Measuring device, measuring system, measuring method, and program

Abstract

The present invention provides a measuring device for measuring the hardness of a rotor blade groove. The measuring device includes: a hardness meter for measuring hardness; a driver for pressing the hardness meter against a measurement object; a camera for photographing an image of a measurement range in the measurement object measured by the hardness meter; a moving mechanism for moving the hardness meter and the camera to a desired position within the measurement range; and a fixing member for fixing the moving mechanism to the measurement object.

Description

Technical Field

[0001] The present invention relates to a hardness measuring device, a measuring system, a measuring method and a program. This application claims priority based on Japanese Patent Application No. 2020-070314 filed in Japan on April 9, 2020, and the contents thereof are incorporated herein by reference. Background Art

[0002] It is known that the hardness of a steam turbine rotor blade slot is related to the remaining life of the rotor. Figure 11 , Figure 12 , a method for measuring the hardness of a rotor blade slot is described. Figure 11 , Figure 12 A schematic diagram of a rotor 2 of a steam turbine 1 is shown in FIG. Figure 11 As shown, a plurality of blade rows 3 (for example, a first-stage blade row 3a, a second-stage blade row 3b, a third-stage blade row 3c, a fourth-stage blade row 3d, etc.) are provided on the rotor 2. Figure 12 FIG. 2 shows an enlarged view of a portion of the blade row 3 when the rotor 2 is viewed from the axial direction. Figure 12 As shown in FIG. 1 , the rotor 2 includes: a substantially cylindrical rotor body 10 extending along an axis O; a disk 20 provided around the outer periphery of the rotor body 10; and a plurality of rotating blades 30 arranged in a circumferential direction along the outer peripheral surface of the disk 20. The plurality of rotating blades 30 are provided on the outer peripheral surface of the rotor body 10 via the disk 20 and in the circumferential direction of the rotor 2. The plurality of rotating blades 30 form Figure 11 The blade row of one stage is 3. Figure 12 As shown, a plurality of blade grooves 40 are formed on the outer peripheral surface of the impeller 20 and arranged at intervals along the circumferential direction thereof. Each blade groove 40 is formed in a manner of being recessed from the outer peripheral surface of the impeller 20 toward the radial inner side, and the blade groove 40 penetrates the impeller 20 along the axis O direction. A plurality of teeth are formed in a sawtooth-like continuous manner on the blade groove 40, and the overall shape is a Christmas tree. The blade root 31 of the rotating blade 30 is in a shape corresponding to the Christmas tree shape of the blade groove 40. That is, the rotating blade 30 is fixed to the rotor 2 via the impeller 20 by the mutual meshing of the teeth of the blade groove 40 and the blade root 31, and when the rotor 2 rotates, it is supported without falling off even if centrifugal force is applied to the rotating blade 30.

[0003] In the creep residual life evaluation of the rotor 2, multiple measurement points are set for one blade slot 40 to measure the hardness. When measuring, it is desirable to measure the hardness of the blade slot 40 without removing the blade row 3 from the disk 20. For example, after the rotor 2 is lifted from a carriage (not shown) and placed on a base, Figure 11As shown by the arrow, it is necessary for a person to insert a hardness tester through the gap between the blade rows 3 on the outer side in the radial direction and the blade row 3, and press the hardness tester against the measurement point of the blade groove 40 for inspection.

[0004] As a related art, a technique for quantitatively inspecting the shape of an entire rotating blade of a turbine is disclosed in Patent Document 1.

[0005] Prior Art Documents

[0006] Patent Documents

[0007] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2014-202534 Summary of the Invention

[0008] Technical Problem to be Solved by the Invention

[0009] Regarding Figure 11 Regarding the blade groove 40 related to the blade row 3a of the first stage shown, a working space for a person to install a hardness tester is ensured. However, regarding the blade grooves 40 related to the blade rows 3b to 3d of the second stage to the fourth stage, the interval between the blade rows 3 becomes a narrow gap. Therefore, it is difficult to manually perform the setting, measurement, etc. of the tip of the hardness tester at the measurement point.

[0010] Moreover, it is very difficult for a person to accurately position the tip of the hardness tester at the point to be measured in the blade groove and obtain hardness distribution data within a limited inspection time.

[0011] Therefore, an object of the present invention is to provide a measuring device, a measuring system, a measuring method, and a program capable of solving the above problems.

[0012] Means for Solving the Technical Problem

[0013] According to one aspect of the present invention, a measuring device includes: a hardness tester for measuring hardness; a driver for pressing the hardness tester against a measurement object; a camera for photographing an image of a measurement range in the measurement object; a moving mechanism for moving the hardness tester and the camera to a desired position within the measurement range; and a fixing member for fixing the moving mechanism to the measurement object.

[0014] According to one aspect of the present invention, a measuring system includes the above-described measuring device and a control device for the measuring device. The control device includes: a movement control unit for controlling the moving mechanism; an image processing unit for generating an overlapping image representing the position of a measurement point as a target overlapping on the image of the measurement range photographed by the camera; and a display control unit for outputting the overlapping image.

[0015] According to one aspect of the present invention, the measuring method is a measuring method based on the above-described measuring device, and has the following steps: generating an overlapping image representing the position of a measurement point as a target overlapping on an image of the measurement range captured by the camera; displaying the overlapping image; converting first coordinate information representing the position of the measurement point in a first coordinate system set in the overlapping image into second coordinate information in a second coordinate system set for the range in which the moving mechanism moves; obtaining a confirmation result for the overlapping image; moving the hardness tester to the position represented by the second coordinate information when the confirmation result does not include the movement of the measurement point; and performing measurement using the hardness tester.

[0016] According to one aspect of the present invention, a program causes a computer controlling the above-described measuring device to execute the following steps: generating an overlapping image representing the position of a measurement point as a target overlapping on an image of the measurement range captured by the camera; displaying the overlapping image; converting first coordinate information representing the position of the measurement point in a first coordinate system set in the overlapping image into second coordinate information in a second coordinate system set for the range in which the moving mechanism moves; obtaining a confirmation result for the overlapping image; moving the hardness tester to the position represented by the second coordinate information when the confirmation result does not include the movement of the measurement point; and performing measurement using the hardness tester.

[0017] Advantages of the Invention

[0018] According to the above-described measuring device, measuring system, measuring method, and program, it is possible to perform hardness measurement of a blade groove in a state where a blade is mounted on a rotor. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 FIG. is a block diagram showing an example of a measuring system in one embodiment of the present invention.

[0020] Figure 2A FIG. is a first diagram showing a state where the measuring system of the present invention is mounted on a rotor.

[0021] Figure 2B FIG. is a second diagram showing a state where the measuring system of the present invention is mounted on a rotor.

[0022] Figure 3 FIG. is a flowchart showing an example of a hardness measurement process according to one embodiment of the present invention.

[0023] Figure 4 FIG. is a diagram for explaining S1 of the hardness measurement process according to one embodiment of the present invention.

[0024] Figure 5It is a diagram for explaining S2 of the hardness measurement process according to an embodiment of the present invention.

[0025] Figure 6 It is a diagram for explaining S5 of the hardness measurement process according to an embodiment of the present invention.

[0026] Figure 7 It is a diagram for explaining S6 of the hardness measurement process according to an embodiment of the present invention.

[0027] Figure 8 It is a diagram showing an example of CAD data according to an embodiment of the present invention.

[0028] Figure 9 It is a diagram for explaining S8 and S9 of the hardness measurement process according to an embodiment of the present invention.

[0029] Figure 10 It is a diagram showing an example of the blade groove image after the hardness measurement process according to an embodiment of the present invention.

[0030] Figure 11 It is a schematic diagram showing a side cross-section of the rotor of a steam turbine.

[0031] Figure 12 It is a schematic diagram showing the front of the rotor of a steam turbine.

[0032] Figure 13 It is a diagram showing an example of the hardware structure of the control device in an embodiment of the present invention. Detailed Embodiment

[0033] <Embodiment>

[0034] (System Structure)

[0035] Hereinafter, with reference to Figures 1 to 13 , a measurement system based on an embodiment of the present invention will be described.

[0036] Figure 1 An example of the measurement system 100 is shown in . The measurement system 100 is a system for measuring the hardness of the blade groove 40 in the rotor 2 of a steam turbine. The measurement system 100 includes a measurement device 110 as the main body of the measurement device and a control device 120 for controlling the measurement device 110.

[0037] (Functional Structure of the Measurement Device Main Body)

[0038] Figure 1The top view of the measuring device 110 is shown. The measuring device 110 is formed of frame members 106a to 106d on four sides, forming a rectangle with an opening in the central part. On two orthogonal sides among the four sides, a driver 101 and a driver 102 are provided. On the driver 101, a slider capable of moving in the direction of each side is provided. For example, the driver 101 is arranged in parallel with the frame member 106a forming one side in the Y-axis direction, and the driver 102 is fixedly arranged on the frame member 106b forming one side in the X-axis direction. The driver 101 is fixed to the slider of the driver 102 and can move in the X-axis direction by the movement of this slider. A manifold 108 equipped with sensors for hardness measurement is fixed to the slider of the driver 101. A camera 103, a hardness meter 104, and a laser distance meter 105 are provided on the manifold 108. By the movement of the manifold 108 fixed to the slider of the driver 101, the camera 103 and the hardness meter 104 can move in the Y-axis direction. That is, by driving the sliders of the drivers 101 and 102, the camera 103 and the hardness meter 104 can move freely within the range of the illustrated area α. The camera 103, the hardness meter 104, and the laser distance meter 105 are arranged in the depth direction of the paper surface. The camera 103 captures an image of the blade groove 40. The hardness meter 104 measures the hardness of the blade groove 40. The hardness meter 104 is an ultrasonic type or an image measurement type hardness meter. The hardness meter 104 is equipped with a driver 104a (for example, a cylinder) and is configured to make the front end of the hardness meter 104 abut against the blade groove 40 by driving the driver 104a. The laser distance meter 105 measures the distance to the disk 20. For example, the manifold 108 is moved to each vertex of the area α, and the distance from the laser distance meter 105 to the disk 20 is measured at each vertex. Thus, the inclination of the plane (XY workbench) formed by the movement of the manifold 108 and the disk 20 on which the measuring device 110 is installed can be calculated. Fixing members 107a and 107b for mounting the measuring device 110 on the disk 20 are provided on the frame member 106a. Similarly, fixing members 107c and 107d are provided on the frame member 106c. On the fixing members 107a to 107d, for example, permanent magnets or electromagnets are provided, and the measuring device 110 is adsorbed and fixed to the rotor 2 by these magnets. A height adjustment mechanism capable of adjusting the distance between the adsorption destination (such as the rotor 2) of the measuring device 110 and the measuring device 110 is provided on the fixing members 107a to 107d.

[0039] Figure 2A , Figure 2B The situation when the measuring device 110 is mounted on the rotor 2 is shown.

[0040] As Figure 2AAs shown, even for the blade rows 3 and the narrow portions of the blade rows 3 after the second stage, the measuring device 110 can be inserted and fixed to the blade row 3b to be measured for hardness by the fixing members 107a to 107d. As Figure 2B shown, the measuring device 110 is installed such that the blade groove 40A to be measured is included in the region α, whereby the hardness meter 104 can be positioned at a desired position in the blade groove 40A to perform hardness measurement.

[0041] (Functional Structure of the Control Device)

[0042] The control device 120 includes a processing control unit 121, a movement control unit 122, a sensor control unit 123, a data acquisition unit 124, a storage unit 125, a display control unit 126, an image processing unit 127, and a receiving unit 128.

[0043] The processing control unit 121 controls the hardness measurement process. For example, the processing control unit 121 executes the hardness measurement process according to steps, or performs coordinate conversion, etc. between the coordinate system set in the image captured by the camera 103, the coordinate system of the CAD data described later, and the coordinate system set for the XY table (the plane on which the camera 103 or the hardness meter 104 moves). (The coordinate system set for the XY table means, for example, a coordinate system with the workbench origin described later Figure 4 as the origin and the workbench X-axis and workbench Y-axis directions shown in the figure as the X-axis and Y-axis, respectively.)

[0044] The movement control unit 122 controls the drivers 101 and 102 to move the manifold 108 to a desired position.

[0045] The sensor control unit 123 controls the operations of the camera 103, the hardness meter 104, and the laser distance meter 105. For example, the sensor control unit 123 gives a shooting instruction to the camera 103. The sensor control unit 123 performs measurement based on the hardness meter 104 by driving the driver 104a provided in the hardness meter 104, etc.

[0046] The data acquisition unit 124 acquires the image captured by the camera 103 or the measurement result of the hardness measured by the hardness meter 104, etc.

[0047] The storage unit 125 stores various data acquired by the data acquisition unit 124 or CAD data. The CAD data includes the design data of the rotor 2 (coordinate data of the shape of the rotor 2) and the coordinate data of the measurement points for measuring hardness.

[0048] The display control unit 126 generates various images to be presented to the staff performing the measurement operation and displays the images on the display device 130.

[0049] The image processing unit 127 generates an overlapping image in which the measurement target points are overlapped on the image captured by the camera 103, or corrects the measurement target points based on the change instruction of the staff member (moves the position of the measurement target points displayed in an overlapping manner).

[0050] The receiving unit 128 receives the operation of the staff member on the control device 120, and outputs a prescribed control signal corresponding to the operation to the processing control unit 121 and the like.

[0051] <Hardness measurement process>

[0052] Next, use Figures 3 to 10 , to describe the hardness measurement process using the measurement system 100.

[0053] Figure 3 It is a flowchart showing an example of the hardness measurement process in an embodiment of the present invention.

[0054] First, the test flat plate is adjusted to be parallel (step S1).

[0055] Figure 4 The moving direction of the manifold 108 is shown in the upper figure, Figure 4 The relationship between the XY workbench 200 and the installation destination (test flat plate 210) of the measuring device 110 is shown in the lower figure. First, the staff member installs the measuring device 110 on the test flat plate 210. Next, through the operation of the staff member on the control device 120, the processing control unit 121 executes the following processing. First, the sensor control unit 123 turns on the laser distance meter 105. As Figure 4As shown in the above figure, the movement control unit 122 moves the manifold 108 in the order of P1, P2, P3, and P4. At P1, P2, P3, and P4, the laser distance meter 105 measures the distance from the laser distance meter 105 to the test flat plate 210. The data acquisition unit 124 acquires the distances measured at P1 to P4 and outputs them to the processing control unit 121. The processing control unit 121 calculates the tilt angles θ1 to θ4 of the XY stage 200 with respect to the test flat plate 210 based on the output differences of the laser distance meter at each of the positions between P1 and P2, P2 and P3, P3 and P4, and P4 and P1. For example, the tilt angle θ1 is the angle based on the output difference between P1 and P2, the tilt angle θ2 is the angle based on the output difference between P2 and P3, the tilt angle θ3 is the angle based on the output difference between P3 and P4, and the tilt angle θ4 is the angle based on the output difference between P4 and P1. The processing control unit 121 outputs the calculated tilt angles θ1 to θ4 to the display control unit 126. The display control unit 126 displays the tilt angles θ1 to θ4 on the display device 130. The operator adjusts the adjustment mechanisms of the fixing members 107a to 107d and adjusts the mounting height so that the tilt angles θ1 to θ4 are all within the allowable tilt angle.

[0056] Next, confirm the length on the test flat plate 210 and the sensitivity of the pixels (step S2).

[0057] First, as Figure 5 shown, the operator sets the glass scale 220 within the field of view of the camera 103 on the test flat plate 210. The glass scale 220 is transparent and engraved with graduations in units of 1 mm, for example. Next, through the operator's operation of the control device 120, the processing control unit 121 performs the following processing. The sensor control unit 123 causes the camera 103 to take a picture. The data acquisition unit 124 acquires the image captured by the camera 103 and outputs it to the processing control unit 121. The processing control unit 121 calculates the relationship between the pixels constituting the image captured by the camera 103 and the graduations of the glass scale. For example, the processing control unit 121 calculates N pixels per 1 mm, that is, the size of 1 pixel is equivalent to 1 / N mm.

[0058] Next, obtain the deviation amount between the center of the hardness meter 104 and the camera 103 (step S3).

[0059] An operator performs a prescribed operation for the instruction control device 120 to calculate the positional relationship between the hardness tester 104 and the camera 103. The receiving unit 128 receives this operation, and the processing control unit 121 executes the following processing. The sensor control unit 123 operates the hardness tester 104 and performs a trial indentation. By the trial indentation, the tip of the hardness tester 104 abuts against the test flat plate 210, and an indentation is formed on the surface of the test flat plate 210. The movement control unit 122 stores the information of the X coordinate and the Y coordinate in the XY stage 200 of the camera 103 at the time of the trial indentation in the storage unit 125. Next, the movement control unit 122 moves the camera 103 to the position where the indentation is formed, and the sensor control unit 123 causes the camera 103 to take a picture.

[0060] The image processing unit 127 determines whether an indentation is reflected at the center of the image taken by the camera 103. The processing control unit 121 causes the movement control unit 122 and the sensor control unit 123 to repeatedly execute the movement of the camera 103 and the taking of the indentation until the indentation is reflected at the center of the image. If the indentation is reflected at the center of the image, the movement control unit 122 stores the coordinate information of the XY stage of the camera 103 at this time in the storage unit 125. The processing control unit 121 obtains the deviation amounts (ΔX, ΔY) between the position of the hardness tester 104 and the center position of the camera 103 based on the movement amount of the XY stage. Specifically, the processing control unit 121 calculates the difference (ΔX, ΔY) between the coordinate information when the indentation is reflected at the center of the image and the coordinate information at the time of the trial indentation.

[0061] Next, the measuring device 110 is installed on the rotor 2 (step S4).

[0062] An operator installs the measuring device 110 on the rotor 2. The operator visually confirms that there is no gap or wobbling between the magnets of the fixing members 107a to 107d and the adsorption surface of the rotor 2. When the measuring device 110 is installed on the rotor 2, the operator confirms that the tilt angles θ1 to θ4 are within a prescribed angle in the same steps as in step S1.

[0063] Next, an overall image of the blade groove 40 is acquired (step S5).

[0064] Since the distance between the camera 103 and the rotor 2 is close and the magnification of the camera is high, it is impossible to take an image that shows the entire blade groove 40 at once. Therefore, a plurality of partial images are taken and the partial images are combined to obtain the overall image.

[0065] The staff performs a prescribed operation for the instruction control device 120 to acquire an overall image of the blade groove 40. The receiving unit 128 receives this operation, and the processing control unit 121 performs the following processing. The movement control unit 122 moves the camera 103 to a prescribed position, and the sensor control unit 123 causes the camera 103 to capture a partial image of the blade groove 40. An example of the partial image is shown in Figure 6 (a), Figure 6 (b). The data acquisition unit 124 acquires the partial image. The shooting position of the partial image is preset such that if a plurality of partial images are synthesized, they will form an image of the entire blade groove 40. For example, the shooting position is provided as coordinate data of the XY stage, and the movement control unit 122 moves the camera 103 to the position indicated by the coordinate data and causes the sensor control unit 123 to perform shooting. If the partial image can be captured, the image processing unit 127 synthesizes the partial images to generate an overall image. For example, the image processing unit 127 appropriately combines the partial images based on the coordinate data of the shooting position in the XY stage and the length per pixel calculated in step S2 to generate an overall image. An example of the overall image is shown in Figure 6 (c). The display control unit 126 displays the overall image on the display device 130.

[0066] Next, a blade groove coordinate system is generated (step S6).

[0067] The staff observes the overall image displayed on the display device 130 and generates a blade groove coordinate system through the following operations. Refer to Figure 7 The steps of step S6 are described. Figure 7 (1) to (4) correspond to the following (1) to (4).

[0068] (1) The staff manually draws a blade groove tangent line 61 on the overall image. The receiving unit 128 receives this operation, and the image processing unit 127 generates an image with the blade groove tangent line 61 displayed on the overall image.

[0069] (2) The staff manually sets the contact point 62 between the blade groove tangent line 61 and the blade groove 40. The receiving unit 128 receives this operation, and the image processing unit 127 generates an image with the contact point 62 displayed on the image generated in (1).

[0070] (3) The staff sets the midpoint 63 of the line segment connecting the contact points 62. The receiving unit 128 receives this operation, and the image processing unit 127 generates an image with the midpoint 63 displayed on the image generated in (2).

[0071] (4) The staff draws an approximate straight line (Y-axis 64) connecting the midpoints 63. The receiving unit 128 receives this operation, and the image processing unit 127 generates an image with the Y-axis 64 displayed on the image generated in (3).

[0072] (5) The operator sets the intersection point of the Y-axis 64 and the top of the blade groove 40 as the origin O and makes the setting manually. The receiving unit 128 receives this operation, and the image processing unit 127 generates an image showing the X-axis 65 that passes through the set origin O and is orthogonal to the Y-axis 64 on the image generated in (4).

[0073] In the case where the above-described processing is difficult, the shape (outline) of the blade groove can be used as a template and overlapped and displayed on the overall image of the template image, thereby performing calibration of the blade groove image coordinates and the CAD coordinates (blade groove coordinates).

[0074] The processing of the operator in steps (1) to (5) of step S6 can also be automatically performed by the image processing unit 127. For example, for (1), the image processing unit 127 detects the outline of the blade groove 40 from the overall image and draws the blade groove tangent 61.

[0075] For (2) to (3), the image processing unit 127 detects the contact points 62 and sets the midpoint 63 by connecting the contact points 62 whose coordinate positions in the paper surface height direction (Y-axis direction set later) are close to each other. For (4) to (5), the image processing unit 127 connects the midpoints 63 to set the Y-axis 64, detects the top of the blade groove 40 based on the space (black) around the top, etc., and sets the X-axis 65.

[0076] The coordinate system on the image generated through step S6 is called the blade groove coordinate system.

[0077] Next, angle correction of the overall image of the blade groove 40 is performed (step S7).

[0078] The image processing unit 127 adjusts the inclination of the overall image so that the inclination of the blade groove coordinate system (the inclination with respect to the vertical direction or the horizontal direction) becomes 0°.

[0079] Next, display of the measurement target points is performed (step S8).

[0080] The image processing unit 127 reads the CAD data from the storage unit 125 and overlaps it on the overall image. The CAD data includes design data representing the shape of the blade groove 40 that is the object of hardness measurement and coordinate data of the measurement points in the blade groove 40. The image processing unit 127 determines the position corresponding to the origin determined in step S6 in the CAD data, and sets XY coordinate axes with the determined position as the origin in the CAD data space in the same way as the blade groove coordinate system. Then, the image processing unit 127 converts the positions of the multiple measurement points included in the CAD data into coordinate data in the blade groove coordinate system, and generates an image showing marks representing the measurement target points at the corresponding coordinate positions on the overall image. An example of the CAD data is shown inFigure 8 。Some of the circular marks with symbol 71 are preset measurement target points. An example of the overlapping image showing the marks representing the measurement target points overlaid on the overall image is shown in Figure 9 。Some of the circular marks with symbol 81 are marks representing the measurement target points shown by overlapping display. The display control unit 126 displays the overlapping image showing the marks representing the measurement target points on the display device 130.

[0081] Next, confirmation and correction of the measurement target points are performed (step S9).

[0082] The staff member confirms Figure 9 the overlapping image exemplified in Figure 9 。The staff member visually confirms whether the marks are displayed at the correct positions on the measurement points shown in the CAD data. For example, the staff member confirms whether the left - right, up - down deviations or inclinations of the overall measurement target points are within the allowable range. The staff member confirms whether the measurement target points are hanging on the edge or chamfer of the blade groove 40. In the overlapping image exemplified in

[0083] ,the marks representing the measurement target points are shown overlapping with the chamfer (region 82). Since it is not preferable to leave an indentation based on the hardness tester 104 on the chamfer, the staff member selects one by one the marks displayed within region 82 using a mouse or the like and gives a movement instruction (correction) to move in the direction shown by arrow 83, for example. The receiving unit 128 receives this operation, and the image processing unit 127 moves the marks representing the measurement target points to the position where the staff member has moved them and displays them. The image processing unit 127 calculates the coordinate positions in the blade groove coordinate system of the marks representing the moved measurement target points. The staff member moves the marks representing the measurement target points until no measurement target points for correction can be found.

[0084] The execution order of hardness measurement is preset. The staff performs an operation to move the camera 103 to the first measurement target point. The movement control unit 122 controls the drivers 101 and 102 to move the camera 103 to the first measurement target point. The sensor control unit 123 causes the camera 103 to take a picture. The image processing unit 127 overlays and displays a mark indicating the measurement target point on the image captured by the camera 103. The display control unit 126 displays the image with the mark indicating the measurement target point overlaid on the display device 130. The staff confirms whether the center of the camera is aligned with the mark indicating the measurement target point. When the center of the camera 103 is not aligned with the mark indicating the measurement target point, the staff performs a prescribed operation to move the camera 103, thereby adjusting the position of the camera 103. Alternatively, the staff can also correct the position of the mark indicating the measurement target point through the same steps as in step S9. If the mark indicating the measurement target point is at the desired position and the center of the camera 103 is aligned with the mark indicating the measurement target point, the staff instructs the control device 120 to execute hardness measurement. The processing control unit 121 records the coordinate position in the vane slot coordinate system of the first measurement target point and the identification information of the first measurement point in the storage unit 125 in a corresponding manner. The processing control unit 121 calculates the difference between the coordinate position in the XY workbench of the header 108 and the coordinate position of the measurement point in the vane slot coordinate system at this time. This difference represents the relative position relationship between the coordinate system of the XY workbench and the vane slot coordinate system. The processing control unit 121 instructs the movement control unit 122 to move the header 108 by an amount corresponding to the deviation amount calculated in step S3. The movement control unit 122 moves the header 108 by an amount corresponding to the deviation amount calculated in step S3, so that the front end position of the hardness tester 104 is aligned with the measurement target point. The sensor control unit 123 operates the driver 104a to press the hardness tester 104 for measurement. The data acquisition unit 124 records the hardness data measured by the hardness tester 104 and the identification information of the first measurement point in the storage unit 125 in a corresponding manner. Next, the movement control unit 122 moves the header 108 by an amount corresponding to the deviation amount calculated in step S3 so that the center of the camera 103 becomes the position for hitting the front end of the hardness tester 104. When the header 108 moves, the sensor control unit 123 causes the camera 103 to take a picture of the indentation formed by hitting the hardness tester 104. The data acquisition unit 124 records the indentation image captured by the camera 103 and the identification information of the first measurement point in the storage unit 125 in a corresponding manner. If the measurement of the first measurement point is completed, the coordinate position in the vane slot coordinate system of the first measurement point, the measured value of the hardness data, and the indentation image are saved in the storage unit 125. An indentation image is obtained as a trace of hardness measurement performed at the correct position.If an indentation image is acquired, it is possible to verify whether hardness measurement has been performed at a position that does not deviate from the measurement point that is the target by analyzing the indentation image later.

[0085] When the measurement of the first measurement point is completed, the operator instructs the control device 120 to perform the second measurement. Based on the coordinate position of the second measurement target point in the vane groove coordinate system and the relative positional relationship between the coordinate system of the XY stage and the vane groove coordinate system calculated previously, the processing control unit 121 instructs the movement control unit 122 to move the manifold 108 (the center of the camera 103) to the second measurement target point. The movement control unit 122 moves the camera 103 to a position where the center of the camera 103 is aligned with the second measurement target point according to this instruction. Thereafter, the hardness at the second measurement point is measured in the same order as the first measurement point. That is, the operator confirms that an image of the second measurement target point has been taken and, if there are no problems, instructs to perform the measurement. Then, the movement control unit 122 moves the hardness meter 104 to the position of the camera 103, and the sensor control unit 123 measures the hardness at the second measurement point using the hardness meter 104. The movement control unit 122 moves the camera 103 to the position of the second measurement target point again, and the sensor control unit 123 causes the camera 103 to take an indentation image. The data acquisition unit 124 acquires the measurement result of the hardness and the indentation image and records them in the storage unit 125. The storage unit 125 records the coordinate position of the second measurement point, the measured hardness data, and the indentation image. The same applies to the third and subsequent measurement points. The processing control unit 121 instructs the movement control unit 122 and the sensor control unit 123 to sequentially perform the movement to each measurement point, the measurement of the hardness, and the taking of the indentation image until the hardness measurement of the last measurement point is completed.

[0086] When the hardness measurement and the taking of the indentation image are completed at all the measurement target points, the processing control unit 121 ends the hardness measurement process for the current vane groove 40. The image processing unit 127 can generate, for example, an overall image of the vane groove 40 after the measurement process by synthesizing the indentation image in the overall image. Figure 10 An example of the overall image after the hardness measurement process is shown. For example, the marks within the frame 91 are indentations generated by actual hardness measurement. The image processing unit 127 can generate an image in which a mark indicating the measurement target point defined by the CAD data is further superimposed on the actual indentation. In this case, as the image moves away from the center of the image due to the aberration of the camera, it is easy for the marks indicating the indentation and the measurement point to deviate. To prevent this, the image processing unit 127 can correct the aberration with respect to the generated image.

[0087] While continuing to measure other blade grooves 40, the operator moves the measuring device 110 to the blade groove 40 of the next measurement object and performs the processes after step S4.

[0088] As described above, according to the present embodiment, the hardness of the blade groove 40 can be measured by inserting and installing the measuring device 110 between the blade rows 3 without removing the blade row 3 from the rotor 2 of the steam turbine 1. In the hardness measurement of the blade groove 40, it is necessary to measure the hardness at several dozen measurement points for one blade groove 40. According to the measurement system 100 of the present embodiment, by simply aligning the position of the blade groove 40 to be measured and installing the measuring device 110, accurate hardness measurement can be semi-automatically performed at several dozen measurement points. For example, before the hardness measurement, the operator can observe the overlapping image showing the measurement target points in the blade groove 40 and confirm whether the positions of the measurement points are appropriate as a whole (step S8). If the positions of the measurement points are inappropriate, the operator can set the measurement target points at the correct positions on the overlapping image (step S9). The operator can perform a final confirmation of whether the current measurement target points are appropriate during the positioning immediately before the actual measurement (step S10). Thereby, high-precision hardness measurement can be achieved. In addition to these confirmation operations, the hardness measurement operation can be automated, so that hardness measurement can be performed at high speed even in areas where manual operation is difficult. That is, within a limited inspection time, the tip of the hardness meter can be accurately positioned at the point where the blade groove is to be measured, thereby obtaining hardness distribution data.

[0089] Figure 13 FIG. is an example of the hardware configuration of the control device in one embodiment of the present invention.

[0090] The computer 900 includes a CPU 901, a main storage device 902, an auxiliary storage device 903, an input / output interface 904, and a communication interface 905.

[0091] The above-described control device 120 is installed on the computer 900. Moreover, each of the above functions is recorded in the auxiliary storage device 903 in the form of a program. The CPU 901 reads the program from the auxiliary storage device 903, expands it in the main storage device 902, and executes the above processes according to the program. The CPU 901 ensures a storage area in the main storage device 902 according to the program. And the CPU 901 ensures a storage area for storing data being processed in the auxiliary storage device 903 according to the program.

[0092] A program for implementing all or part of the functions of the control device 120 can be recorded on a computer-readable recording medium, the computer system reads in the program recorded on the recording medium, and performs processing based on each functional unit by executing it. The "computer system" mentioned here includes hardware such as an OS or peripheral devices. If a WWW system is used, the "computer system" also includes a homepage providing environment (or a display environment). The "computer-readable recording medium" refers to a portable medium such as a CD, DVD, USB, or a storage device such as a hard disk built into the computer system. Also, when the program is distributed to the computer 900 through a communication line, the computer 900 that has received the distribution can also expand the program in the main storage device 902 and execute the above processing. The above program can be a program for implementing a part of the foregoing functions, or a program that can implement the foregoing functions through combination with a program already recorded in the computer system. The control device 120 can be composed of a plurality of computers 900. The storage unit 125 can be stored in an external storage device separate from the computer 900.

[0093] In addition, within the scope not departing from the gist of the present invention, the constituent elements in the above-described embodiments can be appropriately replaced with well-known constituent elements. The technical scope of the present invention is not limited to the above-described embodiments, and various changes can be added without departing from the gist of the present invention.

[0094] For example, in the above-described embodiment, the hardness of the blade groove 40 in the rotor 2 of the steam turbine 1 was measured using the measurement system 100, and it can also be used for hardness measurement of other machines or devices.

[0095] <Supplementary Note>

[0096] The measurement device 110, measurement system 100, measurement method, program, etc. described in each embodiment are grasped as follows.

[0097] (1) The measurement device 110 according to the first aspect includes: a hardness meter 104 that measures hardness; a driver 104a that presses the hardness meter against the measurement object; a camera 103 that captures an image of the measurement range in the measurement object; a moving mechanism (drivers 101, 102) that moves the hardness meter 104 and the camera 103 to a desired position within the measurement range; and fixing members 107a to 107d that fix the moving mechanism to the measurement object.

[0098] (2) The measurement system 100 related to the second method includes the measurement device 110 of (1) and the control device 120 of the measurement device 110. The control device 120 includes: a movement control unit 122 that controls the movement mechanism; an image processing unit 127 that generates an overlapping image representing the position of the measurement points (measurement target points) as the target overlapping on the image of the measurement range captured by the camera; and a display control unit 126 that outputs the overlapping image.

[0099] Thus, it is possible to confirm the positions of the overall measurement points before measurement.

[0100] (3) The measurement system 100 related to the third method is the measurement system 100 of (2), and it further includes: a calibration unit (the processing control unit 121 calculates the relative positional relationship between the coordinate system of the XY workbench and the coordinate system of the blade groove, and based on this relative positional relationship, instructs the movement control unit 122 to move the manifold 108 to the next measurement point), which converts the first coordinate information representing the position of the measurement points in the first coordinate system set in the overlapping image into second coordinate information in the second coordinate system set for the range moved by the movement mechanism. The movement control unit 122 moves the hardness tester 104 to the position indicated by the second coordinate information.

[0101] Thus, it is possible to automatically move the hardness tester to the measurement points.

[0102] (4) The measurement system 100 related to the fourth method is the measurement system 100 of (3), wherein the movement control unit 122 moves the camera 103 to the position indicated by the second coordinate information, the image processing unit 127 generates an overlapping image representing the position of the measurement points overlapping on the image captured by the camera at the position indicated by the second coordinate information, and the display control unit 126 outputs the overlapping image.

[0103] Thus, it is possible to perform a final confirmation of the measurement points to be measured next.

[0104] (5) The measurement system 100 related to the fifth method is the measurement system 100 of (2) to (4), and it further includes: a receiving unit 128 that receives a movement instruction for the measurement points represented by overlapping on the overlapping image. The image processing unit 127 generates an overlapping image with the position of the measurement points changed based on the movement instruction received by the receiving unit 128.

[0105] Thus, it is possible to perform correction (rectification) of the measurement points next.

[0106] (6) The measurement system 100 according to the sixth mode is the measurement system 100 of (3) to (5), and further includes: a data acquisition unit 124 that acquires the image captured by the camera 103 and the measurement result of the hardness tester 104. The camera 103 captures an image of an indentation generated by pressing the hardness tester 104 against the measurement object at the position indicated by the second coordinate information. The data acquisition unit 124 acquires the measurement result based on the hardness tester 104 and the image capturing the indentation.

[0107] Thereby, it is possible to subsequently obtain the measurement result based on the hardness tester at the measurement point, and it is possible to obtain an image reflecting the indentation after measurement as evidence of the measurement.

[0108] (7) The measurement system 100 according to the seventh mode is the measurement system 100 of (2) to (6), wherein the measurement object is a blade groove of a rotor of a steam turbine.

[0109] (8) The measurement system 100 according to the eighth mode is the measurement system 100 of (2) to (7), wherein, in a state where a blade is mounted on a rotor of a steam turbine, the measuring device can be fixed to any one of the blades by the fixing member.

[0110] (9) The measurement method according to the ninth mode is a measurement method based on the measuring device 110 of (1), and has the following steps: generating an overlapping image representing the position of a measurement point (measurement target point) as a target overlapping on the image of the measurement range captured by the camera 103; displaying the overlapping image; converting the first coordinate information representing the position of the measurement point in the first coordinate system set in the overlapping image into second coordinate information in a second coordinate system set for the range moved by the moving mechanism; obtaining a confirmation result for the overlapping image; when the confirmation result does not include the movement of the measurement point, moving the hardness tester to the position indicated by the second coordinate information; and performing measurement using the hardness tester 104.

[0111] (10) The measurement method according to the tenth mode is the measurement method of (9), and further has the following steps: when the confirmation result includes the movement of the measurement point, changing the position of the measurement point in the overlapping image; and displaying the changed overlapping image.

[0112] (11) The program according to the eleventh mode causes the computer of the measuring device 110 for control (1) to execute the following steps: generating an overlapping image representing the positions of measurement points (measurement target points) as targets overlapping on the image of the measurement range captured by the camera 103; displaying the overlapping image; converting first coordinate information representing the positions of the measurement points in a first coordinate system set in the overlapping image into second coordinate information in a second coordinate system set for the range moved by the moving mechanism; obtaining a confirmation result for the overlapping image; in the case where the confirmation result does not include the movement of the measurement points, causing the hardness tester to move to the position represented by the second coordinate information; and performing measurement using the hardness tester.

[0113] Industrial applicability

[0114] According to the above-mentioned measuring device, measuring system, measuring method and program, it is possible to measure the hardness of the blade groove in a state where the blade is mounted on the rotor.

[0115] Symbol description

[0116] 1 - steam turbine, 2 - rotor, 3, 3a, 3b, 3c, 3d - blade rows, 10 - rotor body, 20 - disk, 30 - rotating blade, 31 - blade root, 40 - blade groove, 100 - measuring system, 110 - measuring device, 101 - driver, 102 - driver, 103 - camera, 104 - hardness tester, 104a - driver (cylinder), 105 - laser distance meter, 106a, 106b, 106c, 106d - frame members, 107a, 107b, 107c, 107d - fixing members, 108 - header, 120 - control device, 121 - processing control unit, 122 - movement control unit, 123 - sensor control unit, 124 - data acquisition unit, 125 - storage unit, 126 - display control unit, 127 - image processing unit, 128 - receiving unit, 900 - computer, 901 - CPU, 902 - main storage device, 903 - auxiliary storage device, 904 - input / output interface, 905 - communication interface.

Claims

1. A measuring device, comprising: A hardness tester for measuring hardness; A driver for pressing the hardness tester against an object to be measured; A distance meter that measures the distance between the hardness meter and the measurement object; A camera that captures an image of the measurement range in the measurement object; A moving mechanism having a manifold to which the hardness meter, the distance meter, and the camera are fixed, and moving the manifold to a desired position within the measurement range; A fixing member that fixes the moving mechanism to the measurement object; and A height adjustment mechanism that adjusts the distance between the hardness meter and the measurement object when the moving mechanism is fixed to the measurement object by the fixing member.

2. A measuring system, comprising: The measuring device according to claim 1; and A control device for the measuring device, The control device comprises: A movement control unit for controlling the movement mechanism; A processing control unit for calculating, based on the difference between the distances measured at two positions by moving the distance meter by the movement mechanism and the distance between the two positions, the angle formed between the object to be measured in the direction connecting the two positions and the line formed by the movement trajectory of the distance meter; An image processing unit that generates an overlapping image representing the position of a measurement point as a target overlapping on the image of the measurement range captured by the camera; And A display control unit that outputs the angle calculated by the processing control unit and the overlapping image.

3. The measuring system according to claim 2, further comprising: A calibration unit for converting first coordinate information representing the position of the measurement point in the first coordinate system set in the overlapping image into second coordinate information in a second coordinate system set for the range in which the movement mechanism moves, The movement control unit moves the hardness tester to the position indicated by the second coordinate information.

4. The measuring system according to claim 3, further comprising: A data acquisition unit for acquiring the image captured by the camera and the measurement result of the hardness tester, The camera captures an image of the indentation produced by pressing the hardness tester against the object to be measured at the position indicated by the second coordinate information, The data acquisition unit acquires the measurement result based on the hardness tester and the image capturing the indentation.

5. The measuring system according to claim 3, wherein, The movement control unit moves the camera to the position indicated by the second coordinate information, The image processing unit generates an overlapping image representing the position of the measurement point overlapping on the image captured by the camera at the position indicated by the second coordinate information, The display control unit outputs the overlapping image.

6. The measurement system according to claim 4, wherein, The movement control unit moves the camera to the position indicated by the second coordinate information, The image processing unit generates an overlapping image representing the position of the measurement point overlapping on the image captured by the camera at the position indicated by the second coordinate information, The display control unit outputs the overlapping image.

7. The measurement system according to any one of claims 2 to 6, further comprising: a receiving unit that receives a movement instruction of the measurement point represented by overlapping the overlapping image, the image processing unit generates the overlapping image in which the position of the measurement point is changed based on the movement instruction received by the receiving unit.

8. The measurement system according to any one of claims 2 to 6, wherein, The measurement object is a blade groove of a rotor of a steam turbine.

9. The measurement system according to any one of claims 2 to 6, wherein, In a state where blades are installed on the rotor of the steam turbine, the measuring device can be fixed to any of the blades by the fixing member.

10. A measurement method based on the measurement device according to claim 1, comprising the following steps: Based on the difference between the distances measured at two positions by moving the distance meter through the moving mechanism and the distance between the two positions, calculate the angle formed by the measurement object in the direction connecting the two positions and the line formed by the movement trajectory of the distance meter; Display the angle; Adjust the height adjustment mechanism based on the angle; Generate an overlapping image representing the position of a measurement point as a target overlapping on the image of the measurement range captured by the camera; Display the overlapping image; Convert first coordinate information representing the position of the measurement point in a first coordinate system set in the overlapping image into second coordinate information in a second coordinate system set for the range in which the moving mechanism moves; Obtain a confirmation result for the overlapping image; When the confirmation result does not include movement of the measurement point, move the hardness meter to the position indicated by the second coordinate information; And Perform measurement using the hardness meter.

11. The measurement method according to claim 10, further comprising the following steps: When the movement of the measurement point is included in the confirmation result, change the position of the measurement point in the overlapping image; and Display the changed overlapping image.

12. A program that causes a computer controlling the measurement device according to claim 1 to execute the following steps: Based on the difference between the distances measured at two positions by moving the distance meter through the moving mechanism and the distance between the two positions, calculate the angle formed by the measurement object in the direction connecting the two positions and the line formed by the trajectory of the movement of the distance meter; Display the angle; Adjust the height adjustment mechanism based on the angle; Generate an overlapping image representing the position of a measurement point as a target overlapping on the image of the measurement range captured by the camera; Display the overlapping image; Convert first coordinate information representing the position of the measurement point in a first coordinate system set in the overlapping image into second coordinate information in a second coordinate system set for the range in which the moving mechanism moves; Obtain a confirmation result for the overlapping image; When the confirmation result does not include movement of the measurement point, move the hardness meter to the position indicated by the second coordinate information; And Perform measurement using the hardness meter.

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