JP3012050B2 - Position detecting method and position detecting device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an origin of a measurement coordinate system of a master unit for detecting a position of a slave unit used for flaw detection inspection of a reactor pressure vessel and a reference point provided on the reactor pressure vessel. The present invention relates to a position detecting method and a position detecting device for detecting a deviation of the position.

[0002]

2. Description of the Related Art Conventionally, when flaw detection is performed on a wall surface of a reactor pressure vessel, for example, as shown in FIG.
The sub-unit 32 that performs the flaw detection is magnetically attached to the wall surface of the reactor pressure vessel 31 for traveling. Then, the position of the slave unit 32 is detected optically by the master unit 33 or by using an ultrasonic wave or the like, thereby obtaining the flaw detection position. Also,
The master unit 33 includes racks 35, 35 of a reference track 34 attached vertically to the outer surface of the reactor pressure vessel 31.
Is engaged with a pinion (not shown) provided in the master unit 33, and the reference trajectory 3 is rotated by rotating the pinion.
4. And reference trajectory 3
4, the master unit 33 is disposed with an arbitrary position as a reference point, and the position of the reference point is obtained by detecting the rotation of the pinion with an encoder or the like.

[0003]

However, some reactor pressure vessels do not have the reference trajectory 34 or cannot have the reference trajectory 34 installed. In such a reactor pressure vessel, there is a problem that the master unit 33 cannot be installed. In addition, the master unit 33 cannot be installed on any other than the reference track 34, so that there is a problem that the installation place of the master unit 33 is limited. In addition, since the base unit 33 travels on the reference track 34, the position of the reference point of the base unit 33 is changed due to play of engagement between the racks 35, 35 of the reference track 34 and the pinion of the base unit 33. There is a possibility that the position of the slave unit 32 cannot be accurately detected because the position is not accurately obtained. Also, in order to arrange the master unit 33 at the reference point,
A large reference track 34 having racks 35, 35 has to be mounted on the outer surface of the reactor pressure vessel 31 with high accuracy, and there has been a problem that the mounting operation requires a great deal of labor. In addition, the parent machine 33 must be provided with a traveling mechanism including a pinion or the like that travels while meshing with the racks 35, 35 of the reference track 34, and further, an encoder or the like for detecting the rotation of the pinion must be provided. There is a problem that the size and structure of the machine 33 are increased.

[0004] The present invention has been made in view of the above circumstances, and is installed extremely near an arbitrary reference point on a reactor pressure vessel to detect the position of a master unit with respect to the reference point extremely easily and accurately. It is an object of the present invention to provide a position detecting method and a position detecting device capable of performing the above.

[0005]

According to a first aspect of the present invention, there is provided a position detecting method, comprising: a reference point formed on a reactor pressure vessel and a measurement coordinate system origin of a master unit for measuring a distance to a slave unit and an orientation of the slave unit. A position detection method for detecting a deviation from the origin of the measurement coordinate system, wherein the master unit is installed so that the reference point falls within the field of view of a camera provided at a position deviated from the origin of the measurement coordinate system, and the measurement coordinate system The center line of the arm is coincident with the origin of the coordinate system of the camera, and the inclination angle of the arm with respect to the coordinate system of the camera and the coordinate system of the camera when the arm is coincident and the measurement The coordinate system and the distance between the respective origins of the coordinate system of the camera are determined, and the deviation between the coordinate position of the reference point in the coordinate system of the camera and the origin of the measurement coordinate system from the obtained results, that is,
It is characterized in that a deviation between a reference point formed on the reactor pressure vessel and the origin of the measurement coordinate system is detected. The position detecting device of the second invention is a device for measuring a distance from the origin of the measurement coordinate system to the slave unit.
Provided in the master unit for measuring the distance and the orientation of the slave unit,
The origin of the coordinate system and the location where the master unit is installed
A position detecting device for detecting a deviation from a reference point,
The measurement coordinate system is provided rotatably around the origin as a rotation axis.
Index table and a turtle that projects the reference point
And one end is in contact with the rotation axis of the index table.
The rotation of the index table
And an arm passing between the reference point and the reference point,
Rotate the arm and align its center line with the camera's coordinate system.
Coincide with the origin, the coordinates of the measurement coordinate system and the camera
Tilt angle of the arm with respect to the system and the measurement coordinate system;
And the distance between the origins of the camera coordinate system.
From these obtained results, in the camera coordinate system
Check the deviation between the coordinate position of the reference point and the origin of the measurement coordinate system.
It is characterized by putting out .

[0006]

According to the position detecting method and the position detecting apparatus of the present invention, the arm is rotated about the origin of the measurement coordinate system, and the center line of the arm is set at the origin of the camera coordinate system on which the reference point is projected. , The respective tilt angles of the coordinate system of the arm and the camera and of the arm and the measurement coordinate system are detected. Then, based on these inclination angles and the distance between the origins of the respective coordinate systems, the deviation between the coordinate position of the reference point in the camera coordinate system and the origin of the measurement coordinate system, that is, the displacement between the reference position and the origin of the measurement coordinate system, is formed on the reactor pressure vessel. A deviation between the reference point thus set and the origin of the measurement coordinate system is detected.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the drawings. In FIG. 1, reference numeral 1 denotes a reactor pressure vessel, and reference numeral 2 denotes a slave unit that performs flaw detection on the reactor pressure vessel 1.
The slave unit 2 is magnetized and run on the wall surface of the reactor pressure vessel 1 by the magnet wheels 3 and 3, and the probe 6 performs flaw detection of the reactor pressure vessel 1. Reference numeral 11 denotes a master unit. This parent machine 1
1 is provided with a camera 7 at a position deviated from the origin O of a measurement coordinate system for measuring the position of the slave unit 2.
Are magnetically attached to the wall of the reactor pressure vessel 1 by the magnet chucks 5 and 5 so that a reference point P made of a cross punch or the like provided on the wall of the reactor pressure vessel 1 is within the field of view of the reactor pressure vessel 1. Has become.

Next, the structure of the master unit 11 will be described with reference to FIGS. An index table 14 is rotatably supported by the base unit 11. The rotation of a drive motor 13 such as a stepping motor fixed to the base unit 11 is transmitted to the index table 14 via a speed reducer 13a. Has become.

The index table 14 is provided with a rotary shaft 15, which is inserted through a hollow drive shaft 13 b of the drive motor 13.
The material is extended toward the wall surface of the reactor pressure vessel 1 on which the master unit 11 is installed. One end of an arm 16 is fixed to the tip of the rotating shaft 15, and the arm 16 rotates with the rotation of the index table 14 rotated by the drive motor 13.
In FIG. 3, the mounting position of the drive motor 13 is modeled at a position shifted from the center.

The camera 7 provided in the base unit 11
Is connected to a monitor 21 so that an image captured by the camera 7 is displayed. A ring illumination 22 is provided around the camera 7, and the range of illumination by the ring illumination 22 and the shooting range of the camera 7, that is, the field of view 7 a are made substantially the same, so that the illumination range becomes the field of view 7 a of the camera 7. Is shown. Reference numeral 24 denotes a light receiving element, which receives light from the handset 2 through the lens 25 and detects the direction of the handset 2 from the received light signal. Reference numeral 26 denotes an ultrasonic microphone for detecting a distance between the slave unit 2 and the master unit 11.

Next, a description will be given of a position detection method by the base unit 11 configured as described above. 1. Installation of Master Unit 11 First, the master unit 11 is installed on the wall surface of the reactor pressure vessel 1 by using the magnet chucks 5 and 5 so that the reference point P falls within the illumination range of the ring illumination 22 indicating the field of view 7a of the camera 7. I do. 2. Measurement of the amount of deviation between the origin O of the measurement coordinate system and the reference point P (1) The index table 1 is driven by the drive motor 13 so that the signal of the vertical direction sensor 9 indicates a vertical value.
Rotate 4. That is, the measurement coordinate system Xm-Y of the base unit 11
It is set so that the positive direction of the Ym axis of m is vertically upward. In this way, the arm 16 is moved to the measurement coordinate system Xm−
The state is extended in the negative direction of the Xm axis of Ym. (2) In the state of (1), the arm 16 is rotated clockwise in FIG. 4 together with the index table 14 by the drive motor 13, and the center line 16 of the arm 16 is rotated.
The reference mark M provided on a is matched with the origin Oc of the coordinate system of the camera 7 (see FIG. 5). Then, based on the number of pulses required for driving the drive motor 13,
From the state of (1) to the state of (2) (measurement coordinate system Xm-Ym
From the state where the reference mark M extends in the negative direction of the Xm axis of
Of the arm 16 with respect to the origin Oc of the camera coordinate system), and the inclination angle θom of the arm 16 with respect to the Xm axis of the measured coordinate system Xm-Ym is determined.

(3) On the screen of the monitor 21, the inclination angle θ of the center line 16a of the arm 16 with respect to the Xc axis of the coordinate system Xc-Yc of the camera 7 is measured. (4) The coordinate position (Xc, Yc) of the reference point P is measured in the coordinate system Xc-Yc of the camera 7. (5) The tilt angle θom obtained in (2) and (3) above,
From θ, the coordinate system Xc-Yc of the camera 7 and the measurement coordinate system Xm-
The inclination angle θcm with respect to Ym (θcm = θom−θ) is calculated. (6) The distance R between the origin O of the measurement coordinate system previously determined and the origin Oc of the coordinate system of the camera 7 and the measured value θc
from the coordinate position (Xc, Yc) of the reference point P in the coordinate system Xc-Yc of the camera 7 to the measurement coordinate system Xm
The coordinate position (Xm, Ym) of the reference point P at −Ym, that is, the deviation between the origin O of the measurement coordinate system and the reference point P is calculated from the following equation.

[0013]

(Equation 1)

Then, the position of the slave unit 2 measured in the measurement coordinate system Xm-Ym is determined from the above equation, and the coordinate position (Xm, Ym) of the reference point P in the subject coordinate system is used as the origin. The position of the slave unit 2 from the reference point P can be measured very accurately. As described above, according to the master unit 11 of the above embodiment, the measurement coordinate system Xm-Ym is set by the vertical direction sensor 9 and the inclination between the measurement coordinate system Xm-Ym and the coordinate system Xc-Yc of the camera 7 is set. The angle θcm is detected by the arm 16 rotating about the origin O of the measurement coordinate system, and the angle θcm and the distance R between the origins O and Oc of the respective coordinate systems are measured very easily and with high accuracy. The deviation between the coordinate system origin O and the reference point P can be detected. Then, the position of the slave unit is corrected with extremely high accuracy by correcting the position of the slave unit in the measurement coordinate system of the master unit 11 to the position in the subject coordinate system with the reference point P as the origin based on the positional shift. be able to. Therefore, since the reference trajectory 34 unlike the related art is not required, the master unit 11 can be installed in the vicinity of a plurality of reference points provided at arbitrary positions on the reactor pressure vessel. Further, it is not necessary to install the reference trajectory 34 in the reactor pressure vessel 1 and a great deal of labor for installing the reference trajectory 34, and it is necessary to provide the master unit 11 with a traveling mechanism such as a pinion. Can be eliminated, and the parent device 11 can be simplified and reduced in size and weight. In addition, every time the master unit 11 is installed on the wall surface of the reactor pressure vessel 1, the deviation of the position between the origin O and the reference point P of the measurement coordinate system is measured and corrected. be able to.

Further, the position and direction relationship between the coordinate system Xc-Yc of the camera 7 and the measurement coordinate system Xm-Ym can be eliminated beforehand by using a precise calibration device.
Therefore, for example, every time the camera 7 is maintained or replaced, the coordinate system Xc
A great deal of trouble can be eliminated by measuring the positional relationship between -Yc and the measurement coordinate system Xm-Ym. That is, the camera 7 can be mounted very easily. Further, according to the master unit 11 of the above embodiment, the illumination range of the ring illumination 22 and the field of view 7a of the camera 7 are substantially matched, so that the master unit 11 is installed on the wall surface of the reactor pressure vessel 1. At this time, the reference point P provided on the wall surface can be extremely easily placed in the visual field 7a of the camera 7 and installed.

In the master unit 11 of the above embodiment, the distance R between the origin Oc of the coordinate system of the camera 7 and the origin O of the measurement coordinate system is determined.
Is a value that is mechanically determined by installing the camera 7, but by providing a scale on the arm 16 in the longitudinal direction, the distance R between the origins O and Oc is also determined by the master unit 1.
The measurement may be performed every time one device is installed. Further, the specific structure and configuration of the master unit 11 of the above embodiment are not limited to the embodiment.

[0017]

As described above, according to the position detecting method and the position detecting device of the present invention, the following effects can be obtained. Place the master unit so that the reference point is within the field of view of the camera, rotate the arm around the origin of the measurement coordinate system of the base unit, and align the center line of the arm with the origin of the camera coordinate system. The tilt angle of the arm with respect to the measurement coordinate system and the camera coordinate system and the distance between the origins of the measurement coordinate system and the camera coordinate system are obtained, and from these obtained results, the reference in the camera coordinate system is very easily obtained. The deviation between the coordinate position of the point and the origin of the measurement coordinate system, that is,
It is possible to detect a deviation between a reference point formed on the reactor pressure vessel and the origin of the measurement coordinate system. Then, by correcting the position of the slave unit in the measurement coordinate system of the master unit to the position in the subject coordinate system with the reference point as the origin, the position of the slave unit can be detected with extremely high accuracy. it can. Therefore, since the reference trajectory is not required unlike the related art, the master unit can be installed near the reference point (s) provided at an arbitrary position on the reactor pressure vessel. In addition, it is possible to eliminate the need for installing a reference trajectory on the reactor pressure vessel and installing the reference trajectory, and to eliminate the need to provide a traveling mechanism such as a pinion in the master unit. As a result, the parent device can be simplified and reduced in size and weight. In addition, each time the master unit is installed on the wall surface of the reactor pressure vessel or the like, the positional deviation between the origin of the measurement coordinate system and the reference point is measured and corrected, so that the reproducibility can be extremely improved. In addition, it is possible to eliminate the need to measure the positional relationship between the camera coordinate system and the measurement coordinate system in advance by using a precision calibration device. A great deal of trouble can be eliminated by measuring the positional relationship between the system and the measurement coordinate system. That is, the camera can be attached to the main body very easily.

[Brief description of the drawings]

FIG. 1 is a diagram illustrating a slave unit installed on a wall surface of a reactor pressure vessel and a master unit of the present embodiment.

FIG. 2 is a schematic configuration diagram illustrating a cross section of a part of the master unit for explaining a structure of the master unit of the embodiment of the present invention.

FIG. 3 is a model diagram of a master unit schematically showing a structure of the master unit.

FIG. 4 is a schematic plan view of the parent device for explaining a method of detecting the position of the parent device.

FIG. 5 is a diagram showing a screen displayed on a monitor of a camera.

FIG. 6 is a diagram illustrating a master unit and a slave unit installed on a wall surface of a conventional reactor pressure vessel.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 reactor pressure vessel 2 slave unit 7 camera 7a field of view 11 master unit 14 index table 15 rotation axis 16 arm

──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Hiroyuki Sasajima 8 Shinsugita, Isogo-ku, Yokohama-shi, Kanagawa Prefecture Inside the Toshiba Yokohama Office (72) Inventor Toshiaki Suzuki 3-2-15-1 Toyosu, Koto-ku, Tokyo Ishikawajima Harima Heavy Industries Co., Ltd.Higashiji Technical Center (72) Inventor Koji Kobayashi 1 Shinnakahara-cho, Isogo-ku, Yokohama-shi, Kanagawa Prefecture Ishikawajima-Harima Heavy Industries Co., Ltd.Yokohama 1st factory (72) Inventor Takaaki Sasaki Isogo-ku, Yokohama-shi, Kanagawa No. 1 Shin-Nakahara-cho Ishikawajima-Harima Heavy Industries, Ltd., Yokohama No. 1 Factory (58) Field surveyed (Int. Cl. ⁷ , DB name) G01B 11/00-11/30

Claims (2)

(57) [Claims] 1. A position detecting method for detecting a deviation between an origin of a measurement coordinate system of a master unit for measuring a distance to a slave unit and an orientation of the slave unit and a reference point formed on a reactor pressure vessel, Install the master unit so that the reference point falls within the field of view of the camera provided at a position deviated from the origin of the measurement coordinate system,
Rotate the arm around the origin of the measurement coordinate system,
The center line of the arm is coincident with the origin of the coordinate system of the camera, and the inclination angle of the arm with respect to the coordinate system of the measurement coordinate system and the coordinate system of the camera when coincident, and the coordinate system of the measurement coordinate system and the camera, respectively. And a distance between the origin of the measurement coordinate system and the coordinate position of the reference point in the coordinate system of the camera from the obtained results. 2. The distance from the origin of the measurement coordinate system to the slave unit and
The measurement coordinate system is provided in the master unit for measuring the orientation of the slave unit.
Origin and standard provided at the place where the master unit is installed
A position detecting device for detecting a deviation from a point, wherein the position detecting device is provided rotatably around the origin of the measurement coordinate system as a rotation axis.
Index table and a turtle that projects the reference point
And one end is in contact with the rotation axis of the index table.
The rotation of the index table
And an arm passing between La and the reference point, the center line by rotating the arm coordinates of the camera
Coincide with the origin of the system, and
The tilt angle of the arm with respect to a coordinate system and the measurement coordinate system
And the distance between the respective origins of the camera coordinate system.
In the coordinate system of the camera.
Between the coordinate position of the reference point and the origin of the measurement coordinate system.
Position detecting device and detecting.