JP2613824B2 - Piping inspection equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pipe inspection apparatus for inspecting the corrosion state of various pipes such as gas pipes, water pipes, and oil plants, and the state of welds of newly installed pipes, and more particularly to a board thickness from the pipe inner surface. It is about measurement.

[0002]

2. Description of the Related Art In recent years, in order to ensure the safe operation of various pipes such as gas pipes, water pipes, petroleum plants, etc., it has been required to investigate and maintain the corrosion state of the inner surface of the pipes and to diagnose the service life. Have been.

In a conventional inspection apparatus for examining the corrosion state of the inner surface of a pipe, a television camera is mounted on a driving trolley running in the pipe, and the inner surface of the pipe is photographed by the TV camera, and the state of occurrence of corrosion and the width of the corrosion are measured. When the slit light is obliquely irradiated from the light emitting means to the corroded part and the irradiated slit light is photographed by a TV camera from the vertical direction to the inner surface of the tube, an image of the slit light is formed on the screen, Utilizing the fact that the image of the slit light shifts at the uneven portion due to corrosion, the depth of corrosion is measured from the shift amount of the image of the slit light on the screen.

[0004]

As described above, the method of measuring the depth of corrosion or the like from the shift amount of the image of the slit light irradiated on the inner surface of the tube is based on the case where no foreign matter such as sludge is deposited on the inner surface of the tube. Although the depth of corrosion and the like can be accurately measured, there is a disadvantage in that when sludge or the like is deposited at the corroded portion or in the vicinity thereof, the measurement accuracy of the depth of corrosion or the like is reduced due to the effect of the sludge or the like.

In addition, although the depth of corrosion of the inner surface of the pipe can be measured, the thickness of the pipe cannot be measured, and the state of the outer surface of the pipe at the corroded portion cannot be checked.

The present invention has been made in order to solve the above-mentioned disadvantages, and an object of the present invention is to provide a piping inspection apparatus capable of measuring the corrosion state of the pipe inner surface and the state of the pipe outer surface with high accuracy. It is.

[0007]

SUMMARY OF THE INVENTION A piping inspection apparatus according to the present invention includes a driving bogie traveling along an inner surface of a pipe, a sensor bogie pivotally mounted on the driving bogie, and a rotatable pivoting movement on the sensor bogie. A pipe inspection apparatus having an attached image means, a light emitting means, a surface treatment means, a plate thickness detecting means, and a control unit installed outside the pipe and connected to a driving trolley, wherein the image means is turned to a sensor unit. It is mounted movably to photograph the inner surface of the tube, the light emitting means emits slit light inclined at a fixed angle to the optical axis of the image means and irradiates the inner surface of the tube, and the surface treatment means is attached to the cylinder and the tip of the cylinder Mo
And a buff attached to the motor to clean the part to be measured. The plate thickness detecting means is attached to the cylinder and the ultrasonic wave is transmitted to the inner surface of the tube and reflected from the inner and outer surfaces of the tube. A probe for receiving a wave, a thickness gauge for calculating a thickness from a transmission / reception signal from the probe, and a nozzle for supplying a couplant between the probe and the measurement target, and a control unit. Performs the position control and drive control of the image means, the light emitting means, the surface treatment means and the thickness detecting means by the input signal while running the driving carriage, and the condition of the unevenness of the inner surface of the tube from the slit light image taken by the image means. The calculated thickness is displayed on the image receiving means together with the thickness measured by the thickness detecting means.

Preferably, the image signal from the image means and the thickness signal from the thickness detecting means are sent to the control unit via an optical fiber cable.

[0009]

In the present invention, the inner surface of the pipe is photographed while rotating the image means running in the pipe, and the condition of the welded portion and the state of corrosion in the pipe are observed. Then, when there is a weld or a part where corrosion has occurred, after cleaning the surface of the part with a surface treatment means, while irradiating slit light inclined at a certain angle with respect to the optical axis of the image means from the light emitting means. An image of the slit light is photographed by the image means, and the depth and height of the irregularities on the inner surface of the tube are calculated by the control unit from the photographed image of the slit light, and are displayed together with the width and length.

After measuring the depth and height of the irregularities on the inner surface of the tube, an ultrasonic wave is transmitted from the probe of the plate thickness detecting means to the portion, and a reflected wave from the inner and outer surfaces of the tube is received to receive the ultrasonic wave. Is measured and sent to the control unit to display the depth and height of the unevenness on the inner surface of the tube.

Further, by transmitting the image signal from the image means and the thickness signal from the thickness detecting means to the control unit via an optical fiber cable, the image signal and various data are removed while eliminating the influence of noise. The signal is multiplexed and transmitted.

[0012]

FIG. 1 is a schematic layout diagram showing one embodiment of the present invention. As shown in the figure, the inspection device includes a drive truck 2 running on the inner surface of the tube 1, a sensor truck 3 rotatably connected to the front of the drive truck 2, and capable of moving back and forth by a cylinder with respect to the drive truck 2. An auxiliary trolley 4 rotatably connected to the rear of the drive trolley 2, a winding machine 5 for winding cables, signal lines, and the like connected to the auxiliary trolley 4, and a winding machine 5 A control unit 6 is connected to a signal line or the like, and a display unit 7 and an encoder 8 for measuring the traveling distance of the driving trolley 2 are provided.

A plurality of motors 9 are mounted on the driving trolley 2 and drive wheels 10 are rotated by the motors 9 so as to run in the tube by themselves. As shown in the detailed view of FIG. 2, the sensor cart 3 is provided with a television camera 11, a light source 12, a surface treatment unit 13, and a sensor unit 14 of a plate pressure measurement unit. An illumination lamp 15 is fixed to the television camera 11 and is rotatably attached to the tip of the sensor cart 3 so that the front of the tube 1 and the inner surface of the tube 1 can be photographed from the vertical direction. The light source 12 is mounted at a fixed angle with respect to the tube axis, and irradiates the inner surface of the tube 1 with laser slit light. Surface treatment means 1
Reference numeral 3 denotes a cylinder 16, a rotary motor 17 attached to the tip of the piston of the cylinder 16, and a buff 18 rotated by the rotary motor 17. The sensor unit 14 of the plate pressure measuring means includes a cylinder 19, a probe 20 attached to a piston of the cylinder 19 for transmitting and receiving ultrasonic waves, and a supply nozzle provided around the probe 20 to supply a couplant. 21.

FIG. 3 is a block diagram showing the configuration of the inspection apparatus. As shown in FIG.
And an electro-optical converter 23 connected by an optical fiber cable 22, electromagnetic valves 24, 25 and 26, and a thickness gauge 27 and a couplant supply unit 28 connected to the probe 20.
The electro-optical converter 23 is connected to the television camera 11 and the thickness gauge 27 and converts an image signal sent from the television camera 11 and a thickness signal sent from the thickness gauge 27 into an optical signal. The solenoid valves 24 and 25 are connected to the compressor 29 and supply pressurized air to the cylinders 16 and 19 according to a signal from the control unit 6. The couplant supply unit 28 and the supply nozzle 21 are connected via an electromagnetic valve 26.

An operation for investigating the state of corrosion of the inner surface of the pipe 1 using the inspection apparatus configured as described above will be described.

The operator operates the input means of the controller 6 to drive the sensor trolley 3 and the auxiliary trolley 4 into the tube 1 by the drive trolley 2 while continuously photographing the inner surface of the tube 1 by the television camera 11. I do. The signal of the captured image is
The light is sent to the control unit 6 through the light conversion unit 23. The control section 6 sequentially records the transmitted image signals together with the traveling distance measured by the encoder 8 in the recording means, and sends them to the display section 7 for display. The operator observes the state of corrosion of the inner surface of the pipe based on the displayed image. When there is a portion where corrosion has occurred on the inner surface of the pipe 1, the drive truck 2 is temporarily stopped at that position, the television camera 11 is rotated to the position of corrosion, and an image is taken while scanning the portion of corrosion. The image signal is sent to the control unit 6. The control unit 6 compares the transmitted image signal of the corroded portion with a predetermined scale, calculates the width and length of the corrosion, and displays it on the display unit 7 together with the position where the corrosion has occurred.

Therefore, the operator drives the surface treatment means 11 to clean and polish the corroded portion while removing the sludge while checking the displayed image of the corroded position. That is, the sensor truck 3 is controlled by the position control signal from the control unit 6.
The control signal is sent to the solenoid valve 24 while changing the position of the
The control unit 6 rotates the rotary motor 17 at the same time that the rotary motor 17 and the buff 18 attached to the tip of the piston of the cylinder 16 are advanced toward the inner surface of the tube 1 by sending compressed air to the cylinder 16. The rotation of the rotary motor 17 rotates the buff 18 to remove sludge and the like in the corroded portion.

The sludge and the like are removed, and the rotating motor 17 is removed.
Is stopped, the control signal sent to the solenoid valve 24 is turned off, the cylinder 16 is retracted, and then the depth of the corroded portion is measured. When measuring the depth of the corroded portion, as shown in FIG. 4, the light source 12 irradiates a slit light 30 inclined at a fixed angle A with respect to the optical axis of the television camera 11, Trajectory 31 of the projection light on the inner surface of
Is photographed by the television camera 11. This TV camera 11
The image 31a of the trajectory 31 of the projection light displayed on the display unit 7 via the control unit 6 is shifted by an amount d proportional to the depth D of the pit 32 of the corroded portion as shown in FIG. It is formed. Therefore, the control unit 6 calculates the corrosion depth D from the deviation amount d, records it in the recording means, and displays it on the display unit 7.

Thereafter, the thickness of the corroded portion of the pipe 1 is measured. When performing the plate thickness measurement, first, a control signal is sent from the control unit 6 to the solenoid valve 25, the solenoid valve 25 is opened, and pressurized air is sent from the compressor 29 to the cylinder 19 of the sensor unit 14, and the tip of the piston is The attached probe 20 and supply nozzle 21 are advanced to the vicinity of the corroded portion. Next, the electromagnetic valve 26 is opened, and the couplant previously stored in the couplant supply unit 28 is supplied from the supply nozzle 21 to the probe 2.
A couplant is supplied between 0 and the inner surface of tube 1. In this state, the thickness gauge 27 and the probe 20 are operated to transmit ultrasonic waves from the probe 20 and receive reflected waves from the inner surface and the outer surface of the tube 1. The thickness gauge 27 calculates the thickness of the corroded portion from the reflection time of the ultrasonic wave and sends the thickness to the control unit 6 via the electro-optical conversion unit 23. The control unit 6 records the sheet thickness sent to the recording unit, and displays it on the display unit 7 together with the width, length and depth of the corroded portion measured previously, as shown in FIG. The operator can know the state of corrosion on the inner surface of the pipe 1, the presence or absence of corrosion on the outer surface, and the depth of corrosion on the outer surface based on the measurement result displayed on the display unit 7.

Thereafter, the corrosion state of the entire pipe 1 is investigated while the driving carriage 2 is running, and the result of the investigation is recorded in the recording means of the control unit 6.

In the above embodiment, the case where the corrosion state of the pipe 1 is investigated has been described. However, the state of the welded portion of the newly installed pipe can be measured by remote control.

[0022]

As described above, according to the present invention, the image of the inner surface of the pipe is photographed while rotating the image means running in the pipe to observe the condition of the welded portion and the state of corrosion in the pipe. The situation can be confirmed directly, and the situation on the inner surface of the pipe can be accurately investigated.

When there is a weld or a portion where corrosion has occurred, the surface of the portion is cleaned by surface treatment means, and then the depth of the unevenness is measured. Can be measured well.

In addition to measuring the depth and height of the irregularities on the inner surface of the tube, the probe of the plate thickness detecting means transmits ultrasonic waves to the portion to be measured, and receives reflected waves from the inner and outer surfaces of the tube. By measuring the plate thickness and displaying it along with the depth, height and area of the irregularities on the inner surface of the pipe, it is possible to investigate not only the condition of the inner surface of the pipe but also the condition of the outer surface of the pipe. Can be done.

Further, by transmitting the image signal from the image means and the thickness signal from the thickness detecting means to the control unit via the optical fiber cable, the image signal and various data are removed while eliminating the influence of noise. Signals can be multiplex-transmitted, shortening the transmission time, improving the quality of the image, and improving the inspection accuracy.

[Brief description of the drawings]

FIG. 1 is a schematic layout diagram showing an embodiment of the present invention.

FIG. 2 is a partially enlarged view showing a device mounted on the sensor truck of the embodiment.

FIG. 3 is a block diagram showing a configuration of the embodiment.

FIG. 4 is an explanatory diagram showing the principle of depth measurement.

FIG. 5 is a display diagram showing the principle of depth measurement.

FIG. 6 is an explanatory diagram showing a display state of the embodiment. Reference Signs List 1 tube 2 driving trolley 3 sensor trolley 4 auxiliary trolley 6 control unit 7 display unit 11 television camera 12 light source 13 surface processing means 14 sensor unit 15 illumination lamp 16 cylinder 17 rotation motor 18 buff 19 cylinder 20 probe 21 supply nozzle Reference Signs List 22 Optical fiber cable 23 Electric-optical conversion section 27 Thickness gauge 28 Coupling medium supply section

 ────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-63-55443 (JP, A) JP-A-57-137082 (JP, A) JP-A-63-289446 (JP, A)

Claims (2)

(57) [Claims] 1. A drive truck traveling along an inner surface of a pipe, a sensor truck pivotally mounted on the drive truck, an image means, a light emitting means, a surface treatment means, and a plate rotatably mounted on the sensor truck. A pipe inspection device having a thickness detection means and a control unit installed outside the pipe and connected to a driving trolley, wherein the image means is rotatably attached to the sensor unit and photographs the inner surface of the pipe, and the light emitting means is A slit light inclined at a fixed angle with respect to the optical axis of the image means is emitted to irradiate the inner surface of the tube, and the surface treatment means comprises a cylinder, a motor attached to the tip of the cylinder, and a motor attached to the motor. A buff for cleaning the measuring section, wherein the plate thickness detecting means includes a cylinder, a probe attached to the tip of the cylinder for transmitting ultrasonic waves to the inner surface of the tube and receiving reflected waves from the inner and outer surfaces of the tube, and a probe. Thickness gauge that calculates the thickness from the transmitted and received signals from the probe And a nozzle for supplying a couplant between the probe and the portion to be measured. The control unit controls the positions of the image means, the light emitting means, the surface processing means, and the thickness detecting means by input signals while running the drive cart. Control and drive control, calculating the state of unevenness of the inner surface of the tube from the image of the slit light taken by the image means, and displaying it on the image receiving means together with the thickness measured by the thickness detecting means. Inspection equipment. 2. The piping inspection apparatus according to claim 1, wherein an image signal from the image means and a thickness signal from the thickness detecting means are sent to the control unit via an optical fiber cable.