in the position calculating method disclosed in Patent Document 2, the distance between the measuring point and the known position is obtained from the arrival time of the sound wave, and it is necessary to calculate the timing at which the sound wave is transmitted at the measuring point. Therefore, in the wave transmitter, it is necessary to separately provide a radio wave transmitting mechanism for transmitting the wave timing to the arithmetic device, so that the machine is large, and according to the method disclosed in Patent Document 2, such as the inspection in the boiler. When a eagle frame is set near the side wall of a steel furnace at a specific location, it can be expected that the magic frame will become an obstacle for sound wave transmission and reception, resulting in a decrease in positioning accuracy. . . In the method of using laser light disclosed in Patent Document 3, if there is an obstacle that blocks laser light between the transmission benefit and the reception H, it is impossible to measure a steel furnace which is not suitable for an internal scaffold or the like at the time of inspection. Used for inspection. In addition, in the steel furnace, the ground of the steel furnace bottom is in the direction of the inspection position, but the plane formed by the three points may be specified to a specific point. For example, it is also conceivable to arrange all the three reference points in the 疋 configuration. When the reference point is on the ground, there is a eagle that becomes a sound wave propagation barrier between the wave position and the wave position, and it becomes the cause of the decrease in positioning accuracy. Furthermore, since the boiler has a large capacity, a plurality of operators enter the interior during the open inspection. Therefore, it is necessary to detect the inspection position of a plurality of operators, but Patent Documents 1, 2, and 3 cannot correspond to the position detection of a plurality of operators. [Patent Document 1] Japanese Laid-Open Patent Publication No. 2004-108978 (Patent Document 3) Japanese Patent Application Laid-Open No. Hei No. Hei No. Hei. Accordingly, the present invention has been made in view of the problems of the prior art described above, and an object thereof is to provide a position-specific method which is inspected inside a space surrounded by facets (4), even if the reference point cannot be placed on the ground. The situation can also be specific and can be further used for inspection of the interior of the container at a location that can detect a plurality of locations. [Means for Solving the Problems] In order to solve the above problems, the present invention provides a specific space internal position 2 method, which is characterized in that it is specified by a space inside the front and rear left and right side walls and the upper and lower walls. And the plurality of the same shape protrusions are disposed on the side walls of the right and left side walls, and the front and rear sides of the left and right side walls are disposed on the side walls, and the plurality of the same shape is disposed on the side wall; The illuminator configured to illuminate the laser at the position, respectively, irradiates the laser in the up and down direction, and the root 143188.doc 201022631 calculates the arrival time of the upper wall and the lower wall according to the laser (4), and calculates the "" shot from the foregoing The distance from the upper knife to the lower wall of the knife; and by the illuminator in the two directions at right angles to the two side walls at right angles to the side wall at the specific position, 'irradiation at 1/2 of the interval between the protrusions 2 lasers, and according to the arrival time and the arrival time difference of the two beams reaching the side wall or the protrusions, calculating the distance from the illuminator to the two side walls respectively, thereby specifying the position of the illuminator If it is necessary to locate a specific position on the side wall, the position can be determined by calculating the distance from the position to the two side walls and the upper and lower walls at right angles to the side wall where the position is located. From the specific position to the upper and lower positions The distance between the walls can be determined according to the arrival time of the laser irradiated by the illuminator provided at the position of the necessary feature to reach the upper and lower walls. Further, since the side walls are provided with the same shape in parallel at equal intervals, The distance from the position of the feature to the two side walls at right angles to the side wall where the position is located may be calculated based on the arrival time of one beam, and the correct distance may not be calculated due to the presence of the protrusion. Two beams of laser light are irradiated at intervals of 1/2 of the protrusion interval, and the distance from the illuminator to the two side walls is calculated from the arrival time and the arrival time difference of the two beams to the side wall or the protrusion, and the distance can be calculated. According to this, it is possible to calculate the distance from the position where it is necessary to the two side walls and the upper and lower walls at right angles to the side wall where the position is located, so that the position can be specified. In the case where it is necessary to specify a complex number, as long as the laser is irradiated from the position of the complex number, the position of the complex number can be specified. Furthermore, if the distance from the aforementioned illuminator to the upper wall is the lowest When the distance between the walls is not within the allowable range of the design distance error from the upper wall to the lower wall of the month j, it can be judged that the measurement is not performed correctly. It can be said that the position detection method with high reliability is different for the illuminator. The same is true for the sum of the distances to the two side walls. φ Further, the laser distance sensor that can be continuously measured can be used to detect the position of the laser distance sensor even if it moves at a specific position. Further, the present invention provides - The method for specifying the internal position of a specific space is: a position specific to the inside of the space surrounded by the front, rear, left and right side walls, the upper wall and the lower wall, wherein the front side wall and the rear side wall are parallel to each other and the left and right side walls are a right angle relationship; a plurality of isomorphous protrusions are disposed in parallel at equal intervals on the front, rear, left and right side walls; the position in the specific space is on the side wall The illuminator that can be irradiated to the laser at the position is irradiated with lasers in the up and down direction, and the arrival time of the upper wall and the lower wall respectively according to the laser is calculated, and the upper wall of the illuminator is calculated from the illuminator. And the distance between the lower wall and the illuminator, wherein the illuminator slides the protrusions in a direction perpendicular to the two side walls at right angles of the side walls of the specific position The distance between the spacers and above is calculated based on the arrival time of the laser beam to the side wall, and the distance between the illuminators and the two side walls is calculated to thereby specify the position of the illuminator. It is necessary to specify the position on the side wall by calculating the distance from the position to the two side walls and the upper and lower walls at right angles to the side wall where the position is located. 143J88.doc 201022631 'The laser irradiated by the illuminator at a position determined by the arrival time of the necessary lower wall to the position of the upper and lower walls must be obtained. In addition, since the sidewalls are equally spaced apart by 4±^^5^, the distance from the position to the two side walls at right angles to the side wall where the position is located is as follows: If the 砗p gas is obtained from the β-gas, the correct distance may not be calculated due to the presence of the above-mentioned suddenness. Therefore, the distance between the illuminator and the side wall or the protrusion obtained by the illuminator can be determined as the distance between the illuminator and the side wall or the protrusion obtained during the sliding period, as the distance from the illuminator to the absence of the protrusion The distance between the side walls. According to this, since the position of the specific position to the two side walls and the upper and lower walls at right angles to the side wall where the position is located can be calculated, the position can be specified. Further, since the illuminator is slid, the laser irradiated toward the upper wall and the lower wall also slides. Therefore, if the distance from the illuminator to the upper wall and the lower wall is the same as the distance from the illuminator to the side wall, and the longest distance between the distances obtained during the sliding is used, even if there are deposits on the upper or lower wall, The distance between the illuminator and the upper and lower walls can be correctly determined. Furthermore, the laser irradiated by the illuminator can be four beams, which simplifies the construction of the illuminator. Further, even in the case where it is necessary to specify a plurality of positions, the laser can be irradiated from the position of the complex number, and the position of the plural can be specified. Furthermore, when the distance between the distance from the illuminator to the upper wall and the distance from the lower wall is not within the allowable range of the design distance error of the upper wall to the lower wall of the space 143I88.doc -10· 201022631, it can be judged that there is no measurement. Properly carried out, it can be said that it is a highly reliable position detection method. The sum of the distances from the illuminators to the two side walls is also the same. Further, in the method of the internal position of the specific space, instead of the position of the upper wall and the lower wall, a plate-like structure disposed below the upper wall and above the illuminator and at right angles to the front, rear, left and right side walls is used. The cow is located at a position above the lower wall and under the illuminator, and is provided with a plate-like member at right angles to the front, rear, left and right side walls, respectively. According to this, even if the _h wall and the lower wall are not horizontal, the height position of the illuminator can be accurately specified. In addition, in the method of the position of the specific space (4), the space surrounded by the front and rear side walls, the upper wall and the lower wall of the material is a boiler, and the protrusion is an evaporation tube. The boiler is parallel and equally spaced at the same day. There are many evaporation tubes, and there are many cases where special positions are necessary, but according to the present invention, it is possible to easily specify a position. Further, as an invention for achieving the problem, a device having a specific = internal position is provided, which is characterized in that it is a position specific to the inside of a space surrounded by the front and rear side walls, the upper wall, and the lower wall, And the rear side walls are parallel to each other and the 盥兮, 丄 ^ ^ V 仃 仃 与 仃 仃 仃 仃 仃 仃 仃 仃 仃 仃 仃 ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ; ; ; ; ; ; ; The internal position of the space is on the aforementioned side wall; and the illuminator including the illuminable laser is disposed at a right angle to the side wall of the I4188.doc 201022631 In the two directions, 'two beams of light are emitted at intervals of the above-mentioned protrusions. The first operation unit is provided, and the lasers are respectively irradiated to the upper wall and the lower side by the lasers irradiated in the vertical direction by the aforementioned cameras. The arrival time of the wall 'calculates the distance from the illuminator to the upper wall and the lower wall, respectively, and the second operation mechanism based on the two side walls at right angles to the side wall where the specific position is located by the illuminator 2 at right angles to the direction of: irradiating the laser beam 2 to 1/2 of the spacer projection interval arrival side

The distance between the arrival time and the arrival time of the wall or the projection is calculated from the distance from the illuminator to the two side walls.

In addition, a device for providing a position in a specific space is characterized in that: ^ is a position of a space unit surrounded by front, rear, left and right side walls, an upper wall and a lower wall, and the front (four) and rear side walls are parallel to each other and a plurality of the same-shaped protrusions are disposed at equal intervals on the front, rear, left, and right (four); the specific space internal position is on the side wall; and the position is included in the position a ray irradiator for illuminating the laser; the illuminator may be in a direction perpendicular to the vertical direction and two side walls at right angles to the side wall at which the specific position is located, at intervals of 1/2 of the protrusions Irradiating the two laser beams '^ slidably overlaps the protrusions by more than $; and is provided with a third operation unit that reaches the upper wall and the lower roll respectively according to the laser beams respectively irradiated in the up and down direction by the illuminator The arrival time is calculated from the distance between the illuminator and the upper wall and the lower wall, and the second calculation mechanism is configured to slide the illuminator over the distance between the protrusions and the protrusions. Preferably, the illuminator is irradiated at a distance of 1/2 of the aforementioned canine object spacing at a right angle to the two side walls at right angles to the side wall where the specific position is located at a position 143188.doc •12-201022631 The distance between the arrival time and the arrival time difference of the two beams reaching the lateral soil or the canine object is calculated, and the distance from the illuminator to the two side walls is calculated. [Effects of the Invention] A position-specific method can be provided which is used for internal inspection of a work space surrounded by a surface of a pin furnace or the like, and can be specified even when the reference point cannot be placed on the ground, and A m is further It can be used for inspection inside the container where the complex number can be detected. BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings. The dimensions, materials, and shapes of the components described in the present embodiment are set in a range corresponding to the absence of (4). The scope of the present invention is not limited to the meaning of the invention, which is merely a mere description. [Embodiment 1] With reference to Fig. 1, Fig. 2 and Fig. 4, the principle of the specific method of the working position of the embodiment will be described, and the inspection operation of the evaporation tube provided on the side wall of the steel furnace will be described. Further, although the evaporation tube is provided in a vertical direction or an oblique direction with respect to the ground due to the difference in the steel furnace, or in a spiral shape, the present invention is applicable regardless of the direction and state of the evaporation tube. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a schematic view showing a method for explaining the position in a specific boiler of the embodiment 1, Fig. 2 is a plan view showing a part of the boiler in the embodiment, and Fig. 4 is a view for explaining a calculation method of calculating the position. . In Fig. 1, the boiler in which the internal inspection is not performed in the 2-series mode. The boiler 2 is composed of a pair of side walls (front and rear walls) 4, 6 and _ pair of side walls 8, and a lower end of each of the front and rear walls 4, 6 of the aforementioned 143188.doc • 13· 201022631 toward the center of the boiler 2 The inclined inclined surface 10 and the upper wall 12 are roughly configured. When the position of the point on the side wall 8 in the specific boiler 2 is specified, the illuminator 16 that can illuminate the laser is provided at this position. Further, a horizontal plate member 14 is provided below the illuminator 16 and above the inclined surface 10. Further, although not provided in the present embodiment, the same plate-like member may be provided above the illuminator 16 and below the upper wall 12. Further, as shown in Fig. 2, the evaporation tubes 18 of a plurality of circular cross sections are disposed at equal intervals LP at the front and rear walls 4, 6 and the side walls 8. At this time, the illuminator 16 disposed at a position that is necessary to be specified is irradiated with one laser beam in each of the upper and lower directions and two beams in the left and right directions. Further, the distance between the two laser beams irradiated in the right and left directions is 1/2 of the interval of the evaporation tube, that is, 1/2 LP. By the irradiation of the laser, the distance Lu from the illuminator 16 to the upper wall 12 and the distance Lb from the illuminator 16 to the plate member 14 can be reached by the irradiation of the illuminator 16 to the upper wall 12 and the plate member 14. Time to find. In addition, the distance between the illuminator 16 and the front wall 4 can be determined by the distance between the arrival time and the arrival time of the two beams of the laser beam to the front wall 4 or the protrusions, and the distance and distance difference between the illuminator and the side wall or the protrusion are obtained. And the distance difference is calculated. The calculation of the distance between the illuminator 16 and the front wall 4 will be described with reference to Fig. 4 . The laser light emitted from the illuminator 16 is irradiated to the evaporation tube 18A by A (xa, yA) and B (xb, yB) of the xy coordinate system which will be described later. Further, a fin 19 is provided between the evaporation tubes 18A and 18B. In Fig. 4, it is assumed that the crucible wall 4 is an X-axis, and the center axis of the evaporation tube 18A irradiated by the beam emitted from the illuminator 丨6 is at a right angle to the front wall 4 of the 143188.doc • H· 201022631 beam.丫 axis. Further, the dimensions in Fig. 4 are as follows. Tube radius ·· r Heat sink width: Lf tube spacing. Lp=l/2 (r+Lf) Distance of illuminator 16 to point A: La illuminator 16 to point B distance: lb point A to front wall 4 Distance: α Α At this time, the distance from the illuminator 16 to the front wall 4 is LA + aA, and since la is a measured value, the distance from the illuminator 16 to the front wall 4 can be obtained by obtaining aA '. Therefore, the difference between LA and LB is ALab, and aA is obtained from δ[αβ. Since the interval between the two beams is 1/2 of the tube interval as described above, xB=xa+1/2 LP - -(1) and 1/2 LP= KA+(r-xA)+l/2LF =r+l/2LF --(2) Substituting equation (2) into equation (1), xB=xA+r+l/2LF (7) is established. In addition, if the point on the evaporation tube 18A having the same y coordinate as the point B is b, (Xb, yB'), Β " (χΒ ", yB丨,),

Then, since yB = yB' = yBi', I χΒ, I = II, -Xb'=Lp-xb=xbm .'.(4) If (2) and (3) are substituted into (4), Bay J -Xb -(2Γ+LF)_(XA+Γ+l/2LF):=XB,, .. .(5) If sorting (5) formula 143188.doc 201022631 then xB"=xA-rl/2LF · _ (6). In addition, the circle r2=x2+y2 of the radius 1> centered on the origin of the evaporation tube 18 is y=(r2-x2)"2 (7) about the point on the evaporation tube 1 8A A, also holds Υα=(γ2-χα2)1/2 (8). Similarly, 'About B"

Yb'-(r2-xB,,2)1/2 - -(9) If the formula (6) is substituted into the formula (9), then yB', = [r2-(xA-rl/2LF)2]1 is established. /2 · . (1〇). Here, the aforementioned measured value ^Lab can be expressed by the following formula, that is, ALAb=La-Lb= | yA-yB" I "'(11) > Therefore, if (8) and (10) are substituted into (11) In the formula, ALAB=(r2-xA2)1/2_[r, (XA·b 1/2Lf)2]1/2 (12) is established. Here, if the deformation (12) formula is a function of the heart, the equation (13) is established. xA=f(ALAB) * "(13) In addition, if the relationship of yA=aA is substituted into (8), and then (丨3) is substituted, aA=(r2-xA2)1/2=( R2_f(ALAB)y/2 (14). r is the known value of the radius of the evaporation tube. 'Because ALAB is the measured value obtained by the laser irradiated by the illuminator 16, it is obtained by the formula (14). Thus, aA. Thus, as described above, the distance between the illuminator 16 and the front wall 4 is LA+aA, so that the distance between the illuminator 16 and the front wall 4 can be determined. Further, the distance between the illuminator 16 and the rear wall 6 can also be Similarly, 143188.doc • 16- 201022631 As described above, the position of the illuminator 16 can be specified by determining the distance of the illuminator 16 to the upper wall 12, the plate member 14, the sill wall 4, and the rear wall 6, respectively. Next, the specific position is necessary. Next, the illuminator 16 will be described with reference to Fig. 1 and Fig. 3, and the case where the operator particularly inspects the working position will be described. Fig. 3 is an enlarged perspective view of the vicinity of the illuminator 16 of the figure. The illuminator 16 is mainly attached to the fixing portion 60 of the evaporation tube fixed to the side wall of the position where the position is necessary, and is attached to the fixing portion 6 to support the laser oscillation portions 64, 66, 68, 70, 72 described later. The laser oscillation unit of 74 is composed of a gantry 62 and laser oscillation units 64, 66, 68, 7A, 72, and 74 of the oscillating laser. The laser oscillating portions 64 and 66 can illuminate the front wall 4 The grounding setting is 1/2 (1/2 LP) of the evaporating officer interval, and the laser oscillating portions 68, 7 〇 can be arranged to irradiate the rear wall 6 with a laser, and the interval is 1/2 of the interval of the evaporation tube ( 1/2Lp), the laser oscillating portion 72 can be provided to irradiate the upper wall 12 with a laser, and the laser oscillating portion 74 can be provided with a laser irradiation to the plate member 14. Further, the illuminator 16 is provided with a controller 76. When the operator uses the specific position of the illuminator 丨6, the operator enters the boiler with the illuminator 16, and fixes the fixing portion 6 of the illuminator 16 to the side wall where the inspection operation is performed. Next, it is provided in the controller 76. A laser oscillation switch (not shown) is turned on to oscillate the laser from the laser oscillation portions 64, 66, 68, 70, 72, 74. The lightning oscillates from the laser oscillation portions 64, 66, 68, 70, 72, 74 The radiation is irradiated to the front wall 4, the rear wall 6, the upper wall 12, and the plate member 14, respectively, and the distance between the illuminator 16 to the upper wall 12 and the plate member 14 is calculated in accordance with the above principle. 143188.doc 17 201022631 The specific illuminator 16 of the distance of the rear wall 6 The first calculation means 'and the illuminator 16 to the front wall 4 The controller 76 of the second calculation means calculates the position of the respective distances' displayed on the controller 76. Furthermore, the 'steel furnace is larger', so that the operator enters the inside of the work in terms of work efficiency, although it is necessary to specify a plurality of working positions 'in this case, if the plurality of operators respectively hold the illuminator 16 When entering the inside of the boiler, the plurality of operators can also specify their respective ones, and the sum of the distance from the illuminator to the upper wall and the distance from the upper wall to the lower wall is not at the design distance from the upper wall to the lower wall of the space. When the error is within the tolerance range, the rider can not be correctly performed, and the controller 76 can display an error message, so it can be said that the position detection method can be high. The same is true for the sum of the distances from the irradiation ϋ to the two (four) (front and rear walls). Furthermore, if a laser distance sensor that can be continuously measured is used, the position can be detected immediately even if a specific position is moved. [Embodiment 2] With reference to Figs. 5, 6 and 7, the principle of the specific method of the working position of the embodiment 2 and the specificity of the inspection work position of the operator are made for the inspection of the evaporation tube provided in the side wall of the boiler. The situation of the operation will be explained. Further, the evaporation tube is provided in a vertical direction or an oblique direction with respect to the ground, or is spiraled depending on the boiler. However, the present embodiment is applicable regardless of the direction and state of the evaporation tube. . In the second embodiment, the configuration other than the illuminator is the same as that of the embodiment, and the same reference numerals are used to omit the illustration and description of the illuminator except for the illuminator, and the same reference numerals as in the drawings i to 4 denote the same. 5 is an enlarged perspective view of the vicinity of the illuminator 26 of the embodiment 2, FIG. 6 is a plan view showing a part of the boiler of the second embodiment, and FIG. 7 is a view showing the slave illuminator obtained when the laser is slid in the second embodiment. A graph of the distance LR from the side wall or the evaporation tube, the vertical axis is Lr, and the horizontal axis represents the position on the side wall. In Fig. 5, the illuminator 26 mainly includes a fixing portion 80 of an evaporation tube which is fixed to a side wall of a position which is necessary to be specified in parallel with the side wall, and is attached to the fixing portion 80 to support a laser oscillation to be described later. The racks 82 for the laser oscillation portions of the portions 84, 88, 90, and 92; and the laser oscillation portions 84, 88, 90, and 92 for causing the laser to oscillate. The laser oscillating portion 84 is disposed to illuminate the front wall 4 with a laser beam. The laser oscillating portion 88 is disposed to illuminate the rear wall 6, and the laser oscillating portion 90 is disposed to illuminate the upper wall 12 with a laser. The laser relocation portion 92 is disposed to illuminate the plate member 14 with a laser. Further, the laser oscillation unit stand 82 is provided with a handle 83, and is configured to move the distance between the evaporation tubes 18 (1 pitch) or more in parallel with the fixed portion 8A by pushing and pulling the handle 83. When the operator uses the specific position of the illuminator 26, the operator holds the illuminator 26 into the boiler, and fixes the fixing portion 80 of the illuminator 26 to the side wall where the inspection operation is performed. In this fixing operation, it is possible to use a fixing device as needed. However, it is sufficient if the handle 81 provided on the fixing portion 80 can be held by a hand to be pressed by a specific position. The laser oscillation switch of the controller (not shown) is turned on, and the laser is swept from the laser oscillation portions 84, 88, 90, and 92. 143188.doc -19- 201022631 The laser beams from the laser flared portions 84, 88, 90, 92 are respectively irradiated to the front wall 4, the rear wall 6, the upper wall 12, and the plate member 14. By the irradiation of the laser, the distance Lu from the illuminator 26 to the upper wall 12 and the distance Lb from the illuminator 26 to the plate member 14 can be firstly applied to the upper wall 12 and the plate according to the laser beam irradiated from the illuminator 26. The arrival time of the member 14 is obtained. Further, the distance Lr from the illuminator 26 to the front wall 4 or the evaporation tube 18 provided on the front wall 4 is also obtained. Further, the distance between the illuminator 26 to the front wall 4 and the rear wall 6 can be obtained as follows. When the laser oscillation by the laser oscillation unit is caused, the operator pushes the handle 趵 to move the laser oscillation unit gantry 82 by the interval (1 pitch) or more. As a result, Lr is different depending on the position of the gantry 82 for the laser oscillation unit. In Fig. 6, if the laser irradiation unit passes through b, it is mad. When the laser oscillation unit is moved by the gantry 82, a graph as shown in Fig. 7(A) is obtained. In Fig. 6, if the laser irradiation unit is moved from a, c, and pB, the mode is moved. When the laser oscillation unit is moved by the gantry 82, a graph as shown in Fig. 7(B) is obtained. 7(A) and FIG. 7(B), it can be clearly seen that when the laser oscillation portion gantry 82 is moved by the interval (1 pitch) of the evaporation tube 18, for example, the position of the & In general, there is no position of the evaporation tube, this position. Become the biggest. Therefore, the laser oscillation portion gantry 82 is moved by the evaporation tube interval (1 pitch) or more, and the maximum Lr obtained therebetween is the distance between the illuminator 26 and the front wall 4. Furthermore, the distance between the illuminator 26 and the rear wall 6 can be similarly determined. According to such a principle, the distance between the illuminator 26 and the upper wall 12 and the plate-like member 14 is determined by a second calculation mechanism (not shown), and the illuminator 26 to the front wall 4 is obtained by the second calculation mechanism. The distance from the rear wall 6. The result obtained 143188.doc -20* 201022631 The operator holds the presentation result device, which can be represented by the PDA. Further, the laser oscillating portion is moved by the gantry 82, and since the laser oscillating portions 9A and 92 are also moved, the distance between the illuminator 26 to the upper wall 12 and the plate member 14 can be the same as that of the illuminator 26 and the front wall. According to the distance between the four, the distance between the illuminator 26 and the upper wall 12 and the plate member 14 can be accurately determined even if the upper wall 12 or the plate member 14 has deposits. In addition, the boiler is large, and in the case of the work efficiency level, there are a plurality of operators who enter the interior to perform the work, and it is necessary to specify a plurality of work positions, but even in this case, if the plurality of operators carry the irradiation separately When the device 26 enters the interior of the boiler, the plurality of operators can also specify their respective positions. In addition, the laser irradiated from the illuminator can be four beams, so that the structure of the illuminator is simple. Further, although the boiler has been described in the first embodiment and the second embodiment, it is needless to say that the present invention can be applied to the inspection of the outer wall portion and the inner wall portion of a large tank such as a chemical equipment. • [Industrial Applicability] It can be used as a location-specific method, which can be used for internal inspection of spaces surrounded by boilers, etc. 'Even if the reference point cannot be placed on the ground, it can be specified. It is further used for inspection of the inside of the position where the complex number can be detected. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a schematic view showing a method for explaining the position in a specific boiler of the first embodiment. 143188.doc 201022631 Figure 2 is a plan view showing a portion of the interior of the boiler of Example 1. Figure 3 is a perspective view of the periphery of the illuminator of Embodiment 1. Fig. 4 is a view for explaining a calculation method of calculating a position. Figure 5 is an enlarged perspective view of the vicinity of the illuminator of Embodiment 2. Figure 6 is a plan view showing a portion of the inside of the pin furnace of Embodiment 2. Fig. 7 (A) and (B) are graphs showing the distance from the illuminator to the side wall or the evaporation tube which was obtained when the laser was slid in the second embodiment. Figure 8 is a schematic view of a prior art method for illustrating the position within a particular boiler.

Figure 9 is a perspective view showing a prior pin furnace. [Main component symbol description] 2 ' 102 Boiler 4 Front wall 6 Rear wall 8 Side wall 10 Inclined surface 12 Upper wall 14 Horizontal plate member 16, 26 Illuminator 18 (18A, 18B) Evaporator tube 19 Heat sink 60 ' 80 Fixing portion 62 ' 82 64, 66, 68, laser vibration frame

143188.doc •22· 201022631 70 ' 72 > 74 ' 84 , 88 , 90 , 92 76 83 104 106 Laser oscillation unit Controller Handle Piping Combustion chamber

143188.doc -23-

Claims (1)

201022631 VII. Patent application scope: A method for determining the internal position of a space, which is characterized by: a position specific to the interior of the space surrounded by the upper and lower walls of the front, rear, left and right side walls; the front side wall and the rear side wall Parallel to each other and at right angles to the left and right side walls; a plurality of isomorphous protrusions are disposed in parallel at equal intervals on the front and rear left and right side walls; the position inside the specific space is on the side wall; The illuminator capable of illuminating the laser at the position respectively irradiates the laser in the up and down direction, and calculates the distance from the illuminator to the upper wall and the lower wall according to the arrival time of the laser respectively reaching the upper wall and the lower wall, and By the illuminator, two laser beams are irradiated at intervals of 1/2 of the protrusion interval in two directions at right angles to the two side walls at right angles to the side wall where the specific position is located, and according to the two beams of lightning The arrival time and the arrival time difference of the shot reaching the side wall or the protrusion are calculated, and the distance from the illuminator to the two side walls is calculated, thereby specifying the front The position of the illuminator. 2. A method for determining the internal position of a specific space, characterized in that: the feature is the position inside the space surrounded by the left and right side walls, the upper wall and the lower wall; the front side and the rear side wall of the month Parallel to each other and at right angles to the left and right side walls; a plurality of 143188.doc 201022631 conformal protrusions are arranged in parallel at equal intervals on the front, rear, left and right side walls; the position of the specific space inside is on the side wall; The illuminator capable of illuminating the laser disposed at the position irradiates the laser in the up and down direction, and the arrival time of the upper wall and the lower wall respectively according to the laser is calculated from the illuminator to the upper wall and the lower wall respectively. The distance between the two illuminators in the two directions at right angles to the two side walls at the right side of the side wall at the specific position by the illuminator, and the illuminator is slid by the protrusions In the above, according to the arrival of the laser, the distance between the illuminators and the two side walls is calculated, thereby specifying the position of the illuminator.3. 4. 5. 6. For the method of printing the internal position of a specific space of item 1 or 2, wherein the space surrounded by the upper wall and the lower wall of each of the front=left and right sides is a pin furnace, and the protrusion is a circular section Evaporation tube. A method for requesting a position of a specific space inside the item 1 or 2, wherein the upper wall and the wall are replaced by a position at a position below the illuminator and at a right angle to the front, rear, left and right side walls, respectively. The plate-shaped member of the set-up and the plate-shaped member disposed above the lower wall and below the illuminator at right angles to the rear left and right side walls, respectively. The method for determining the internal position of the specific space, wherein the front and rear left and right side walls and the upper wall protrusions have a circular cross section, and the evaporation t space is a boiler, a device in front of a specific space, and is characterized by: The front side wall and the rear side wall are parallel to each other and at right angles to the left and right side walls; and the front and rear left and right side walls are on the left and right side walls, the upper wall and the lower wall; A plurality of isomorphous protrusions are disposed in parallel at equal intervals; a position inside the specific space is on the sidewall; and an illuminator disposed at the position to illuminate the laser; the illumination 11 can be respectively in the up and down direction And two laser beams are irradiated at a distance of 1/2 of the protrusion interval in two directions at right angles to the two side walls at right angles to the side wall where the specific position is located; and a first arithmetic mechanism is provided, The illuminator reaches the arrival time of the upper wall and the lower jaw respectively by the laser beam irradiated upward and downward, and is calculated from the illuminator to the upper wall respectively. a distance between the walls; and a second calculation means for spacing the two protrusions at right angles to the two side walls at right angles to the side wall at the specific position by the illuminator; The arrival time and the arrival time difference of the two beams irradiated by the /2 interval to the side wall or the protrusion are calculated, and the distance from the illuminator to the two side walls is calculated. 7. A device for determining the internal position of a specific space, characterized in that: the position is specific to the inside of the space surrounded by the front, rear, left and right sides f, the upper wall and the lower wall; the front side wall and the rear side wall are parallel to each other and The left and right side walls are in a right angle relationship; a plurality of 143188.doc 201022631 conformal protrusions are disposed in parallel on the front, rear, left and right side walls at equal intervals; the position inside the specific space is on the side wall; and the configuration is included In this position, the illuminator capable of illuminating the laser; the illuminator can be spaced apart in the up-and-down direction and in the two directions at right angles to the two side walls at right angles to the side wall at which the specific position is located, with the protrusions spaced apart 1/2 interval irradiation of two laser beams and slidable distances of the protrusions; and a first operation mechanism for respectively reaching the upper wall according to the laser beams respectively irradiated in the up and down direction by the illuminator And the arrival time of the lower wall, calculating the distance from the illuminator to the upper wall and the lower wall respectively; and calculating the arithmetic mechanism, which slides the illuminator according to one side The side walls of the above-mentioned large objects are measured by the illuminator, and the two side walls at right angles of the side wall where the specific position is located are respectively at right angles, and are irradiated at intervals of 1/2 of the interval between the protrusions. 2 beams of Lei Da: the arrival time of the wall or the protrusion and the change of the arrival time difference, from the distance of the illuminator to the two side walls respectively. 143188.doc