JP6792928B2 - Weight loss prediction method, prediction device, and prediction program - Google Patents

Description

The present invention relates to a method for predicting the amount of wall loss, a prediction device, and a prediction program. More specifically, the present invention relates to a technique suitable for use in predicting the amount of wall thinning in a member whose surface is thinned due to corrosion / wear, such as a water-cooled wall pipe of a power generation boiler.

As a conventional device for measuring the amount of wear and thinning of the heat transfer tube of the fluidized bed boiler, for example, on a V-shaped jig having two sides having an opening angle (180 ° -2α) and a line that divides the opening angle into two equal parts. The measurement terminal equipped with the arranged displacement meter and the two sides of the V-shaped jig are brought into contact with the heat transfer tube from below, and the deviation of the shortest distance between the normal heat transfer tube without wear and the worn heat transfer tube is calculated. Then, there is a device having a means for measuring the amount of wear thinning of the worn heat transfer tube based on the calculation result (Patent Document 1).

Japanese Unexamined Patent Publication No. 9-196651

However, when the wall thickness of a representative point is inspected by using a measuring device as described in Patent Document 1 and managed by comparing with the minimum required wall thickness, the number of inspection points is limited in a limited working time. (In other words, because the wall thinning is grasped as a point), there is a concern that troubles may occur due to oversight of the maximum wall thinning part in places where the progress of wall thinning is remarkable. For this reason, it cannot be said that it is efficient as an inspection / management method, and it cannot be said that it is perfect.

Further, although the technique described in Patent Document 1 can grasp the current amount of wall loss, it cannot grasp the transition of the amount of wall loss in the future. Therefore, even if the wall thinning progresses to the extent that it falls below the required minimum wall thickness, there is a problem that the situation cannot be detected until the next measurement.

Therefore, the present invention is a method and prediction method for predicting the amount of wall thinning, which can predict the distribution of the amount of wall loss on the surface of the controlled object after grasping the wall thinning on the surface of the controlled object as a surface. It is an object of the present invention to provide an apparatus and a prediction program. In particular, the present invention utilizes three-dimensional surface shape data obtained by measuring the surface shape of a controlled object to predict the distribution of the amount of wall loss on the surface of the controlled object. The purpose is to provide a technology that can manage the above.

In order to achieve such an object, the method for predicting the amount of wall thinning of the present invention emits measurement light from the light irradiation unit toward the surface of the controlled object at the control time point <1> and also on the surface of the controlled object. The measurement light radiated to the surface of the controlled object including the formed cone-shaped position reference dent is photographed by a pair of light receiving parts, and the position reference dent is taken from the measurement light photographed by the pair of light receiving parts. The shape of the surface and the shape of the surface of the controlled object are recognized, the wall thickness of the member constituting the surface of the controlled object is actually measured, and the surface of the member is measured based on the design dimensions of the member constituting the surface of the controlled object. At the position where the shape and the shape of the back surface are specified and the wall thickness of the members constituting the front surface of the controlled object is actually measured, the position is separated from the surface shape of the controlled object recognized by photography by the wall thickness. Photographed with respect to the back surface of the member constituting the surface of the controlled object specified based on the design dimension by aligning the back surface of the member constituting the surface of the controlled object specified based on the design dimension. The shape of the surface of the management object at the management time point <1> recognized by is arranged, and for the management time point <N> (however, N is a continuous number indicating the order of the time series and is a natural number of 2 or more), the management target A pair of light receiving units emit measurement light from the light irradiation unit toward the surface of the object and the measurement light emitted to the surface of the management object including the position reference dent formed on the surface of the control object. The shape of the position-referenced dent and the shape of the surface of the controlled object are recognized from the measurement light taken by the pair of light-receiving parts, and the shape of the opening on the surface of the controlled object of the position-referenced dent. The amount of wall thinning at the position where the position-referenced dent is formed is specified based on the change from the control time point <N-1> to the control time point <N>, and at the position where the position-referenced dent is formed. The shape of the surface of the controlled object at the control time <N-1> recognized by imaging is shifted from the shape of the surface of the controlled object at the control time <N-1> by the amount of wall loss. In the placed state, the difference between the surface shape of the controlled object at the management time point <N-1> and the surface shape of the controlled object at the management time point <N> is calculated to calculate the distribution of the wall thinning amount. The shape of the surface of the controlled object at the control time <N + 1> is predicted by subtracting the distribution of the amount of wall loss from the shape of the surface of the controlled object at the control time <N>.

The wall thinning amount prediction device of the present invention emits measurement light from the light irradiation unit toward the surface of the controlled object at the control time point <1>, and has a pyramidal shape formed on the surface of the controlled object. The shape and management of the position-referenced dents recognized from the measurement light taken by the pair of light-receiving parts and the measurement light emitted to the surface of the object to be managed including the position-referenced dents. The surface of the member specified based on the shape of the surface of the object, the wall thickness obtained by actually measuring the member constituting the surface of the controlled object, and the design dimensions of the member constituting the surface of the controlled object. The wall thickness of the members constituting the front surface of the controlled object is separated from the surface shape of the controlled object recognized by photography at the actually measured position using the shape of the surface and the shape of the back surface. With respect to the back surface of the member constituting the surface of the controlled object specified based on the design dimension by aligning the position of the back surface of the member constituting the surface of the controlled object specified based on the design dimension with the position. About the means for arranging the shape of the surface of the controlled object at the controlled time point <1> recognized by the photographing and the controlled time point <N> (however, N is a continuous number indicating the order of the time series and is a natural number of 2 or more. ), The measurement light is emitted from the light irradiation unit toward the surface of the control object, and the measurement light is emitted to the surface of the control object including the position reference dent formed on the surface of the control object. The surface of the object to be controlled by the position-referenced dent using the shape of the position-referenced dent and the shape of the surface of the object to be controlled, which are photographed by the pair of light-receiving parts and recognized from the measurement light photographed by the pair of light-receiving parts. A means for specifying the amount of wall thinning at the position where the position-referenced dent is formed based on the change from the control time point <N-1> to the control time point <N> in the shape of the opening, and the position-referenced striking. Management time point recognized by photography at the position where the mark was formed <N-1> at the control time point recognized by photography at a position shifted by the amount of wall loss from the shape of the surface of the object to be managed <N-1> The difference between the surface shape of the controlled object at the management time point <N-1> and the surface shape of the controlled object at the control time point <N> is calculated with the surface shape of the controlled object arranged in. The shape of the surface of the controlled object at the control time <N + 1> is predicted by subtracting the distribution of the wall loss from the means for calculating the distribution of the wall loss and the shape of the surface of the controlled object at the control time <N>. I try to have a means to do it.

In the thinning amount prediction program of the present invention, at the control time point <1>, the measurement light is emitted from the light irradiation unit toward the surface of the control object, and the cone-shaped shape formed on the surface of the control object. The shape and management of the position-referenced dents recognized from the measurement light emitted by the pair of light-receiving parts and the measurement light emitted to the surface of the object to be managed including the position-referenced dents. The surface of the member specified based on the shape of the surface of the object, the wall thickness obtained by actually measuring the member constituting the surface of the controlled object, and the design dimensions of the member constituting the surface of the controlled object. The wall thickness of the members constituting the front surface of the controlled object is separated from the surface shape of the controlled object recognized by photography at the actually measured position by the wall thickness using the shape of and the shape of the back surface. With respect to the back surface of the member constituting the surface of the controlled object specified based on the design dimension by aligning the position of the back surface of the member constituting the surface of the controlled object specified based on the design dimension with the position. Regarding the process of arranging the shape of the surface of the object to be managed at the management time point <1> recognized by shooting and the management time point <N> (however, N is a continuous number indicating the order of the time series and is a natural number of 2 or more. ), The measurement light is emitted from the light irradiation unit toward the surface of the control object, and the measurement light is emitted to the surface of the control object including the position reference dent formed on the surface of the control object. The surface of the object to be controlled by the position-referenced dent using the shape of the position-referenced dent and the shape of the surface of the object to be controlled, which are photographed by the pair of light-receiving parts and recognized from the measurement light photographed by the pair of light-receiving parts. Based on the change from the control time point <N-1> to the control time point <N> of the shape of the opening in the above, the process of specifying the amount of wall thinning at the position where the position reference dent is formed and the position reference hit. Management time point recognized by photography at the position where the mark was formed <N-1> at the control time point recognized by photography at a position shifted by the amount of wall loss from the shape of the surface of the object to be managed <N-1> The difference between the surface shape of the controlled object at the management time point <N-1> and the surface shape of the controlled object at the control time point <N> is calculated with the surface shape of the controlled object arranged in. The shape of the surface of the controlled object at the control time <N + 1> is predicted by subtracting the distribution of the wall loss from the process of calculating the distribution of the wall loss and the shape of the surface of the controlled object at the control time <N>. I'm trying to get the computer to do the processing.

Therefore, according to these thinning amount prediction methods, prediction devices, and prediction programs, the three-dimensional surface shape data acquired by the measurement is used after the surface shape of the controlled object is measured. Then, the distribution of the wall thinning amount on the surface of the controlled object is calculated, and the future surface shape of the controlled object is predicted by using the wall thinning amount distribution.

Further, in the method for predicting the amount of wall thinning of the present invention, at the management time point <1>, a plurality of position recognition targets and these plurality of position recognition targets are attached, and a gap is formed between the position recognition targets. In a state where the position indicator having the target support is attached to the surface of the object to be managed and installed, the measurement light is emitted from the light irradiation unit toward the surface of the object to be controlled and the position indicator The position recognition target and the measurement light emitted to the surface of the controlled object including the cone-shaped position reference dent formed on the surface of the controlled object are photographed by a pair of light receiving units and a pair of light received. The shape of the position reference dent and the shape of the surface of the controlled object are recognized from the measurement light taken by the unit, the wall thickness of the member constituting the surface of the controlled object is actually measured, and the surface of the controlled object is formed. The shape of the front surface and the shape of the back surface of the member are specified based on the design dimensions of the member, and the control object recognized by photographing at the position where the wall thickness of the member constituting the surface of the control object is actually measured. The controlled object specified based on the design dimensions by aligning the position of the back surface of the member constituting the surface of the controlled object specified based on the design dimensions to a position separated from the surface shape by the wall thickness. The shape of the surface of the object to be managed at the control time point <1> recognized by photography is arranged on the back surface of the member constituting the front surface of the light source, and the shape of the surface of the control object at the control time point <1> is arranged. With the position indicator attached to the surface of the controlled object, the measurement light is emitted from the light irradiation unit and the position is directed toward the surface of the controlled object. The position recognition target of the locator and the measurement light radiated to the surface of the controlled object including the position reference dent formed on the surface of the controlled object are photographed by the pair of light receiving parts and taken by the pair of light receiving parts. The shape of the position-referenced dent and the shape of the surface of the object to be controlled are recognized from the photographed measurement light, and the shape of the opening on the surface of the object to be controlled of the position-referenced dent is controlled from the time point <N-1>. The amount of wall thinning at the position where the position-referenced dent is formed is specified based on the change up to the control point <N>, and the control time <N> recognized by imaging at the position where the position-referenced dent is formed. The control time point <N> with the surface shape of the control target object at the control time point <N> recognized by imaging at a position shifted from the surface shape of the control target object in -1> by the amount of wall thinning. The shape of the surface of the object to be managed in -1> and the management at the time of management <N> The difference from the shape of the surface of the object is calculated to calculate the distribution of the amount of wall loss, and the distribution of the amount of wall loss is subtracted from the shape of the surface of the object to be managed at the time of management <N>. The shape of the surface of the controlled object in> may be predicted.

According to this three-dimensional shape measurement method, a position indicator in which a plurality of position recognition targets are attached to the target support is attached to the surface of the object to be measured so that imaging can be performed. The measurement work can be performed in a short time without the trouble of individually attaching and detaching the targets used for measuring the original shape.

In the method, apparatus, and prediction program for predicting the amount of wall loss of the present invention, the controlled object may be a water-cooled wall pipe of a power generation boiler. In this case, the above-mentioned action is exerted on the prediction of the distribution of the amount of wall loss on the surface of the water-cooled wall pipe of the power generation boiler.

According to the method for predicting the amount of wall loss, the prediction device, and the prediction program of the present invention, the distribution of the amount of wall loss on the surface of the controlled object is calculated using the three-dimensional surface shape data of the controlled object, and the said. Since the future surface shape of the controlled object can be predicted using the distribution of the amount of wall thinning, it becomes possible to grasp and manage the state of wall thinning in the controlled object as a surface, and the maximum wall thinning part. It is possible to improve the reliability and usefulness as an inspection / management method by providing information on the progress of wall thinning in the future, for example, to the extent that the wall thickness falls below the minimum required wall thickness. Become.

In the method for predicting the amount of wall thinning of the present invention, when a position indicator is used to perform imaging, it takes time and effort to individually attach and detach targets used for measuring a three-dimensional shape. The measurement work can be performed in a short time without any problem, and the measurement work can be performed quickly.

The method for predicting the amount of wall loss, the prediction device, and the prediction program of the present invention have a wall thinning on the surface of the water-cooled wall pipe of the power generation boiler when the controlled object is a water-cooled wall pipe of the power generation boiler. It is possible to achieve the above-mentioned effects on the prediction of the distribution of quantities.

It is a flowchart which shows an example of embodiment of the method of predicting the amount of wall loss which concerns on this invention, and is the flowchart at the time of the first prediction. It is a flowchart which shows an example of embodiment of the method of predicting the amount of wall loss which concerns on this invention, and is the flowchart in the case of the second and subsequent predictions. It is a functional block diagram of the wall-thinning amount prediction apparatus realized by the program when the wall-thinning amount prediction method of this embodiment is carried out using the wall-thinning amount prediction program. It is a figure which shows the example of the position indicator which can be used in the measurement of the three-dimensional shape of the method of predicting the wall thinning amount which concerns on this invention, and is the figure of the state seen from the surface irradiated with the measurement light. It is a figure which shows another example of the position indicator which can be used in the measurement of the three-dimensional shape of the method of predicting the wall thinning amount which concerns on this invention, and is the figure of the state seen from the surface which is irradiated with the measurement light. It is a figure which shows still another example of the position locating tool used in the 3D shape measuring method which concerns on this invention, and is the figure which takes a bird's-eye view of the state which was attached to the control object. It is a figure which shows still another example of the position locating tool used in the three-dimensional shape measuring method which concerns on this invention, and is the figure which takes a bird's-eye view of the state which was attached to the management object. It is a figure which shows an example of the analysis area selected from the water-cooled wall tube which is a member member which constitutes and forms the measurement surface of an embodiment. It is a figure explaining the heat flux given to the member which concerns on the analysis area of embodiment. It is a figure which shows the corrosion area classification at each material temperature related to the corrosion rate prediction formula of an embodiment. It is a figure which shows the example of the dent which can be used in the measurement of the three-dimensional shape of the method for predicting the amount of wall loss according to the present invention. FIG. 11A is a diagram illustrating the shape of a dent. (A) is a view of a state seen from the opening surface (in other words, a plan view). (B) is a cross-sectional view in a direction perpendicular to the opening surface. FIG. 11B is a diagram showing a state in which thinning of the surface of the controlled object has progressed at the dent formation portion shown in FIG. 11A. (A) is a view of a state seen from the opening surface (in other words, a plan view). (B) is a cross-sectional view in a direction perpendicular to the opening surface.

Hereinafter, the configuration of the present invention will be described in detail based on an example of an embodiment shown in the drawings.

1 to 11 show an example of an embodiment of a wall thinning amount prediction method, a prediction device, and a prediction program according to the present invention.

Here, the object (referred to as “managed object”) to which the present invention is used to predict the amount of wall loss is not limited to a specific object, for example, a building structure such as a building, a plant. Machine structures such as, products such as vehicles, and constituent members and parts such as piping.

In the present embodiment, a case where the controlled object (a member whose state is controlled and whose wall thickness is predicted) is a water-cooled wall pipe of a power generation boiler will be described as an example.

In addition, the measurement of the three-dimensional shape of a certain controlled object and the prediction of the amount of wall thinning are performed at regular or indefinite intervals, and the serial number N (however, N = 1, 2, 3, ... (That is, a natural number)). ) Is used to represent the time-series prediction of the amount of wall loss with respect to a predetermined same location / range of a certain managed object, and each prediction made in the time-series is referred to as "prediction Nth time". Is written.

The time when the three-dimensional shape is measured or the target of the prediction of the thinning amount is also the serial number N (however, N = 1, 2, 3) indicating the times as the order of the prediction of the thinning amount. , ... (that is, natural numbers)), and each time in the time series is expressed as "management time point <N>".

The relationship between each of the above forecasts and each time is that the "prediction targeting the management time point <N + 1> executed using the measurement results performed at the management time point <N>" corresponds to the "prediction Nth time". become.

In the method for predicting the amount of wall thinning in the present embodiment, at the management time point <1>, a plurality of position recognition targets 2 and the plurality of position recognition targets 2 are attached, and a gap 5 is provided between the position recognition targets 2. In the state (S1-1) in which the position indicator 1 having the target support 3 on which the object is formed is attached and installed on the surface of the controlled object, the light irradiation unit is directed toward the surface of the controlled object. The measurement light emitted from the light emitting and irradiating the surface of the control object including the position recognition target 2 of the position indicator 1 and the cone-shaped position reference dent 10 formed on the surface of the control object. (S1-8) The shape of the position reference dent 10 and the shape of the surface of the object to be controlled are recognized from the measurement light photographed by the pair of light receiving parts (S1-9, 1). -10), the wall thickness of the member constituting the surface of the controlled object is actually measured (S1-7), and the shape of the front surface and the shape of the back surface of the member based on the design dimensions of the member constituting the surface of the controlled object. (S1-11), and at the position where the wall thickness of the member constituting the surface of the controlled object was actually measured, the position separated by the wall thickness from the shape of the surface of the controlled object recognized by photography. Photographed with respect to the back surface of the member constituting the surface of the controlled object specified based on the design dimension by aligning the back surface of the member constituting the surface of the controlled object specified based on the design dimension. The shape of the surface of the management object at the management time point <1> recognized by is arranged (S1-12), and for the management time point <N> (however, N is 2 or more), the position indicator 1 is the management object. In the state of being attached to the surface and installed (S2-1), the measurement light is emitted from the light irradiation unit toward the surface of the object to be managed, and the position recognition target 2 of the position indicator 1 and the object to be managed are managed. The measurement light emitted to the surface of the controlled object including the position reference dent 10 formed on the surface of the light is photographed by the pair of light receiving parts (S2-4), and the measurement light is taken by the pair of light receiving parts. The shape of the position reference dent 10 and the shape of the surface of the object to be controlled are recognized (S2-5, 2-6), and the shape of the opening 13 on the surface of the object to be controlled of the position reference dent 10 is managed. The amount of wall thinning at the formation location of the position reference dent 10 is specified based on the change from the time point <N-1> to the control time point <N> (S2-7), and the position reference dent 10 is formed. Taken at a position shifted by the amount of wall loss from the shape of the surface of the controlled object at the control time <N-1> recognized by shooting at the same position. The shape of the surface of the controlled object at the controlled time <N-1> and the surface shape of the controlled object at the controlled time <N> with the shape of the surface of the controlled object at the controlled time <N> recognized by the shadow arranged. The difference from the surface shape is calculated to calculate the distribution of the amount of wall loss (S2-8), and the distribution of the amount of wall loss is subtracted from the shape of the surface of the object to be controlled at the time of management <N> at the time of management. The shape of the surface of the controlled object in <N + 1> is predicted (S2-9) (see FIGS. 1 and 2).

The method for predicting the amount of wall loss can be carried out by the device for predicting the amount of wall loss according to the present invention. In the wall thinning amount prediction device of the present embodiment, at the management time point <1>, a plurality of position recognition targets 2 and the plurality of position recognition targets 2 are attached, and a gap 5 is provided between the position recognition targets 2. In a state where the position indicator 1 having the target support 3 on which the object is formed is attached and installed on the surface of the controlled object, the measurement light is emitted from the light irradiation unit toward the surface of the controlled object. At the same time, a pair of light received by the position recognition target 2 of the position indicator 1 and the measurement light radiated to the surface of the controlled object including the cone-shaped position reference dent 10 formed on the surface of the controlled object. The shape of the position reference dent 10 and the shape of the surface of the controlled object recognized from the measurement light taken by the unit and photographed by the pair of light receiving units, and the members constituting the surface of the controlled object are actually measured and acquired. The wall thickness of the member that constitutes the surface of the controlled object is used by using the thickness of the wall and the shape of the front surface and the shape of the back surface of the member specified based on the design dimensions of the member that constitutes the surface of the controlled object. The back surface of the member that constitutes the surface of the controlled object specified based on the design dimensions at a position separated by the wall thickness from the shape of the surface of the controlled object recognized by photography at the position where the thickness was actually measured. The shape of the surface of the controlled object at the control time point <1> recognized by photography is arranged on the back surface of the member constituting the surface of the controlled object specified based on the design dimensions by aligning the positions of. Regarding the data coupling unit 21a as a means and the management time point <N> (however, N is 2 or more), the position indicator 1 is attached to the surface of the management object and installed, and the surface of the management object is installed. The measurement light is emitted from the light irradiation unit and is irradiated to the surface of the control object including the position recognition target 2 of the position indicator 1 and the position reference dent 10 formed on the surface of the control object. Position-referenced dents 10 using the shape of the position-referenced dent 10 and the shape of the surface of the object to be managed, which were captured by the pair of light-receiving units and recognized from the measured light captured by the pair of light-receiving units. The amount of wall thinning at the formation location of the position reference dent 10 based on the change from the control time point <N-1> to the control time point <N> of the shape of the opening 13 on the surface of the control object 10. The thinning amount calculation unit 21d as a means for identifying the light, and the thinning from the surface shape of the controlled object at the management time point <N-1> recognized by photographing at the position where the position reference dent 10 is formed. Management at the management time point <N> recognized by shooting at a position shifted by the amount With the surface shape of the object arranged, the difference between the surface shape of the controlled object at the management time point <N-1> and the surface shape of the controlled object at the management time point <N> is calculated to reduce the thickness. The wall thinning amount distribution calculation unit 21e as a means for calculating the amount distribution, and the management target at the management time point <N + 1> by subtracting the wall thinning amount distribution from the surface shape of the management object at the management time point <N>. It has a shape prediction unit 21f as a means for predicting the shape of the surface of an object.

The method for predicting the amount of wall loss and the device for predicting the amount of wall loss can also be implemented and realized by executing a program for predicting the amount of wall loss on a computer. Here, a case where the wall thinning amount prediction method is executed and the wall thinning amount prediction device is realized by executing the wall thinning amount prediction program on a computer will be described.

FIG. 3 shows the overall configuration of the computer 20 (which is also the wall thinning amount prediction device 20 in this embodiment) for executing the wall thinning amount prediction program 27 of the present embodiment.

The computer 20 (thickening amount prediction device 20) includes a control unit 21, a storage unit 22, an input unit 23, a display unit 24, and a memory 25, which are connected to each other by a signal line such as a bus.

The control unit 21 controls the entire computer 20 and performs calculations related to the prediction of the wall thinning amount according to the wall thinning amount prediction program 27 stored in the storage unit 22, for example, in a CPU (Central Processing Unit). is there.

The storage unit 22 is a device capable of storing at least data and programs, for example, a hard disk.

The input unit 23 is an interface (that is, an information input mechanism) for giving at least a worker's command and various information to the control unit 21, and is, for example, a keyboard or a mouse. It should be noted that a plurality of types of interfaces such as both a keyboard and a mouse may be provided as the input unit 23.

The display unit 24 draws and displays characters, figures, images, and the like under the control of the control unit 21, and is, for example, a display.

The memory 25 serves as a memory space that is a work area when the control unit 21 executes various controls and operations, and is, for example, a RAM (abbreviation of Random Access Memory).

Then, the control unit 21 of the computer 20 (hereinafter, referred to as “thickening amount prediction device 20”) is executed by the wall thinning amount prediction program 27, so that a plurality of management time points <1> are executed. A position indicator 1 having a position recognition target 2 and a target support 3 to which a plurality of position recognition targets 2 are attached and a gap 5 is formed between the position recognition targets 2 is a management object. In the state of being attached to the surface and installed, the measurement light is emitted from the light irradiation unit toward the surface of the controlled object, and is formed on the position recognition target 2 of the position indicator 1 and the surface of the controlled object. Positional reference in the shape of a cone The measurement light emitted to the surface of the object to be managed including the dent 10 is photographed by a pair of light receiving parts, and the position reference recognized from the measurement light photographed by the pair of light receiving parts. Based on the shape of the dent 10 and the shape of the surface of the controlled object, the wall thickness obtained by actually measuring the member constituting the surface of the controlled object, and the design dimensions of the member constituting the surface of the controlled object. The shape of the surface of the controlled object recognized by imaging at the position where the wall thickness of the member constituting the surface of the controlled object was actually measured using the identified front surface shape and back surface shape of the member. The surface of the controlled object specified based on the design dimensions is adjusted by aligning the back surface of the member constituting the surface of the controlled object specified based on the design dimensions to a position separated by the wall thickness from the light. Regarding the data coupling unit 21a that performs a process of arranging the shape of the surface of the management object at the management time point <1> recognized by photographing on the back surface of the constituent member, and the management time point <N> (however, N is 2). (Above), with the position indicator 1 attached to the surface of the object to be managed, the measurement light is emitted from the light irradiation unit toward the surface of the object to be managed, and the position recognition of the position indicator 1 is recognized. The measurement light radiated to the surface of the controlled object including the position reference dent 10 formed on the surface of the target 2 and the controlled object was photographed by a pair of light receiving portions and photographed by the pair of light receiving portions. Using the shape of the position-referenced dent 10 recognized from the measurement light and the shape of the surface of the controlled object, the time of controlling the shape of the opening 13 on the surface of the controlled object of the position-referenced dent 10 <N- A wall thinning amount calculation unit 21d that performs a process of specifying the wall thinning amount at the formation location of the position reference dent 10 based on the change from 1> to the management time point <N>, and the position reference dent 10 are formed. Tube at control time point <N-1> recognized by imaging at the designated position At the management time point <N-1> with the shape of the surface of the management object at the management time point <N> recognized by imaging at a position shifted from the surface shape of the physical object by the amount of wall loss. The wall thinning amount distribution calculation unit 21e, which calculates the distribution of the wall loss amount by calculating the difference between the surface shape of the controlled object and the surface shape of the controlled object at the management time point <N>, and the management time point. By subtracting the distribution of the amount of wall thinning from the shape of the surface of the object to be managed in <N>, a shape prediction unit 21f that performs a process of predicting the shape of the surface of the object to be managed at the time of management <N + 1> is configured. ..

First, the measuring means and the positioning tool that can be used in the present invention will be described below.

<< Measuring means >>
The measuring means is obtained by, for example, using the triangulation method as a measurement principle, irradiating a measurement light such as a laser toward a controlled object, and detecting the reflected light reflected by the measured light on the surface of the controlled object. It is a non-contact measuring instrument that measures a three-dimensional shape using data (in other words, acquires data on the three-dimensional shape of the surface of a controlled object).

The triangulation method is information on the imaging position when light from a laser or the like radiated toward a controlled object is reflected and imaged on a CCD (Charge Coupled Device) or the like through a lens. This is a method of acquiring point cloud data (that is, coordinate data of the surface of an object) based on the above, and the distance from the imaged position to the object is geometrically measured by utilizing the fact that the imaging position differs depending on the distance to the object. This is a method for calculating scientifically (for example, Toru Yoshizawa "Latest Optical Triangulation", Asakura Shoten, 2006).

The measuring means includes a light irradiation unit and a pair of light receiving units arranged apart from each other, and the pair of light receiving units is configured to construct a stereo camera. In the light irradiation unit and the pair of light receiving units, for example, the light irradiation unit is arranged between the pair of light receiving units arranged apart from each other, and the light irradiation unit, the light irradiation unit, and the other light receiving unit It is conceivable that they are arranged in a row in order.

The light irradiation unit has a light source such as a semiconductor laser, and emits a line laser or the like as measurement light.

Each of the pair of light receiving units has a light receiving element such as a CCD, and by taking a picture, a stereo image (also referred to as a "stereo pair image") for the same subject (in other words, including an image of the same subject). To get.

The measuring means is to shoot a moving image while moving, and to form a moving image of the surface of the object to be managed from a plurality of directions, which are a plurality of still images, each of which is for the same subject (in other words, in other words). Acquire image data that is a stereo image (including an image of the same subject). If image data taken from a plurality of directions is acquired, it is not always necessary to take a moving image, and the still image can be taken multiple times, or the still image can be taken continuously (“continuous shooting”). (Also called) may be performed.

As the measuring means, for example, it is possible to irradiate the entire surface of the controlled object to be measured (referred to as “measurement surface”) with the light used for measurement while holding and moving it by hand. A device of the embodiment (specifically, a type of device called a "handy scanner", a "handy 3D scanner", a "handy type 3D scanner", or the like) is used.

《Positioning tool》
The position locator 1 includes a plurality of position recognition targets 2, a target support 3 to which these position recognition targets 2 are attached, and an attachment 4 for attaching the target support 3 to the surface of a management object. It is configured to have a portable and mobile device.

The position recognition target 2 includes a portion that reflects light (referred to as a “reflecting portion”), and is a management object and a measuring means (in addition, a light receiving position / imaging position in each light receiving element of the pair of light receiving portions). It is used to constantly identify the relative positional relationship with, and the measurement data acquired by shooting / measuring while moving the measuring means is used as one point cloud data related to the surface shape of the object to be managed. It functions as a reference point when synthesizing as.

Although the position recognition target 2 is not limited to a specific shape or size, if it is unnecessarily large, it becomes an obstacle when photographing / measuring the surface of the managed object. Therefore, the position recognition target 2 It is preferable that the size is as small as possible so that the required function can be exhibited.

The position recognition target 2 is used as ID information (that is, information unique to each position recognition target 2) for distinguishing each position recognition target 2 from each other and individually identifying and specifying the position recognition target 2. Each has its own unique light reflection pattern.

Specifically, for example, the light reflection pattern may be configured so that it can be distinguished from each other by different shapes, numbers, sizes, etc. of the reflection portions, or a plurality of reflection portions. It is configured so that they can be distinguished from each other by different arrangement and arrangement of.

The specifications (in other words, gimmicks) of the position recognition target 2 as ID information are not limited to the light reflection pattern, but are recognized and detected (particularly optically) in the captured image. Therefore, an appropriate specification (device) that can function as an identifier for distinguishing a plurality of position recognition targets 2 from each other and individually identifying and specifying them can be appropriately selected. Specifically, for example, the wavelength of the reflected light may be used as the ID information of the position recognition target 2.

For example, the light reflection pattern and the wavelength of the reflected light as ID information of each of the position recognition targets 2 attached to the position control tool 1 are recorded and registered in advance in a manner that can be used in image processing and image recognition described later. To.

In the position recognition target 2, when the target support 3 is attached to the surface of the controlled object, the surface provided with the reflecting portion faces the side opposite to the controlled object, and the target 2 is directed to the surface of the controlled object. It is attached to the target support 3 so that the light emitted from the measuring means can be reflected.

The dimension of the distance between the adjacent position recognition targets 2 when attached to the target support 3 is not limited to a specific value, for example, the specifications of the measuring means used for the measurement and the measuring work. The image of the plurality of position recognition targets 2 is adjusted to be included in the imaging range (in other words, the range of each image to be captured) at the same time during the measurement, taking into consideration the above aspects.

It should be noted that the distance between the adjacent position recognition targets 2 does not have to be the same at all the distances, and even if the values adjusted and set as described above are set as the maximum dimensions and are not uniform. I do not care. In addition, the position recognition targets 2 do not need to be regularly arranged according to a particular pole and may be random as long as they do not exceed the maximum dimensions.

The target support 3 is attached to the surface of the controlled object at a position corresponding to the measurement surface (in other words, a position overlapping the measurement surface), and is positioned with respect to the measurement surface of the controlled object during the measurement. It functions to fix and hold the recognition target 2.

The target support 3 is not limited to a specific shape and size, and is, for example, an appropriate shape and size after considering the shape and size of the surface of the controlled object, particularly the measurement surface. It is formed in.

Specifically, for example, the target support 3 has a rectangle (see FIG. 4 as an example) having vertical and horizontal side lengths in the range of about 10 cm to 20 m, and a diameter. It can be formed in a circle (see FIG. 5 as an example) set in the range of about 10 cm to 20 m.

The target support 3 may be formed as a flat shape, or may be curved, for example, in consideration of matching (in other words, following) the shape of the surface of the object to be managed. / It may be formed as a three-dimensional form.

Specifically, for example, the target support 3 may be formed so as to surround the entire circumference of the controlled object (see FIG. 6 as an example), and the side surface of the controlled object may be L-shaped. It may be formed in a surrounding form (see FIG. 7 for an example).

The target support 3 is positioned so that the light emitted from the measuring means for photographing / measuring can irradiate the measurement surface of the controlled object while holding the position recognition target 2 in a fixed position. A gap 5 is provided between the recognition targets 2 and is formed.

The gap 5 of the target support 3 is formed, for example, by forming the target support 3 in a grid pattern or a net pattern (see FIG. 4 as an example), or a plurality of annular members having different diameters are concentric circles. The target support 3 is formed by fixing the plurality of annular members to each other by one or a plurality of rod-shaped members after being arranged in a shape (see FIG. 5 as an example). ).

The material of the target support 3 is not limited to a specific type, and it is considered that the target support 3 has enough strength to fix and hold the position recognition target 2. , Appropriate ones are selected as appropriate.

The target support 3 is configured to be attached to the surface of the object to be managed so that its shape can be maintained throughout the shooting / measurement. Therefore, the target support 3 itself may be formed as a rigid body, or the target support 3 may be formed as having flexibility and the target support 3 may be managed by the fixture 4. The shape of the attached state may be maintained in the state of being attached to the surface of the.

Specifically, the target support 3 can be formed of, for example, metal, wood, resin, fishing line, or the like.

In relation to the aspect of the target support 3, and thus the aspect of the position indicator 1, the position indicator 1 including the target support 3 is transported in the form when it is attached to the surface of the controlled object. Alternatively, it may be folded or rolled up for transportation.

The target support 3 is attached to the surface of the object to be managed via the fixture 4 (in other words, it is installed, attached, installed).

In the fixture 4, for example, the material (in other words, the material) of the member of the measurement surface portion of the controlled object and the material (material) of the target support 3 are taken into consideration, and the target support 3 is relative to the member of the measurement surface portion. Is formed in an appropriate manner with an appropriate material, taking into consideration that the material can be detachably fixed.

As the fixture 4, specifically, for example, when both the controlled object and the target support 3 are made of magnetic materials, a magnet may be used. As the fixture 4, double-sided tape or a suction cup may be used.

In addition, in order to acquire surface position data (that is, point cloud data) without omission over the entire measurement surface, the arrangement position of the fixture 4 as well as the size of the target support 3 is outside the measurement surface. It is preferable that the fixture 4 is adjusted so as to be arranged therewith.

In order to acquire surface position data (that is, point cloud data) without omission over the entire measurement surface, in other words, to arrange the attachment 4 on the outside of the measurement surface, the attachment 4 Is preferably disposed at the end of the target support 3 and not at a position inside the end of the target support 3.

When shooting / measurement is performed with the position indicator 1 attached to the surface of the object to be managed, the position indicator 1 (particularly, which is not the original measurement object) is located between the measuring means and the measurement surface. , The position recognition target 2 and the target support 3) are present, and the light emitted from the measuring means toward the surface of the controlled object is reflected by the position locator 1 and is reflected in the measurement result by the position locator. The image of 1 will be included.

At this time, if the position recognition target 2 or the target support 3 is attached so as to be in close contact with or close to the measurement surface of the managed object, it is behind the position recognition target 2 or the target support 3 from the viewpoint of the measuring means. The side (particularly, directly behind) portion cannot be measured, and surface position data (that is, point cloud data) regarding the measurement surface cannot be acquired.

Therefore, by setting the target support 3 to which the position recognition target 2 is attached in a state of being separated from the surface of the controlled object, the surface position data (that is, that is, there is no omission over the entire measurement surface) is not lost. , Point cloud data) can be acquired.

Specifically, for example, by forming the fixture 4 so as to have a desired size and shape, the target support 3 is installed in a state of being separated from the surface of the controlled object, and the target support 3 is installed. The position recognition target 2 can be fixed together with the body 3 in a state of being separated from the surface of the management object.

Further, since the target support 3 is formed as having a three-dimensional shape, the target support 3 is located in a state of being separated from the surface of the controlled object in a range overlapping the measurement surface of the controlled object. In this way, the position recognition target 2 can be fixed together with the target support 3 in a state of being separated from the surface of the controlled object.

The distance between the surface of the controlled object (particularly the measurement surface) and the target support 3 and the position recognition target 2 is not limited to a specific dimension, for example, the specifications of the measurement means used for measurement ( In particular, the light emitted from the measuring means is formed between the position recognition targets 2 of the target support 3 after taking into consideration the specifications and performance of the light irradiation unit and the pair of light receiving units. It is appropriately set to an appropriate size so that it can pass through the gap 5 and enter the measurement surface on the rear side of the target support 3 and the position recognition target 2 at an angle so that imaging / measurement can be performed. The distance between the surface of the controlled object (particularly the measurement surface) and the target support 3 can be set in the range of about 0.1 to 20 cm, specifically, for example, as an example.

Further, as described above, if the image of the position indicator 1 is included in the measurement result when the image is taken / measured with the position indicator 1 installed on the surface of the object to be managed, the image of the position indicator 1 is included in the measurement result. By installing the target support 3 and the position recognition target 2 away from the surface of the object, the surface position data (that is, the point cloud data) separated from the surface of the management object by a predetermined distance. ) Can be mechanically removed according to a predetermined standard as it corresponds to the position locator 1, and the process of creating the surface shape data can be efficiently performed.

《Prediction of meat loss》
For example, the three-dimensional shape of the controlled object is measured by using the above-mentioned measuring means and the position indicator, and then the amount of wall loss in the controlled object is predicted.

The procedure for implementing the method for predicting the amount of wall loss according to the present invention differs between the first prediction and the second and subsequent predictions.

(1) First prediction First, the amount of wall loss for the first prediction (that is, the prediction targeting the management time <2> executed using the measurement results performed at the management time <1>). The procedure for implementing the prediction method and the procedure for processing in the wall thinning amount prediction device will be described (see FIG. 1).

First, the position locator 1 is attached and installed at a position corresponding to the measurement surface on the surface of the object to be controlled (S1-1).

In addition, when performing as a series of shooting work, only one position locator 1 may be installed on the surface of the object to be managed, or a plurality of position locator 1s may be installed. Is also good.

Subsequently, in a state where the position indicator 1 is attached to the surface of the object to be managed and installed, the position recognition target 2 is imaged by a pair of light receiving units (that is, a stereo camera) of the measuring means (S1-). 2).

In the process of S1-2, it is not necessary to emit the measurement light used for shape measurement such as a line laser from the light irradiation part of the measuring means, while the reflecting part of each position recognition target 2 is clearly reflected. The illumination light (specifically, for example, LED light) may be emitted so that the reflected light from each position recognition target 2 is appropriately received by the light receiving unit of the measuring means.

By photographing and imaging the position recognition target 2 by the measuring means, the image of each position recognition target 2 is included as a subject, and the position recognition target 2 included in each image is superimposed (in other words) as a reference point. And, a group of stereo images (stereo pair images) that can be combined (connected and connected) is acquired.

Then, the acquired stereo image data is used, and the ID information of the position recognition target 2 is used and included in each image by, for example, image processing / image recognition technology (particularly, optically processed). The image of each position recognition target 2 is extracted, individually identified and specified, and the three-dimensional position coordinates of each position recognition target 2 are specified. In other words, it corresponds to the measurement surface of the controlled object. A three-dimensional coordinate system in which each position recognition target 2 individually identified is used as a reference is defined in the space to be used (the origin is arbitrarily determined) (S1-3). The three-dimensional position coordinates here are position coordinates in a Cartesian coordinate system consisting of a plane position (x, y) and a height (z), and are expressed as (x, y, z), for example.

The method of calculating the three-dimensional position coordinates using a stereo image (stereo pair image) is not limited to a specific calculation method, and an appropriate one is appropriately selected from the conventional or new calculation methods. To. Specifically, for example, the three-dimensional position coordinates of each position recognition target 2 may be calculated by performing a spatial calculation based on the triangulation method as a measurement principle. In the spatial calculation performed by other processes in the description of the present invention, for example, a calculation based on the triangulation method is performed to calculate three-dimensional position information.

Next, a marker (referred to as a "wall thickness measurement marker") for indicating the wall thickness measurement location is attached to the location where the wall thickness is actually measured in the process of S1-7 described later (S1-4).

The wall thickness measurement marker may be, for example, one that is optically extracted and easily grasped in the captured image, and is similar to, for example, the position recognition target 2 (however, the position attached to the position indicator 1). It may be further attached separately from the recognition target 2).

The wall thickness measurement marker is hidden behind the position indicator 1 so that the position indicator 1 can be clearly imaged by the measuring means in a state where the position indicator 1 is installed corresponding to the measurement surface of the object to be controlled. It can be directly attached to the measurement surface of the object to be controlled by sticking it to a position where it is not.

The number of wall thickness measurement markers (that is, the number of places where the wall thickness is actually measured in the treatment of S1-7 described later) is not limited to a specific number, and may be one, and the wall thickness / wall thickness reduction amount. In order to obtain the distribution with high accuracy, it is preferable that the number is plural.

Then, in a state where the position indicator 1 is attached to the surface of the object to be controlled and the wall thickness measurement marker is attached to the measurement surface of the object to be controlled, the wall thickness measurement marker and the wall thickness measurement marker are used by the measuring means. A measurement light such as a laser beam (for example, a line laser) is emitted from the light irradiation unit in the vicinity thereof, and the irradiated measurement light (reflected light) and the position recognition target 2 are simultaneously paired. The image is taken by the light receiving unit (that is, a stereo camera) (S1-5).

By the information of the three-dimensional position coordinates of each position recognition target 2 specified in the process of S1-3, the measurement light on the measurement surface targeting the wall thickness measurement marker and its surroundings, and the imaging of the position recognition target 2. Using the acquired stereo image, a spatial calculation is performed to acquire the three-dimensional position coordinates of the wall thickness measurement marker (S1-6).

Next, the wall thickness is actually measured at the attachment position of the wall thickness measurement marker (S1-7).

The wall thickness is a reference for specifying the position of the back surface in the surface shape data of the measurement result in the processing of S1-12 described later (in other words, a reference for superimposing the surface shape data of the measurement result and the design shape data). It is used as.

Here, the surface of the controlled object that constitutes the shape opposite to the measurement surface (in other words, the surface facing the measurement surface) and the inner surface of the measurement surface (that is, photographing / measuring by the measurement means). The surface that cannot be recognized) is called the "back surface".

The number of places where the wall thickness is actually measured (that is, the number of wall thickness measurement markers attached in the processing of S1-4) is not limited to a specific number, and may be one place, and the wall thickness / wall thickness is reduced. In order to obtain the distribution of the quantity with high accuracy, it is preferable to have a plurality of locations.

In the actual measurement of the wall thickness, the wall thickness measurement marker is removed at each place where the wall thickness measurement marker is attached, and the wall thickness at the position where the wall thickness measurement marker is attached is actually measured.

The equipment and method used when actually measuring the wall thickness is not limited to a specific equipment and method, and for example, the contact type or the contact type or the method is used after considering the feasibility of the actual measurement work and the measurement accuracy. Appropriate ones are appropriately selected from non-contact measuring instruments and methods. Specifically, for example, the actual measurement of the wall thickness may be performed by using an ultrasonic thickness gauge, to give just one example.

Then, in the present embodiment, the wall thickness data obtained as a result of the actual measurement is recorded and stored in the storage unit 22 as a data file or the like (reference numeral 31 in FIG. 3).

The wall thickness data of the actual measurement result may be recorded and stored in various recording media, for example, or may be connected to a data server connected to the wall thinning amount prediction device 20 by a signal line such as a bus. It may be recorded and stored (this handling is the same for other data 32 to 34).

Next, with the wall thickness measurement marker removed and only the position indicator 1 attached to the surface of the controlled object and installed, the light irradiation unit is directed toward the measured surface of the controlled object by the measuring means. Then, a measurement light such as a laser beam (for example, a line laser) is emitted, and the measurement light (reflected light) irradiated to the measurement surface and the position recognition target 2 are simultaneously paired with a light receiving unit (that is, that is). (Stereo camera) (S1-8).

The information on the three-dimensional position coordinates of each position recognition target 2 specified in the process of S1-3, the measurement light on the measurement surface, and the stereo image acquired by photographing the position recognition target 2 are used. Spatial calculation is performed to recognize the three-dimensional shape of the measurement surface of the controlled object (specifically, the three-dimensional point group data related to the surface shape is acquired) (S1-9).

Next, the acquired point cloud data is converted into surface format data, and mesh data corresponding to the three-dimensional shape of the measurement surface of the controlled object is created (S1-10).

The method for converting the point cloud data into the surface format data is not limited to a specific conversion method, and an appropriate one is appropriately selected from the conventional or new conversion methods. Specifically, for example, the point cloud data may be converted into the surface format data by performing the conversion process based on the Delaunay triangle division as the calculation principle.

The mesh data created by the process of S1-10 is called "surface shape data of the measurement result".

Then, in the present embodiment, the surface shape data of the measurement result regarding the controlled object created by the above processing is recorded and stored in the storage unit 22 as a data file or the like (reference numeral 32 in FIG. 3).

Next, three-dimensional shape data is created based on the design dimensions (S1-11).

Specifically, it is composed of three-dimensional shape data (specifically, for example, CAD surface data, that is, a parametric curved surface) based on the design dimensions of the member forming and forming the measurement surface of the controlled object. (Three-dimensional shape data without thickness, etc.) is created.

Here, the surface shape data of the measurement result created by the above-mentioned processes up to S1-10 is the shape data related to the surface that can be recognized in the photographing / measurement by the measuring means. Therefore, the shape related to the surface that cannot be recognized in the photographing / measurement by the measuring means is supplemented / complemented by using the three-dimensional shape data based on the design dimensions. As a result, for the member constituting / forming the measurement surface, three-dimensional structure data representing the entire structure of the member itself including the side surface / back surface and the internal structure in addition to the measurement surface is created.

It should be noted that a surface that cannot be recognized in photography / measurement by a measuring means is not a target of shape measurement because it is not necessary to consider deformation due to wall thinning due to corrosion or wear on the surface, for example. It is a part.

Then, the three-dimensional shape data based on the design dimensions represents the shape at the start of service of the member constituting the controlled object, and represents the original shape in which the wall thickness is not reduced due to corrosion or wear.

In the present embodiment, three-dimensional shape data (referred to as "design shape data") based on the design dimensions of the members forming and forming the measurement surface of the controlled object created by the above processing is stored as a data file or the like. It is recorded and stored in the unit 22 (reference numeral 33 in FIG. 3).

Next, the surface shape data of the measurement result regarding the controlled object created in the process of S1-10 and the design shape data created in the process of S1-11 are combined (S1-12).

That is, the surface shape data of the measurement result and the design shape data are superimposed, and the design shape data is applied to the portion that is not created as the surface shape data of the measurement result, so that the surface shape data of the measurement result and the design Regarding the members that are combined (in other words, combined) with the shape data to form and form the measurement surface of the controlled object, in addition to the measurement surface, the overall structure of the member including the side surface, back surface, and internal structure The three-dimensional structure data to be represented is created.

Here, the surface shape data of the measurement result is composed only of the information on the surface shape of the controlled object, and the design shape data includes the information on the surface shape of the controlled object and the information on the side surface / back surface and the shape of the internal structure. Constructed as having.

Therefore, if the position of the back surface is specified for the front surface shape data of the measurement result (when it is assumed that the shape does not change due to corrosion or the like on the back surface), the position and design of the back surface. By matching the position of the back surface in the shape data, the surface shape data of the measurement result and the design shape data can be superimposed in the correct positional relationship in the wall thickness direction, and the surface shape and the design in the surface shape data of the measurement result can be superimposed. It is possible to combine the shape of the side surface / back surface and the internal structure in the shape data.

Therefore, the actual wall thickness at the attachment position of the wall thickness measurement marker actually measured in the processing of S1-7 is used, and only the measured wall thickness is used from the surface position in the surface shape data of the measurement result. By aligning the position of the back surface in the design shape data with a position separated in the thickness direction (in other words, a displaced position), the surface shape data of the measurement result and the design shape data are superimposed in the correct positional relationship.

Here, the position where the wall thickness is actually measured is the attachment position of the wall thickness measurement marker, and the position coordinates are acquired in the process of S1-6. Therefore, in the position coordinates acquired in the process of S1-6, the position deviated from the surface position in the surface shape data of the measurement result in the thickness direction by the measured wall thickness (in other words, deviated from the position). By aligning the position of the back surface in the design shape data with the position), the two shape data can be accurately superimposed.

The alignment in the direction perpendicular to the thickness direction (in other words, the vertical surface) is, for example, a characteristic part on the surface of the management object that is easy to extract and grasp in the image and a position reference dent described later. This is done by matching the positions of.

With the positions of the back surfaces matched, the surface shape in the surface shape data of the measurement result and the shape of the side surface / back surface and the internal structure in the design shape data (specifically, correspond to the surface shape in the surface shape data of the measurement result). The shape excluding the part to be used) is combined. The shape created by the connection is three-dimensional, which represents the entire structure of the member to be managed (in other words, the member that constitutes the surface of the object to be managed), as well as the side surface, back surface, and internal structure. It is a structure.

Further, as described above, in the three-dimensional structure data, the position of the back surface in the design shape data is adjusted to a position separated in the thickness direction by the measured wall thickness from the position of the front surface in the surface shape data of the measurement result. ing. Therefore, the difference (in other words, the interval) between the front surface in the surface shape data of the measurement result in this state and the back surface in the design shape data is the wall thickness of the member constituting and forming the measurement surface at the time of management <1>. Is the distribution of.

In the present embodiment, the data coupling unit 21a of the control unit 21 reads the wall thickness data 31 of the actual measurement result stored in the storage unit 22.

When the wall thickness data of the actual measurement result is stored in various recording media, for example, the recording medium is inserted into a recording medium connection terminal (not shown) of the wall thinning amount prediction device 20. It may be read from the recording medium, or if it is stored in a data server connected to the wall thinning amount prediction device 20 by a signal line such as a bus, the said via the signal line. It may be read from the data server (note that this handling is the same for other data 32 to 34).

The data coupling unit 21a of the control unit 21 further reads the surface shape data 32 and the design shape data 33 of the measurement results stored in the storage unit 22.

Then, the wall thickness data 31 of the measured measurement result, the surface shape data 32 of the measurement result, and the design shape data 33 are used by the data coupling unit 21a, and the measurement is performed from the position of the surface in the surface shape data of the measurement result. After the position of the back surface in the design shape data is aligned with the position separated in the thickness direction by the thickness of the wall (in other words, the shifted position), the surface shape in the surface shape data of the measurement result and the design shape data Three-dimensional structure data (specifically, for example, CAD solid data) is combined with the shape of the side surface / back surface and the internal structure (specifically, the shape excluding the portion corresponding to the surface shape in the surface shape data of the measurement result). That is, three-dimensional shape data having a volume composed of parametric curved surfaces, etc.) is created.

The created three-dimensional structure data is recorded and stored in the storage unit 22 as a data file or the like related to the three-dimensional structure data relating to the members constituting and forming the measurement surface (reference numeral 34 in FIG. 3).

Next, the temperature distribution in the controlled object is estimated (S1-13).

In this process, a steady-state heat conduction analysis that considers and reflects the shape (structure) based on the three-dimensional structure data of the controlled object obtained by the above processes up to S1-12 is performed, and the temperature distribution of the controlled object is performed. Is estimated.

Specifically, the three dimensions created in the above-mentioned processing of S1-12 regarding the analysis region of the members constituting and forming the measurement surface targeted for measurement in the above-mentioned processing up to S1-12. Structural data is used.

As an example of an analysis region selected from the members constituting and forming the measurement surface, FIG. 8 shows a region of one water-cooled wall pipe of a power generation boiler and an axial length of about 100 mm.

Subsequently, an analysis mesh for the selected analysis area is created. For example, in order to estimate the temperature distribution of the controlled object in detail, it is desirable that the analysis mesh reflects the shape of the measurement surface as faithfully as possible, and the mesh size is made unreasonably small. It is created by appropriately setting the mesh size to an appropriate size, taking into consideration that an increase in the number of elements and the number of nodes may increase the calculation time and limit the analysis area. Specifically, for example, the analysis mesh may be created with the mesh size set to about 2 mm, to give just one example.

Further, as the conditions used for the analysis, the thermal conductivity of the member related to the analysis region and the boundary conditions on the heat transfer surface are set. When the controlled object is a water-cooled wall pipe of a power generation boiler and a coal-fired boiler is assumed as in the present embodiment, the heat flux inside the furnace [W / m ² ], as a boundary condition on the heat transfer surface, The steam temperature in the pipe [° C.] and the heat transfer coefficient on the inner surface of the pipe [W / (m ² · K)] are set.

Regarding the heat flux given to the members related to the analysis area, for example, only radiant heat transfer is considered on the inner surface of the furnace, and the heat flux generated in the vertical direction with respect to the water cooling wall is modeled. The value of the heat flux may be adjusted according to the incident angle of the inner surface (see FIG. 9). Further, heat transfer by convective heat transfer may be modeled on the inner surface of the pipe, and the outer surface of the furnace may be a heat insulating surface.

As for the conditions used for the analysis, the items required according to the management object and the analysis method are defined in advance in the thinning amount prediction program 27, or are recorded and saved in the storage unit 22 as a data file or the like. It is loaded as needed.

In the present embodiment, the temperature distribution estimation unit 21b of the control unit 21 reads the three-dimensional structure data 34 stored in the storage unit 22.

Then, the temperature distribution estimation unit 21b creates an analysis mesh for the analysis region using the three-dimensional structure data 34, and performs steady heat conduction analysis to estimate the temperature distribution for the controlled object.

The estimated temperature distribution is stored in the memory 25 as the estimation result of the temperature distribution for the controlled object.

Next, the amount of corrosion thinning in the controlled object is predicted (S1-14).

In this treatment, the estimation result of the temperature distribution regarding the controlled object estimated in the treatment of S1-13 is used, and the amount of wall loss due to corrosion is predicted.

For the prediction of the amount of wall loss due to corrosion, for example, the corrosion rate prediction formula (Shin Minamijima, Masahiko Morinaga: "Proposal of a method for predicting the corrosion rate of pulverized coal-fired boiler evaporation pipe material in a reducing sulfur corrosion atmosphere-Still field gas corrosion atmosphere" Corrosion rate prediction formula in ”, Report of Central Research Institute of Electric Power Industry Q10019, 2011) can be used.

In the above document, the reducing sulfur corrosion of water-cooled wall pipes is classified by the combination of the apparent oxygen partial pressure and the apparent sulfur partial pressure calculated from the gas type in the atmosphere inside the boiler. It is clear that it can be divided into three different regions (specifically, I: a region mainly composed of sulfide formation, III: a region mainly composed of oxide formation, and II: a transition region between I and III). Then, the amount of wall loss due to corrosion is predicted by using the corrosion rate prediction formula shown in Equation 1 below.

(Equation 1) δ (t, T) = k · t ⁿ = A · exp (−E _a / RT) · t ⁿ

The meaning of each symbol in Equation 1 is as follows.
δ: Estimated wall loss [mm]
k: Corrosion rate constant [mm / h ⁿ ]
A: Constant [mm / h ⁿ ] determined for each corroded region in the P _O2- P _S2 correlation diagram of FIG.
E _a : Apparent activation energy [J / mol] determined for each corroded region in the P _O2- P _S2 correlation diagram of FIG.
R: Gas constant (= 8.31 [J / (mol · K)])
T: Material temperature [K]
t: Corrosion time [h]
n: An index showing the corrosion rate law determined for each corrosion region in the P _O2- P _S2 correlation diagram of FIG.

According to Equation 1, the amount of wall loss δ associated with corrosion depends on the temperature T and the time t. Therefore, the estimation result of the temperature distribution regarding the controlled object (that is, the water-cooled wall pipe) estimated in the processing of S1-13, and the expected operating time between the control time point <1> and the control time point <2>. Is applied to Equation 1 to predict the amount of corrosion thinning.

The wall thinning amount predicted here is a predicted value of the wall thinning amount that occurs on the measurement surface between the management time point <1> and the management time point <2>. Therefore, when the wall thickness reduction amount is subtracted from the wall thickness distribution at the control time point <1> grasped from the three-dimensional structure data created in the process of S1-12, the measurement surface is formed and formed. It is the distribution of the wall thickness of the member as a prediction at the management time point <2>.

In the present embodiment, the wall thinning amount prediction unit 21c of the control unit 21 reads the estimation result of the temperature distribution regarding the controlled object stored in the memory 25 in the processing of S1-13, and the estimation reduction is performed using the mathematical formula 1. The meat amount δ is calculated.

Then, the calculated value of the estimated wall thinning amount δ and the distribution of the wall thickness are stored in the storage unit 22 as a data file or the like or displayed on the display unit 24 as necessary as the result of the first prediction. ..

It should be noted that the prediction result of the first prediction of the amount of wall thinning performed by using the formula 1 targets the amount of wall loss due to corrosion, and does not consider the amount of wall loss due to wear.

(2) Second and subsequent predictions Next, regarding the second and subsequent predictions (that is, predictions targeting after the management time <3>, which is executed using the measurement results performed after the management time <2>). , The procedure for implementing the method for predicting the amount of wall loss, and the procedure for processing in the device for predicting the amount of wall loss will be described (see FIG. 2).

《Position reference dent》
From the second prediction onward, when measuring a predetermined measurement surface (in other words, the same range, the same location) of the surface of the controlled object, it is necessary to temporarily remove the position indicator 1 between the previous and next measurements. If there is, it is necessary to accurately align and compare the measurement data at different time points in order to understand how a specific part has changed in time series.

Therefore, in order to use it as a reference point when aligning, as shown in FIG. 11, it has one deepest point (in other words, apex; reference numeral 11 in FIG. 11) as a recess and manages from the deepest apex 11. A dent (referred to as "cone shape") having an inclined surface 12 extending to the surface 9 of the object, that is, having an opening 13 and an inclined surface 12 and the deepest apex 11. (Called the mark 10 ") is formed.

The position reference dent 10 is not limited to a specific dimension. For example, the measurement accuracy of the measuring means used for measurement and the alignment in a plurality of surface shape data (in other words, the alignment of the plurality of surface shape data). The appropriate dimensions are set as appropriate, taking into consideration the convenience in the process of superimposing on the data. Specifically, for example, the position reference dent 10 can be formed by setting the minimum dimension and the maximum dimension in the range of about 1 to 10 mm, to give just one example.

The position reference dent 10 is set so that the image is included in the imaging range / measurement range in the shooting / measurement performed by attaching and installing the position indicator 1 corresponding to the predetermined measurement surface of the object to be managed. To do.

Then, when the position locator 1 is once removed and a predetermined period elapses and the measurement for the predetermined measurement surface is performed again, the position locator 1 is moved in correspondence with the predetermined measurement surface. It will be reattached and installed for shooting / measurement.

At this time, the position locator 1 does not need to be mounted at the same position as the position where the position locator 1 was attached at the time of the measurement already performed on the predetermined measurement surface, and more specifically, it has already been performed. Although it is not necessary that the position indicator 1 is the same as the position indicator 1 used in the measurement, the image of the position reference dent 10 associated with the predetermined measurement surface is the imaging range / measurement range. It is installed and installed as included in.

A cone-shaped position-referenced dent 10 is formed on the surface 9 of the object to be controlled, and the position-referenced dent 10 is recognized and detected in the image captured / measured together with the surface shape. Therefore, the deepest apex 11 in the cone-shaped recess is used as a reference for the position. For example, the surface shape data of the measurement results at different time points are accurately aligned and the surface shape data can be compared appropriately. Will be done.

A cone-shaped position-referenced dent 10 is formed on the surface 9 of the object to be controlled, and the position-referenced dent 10 is recognized and detected in the image captured / measured together with the surface shape. Further, it becomes possible to grasp the state of wall thinning due to corrosion or wear of the surface 9 of the controlled object at the formed portion of the position reference dent 10.

Specifically, for example, the position reference dent 10 is managed based on the shape of the instrument used when the position reference dent 10 is formed, the measurement result of the actually formed position reference dent 10, and the like. The dimension L and area S of the opening 13 (in other words, in the plan view and the opening plane view) on the surface 9 of the object and the deepest apex of the position reference dent 10 from the surface 9 of the controlled object. The relationship with dimension D up to 11 is specified.

Then, the position reference dent 10 from the surface 9 of the management object corresponding to the dimension Lm and the area Sm of the predetermined position of the opening 13'on the surface 9 of the management object of the measured position reference dent 10'. By calculating the dimension Dm up to the deepest apex 11, the difference d between the dimension D and the dimension Dm is obtained as the amount of wall loss due to corrosion or wear on the surface 9 of the controlled object.

In the example shown in FIG. 11, the lengths of the square sides of the openings 13 and 13'are used as the dimensions L and Lm of the predetermined locations, but the dimensions of the other locations are used as the dimensions of the predetermined locations. You may do so. Specifically, for example, the length of the diagonal line may be used as the dimension of the predetermined portion, or the dimension from each corner to the deepest apex 11 may be used.

Further, in the example shown in FIG. 11, the shapes of the openings 13 and 13'are quadrangular, but the shape of the openings may be other shapes. Specifically, the shape of the opening may be, for example, a triangle or a polygon having a pentagon or more (that is, the position reference dent is formed as a concave portion corresponding to the shape of a triangular pyramid or a polygonal cone), or may be circular. Good (ie, position-referenced dents are formed as recesses that correspond to the shape of a cone). When the shape of the opening is various polygons, the length of the side or the dimension from each corner to the deepest apex is used as the dimension of the predetermined portion, or when it is circular, the above It is conceivable that the diameter is used as the dimension of the predetermined location.

The number of position reference dents 10 formed on the surface 9 of the management object is not limited to a specific number, and the position indicator 1 is installed on a predetermined measurement surface of the management object. The number is appropriately set to be appropriate for aligning a plurality of surface shape data acquired at different acquisition time points by the photographing / measuring work.

Specifically, for example, when there is a characteristic portion on the surface 9 of the object to be managed that does not change over time and is easy to extract and grasp in the image, one position reference dent 10 is formed. Then, the positions of the position-referenced dents 10 are matched, and the characteristic portions are overlapped with the position of the position-referenced dents 10 as the center of rotation so that the positions of the plurality of surface shape data are aligned. You may. Alternatively, after a plurality of position-referenced dents 10 are formed, the positions of the plurality of position-referenced dents 10 may be matched with each other to align the plurality of surface shape data.

《Forecasting the amount of wall loss after the second forecast》
In the first prediction, when the surface shape data of the measurement result and the design shape data are superimposed for the first time on a certain measurement surface, it is necessary to actually measure the wall thickness in order to specify the position of the back surface of the surface shape data of the measurement result. It is said that.

On the other hand, when the surface shape data of the measurement result and the design shape data of the certain measurement surface are superposed after the second prediction, the above-mentioned cone-shaped position reference dent 10 is formed. At the same time, the shape is measured, so that the actual measurement of the wall thickness becomes unnecessary.

Specifically, the position reference dent 10 is formed on the surface 9 of the controlled object so as to correspond to the measurement surface. At this time, the position reference dent 10 includes the dimensions L and area S of the opening 13 (in other words, in the plan view and the opening plane view) on the surface 9 of the controlled object and the surface of the controlled object. It is formed as such that the relationship from dimension D from 9 to the deepest apex 11 of the position reference dent 10 can be identified (see FIG. 11 as an example).

Then, regarding the processing related to the first prediction, the above-mentioned processes S1-1 to S1-7 are performed as described above, and the measurement light (reflected light) irradiated to the measurement surface of the subsequent controlled object is used. In the process (S1-8) in which the position recognition target 2 is simultaneously imaged, the position reference dent 10 is included in the imaging range, and the management object including the shape of the position reference dent 10 in addition to the measurement surface. The three-dimensional shape of the surface 9 is recognized and the point group data is acquired (S1-9), and at the same time, it corresponds to the three-dimensional shape of the surface 9 of the controlled object including the shape of the position reference dent 10 in addition to the measurement surface. Mesh data is created (S1-10). Then, the surface shape data 32 of the measurement result regarding the management time point <1> is recorded and saved in the storage unit 22 as a data file or the like. Further, the processes of S1-11 to S1-14 are performed as described above. Then, the three-dimensional structure data 34 relating to the management time point <1> is recorded and saved in the storage unit 22 as a data file or the like.

Then, for the second and subsequent predictions, the position indicator 1 is attached and installed at a position on the surface of the controlled object corresponding to the measurement surface, as in the above-mentioned processing of S1-1 to S1-3. S2-1), with the position indicator 1 attached and installed on the surface of the object to be managed, the position recognition target 2 is imaged by a pair of light receiving units (that is, a stereo camera) of the measuring means (S2). -2), the three-dimensional position coordinates of each position recognition target 2 are specified (S2-3).

Subsequently, as in the process of S1-8 described above, when the measurement light (reflected light) irradiated to the measurement surface of the controlled object and the position recognition target 2 are simultaneously imaged, the position reference is set to the imaging range. The dent 10 is included (S2-4), and in addition to the measurement surface when the three-dimensional shape of the surface 9 of the controlled object is recognized and the point group data is acquired in the same manner as in the process of S1-9 described above. The shape of the position reference dent 10 is included (S2-5), and when mesh data corresponding to the three-dimensional shape of the surface 9 of the controlled object is created as in the process of S1-10 described above, the measurement surface In addition, the shape of the position reference dent 10 is included (S2-6). Then, the surface shape data 32 of the measurement result regarding the management time point <N> is recorded and saved in the storage unit 22 as a data file or the like (however, N = 2, 3, 4, ...).

Then, based on the change in the shape (specifically, the dimension L and the area S) of the opening 13 on the surface 9 of the object to be managed of the position reference dent 10, the position of the position reference dent 10 is formed. The amount of meat loss in the area is specified (S2-7).

Specifically, the dimensions L and the area S of the opening 13 (in other words, in the plan view and the opening view) on the surface 9 of the controlled object specified for the position reference dent 10. The relationship between the dimension D from the surface 9 of the controlled object to the deepest apex 11 of the position-referenced dent 10 is used to measure the position-referenced dent 10'on the surface 9 of the controlled object. From the surface 9 of the managed object corresponding to the dimension Lm and the area Sm of the predetermined portion (in other words, in the plan view and the opening view) of the opening 13'to the deepest apex 11 of the position reference dent 10'. The dimension Dm is calculated.

Then, the difference between the dimension D or Dm at the control time point <N-1> and the dimension Dm at the control time point <N> is obtained (however, N = 2, 3, 4, ...). This difference is the amount of wall thinning at the formation position of the position reference dent 10.

In the present embodiment, the surface shape data 32 of the measurement result for the management time point <N-1> and the measurement result for the management time point <N> stored in the storage unit 22 by the wall thinning amount calculation unit 21d of the control unit 21. The surface shape data 32 is read, and the dimensions D and Dm up to the deepest apex 11 are obtained based on the shape of the openings 13 and 13'of the position reference dents 10 and 10', and the position reference dent 10 is formed. The amount of wall loss at the position is calculated.

The calculated wall thinning amount is stored in the memory 25 as a value of the wall thinning amount generated at the formation position of the position reference dent 10 between the management time point <N-1> and the management time point <N>. ..

Next, the distribution of the wall thinning amount Δw from the management time point <N-1> to the management time point <N> is calculated (S2-8).

In this process, the difference between the surface shape data of the measurement result at the management time point <N-1> and the surface shape data of the measurement result at the management time point <N> is calculated, and the difference between the management time point <N-1> and the management time point <N-1> is calculated. The distribution of the amount of wall thinning Δw that occurred up to> is obtained.

Here, when the amount of wall thinning at the formation position of the position reference dent 10 is calculated in the process of S2-7, the surface shape data of the measurement result at the control time point <N-1> is compared with the control time point <N-1>. The state in which the surface shape data of the measurement result of N> is shifted in the thickness direction by the amount of the wall thinning at the formation position of the position reference dent 10 is relative to the surface shape data at the management time point <N-1>. It is the position of the surface shape data at the management time point <N>.

That is, the position reference dent 10 is formed as a cone-shaped recess, so that the deepest apex 11 is particularly utilized to function as a positioning reference in a plan view (in other words, an opening view) and an opening. The relationship between the dimension L or area S associated with the portion 13 and the dimension D up to the deepest apex 11 is used to function as a reference for positioning in the depth direction (that is, the direction perpendicular to the opening surface, the wall thickness direction). To do.

Then, with respect to the surface shape data of the measurement result at the control time point <N-1>, the surface shape data of the measurement result at the control time point <N> is added to the thickness reduction amount at the formation position of the position reference dent 10. By calculating the difference between the surface shape data at the management time point <N-1> and the surface shape data at the management time point <N> in the state of being shifted in the thickness direction, the reduction on the surface 9 of the controlled object is performed. The distribution of the meat amount Δw is obtained.

In the present embodiment, the surface shape data 32 of the measurement result of the management time point <N-1> and the measurement result of the management time point <N> stored in the storage unit 22 by the wall thinning amount distribution calculation unit 21e of the control unit 21. The surface shape data 32 of the above is read, and at the same time, the value of the wall thinning amount at the formation position of the position reference dent 10 stored in the memory 25 in the process of S2-7 is read, and at the management time point <N-1>. With respect to the surface shape data, the surface shape data at the control time point <N> is shifted in the thickness direction by the amount of the wall thinning at the formation position of the position reference dent 10 and at the control time point <N-1. The difference between the surface shape data of> and the surface shape data of the management time <N> is calculated.

The calculated difference is stored in the memory 25 as a distribution of the amount of wall thinning Δw generated between the management time point <N-1> and the management time point <N>.

Next, the surface shape at the management time point <N + 1> is predicted (S2-9).

In this process, the distribution of the wall thinning amount Δw calculated in the process of S2-8 is subtracted from the surface shape data of the measurement result at the control time point <N>, and the surface shape data as a prediction at the control time point <N + 1> is calculated. Will be done.

Here, in the processing of S1-12 for the first prediction, the front surface in the surface shape data of the measurement result at the management time point <1> is arranged in the correct positional relationship with respect to the back surface in the design shape data. Further, in the Nth prediction process of S2-8, the positional relationship of the surface shape data of the measurement result of the management time point <N> with respect to the surface shape data of the measurement result of the control time point <N-1> is grasped (however, the positional relationship is grasped. N = 2, 3, 4, ...). Therefore, as a result of the processing of S2-8, the surface in the surface shape data of the measurement result at the management time point <N> is arranged with respect to the back surface in the design shape data, and thereby the member forming and forming the measurement surface. , The distribution of wall thickness at the time of management <N> is grasped.

Then, the distribution of the wall thickness reduction amount Δw calculated in the process of S2-8 is subtracted from the distribution of the wall thickness at the management time point <N> grasped as described above, and the prediction at the management time point <N + 1> is obtained. It is the distribution of the wall thickness as. The management time point <N + 1> is a target time point for predicting the surface shape, and is arbitrarily set.

Here, the distribution of the wall thinning amount Δw stored in the memory 25 in the process of S2-8 is the reduction generated corresponding to the operation time (actual result) from the management time point <N-1> to the management time point <N>. It is the distribution of the amount of meat. Therefore, if necessary, the distribution of the wall thinning amount Δw obtained in the treatment of S2-8 is the amount of wall thinning proportional to the expected operating time from the management time point <N> to the management time point <N + 1>. Adjusted to distribution.

Then, by subtracting the distribution of the amount of wall thinning adjusted as necessary according to the expected operating time from the surface shape data of the measurement result at the management time point <N>, the prediction at the management time point <N + 1> is performed. Surface shape data and wall thickness distribution are calculated.

In the present embodiment, the shape prediction unit 21f of the control unit 21 reads the three-dimensional structure data 34 regarding the management time point <1> stored in the storage unit 22, and also from the management time point <2> to the management time point <2>. The surface shape data 32 of the measurement results related to N> and the value of the wall thinning amount at the formation position of the position reference dent 10 are read from the storage unit 22 and the memory 25, and further, the memory in the processing of S2-8. The distribution of the amount of wall thinning Δw from the management time point <N-1> to the management time point <N> stored in 25 is read.

Then, the shape prediction unit 21f calculates the three-dimensional structure data at the management time point <N>, and it is necessary to match the expected operating time from the surface shape of the three-dimensional structure data at the management time point <N>. The distribution of the amount of wall thinning adjusted accordingly is subtracted, and the surface shape data and the wall thickness distribution as predictions at the management time point <N + 1> are calculated.

Then, the calculated surface shape data and wall thickness distribution are stored in the storage unit 22 as a data file or the like as surface shape data or wall thickness distribution data at the management time point <N + 1>, or as a display unit. It may be displayed on 24.

Then, the control unit 21 ends the process regarding the management time point <N> for the measurement surface of the management object (END).

According to the wall thinning amount prediction method, prediction device, and prediction program configured as described above, the three-dimensional surface acquired by the measurement is performed after the surface shape of the controlled object is measured. The shape data can be used to calculate the distribution of the amount of wall loss on the surface of the object to be controlled, and the distribution of the amount of wall loss can be used to predict the future surface shape of the object to be controlled. For this reason, it becomes possible to grasp and manage the state of wall thinning in the object to be managed as a surface, prevent oversight of the maximum wall thinning part, and further, for example, in the future, the wall thickness will be less than the required minimum wall thickness. By providing information on the progress of wall thinning, it becomes possible to improve the reliability and usefulness as an inspection / management method.

Although the above-described embodiment is an example of a suitable embodiment for carrying out the present invention, the embodiment of the present invention is not limited to the above-mentioned ones, and the present invention does not deviate from the gist of the present invention. Can be modified in various ways.

For example, in the above-described embodiment, the case where the controlled object is a water-cooled wall pipe of a power generation boiler has been described as an example, but the controlled object in the present invention is not limited to a specific object, for example, a building. The present invention can also be applied to building structures such as plants, mechanical structures such as plants, products such as vehicles, and constituent members and parts such as pipes as objects to be managed.

Further, in the above-described embodiment, the process of capturing the image of the position recognition target 2 (S1-2, S2-2) and the process of specifying the three-dimensional position coordinates of each position recognition target 2 (S1-3, S2-). Although 3) is performed as an independent process, it is not an essential configuration in the present invention that these processes are performed as independent processes. For example, as a measuring means, a device that simultaneously acquires the three-dimensional position coordinates of each position recognition target 2, acquires the three-dimensional position coordinates of the wall thickness measurement marker, and recognizes the three-dimensional shape of the measurement surface of the controlled object is used. If this is the case, the imaging of the position recognition target 2 and the specification of the three-dimensional position coordinates of each position recognition target 2 do not need to be independent processes, and the processes of S1-2 and S1-3 in the above-described embodiment are performed. Further, the processes of S2-2 and S2-3 do not have to be performed as independent processes. That is, the above-mentioned processes of S1-2 and S1-3 can be performed simultaneously / simultaneously with the above-mentioned processes of S1-5 and S1-6 and S1-8 and S1-9, or the above-mentioned S2-2 and The processing of S2-3 may be performed simultaneously / simultaneously with the processing of S2-4 and S2-5.

Further, in the above-described embodiment, each of the position recognition targets 2 has ID information, but it is not an essential configuration in the present invention that the position recognition target 2 has ID information. Specifically, for example, when each of the position recognition targets 2 captured by the measuring means is tracked and each of the position recognition targets 2 is distinguished from each other by the mutual positional relationship and individually identified. , Each of the position recognition targets 2 does not have to have ID information.

Furthermore, in the above-described embodiment, the position indicator 1 having a plurality of position recognition targets 2 and the target support 3 is used, but the position recognition target 2 and the target support 3 (extended). Therefore, the use of the position locator 1) is not an essential configuration in the present invention (that is, the above-mentioned processes of S1-1, S1-2 and S1-3 and S2-1, S2-2, And the treatment of S2-3 is not an essential treatment in the present invention). For example, a measuring means that recognizes the shape by performing measurement with a fixed mutual positional relationship with the measurement object, or a three-dimensional orthogonal coordinate system having arbitrary / predetermined origin coordinates is appropriately set by the measuring means itself for measurement. When the measuring means for recognizing the shape is used, the shape of the surface of the object to be measured can be recognized without using the position recognition target 2.

Further, in the above-described embodiment, a marker for indicating a wall thickness measurement location (that is, a wall thickness measurement marker) is used, but it is an essential configuration in the present invention that the wall thickness measurement marker is used. (That is, the above-mentioned treatments of S1-4, S1-5 and S1-6 are not essential treatments in the present invention). For example, the wall thickness of a member constituting the measurement surface is actually measured at a certain point or a plurality of points on the measurement surface of the measurement target portion, and the surface shape data of the measurement result is obtained at the position coordinates where the wall thickness is actually measured. By aligning the position of the back surface in the design shape data to a position (in other words, a deviated position) in the thickness direction by the actual wall thickness from the position of the front surface in, the two shape data can be superimposed. It may be done. In this case, for example, the wall thickness is actually measured at a characteristic portion on the surface of the controlled object that is easy to extract and grasp in the image, and the position coordinates of the characteristic portion are specified. It is conceivable to do so.

Further, in the above-described embodiment, the steady-state heat conduction analysis is performed in the process of S1-13 to estimate the temperature distribution of the controlled object, but the method of estimating the temperature distribution of the controlled object is stationary. It is not limited to the heat conduction analysis, and other methods may be used.

Further, in the above-described embodiment, in the treatment of S1-14, the corrosion rate prediction formula (Shin Minamijima and Masahiko Morinaga: "Corrosion rate of pulverized coal-fired boiler evaporation tube material in reducing sulfide corrosion atmosphere" is used together with the estimation result of the temperature distribution for the controlled object. Proposal of Prediction Method-Corrosion Rate Prediction Formula in Static Field Gas Corrosion Atmosphere- ", Electric Power Central Research Institute Report Q10019, 2011) is used to predict the amount of wall loss due to corrosion of the controlled object. However, the method for predicting the amount of wall loss of the controlled object is not limited to the corrosion rate prediction formula, and other methods may be used.

Furthermore, the processes of S1-13 and S1-14 in the above-described embodiment are not essential processes in the present invention, and the processes associated with the management time point <1> are completed without performing these processes. Is also good. Even in this case, after the management time point <2>, the reduction in the position where the position reference dent 10 is formed is based on the change in the shape of the opening 13 of the position reference dent 10 on the surface 9 of the object to be managed. It is possible to specify the amount of meat (S2-7), and calculate the distribution of the amount of meat loss Δw from the management time point <N-1> to the management time point <N> (S2-8) and the management time point <N + 1>. It is also possible to predict the surface shape in (S2-9).

1 Positioning tool 2 Position recognition target 3 Target support 4 Mounting tool 5 Void 9 Surface of controlled object 10 Position reference dent 10'Position reference dent (when wall thinning occurs)
11 Deepest apex 12 Inclined surface 13 Opening 13'Opening (when wall thinning occurs)
20 Wall thinning amount prediction device 21 Control unit 21a Data coupling unit 21b Temperature distribution estimation unit 21c Wall thinning amount prediction unit 21d Wall thinning amount calculation unit 21e Wall thinning amount distribution calculation unit 21f Shape prediction unit 27

Claims (7)

About management time point <1>
The measurement light was emitted from the light irradiation unit toward the surface of the controlled object, and the surface of the controlled object including the cone-shaped position reference dent formed on the surface of the controlled object was irradiated. The measurement light is photographed by the pair of light receiving portions, and the shape of the position reference dent and the surface shape of the controlled object are recognized from the measurement light photographed by the pair of light receiving portions.
The wall thickness of the members constituting the surface of the controlled object was actually measured.
The shape of the front surface and the shape of the back surface of the member are specified based on the design dimensions of the member constituting the surface of the controlled object.
At the position where the wall thickness of the member constituting the surface of the controlled object is actually measured, the position is separated from the shape of the surface of the controlled object recognized by the photographing by the wall thickness. The member constituting the surface of the controlled object specified based on the design dimensions by aligning the back surface of the member constituting the surface of the controlled object specified based on the design dimensions. The shape of the front surface of the management object at the management time point <1> recognized by the photographing is arranged on the back surface.
Regarding the management time point <N> (however, N is a continuous number representing the order of the time series and is a natural number of 2 or more).
The measurement light is emitted from the light irradiation unit toward the surface of the controlled object, and the surface of the controlled object including the position reference dent formed on the surface of the controlled object is irradiated. The measurement light is photographed by the pair of light receiving units, and the shape of the position reference dent and the surface shape of the controlled object are recognized from the measurement light photographed by the pair of light receiving units.
At the position where the position-referenced dent is formed, based on the change in the shape of the opening on the surface of the controlled object from the control time point <N-1> to the control time point <N> of the position-referenced dent. The amount of meat loss is identified,
At the position where the position reference dent is formed, the position is shifted from the shape of the surface of the controlled object at the control time point <N-1> recognized by the imaging by the amount of wall thinning. The surface shape of the controlled object and the surface shape of the controlled object at the controlled time <N-1> in a state where the surface shape of the controlled object at the controlled time point <N> recognized by photographing is arranged. The difference from the surface shape of the controlled object in N> is calculated to calculate the distribution of the wall loss amount.
It is characterized in that the shape of the surface of the controlled object at the control time <N + 1> is predicted by subtracting the distribution of the wall thinning amount from the shape of the surface of the controlled object at the control time <N>. How to predict the amount of meat loss. About management time point <1>
A position indicator having a plurality of position recognition targets and a target support on which the plurality of position recognition targets are attached and a gap is formed between the position recognition targets is brought to the surface of the controlled object. In the state of being attached and installed, the measurement light is emitted from the light irradiation unit toward the surface of the controlled object, and is formed on the position recognition target of the position indicator and the surface of the controlled object. The measurement light radiated to the surface of the controlled object including the cone-shaped position reference dent is photographed by the pair of light receiving portions, and the position reference is taken from the measurement light photographed by the pair of light receiving portions. The shape of the dent and the shape of the surface of the controlled object are recognized.
The wall thickness of the members constituting the surface of the controlled object was actually measured.
The shape of the front surface and the shape of the back surface of the member are specified based on the design dimensions of the member constituting the surface of the controlled object.
At the position where the wall thickness of the member constituting the surface of the controlled object is actually measured, the position is separated from the shape of the surface of the controlled object recognized by the photographing by the wall thickness. The member constituting the surface of the controlled object specified based on the design dimensions by aligning the back surface of the member constituting the surface of the controlled object specified based on the design dimensions. The shape of the front surface of the management object at the management time point <1> recognized by the photographing is arranged on the back surface.
Regarding the management time point <N> (however, N is a continuous number representing the order of the time series and is a natural number of 2 or more).
In a state where the position indicator is attached to the surface of the control object and installed, measurement light is emitted from the light irradiation unit toward the surface of the control object, and the position of the position indicator The recognition target and the measurement light irradiating the surface of the controlled object including the position reference dent formed on the surface of the controlled object are photographed by the pair of light receiving units and the pair of light received. The shape of the position reference dent and the shape of the surface of the controlled object are recognized from the measurement light photographed by the unit.
At the position where the position-referenced dent is formed, based on the change in the shape of the opening on the surface of the controlled object from the control time point <N-1> to the control time point <N> of the position-referenced dent. The amount of meat loss is identified,
At the position where the position reference dent is formed, the position is shifted from the shape of the surface of the controlled object at the control time point <N-1> recognized by the imaging by the amount of wall thinning. The surface shape of the controlled object and the surface shape of the controlled object at the controlled time <N-1> in a state where the surface shape of the controlled object at the controlled time point <N> recognized by photographing is arranged. The difference from the surface shape of the controlled object in N> is calculated to calculate the distribution of the wall loss amount.
It is characterized in that the shape of the surface of the controlled object at the control time <N + 1> is predicted by subtracting the distribution of the wall thinning amount from the shape of the surface of the controlled object at the control time <N>. How to predict the amount of meat loss. The method for predicting the amount of wall loss according to claim 1 or 2, wherein the controlled object is a water-cooled wall pipe of a boiler for power generation. About management time point <1>
The measurement light was emitted from the light irradiation unit toward the surface of the controlled object, and the surface of the controlled object including the cone-shaped position reference dent formed on the surface of the controlled object was irradiated. The shape of the position reference dent recognized from the measurement light photographed by the pair of light receiving portions and the measurement light photographed by the pair of light receiving portions, and the shape of the surface of the controlled object.
The wall thickness obtained by actually measuring the members constituting the surface of the controlled object,
Using the shape of the front surface and the shape of the back surface of the member specified based on the design dimensions of the member constituting the surface of the controlled object,
At the position where the wall thickness of the member constituting the surface of the controlled object is actually measured, the position is separated from the shape of the surface of the controlled object recognized by the photographing by the wall thickness. The member constituting the surface of the controlled object specified based on the design dimensions by aligning the back surface of the member constituting the surface of the controlled object specified based on the design dimensions. A means for arranging the shape of the front surface of the management object at the management time point <1> recognized by the photographing on the back surface, and
Regarding the management time point <N> (however, N is a continuous number representing the order of the time series and is a natural number of 2 or more).
The measurement light is emitted from the light irradiation unit toward the surface of the controlled object, and the surface of the controlled object including the position reference dent formed on the surface of the controlled object is irradiated. Using the shape of the position reference dent recognized from the measurement light taken by the pair of light receiving portions and the measurement light taken by the pair of light receiving portions and the shape of the surface of the controlled object, the measurement light is used.
At the position where the position-referenced dent is formed, based on the change in the shape of the opening on the surface of the controlled object from the control time point <N-1> to the control time point <N> of the position-referenced dent. Means to identify the amount of meat loss and
At the position where the position reference dent is formed, the position is shifted from the shape of the surface of the controlled object at the control time point <N-1> recognized by the imaging by the amount of wall thinning. The shape of the surface of the controlled object and the surface shape of the controlled object at the controlled time <N-1> in a state where the surface shape of the controlled object at the controlled time <N> recognized by photographing is arranged. A means for calculating the distribution of the amount of wall loss by calculating the difference from the surface shape of the controlled object in N>, and
It has a means for predicting the shape of the surface of the controlled object at the control time <N + 1> by subtracting the distribution of the wall thinning amount from the shape of the surface of the controlled object at the control time <N>. A device for predicting the amount of wall loss. The wall thinning amount prediction device according to claim 4, wherein the controlled object is a water-cooled wall pipe of a power generation boiler. About management time point <1>
The measurement light was emitted from the light irradiation unit toward the surface of the controlled object, and the surface of the controlled object including the cone-shaped position reference dent formed on the surface of the controlled object was irradiated. The shape of the position reference dent recognized from the measurement light photographed by the pair of light receiving portions and the measurement light photographed by the pair of light receiving portions, and the shape of the surface of the controlled object.
The wall thickness obtained by actually measuring the members constituting the surface of the controlled object,
Using the shape of the front surface and the shape of the back surface of the member specified based on the design dimensions of the member constituting the surface of the controlled object,
At the position where the wall thickness of the member constituting the surface of the controlled object is actually measured, the position is separated from the shape of the surface of the controlled object recognized by the photographing by the wall thickness. The member constituting the surface of the controlled object specified based on the design dimensions by aligning the back surface of the member constituting the surface of the controlled object specified based on the design dimensions. A process of arranging the shape of the front surface of the controlled object at the control time point <1> recognized by the photographing on the back surface, and
Regarding the management time point <N> (however, N is a continuous number representing the order of the time series and is a natural number of 2 or more).
The measurement light is emitted from the light irradiation unit toward the surface of the controlled object, and the surface of the controlled object including the position reference dent formed on the surface of the controlled object is irradiated. Using the shape of the position reference dent recognized from the measurement light taken by the pair of light receiving portions and the measurement light taken by the pair of light receiving portions and the shape of the surface of the controlled object, the measurement light is used.
At the position where the position-referenced dent is formed, based on the change in the shape of the opening on the surface of the controlled object from the control time point <N-1> to the control time point <N> of the position-referenced dent. Processing to identify the amount of meat loss and
At the position where the position reference dent is formed, the position is shifted from the shape of the surface of the controlled object at the control time point <N-1> recognized by the imaging by the amount of wall thinning. The surface shape of the controlled object and the surface shape of the controlled object at the controlled time <N-1> in a state where the surface shape of the controlled object at the controlled time point <N> recognized by photographing is arranged. The process of calculating the distribution of the amount of wall loss by calculating the difference from the surface shape of the controlled object in N>, and
A computer performs a process of predicting the shape of the surface of the controlled object at the control time <N + 1> by subtracting the distribution of the wall thinning amount from the shape of the surface of the controlled object at the control time <N>. A meat loss prediction program characterized by letting the computer do it. The wall thinning prediction program according to claim 6, wherein the controlled object is a water-cooled wall pipe of a power generation boiler.