JP2018205091A - Ultrasonic flaw detection device and inspection method using ultrasonic wave - Google Patents

Abstract

To provide an ultrasonic flaw detection device capable of suppressing an inspection omission as compared with before and also increasing inspection efficiency as compared with before, and an inspection method using an ultrasonic wave.SOLUTION: An ultrasonic flaw detection device comprises: a marker 8 provided to an ultrasonic probe 1; an ultrasonic distance meter 6 provided to piping 2 and detecting the distance between a position detection sensor unit 4 and the marker 8; the position detection sensor unit 4 having an optical camera 5 for detecting displacement of the marker 8 from the position detection sensor unit 4 in a vertical plane direction; a calculation device 30 having a data recording determination part 30f for finding flaw detection data on the piping 2 and a probe position calculation part 30c for finding a position of the marker 8; and a display device 50 displaying the flaw detection data and the position of the marker 8.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an ultrasonic flaw detector using ultrasonic waves, which is a kind of nondestructive inspection technique, and an inspection method using ultrasonic waves.

  As an example of a flaw detection apparatus that can realize that the probe has good operability, can cope with an inspection target having a shape change, and does not require scanner mounting time, Patent Document 1 discloses probe position information. The sampling means is a ball type which is coupled to the probe and transmits the rotation of the ball to the encoder via a roller. When the probe moves on the surface to be inspected, the ball moves with the probe and the ball is inspected. A mouse scanner configured so that the encoder outputs a ball rotation detection signal by rolling on the surface of the encoder, and an encoder output device for determining the position of the probe on the surface to be inspected based on the rotation detection signal of the encoder A flaw detection device is described.

JP 2006-170766 A

  Ultrasonic flaw detectors are used in non-destructive inspection of inspection objects such as pipes and containers in nuclear power plants and thermal power plants. Ultrasonic flaw detectors include a manual scanning type in which an inspector moves an ultrasonic probe and an automatic scanning type in which an ultrasonic probe is moved by a scanning device (scanner).

  A manual scanning ultrasonic flaw detector generally displays an ultrasonic waveform received by an ultrasonic probe. Then, the inspector determines whether a defect exists in the inspection object from the displayed ultrasonic waveform, and records the result on paper or the like.

  The automatic scanning ultrasonic flaw detector acquires the position information of the probe. More specifically, the scanning device is composed of, for example, a rail, a guide cable, etc., and is a 1-axis type that moves the probe only in the X-axis direction, a 2-axis type that moves the probe in the X-axis direction and the Y-axis direction, There is a multi-axis type in which the probe is moved in three or more axial directions (three-dimensional space). Then, for example, using an encoder, the amount of movement of the probe in each axial direction is detected by converting it into a rotation amount, and the position information of the probe is acquired based on the detection result.

  In either scanning method, predetermined processing is performed on the waveform signal from the ultrasonic probe to acquire waveform data (for example, discrete data consisting of the relationship between the ultrasonic path length and the peak value), and this waveform data is probed. Correlate with location information. Based on the waveform data and probe position information, flaw detection data (for example, discrete data consisting of the relationship between the ultrasonic reflection position and the peak value) is created and the flaw detection data is displayed.

  The automatic scanning ultrasonic flaw detector described above is excellent in the accuracy and reproducibility of the inspection result recording because the inspection result is associated with the position information. However, the mounting of motors and the like on the scanning device increases the size of the scanning device. Therefore, there exists a subject that it is not suitable for the inspection of a narrow part. In addition, there is a problem that it is not easy to cope with the shape change portion of the inspection target. Specifically, if the scanning device is composed of rails or the like, it is easy to move the probe along the surface of the straight tube, but the probe can be moved along the surface of the elbow or the nozzle. There is a problem that it is not easy.

  On the other hand, the manual scanning ultrasonic flaw detector is suitable for inspection of narrow portions, and can easily cope with a shape change portion to be inspected. However, generally, since the inspection result is not associated with the position information, a problem arises in terms of the accuracy and reproducibility of the inspection result recording. Therefore, for example, in Patent Document 1, an encoder is arranged as a probe position detecting means around a probe that comes into contact with a pipe, the scanning distance of the pipe surface is calculated, and the movement trajectory of the probe and the flaw detection result are obtained. The simultaneous recording is described.

  However, in the above-mentioned Patent Document 1, since the contact position grasping means is adopted, the position cannot be grasped when the pipe and the probe are separated during the pipe scanning by a person. Is expected. To deal with this, mechanical constraints such as the addition of a scanner mechanism may be considered, but it may take time to install or may impair scanning freedom, and the advantages of manual scanning are almost obtained. There is a problem that it will disappear.

  The present invention has been made in view of the above, and provides an ultrasonic flaw detection apparatus and an ultrasonic inspection method that can suppress inspection omission as compared with the prior art and can increase inspection efficiency as compared with the prior art. Objective.

  The present invention includes a plurality of means for solving the above-described problems. For example, an ultrasonic flaw detection apparatus for performing nondestructive inspection using ultrasonic waves on an inspection object, which includes an ultrasonic probe And an ultrasonic transmission / reception device that generates an ultrasonic wave from the ultrasonic probe and processes an ultrasonic signal reflected from the inspection object, and at least one of the inspection object and the ultrasonic probe. The inspection from the position detection sensor unit, the marker provided on the inspection object and the ultrasonic probe, at least on the side where the position detection sensor unit is not provided, and the signal processed by the ultrasonic transmission / reception device The flaw detection data calculation unit for obtaining the flaw detection data of the target and the output signal of the position detection sensor unit were captured and captured. A calculation device having a probe position calculation unit that obtains the position of the marker based on a force signal, a storage device that associates and stores the flaw detection data obtained by the calculation device, and the position of the marker; A display device that displays the obtained flaw detection data and the position of the marker, wherein the position detection sensor unit detects a distance between the position detection sensor unit and the marker, and It has a 2nd sensor which detects the displacement of the vertical plane direction of the said marker with respect to a position detection sensor unit.

  According to the present invention, inspection omission can be suppressed as compared with the prior art, and the inspection efficiency can be increased as compared with the conventional case. Problems, configurations, and effects other than those described above will become apparent from the following description of embodiments.

1 is a block diagram showing a configuration of an ultrasonic flaw detector according to a first embodiment of the present invention. It is a figure which shows the fixing mechanism installed in piping by the 1st Embodiment of this invention. It is a figure which shows the position detection sensor unit by the 1st Embodiment of this invention. It is a figure which shows the probe holder provided in the ultrasonic probe by the 1st Embodiment of this invention. It is a figure which shows the structure of the monitor screen which displays the ultrasonic probe position of the ultrasonic flaw detector by the 1st Embodiment of this invention. It is a flowchart explaining the flaw detection method by the ultrasonic wave by the 1st Embodiment of this invention. It is a flowchart explaining the ultrasonic probe position calculation process by the 1st Embodiment of this invention. It is a block diagram which shows the structure of the ultrasonic flaw detector by the 2nd Embodiment of this invention.

  Embodiments of an ultrasonic flaw detector and an ultrasonic inspection method of the present invention will be described below with reference to the drawings.

<First Embodiment>
A first embodiment of an ultrasonic flaw detector and an ultrasonic inspection method of the present invention will be described with reference to FIGS.

  In the present embodiment, an ultrasonic flaw detection apparatus that grasps a probe position without using a mechanical scanning device in ultrasonic flaw detection of pipes, and a pipe inspection method using ultrasonic waves suitably using the flaw detection apparatus will be described.

  FIG. 1 is a block diagram showing the configuration of the ultrasonic flaw detector according to the present embodiment.

  As shown in FIG. 1, an ultrasonic flaw detection apparatus 100 according to an embodiment of the present invention is an apparatus for performing nondestructive inspection using ultrasonic waves on a pipe 2 to be inspected. The ultrasonic flaw detection apparatus 100 mainly includes an ultrasonic probe 1, a fixing mechanism 3, an ultrasonic transmission / reception apparatus 20, a calculation apparatus 30, a storage apparatus 40, a display apparatus 50, and an input apparatus 60. Is done.

  Of the ultrasonic flaw detector 100, the calculation device 30 is composed of a personal computer (PC), a substrate on which electronic components are mounted, and the like. The storage device 40 includes a hard disk and a RAM, the display device 50 includes a PC display and the like, and the input device 60 includes a mouse, a keyboard, a touch panel, and the like.

  An ultrasonic probe 1 that transmits and receives ultrasonic waves to and from the pipe 2 for ultrasonic flaw detection is a so-called manual scan that is held by an inspector by hand and moved along the surface of the pipe 2. It does not have a mechanical scanning mechanism having a drive unit such as. Thereby, it is not necessary to install a mechanical scanning mechanism around the probe, and it can be applied to a shape changing portion such as a narrow portion or an elbow tube.

  The ultrasonic probe 1 is connected to the ultrasonic transmission / reception device 20 through electrical wiring. The ultrasonic probe 1 includes a piezoelectric element (not shown), and a voltage is applied to the piezoelectric element from the ultrasonic transmission / reception device 20 via an electric wiring, and the piezoelectric element vibrates to generate an ultrasonic wave, thereby generating a pipe 2. The ultrasonic echo reflected from the pipe 2 is detected by a piezoelectric element, and this detection signal (flaw detection signal) is sent to the ultrasonic transmitting / receiving device 20.

  The ultrasonic transmission / reception device 20 generates an ultrasonic wave from the ultrasonic probe 1 and processes an ultrasonic signal reflected from the pipe 2. The ultrasonic transmission / reception device 20 transmits the ultrasonic probe 1 through the electrical wiring. And connected to the computing device 30.

  The ultrasonic transmission / reception apparatus 20 includes a pulser that oscillates an ultrasonic wave and a receiver that receives the ultrasonic wave. By processing a flaw detection signal sent from the ultrasonic probe 1, waveform data such as an A scope is obtained. As described above, flaw detection data is generated and stored in the flaw detection data memory 30d, which is temporary storage means in the calculation device 30.

  In the present embodiment, transmission / reception of ultrasonic waves by a single piezoelectric element is described as an example, but the number of piezoelectric elements provided in the ultrasonic probe 1 is not limited to one. Phased that electronically manipulates the transmission / reception direction of an ultrasonic beam by controlling the timing of ultrasonic transmission / reception in the ultrasonic transmission / reception apparatus 20 using an array probe in which a plurality of piezoelectric elements are arranged one-dimensionally or two-dimensionally. When the array method or the like is used, a plurality of flaw detection data is stored in the flaw detection data memory 30d for each transmission / reception direction of the ultrasonic beam.

  The fixing mechanism (fixing tool) 3 is a device incorporating a sensor for detecting the position of the ultrasonic probe 1. The details will be described with reference to FIGS. 2A and 2B. FIG. 2A is a view showing a fixing mechanism installed in the pipe according to this embodiment, and FIG. 2B is a view showing a position detection sensor unit.

  As shown in FIGS. 1 and 2A, a plurality of position detection sensor units 4 are installed in the fixing mechanism 3, and the position detection sensor units 4 are fixed to the pipe 2 by the fixing mechanism 3.

  As shown in FIG. 2B, each position detection sensor unit 4 is an ultrasonic rangefinder as a first sensor that detects the distance between the position detection sensor unit 4 and the marker 8 (the distance in the Y direction in FIG. 1). 6 and an optical camera 5 as a second sensor that detects displacement in the vertical plane direction of the marker 8 relative to the position detection sensor unit 4 (positions in the X direction and Z direction in FIG. 1).

  The first sensor of the position detection sensor unit 4 can use a laser distance meter 6 </ b> A instead of the ultrasonic distance meter 6. Moreover, both the ultrasonic distance meter 6 and the laser distance meter 6A can be used.

  In the present embodiment, a plurality of position detection sensor units 4 are installed in the circumferential direction of the pipe 2, but the measurable range differs depending on the specifications of the optical camera 5 and the ultrasonic distance meter 6, and the size of the pipe 2. In addition, since the constraint conditions of the existence space differ depending on the inspection target location, the shape of the fixing mechanism 3 and the number of position detection sensor units 4 are not limited to those shown in FIGS.

  The power / signal cables of the ultrasonic distance meter 6 and the optical camera 5 incorporated in each position detection sensor unit 4 are collected in the fixing mechanism 3 and output to the computing device 30 connected via the electrical wiring. .

  FIG. 3 is a diagram showing a probe holder 7 provided in the ultrasonic probe 1 according to this embodiment. As shown in FIG. 3, the probe holder 7 is provided outside the ultrasonic probe 1, and is measured on the outer surface by an optical camera 5 and an ultrasonic distance meter 6 built in the position detection sensor unit 4. The marker 8 is provided.

  The marker 8 will be described in detail. In the marker 8, the ultrasonic distance meter 6 measures the distance between the position detection sensor unit 4 and the ultrasonic probe 1, and the optical camera 5 detects the displacement of the marker 8 in the vertical plane direction with respect to the position detection sensor unit 4. It is a mark for this purpose, and is composed of a member having high visibility with the optical camera 5 and having high ultrasonic reflectance. The optical camera 5 is composed of a member having characteristics different from the surrounding environment reflected in the camera image, such as a plurality of LEDs, a fluorescent tape, and a geometric pattern having characteristics. The ultrasonic distance meter 6 is made of a hemisphere capable of reflecting sound regardless of the incident angle of the ultrasonic wave, a material having a surface roughness different from that of other surrounding reflectors, and the like.

  Returning to FIG. 1, the input device 60 has shape data such as a function representing the shape of the outer peripheral surface of the pipe 2 to be inspected, a function representing the shape of the inner peripheral surface of the pipe 2, flaw detection target area, flaw detection conditions, and analysis. A device for inputting and operating conditions.

  The calculation device 30 is a device that is connected to the ultrasonic probe 1 and the ultrasonic transmission / reception device 20 via wiring and has a board on which a CPU and the like for executing various arithmetic processes are mounted. The calculation device 30 includes a recording condition setting unit 30a, a position detection sensor signal capturing unit 30b, a probe position calculation unit 30c, a flaw detection data memory 30d, an acoustic connectivity determination unit 30e, and a data recording determination unit (flaw detection data calculation unit). 30f etc.

  The recording condition setting unit 30a stores, for example, CAD data, functions, and the like as the shape information of the inspection target input by the input device 60. In the present embodiment, a function that represents the shape of the outer peripheral surface of the pipe 2, a function that represents the shape of the inner peripheral surface of the pipe 2, and the like are stored.

  The position detection sensor signal capturing unit 30 b is a part that captures output signals from the ultrasonic distance meter 6 and the optical camera 5. The specifications of the position detection sensor signal capturing unit 30 b are appropriately selected according to the output signals of the ultrasonic distance meter 6 and the optical camera 5. For example, in the case of the analog output type ultrasonic distance meter 6 and the optical camera 5, a converter that performs digital conversion is selected. In the case of the digital output ultrasonic distance meter 6 or the optical camera 5, serial, LAN, USB, or the like is selected.

  The probe position calculation unit 30c is a part for obtaining the position of the marker 8 based on the output signals of the optical camera 5 and the ultrasonic distance meter 6 in the position detection sensor unit 4 acquired by the position detection sensor signal acquisition unit 30b. The probe position calculation unit 30 c executes position calculation processing for calculating the three-dimensional position coordinates of the marker 8 from the output signal of the position detection sensor unit 4. Further, the three-dimensional position of the marker 8 relative to the pipe 2 is specified based on the shape information stored in the recording condition setting unit 30a and the three-dimensional position coordinate of the marker 8 calculated by the position calculation process described above, and the position is determined. Display processing to be displayed on the display device 50 is executed.

  Here, a method of calculating the X coordinate and the Z coordinate using the output image of the optical camera 5 in the probe position calculation unit 30c will be briefly described. In this embodiment, since a plurality of optical cameras 5 are provided around the circumference of the pipe 2, at least two still images extracted from the camera video are used for calculating the X coordinate and the Z coordinate. These two images may be obtained either by using the same camera at different times or by using different cameras at the same time. In any case, the principle of the stereo camera is used to calculate the marker 8 position of the probe holder 7.

  The flaw detection data memory 30d is a part that temporarily stores the waveform data input from the ultrasonic transmission / reception device 20.

  The acoustic connectivity determination unit 30e is a part that determines the acoustic coupling state (contact state) between the ultrasonic probe 1 and the pipe 2 to be inspected based on the waveform data stored in the flaw detection data memory 30d.

  The data recording determination unit 30 f is a part for obtaining flaw detection data of the pipe 2 from the waveform data processed by the ultrasonic transmission / reception device 20. The data recording determination unit 30f outputs the obtained flaw detection data information and the information on the position of the marker 8 obtained by the position calculation processing in the probe position calculation unit 30c in association with each other to the storage device 40 and the display device 50. .

  The storage device 40 is a device that stores the analysis conditions and the flaw detection data obtained by the calculation device 30 in association with the position of the marker 8.

  The display device 50 is a device that displays various information such as flaw detection results, for example, flaw detection data obtained by the calculation device 30 and the position of the marker 8. The data recording area notification unit 50a, flaw detection result display unit 50b, and probe It has a position confirmation screen 50c.

  The data-recorded area notifying unit 50a includes the pipe 2 and the pipe 2 based on the shape data of the pipe 2 stored in the recording condition setting unit 30a and the position data of the ultrasonic probe 1 obtained by the probe position calculation unit 30c. 5 is a screen that displays a scheduled flaw detection area, an area in which ultrasonic flaw detection has already been performed, and an unimplemented area.

  The flaw detection result display unit 50 b is a screen that displays flaw detection data obtained by the data recording determination unit 30 f of the calculation device 30.

  The probe position confirmation screen 50 c is a screen that displays the positional relationship between the pipe 2 and the ultrasonic probe 1. The details will be described below with reference to FIG. FIG. 4 is a diagram illustrating a configuration of a monitor screen that displays an ultrasonic probe position of the ultrasonic flaw detector according to the present embodiment.

  As shown in FIG. 4, a coordinate data display unit 101 and a three-dimensional probe position display unit 102 are provided on the probe position confirmation screen 50c. The coordinate data display unit 101 includes a position calculation process in the probe position calculation unit 30c. The numerical values of the X coordinate, the Y coordinate, and the Z coordinate calculated in the above are displayed. The three-dimensional probe position display unit 102 displays the probe 105 and the movement trajectory 104 of the probe 105 in addition to the shape data 103 of the pipe 2 to be inspected previously read.

  Next, details of an inspection method for performing nondestructive inspection by ultrasonic waves on the pipe 2 according to the present embodiment will be described with reference to FIGS. 5 and 6. FIG. 5 is a flowchart for explaining an ultrasonic flaw detection method according to this embodiment.

  In FIG. 5, first, the position detection sensor unit 4 is installed in the pipe 2, and the marker 8 is installed and fixed in the ultrasonic probe 1 (step S11, installation step).

  Next, while the inspector moves the ultrasonic probe 1 along the surface of the pipe 2, an ultrasonic wave is generated from the ultrasonic probe 1 and an ultrasonic signal reflected from the pipe 2 is processed (step S12, Ultrasonic transmission / reception step).

  Next, flaw detection data calculation processing for obtaining flaw detection data of the pipe 2 from the signal processed in step S12 is executed (step S13, calculation step). In step S13, a probe position calculation process is performed in which the output signal of the position detection sensor unit 4 is acquired and the three-dimensional position coordinates of the marker 8 are calculated based on the acquired output signal.

  Next, the flaw detection data obtained in step S13 and the position of the marker 8 are displayed (step S14, display step). In this step S14, the shape information of the pipe 2 input in advance is fetched, and the three-dimensional position of the marker 8 with respect to the pipe 2 is determined based on the fetched shape information and the three-dimensional position coordinates of the marker 8 calculated by the position calculation process. Display.

  Next, it is determined whether or not the flaw detection has been completed in all flaw detection target areas (step S15). When it is determined that the game has ended, the victory ends. On the other hand, when it is determined that the process has not been completed, the process returns to step S12, and acquisition of flaw detection data is continued.

  Next, the ultrasonic probe position calculation process in step S13 in FIG. 5 will be described with reference to FIG. FIG. 6 is a flowchart for explaining ultrasonic probe position calculation processing according to the present embodiment. This process is preferably implemented in the probe position calculation unit 30c in the calculation apparatus 30 shown in FIG.

  In FIG. 6, first, the shape information of the pipe 2 to be inspected is input (step S101, input step). This shape information is design data or actual shape data measured on site.

  Next, the signal output of the ultrasonic distance meter 6 is read (step S102), and the output image of the optical camera 5 is read (step S103). Here, the output of all the sensor signals is the input data of this process that is collectively taken at the same time. Note that steps S102 and S103 are in no particular order.

  Next, the Y coordinate, that is, the position of the ultrasonic probe 1 in the direction perpendicular to the fixing mechanism 3 is calculated from the signal of the ultrasonic distance meter 6 read in step S102 (step S104). In general, an ultrasonic rangefinder is a principle that calculates the time difference between sound propagation time, that is, the time difference from when the sound is transmitted to when the reflected signal is received, and the distance from the sound velocity propagating in the air to the reflector, This embodiment also has the same principle.

  Further, the X coordinate and the Z coordinate, that is, the horizontal position of the ultrasonic probe 1 with respect to the fixing mechanism 3 is calculated from the output image of the optical camera 5 captured in step S103 (step S105). Steps S104 and S105 are also out of order.

  Finally, the X, Y, Z coordinates calculated in step S104 and step S105 are converted into the surface coordinate system of the pipe 2 (step S106). In this conversion, the inspection target shape information read in step S101 is also used so that the probe position can be expressed even when the probe position is not on the pipe surface 14.

  By such processing, a screen as shown in the three-dimensional probe position display unit 102 in FIG. 4 is displayed.

  Next, the effect of this embodiment will be described.

  According to the ultrasonic flaw detection apparatus 100 and the ultrasonic inspection method of the first embodiment of the present invention described above, the first sensor that detects the distance between the position detection sensor unit 4 and the marker 8, and the position detection The position detection sensor unit 4 having a second sensor for detecting the displacement of the marker 8 in the vertical plane direction with respect to the sensor unit 4 can detect the position of the ultrasonic probe 1 during scanning with high accuracy and reliability. Therefore, by referring to the position data and collating the inspection result with the measurement position, the inspection omission spot of the pipe 2 can be easily identified, and the re-inspection can be performed only in the necessary area. Inspection omission can be suppressed as compared with the conventional case, and the inspection efficiency can be increased as compared with the conventional case.

  For example, if the ultrasonic probe 1 is a manual scanning type, probe position deviation and posture deviation due to camera shake are likely to occur. For this reason, even if the position information of the probe is acquired and the flaw detection data is displayed, it may be difficult to accurately check whether or not an inspection omission has occurred. Further, since it is not easy to keep the moving speed of the probe constant, there is a possibility that an inspection failure may occur even if the inspection results are recorded periodically at a constant time interval. However, there is a problem that if the moving speed of the probe is decreased in order to suppress the inspection omission, the inspection efficiency is lowered. On the other hand, the ultrasonic flaw detection apparatus 100 according to the present embodiment and the ultrasonic inspection method can be used with the pipe 2 without using additional equipment such as contact-type probe position grasping means and mechanical restraint means. It is possible to easily specify the position where the probe is separated, shortening the working time and securing the scanning freedom.

  Further, an input device 60 for inputting the shape information of the pipe 2 is further provided, and the probe position calculation unit 30 c of the calculation device 30 calculates the three-dimensional position coordinates of the marker 8 from the output signal of the position detection sensor unit 4. The shape information input by the calculation process and the input device 60 is captured, and the three-dimensional position of the marker 8 relative to the pipe 2 is displayed based on the acquired shape information and the three-dimensional position coordinates of the marker 8 calculated by the position calculation process. Since the display process is executed, by checking the displayed screen, it is possible for the inspector or the like to easily grasp the position where the pipe 2 and the probe are separated from each other, thereby making it difficult to cause an inspection omission. it can. Further, even if an inspection omission occurs, the location requiring inspection can be identified more easily, so that the inspection can be completed promptly.

  Furthermore, since the ultrasonic probe 1 is a manual scanning type in which the inspector moves along the surface of the pipe 2, there is no need to install a mechanical scanning mechanism around the ultrasonic probe 1, and a narrow portion or an elbow. An ultrasonic flaw detector and a flaw detection method that can also be applied to a shape changing portion such as a tube can be obtained.

  In addition, the calculation device 30 further includes an acoustic coupling determination unit 30e that determines an acoustic coupling state between the ultrasonic probe 1 and the pipe 2, so that the positional deviation or posture deviation of the ultrasonic probe 1 can be more easily performed. It is possible to identify the location where the inspection omission occurs due to, and to complete the inspection more quickly.

  Furthermore, since the position detection sensor unit 4 is fixed to the pipe 2 by the fixing mechanism 3, the position of the ultrasonic probe 1 can be calculated easily and easily, and the inspection efficiency can be further improved. it can.

  Further, since a plurality of position detection sensor units 4 are provided in the pipe 2 and the marker 8 is provided in the ultrasonic probe 1, the position detection accuracy of the ultrasonic probe 1 can be further increased, and the inspection efficiency can be further increased. Can do.

  Furthermore, the first sensor of the position detection sensor unit 4 is at least one of the laser distance meter 6A and the ultrasonic distance meter 6, so that the position detection sensor unit 4 and the marker 8 can be accurately detected. The distance can be detected, and the position detection accuracy of the ultrasonic probe 1 can be further increased.

  Further, since the second sensor of the position detection sensor unit 4 is the optical camera 5, the displacement of the marker 8 with respect to the position detection sensor unit 4 in the vertical plane direction can be detected with high accuracy. The position detection accuracy can be further increased.

<Second Embodiment>
An ultrasonic flaw detector and an ultrasonic inspection method according to the second embodiment of the present invention will be described with reference to FIG. The same components as those in the first embodiment are denoted by the same reference numerals, and description thereof is omitted. The same applies to the following embodiments.

  As shown in FIG. 7, the ultrasonic flaw detector 100A according to the present embodiment is opposite to the ultrasonic flaw detector 100 according to the first embodiment in the arrangement of the marker and the position detection sensor unit. A certain pipe 2 is provided with a plurality of markers 8A, and the ultrasonic probe 1 is provided with a plurality of position detection sensor units 4A for position measurement.

  The marker 8 </ b> A is fixed to the pipe 2 by a marker fixing mechanism 9 (fixing tool).

  Other configurations and operations are substantially the same configurations and operations as those of the ultrasonic flaw detection apparatus 100 according to the first embodiment described above, and details thereof are omitted.

  The ultrasonic flaw detector 100A and ultrasonic inspection method according to the second embodiment of the present invention can provide substantially the same effects as the ultrasonic flaw detector 100 and ultrasonic inspection method according to the first embodiment described above. .

  In addition, a plurality of markers 8 </ b> A are provided on the pipe 2 and the position detection sensor unit 4 </ b> A is provided on the ultrasonic probe 1, so that the position detection accuracy of the ultrasonic probe 1 can be further increased, and inspection efficiency is further increased. be able to.

<Others>
In addition, this invention is not limited to said embodiment, Various modifications are included. The above-described embodiment has been described in detail for easy understanding of the present invention, and is not necessarily limited to the one having all the configurations described.

  For example, although the case where the inspection target is the pipe 2 has been described, the inspection target is not limited to the pipe 2 and may have an arbitrary structure other than the pipe 2.

  Moreover, although the case where the ultrasonic probe 1 is a manual scanning type moved by the examiner has been described, it is not limited to the manual scanning type, and may be an automatic scanning type.

  Further, the case where the position detection sensor unit 4 is fixed to the pipe 2 by the fixing mechanism 3 and the case where the marker 8 is fixed by the marker fixing mechanism 9 have been described. Further, the position detection sensor unit 4 and the marker 8 are not necessarily fixed to the pipe 2 and may be moved. In this case, the position of the ultrasonic probe 1 is calculated in consideration of the moving speed and direction of the position detection sensor unit 4 and the marker 8 provided on the side other than the ultrasonic probe 1 side. However, since the calculation process of the position of the ultrasonic probe 1 becomes complicated, it can be fixed to the pipe 2 by the fixing mechanism 3 or the marker fixing mechanism 9 as in the first and second embodiments. desirable.

  Further, the case where a plurality of position detection sensor units 4 are provided in the pipe 2 as in the first embodiment and the case where a plurality of markers 8A are provided in the pipe 2 as in the second embodiment have been described. The position detection sensor unit 4 and the marker 8 do not need to be plural, and can be one. However, in order to further improve the calculation accuracy of the position of the ultrasonic probe 1, it is desirable to provide a plurality as in the first embodiment and the second embodiment.

  Further, when the position detection sensor unit 4 is provided in the pipe 2 as in the first embodiment and the marker 8 is provided in the ultrasonic probe 1, or the marker 8A is provided in the pipe 2 as in the second embodiment. Although the case where the position detection sensor unit 4A is provided in the acoustic probe 1 has been described, the position detection sensor unit 4 can be provided on either the pipe 2 side or the ultrasound probe 1 side. In this case, the markers 8 and 8A are provided on both the pipe 2 side and the ultrasonic probe 1 side.

  Further, a position detection sensor unit 4A and a marker 8 are provided on the ultrasonic probe 1 via the probe holders 7 and 7A, and the position detection sensor unit 4 and the marker 8A are provided on the pipe 2 via the fixing mechanism 3 and the marker fixing mechanism 9. As described above, the position detection sensor units 4, 4 </ b> A and the markers 8, 8 </ b> A can be directly provided to the ultrasonic probe 1 and the pipe 2.

1 ... Ultrasonic probe 2 ... Piping (inspection object)
3 ... Fixing mechanism (fixing tool)
4, 4A ... Position detection sensor unit 5 ... Optical camera (second sensor)
6 ... Ultrasonic distance meter (first sensor)
6A ... Laser distance meter (first sensor)
7, 7A ... Probe holder 8, 8A ... Marker 9 ... Marker fixing mechanism (fixing tool)
DESCRIPTION OF SYMBOLS 20 ... Ultrasonic transmitter / receiver 30 ... Calculation apparatus 30a ... Recording condition setting part 30b ... Position detection sensor signal acquisition part 30c ... Probe position calculation part 30d ... Flaw detection data memory 30e ... Acoustic connectivity determination part 30f ... Data recording determination part ( Flaw detection data calculation unit)
DESCRIPTION OF SYMBOLS 40 ... Memory | storage device 50 ... Display apparatus 60 ... Input device 50c ... Probe position confirmation screen 100,100A ... Ultrasonic flaw detector 101 ... Coordinate data display part 102 ... Three-dimensional probe position display part 103 ... Inspection object shape data 104 ... Movement locus 105 ... Probe

Claims (12)

An ultrasonic flaw detector for performing non-destructive inspection with ultrasonic waves on an inspection object,
An ultrasonic probe;
An ultrasonic transmission / reception apparatus that generates ultrasonic waves from the ultrasonic probe and processes an ultrasonic signal reflected from the inspection target;
A position detection sensor unit provided in at least one of the inspection object or the ultrasonic probe;
Among the inspection object and the ultrasonic probe, at least a marker provided on a side where the position detection sensor unit is not provided,
The flaw detection data calculation unit for obtaining flaw detection data to be inspected from the signal processed by the ultrasonic transmission / reception device, and the output signal of the position detection sensor unit are obtained, and the position of the marker is obtained based on the taken output signal. A calculation device having a probe position calculation unit;
A storage device that associates and stores the flaw detection data obtained by the calculation device and the position of the marker;
A display device that displays the flaw detection data obtained by the calculation device and the position of the marker;
The position detection sensor unit includes a first sensor that detects a distance between the position detection sensor unit and the marker, and a second sensor that detects a displacement of the marker in a vertical plane direction with respect to the position detection sensor unit. An ultrasonic flaw detector characterized by that. The ultrasonic flaw detector according to claim 1,
An input device for inputting the shape information of the inspection object;
The probe position calculation unit of the calculation device,
A position calculation process for calculating a three-dimensional position coordinate of the marker from an output signal of the position detection sensor unit;
The shape information input by the input device is captured, and the three-dimensional position of the marker with respect to the inspection object is displayed based on the captured shape information and the three-dimensional position coordinates of the marker calculated by the position calculation process. An ultrasonic flaw detector characterized by executing display processing. The ultrasonic flaw detector according to claim 1,
The ultrasonic flaw detector is characterized in that the ultrasonic probe is a manual scanning type that an inspector moves along the surface of the inspection object. The ultrasonic flaw detector according to claim 3,
The calculation apparatus further includes an acoustic coupling determination unit that determines an acoustic coupling state between the ultrasonic probe and the inspection target. The ultrasonic flaw detector according to claim 1,
Among the position detection sensor unit and the marker, the position detection sensor unit or the marker provided on the side not on the ultrasonic probe side is fixed to the inspection object by a fixture. Ultrasonic flaw detector. The ultrasonic flaw detector according to claim 1,
A plurality of the position detection sensor units are provided on the inspection object, and the marker is provided on the ultrasonic probe. The ultrasonic flaw detector according to claim 1,
A plurality of the markers are provided on the inspection target, and the position detection sensor unit is provided on the ultrasonic probe. The ultrasonic flaw detector according to claim 1,
The ultrasonic sensor according to claim 1, wherein the first sensor of the position detection sensor unit is at least one of a laser distance meter and an ultrasonic distance meter. The ultrasonic flaw detector according to claim 1,
The ultrasonic flaw detector according to claim 2, wherein the second sensor of the position detection sensor unit is a camera. An inspection method for performing non-destructive inspection by ultrasonic on an inspection object,
An installation step of installing a position detection sensor unit on at least one of the inspection object and the ultrasonic probe, and installing a marker on a side of the inspection object and the ultrasonic probe on which at least the position detection sensor unit is not provided. When,
An ultrasonic transmission / reception step for generating an ultrasonic wave from the ultrasonic probe and processing an ultrasonic signal reflected from the inspection object;
Flaw detection data calculation processing for obtaining flaw detection data to be inspected from the signal processed in the ultrasonic transmission / reception step, and taking in the output signal of the position detection sensor unit, and obtaining the position of the marker based on the taken out output signal A calculation step for executing the probe position calculation process;
Displaying the flaw detection data obtained in the calculation step and the position of the marker, and
The position detection sensor unit includes a first sensor that detects a distance between the position detection sensor unit and the marker, and a second sensor that detects a displacement of the marker in a vertical plane direction with respect to the position detection sensor unit. An ultrasonic inspection method characterized by using an object. The ultrasonic inspection method according to claim 10,
An input step for inputting the shape information of the inspection object;
In the probe position calculation process of the calculation step, a position calculation process for calculating a three-dimensional position coordinate of the marker from an output signal of the position detection sensor unit is executed,
In the display step, the shape information input in the input step is captured, and the marker information with respect to the inspection target is determined based on the captured shape information and the three-dimensional position coordinates of the marker calculated by the position calculation process. An ultrasonic inspection method characterized by executing a display process for displaying a three-dimensional position. The ultrasonic inspection method according to claim 10,
An ultrasonic inspection method, wherein an inspector moves the ultrasonic probe along the surface of the inspection object.

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