Monitoring device, inspection device, monitoring method, and program

Abstract

To provide a monitoring device capable of estimating an amount of phase deviation relative to a reference phase of a rotor when inspecting a rotating machine without opening.SOLUTION: A monitoring device includes: an image acquisition section for acquiring an image including a stator and a rotor of a rotating machine; a ratio calculation section for calculating a ratio of the size of a predetermined part on the image relative to an actual dimension on the basis of the positions of both ends of the predetermined part and the actual dimensions of the predetermined part of the rotating machine designated on the image; a position setting section for setting a first position showing the circumferential position of the stator and a second position showing the circumferential position of the rotor; a distance estimation section for estimating a peripheral actual distance in ground coordinate systems of the first position and the second position on the basis of the peripheral distance on the images in the first position and the second position and the calculated ratio; and a phase estimation section for estimating the amount of phase deviation relative to the reference phase of the rotor on the basis of the estimated peripheral actual distance.SELECTED DRAWING: Figure 12

Description

Technical Field

[0001] The present disclosure relates to a monitoring device, an inspection device, a monitoring method, and a program.

Background Art

[0002] In recent years, devices that monitor and inspect objects using sensors such as cameras have been used. For example, Patent Document 1 describes a system that detects the position of a cargo bed separation jig using camera image information for the purpose of automating the connection and separation operations of the cargo bed of an autonomous driving truck. Patent Document 2 describes a technique for measuring the three-dimensional surface shape of a photographed object using a slit pattern light source for the purpose of object shape recognition.

[0003] In addition, in rotating machines such as steam turbines and gas turbines, non-opening inspection is performed to inspect the inside without removing the casing. The inside of a rotating machine has a complex and narrow internal shape in which a plurality of blades (stationary blades, moving blades) are arranged. As an inspection device for inspecting through such a narrow part, Patent Document 3 describes a tube-shaped inspection device including an inspection cable provided with a sensor at the tip, a flexible tube, an attitude actuator capable of adjusting the attitude of the tube, and a forward and backward actuator for moving the tube forward and backward.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Patent Document 3

Summary of the Invention

Problems to be Solved by the Invention

[0005] In order to pass through a narrow part without damaging a rotating machine during non-opening inspection, it is required to further improve the reliability of the inspection device. For example, in order to improve the reliability of the inspection device, it is necessary to generate a target path where the inspection device does not interfere (contact) in the narrow part. For example, in a conventional inspection device such as Patent Document 3, a target path is generated assuming that the moving blade stops operating at a predetermined phase (reference phase). However, the moving blade does not necessarily stop operating at a predetermined phase, and it is impossible to detect from the outside of the rotating machine at which phase the moving blade actually stops operating. Therefore, when the moving blade stops operating at a phase different from the reference phase, it may be difficult to generate a target path where the inspection device does not interfere.

[0006] Also, in a narrow space such as inside a rotating machine, there may be few feature quantities used for position detection. Then, in a conventional system such as Patent Document 1, in a system for specifying the position of an object from camera image information, it may be difficult to obtain sufficient feature quantities and correctly detect the position of the object (the phase of the moving blade). Furthermore, a system equipped with a slit pattern for position estimation such as Patent Document 2 is difficult to use in a high-temperature environment such as a rotating machine. That is, it is difficult to detect the phase of the moving blade in the environment of the narrow space of the rotating machine with conventional technology.

[0007] An object of the present disclosure is to provide a monitoring device, an inspection device, a monitoring method, and a program capable of estimating the amount of phase shift of a rotating body with respect to a reference phase during non-opening inspection of a rotating machine.

Means for Solving the Problems

[0008] According to one aspect of the present disclosure, a monitoring device includes an image acquisition unit that acquires an image including a stationary body of a rotating machine and a rotating body that rotates relative to the stationary body from a sensor provided at the tip of an inspection tube; a ratio calculation unit that calculates a ratio of the size of a predetermined part of the rotating machine on the image to the actual size of the predetermined part based on both end positions of the predetermined part of the rotating machine specified on the image and the actual size of the predetermined part included in the design information of the rotating machine; a position setting unit that sets a first position indicating the circumferential position of the stationary body and a second position indicating the circumferential position of the rotating body based on feature points of the stationary body and the rotating body respectively specified on the image; a distance estimation unit that estimates the circumferential actual distance in the ground coordinate system of the first position and the second position based on the circumferential distance on the image between the first position and the second position and the calculated ratio; and a phase estimation unit that estimates the amount of phase shift of the rotating body with respect to the reference phase based on the estimated circumferential actual distance.

[0009] According to one aspect of the present disclosure, a monitoring device includes an image acquisition unit that acquires an image including a stationary body of a rotating machine and a rotating body that rotates relative to the stationary body from a sensor provided at the tip of an inspection tube; a feature point setting unit that receives designation of a plurality of feature points on the image; and a position and orientation estimation unit that estimates the position and orientation of the sensor in the ground coordinate system based on the positions of the plurality of feature points on the image and the position information of the feature points in the ground coordinate system included in the design information of the rotating machine.

[0010] According to one aspect of the present disclosure, a monitoring method includes: obtaining an image including a stationary body of a rotating machine and a rotating body that rotates relative to the stationary body from a sensor provided at a tip of an inspection tube; calculating a ratio of a size of a predetermined part of the rotating machine on the image to an actual size of the predetermined part included in design information of the rotating machine based on both end positions of the predetermined part of the rotating machine specified on the image and the actual size of the predetermined part; setting a first position indicating a circumferential position of the stationary body and a second position indicating a circumferential position of the rotating body based on feature points of the stationary body and the rotating body respectively specified on the image; estimating a circumferential actual distance in a ground coordinate system of the first position and the second position based on a circumferential distance on the image between the first position and the second position and the calculated ratio; and estimating an amount of phase shift of the rotating body relative to a reference phase based on the estimated circumferential actual distance.

[0011] According to one aspect of the present disclosure, a monitoring method includes: obtaining an image including a stationary body of a rotating machine and a rotating body that rotates relative to the stationary body from a sensor provided at a tip of an inspection tube; receiving a specification of a plurality of feature points on the image; and estimating a position and orientation of the sensor in a ground coordinate system based on positions of the plurality of feature points on the image and position information of the feature points in a ground coordinate system included in design information of the rotating machine.

[0012] According to one aspect of the present disclosure, the program causes a monitoring device to execute steps of: acquiring, from a sensor provided at a tip of an inspection tube, an image including a stationary body of a rotating machine and a rotating body that rotates relative to the stationary body; calculating a ratio of a size of a predetermined part of the rotating machine on the image to an actual size of the predetermined part based on both end positions of the predetermined part of the rotating machine specified on the image and the actual size of the predetermined part included in design information of the rotating machine; setting a first position indicating a circumferential position of the stationary body and a second position indicating a circumferential position of the rotating body based on feature points of the stationary body and the rotating body respectively specified on the image; estimating a circumferential actual distance in a ground coordinate system of the first position and the second position based on a circumferential distance on the image between the first position and the second position and the calculated ratio; and estimating an amount of phase shift of the rotating body with respect to a reference phase based on the estimated circumferential actual distance.

[0013] According to one aspect of the present disclosure, the program causes a monitoring device to execute steps of: acquiring, from a sensor provided at a tip of an inspection tube, an image including a stationary body of a rotating machine and a rotating body that rotates relative to the stationary body; receiving a designation of a plurality of feature points on the image; and estimating a position and orientation of the sensor in a ground coordinate system based on positions of the plurality of feature points on the image and position information of the feature points in a ground coordinate system included in design information of the rotating machine.

Advantages of the Invention

[0014] According to the above aspect, it is possible to estimate an amount of phase shift of the rotating body with respect to a reference phase during non-intrusive inspection of a rotating machine.

Brief Description of the Drawings

[0015]

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Mode for Carrying Out the Invention

[0016] <First Embodiment> Hereinafter, the first embodiment will be described in detail with reference to FIGS. 1 to 15.

[0017] (Configuration of the Object to be Inspected) FIG. 1 is a schematic diagram showing the schematic configuration of the object to be inspected according to the first embodiment. The object to be inspected in this embodiment is a rotating machine, such as the turbine 3 of the gas turbine 1 shown in FIG. 1.

[0018] As shown in FIG. 1, the gas turbine 1 includes a compressor 2 that generates high-pressure air, a turbine 3 that is driven by combustion gas, and a plurality of combustors 4 that generate combustion gas by mixing fuel with high-pressure air and burning it, and supply the combustion gas to the turbine 3.

[0019] The turbine 3 has a turbine rotor 31 that rotates around the axis O1, and a turbine casing 35 that covers the turbine rotor 31 from the outer peripheral side. The turbine rotor 31 has a columnar shape extending along the axis O1. On the outer peripheral surface of the turbine rotor 31, a plurality of turbine moving blade stages 32 are provided at intervals in the direction of the axis O1, which is the extending direction of the axis O1. Each turbine moving blade stage 32 has a plurality of moving blades 33 arranged at intervals in the circumferential direction centered on the axis O1 on the outer peripheral surface of the turbine rotor 31.

[0020] The turbine casing 35 is cylindrical with the axis O1 as the center. On the inner peripheral surface of the turbine casing 35, a plurality of turbine stator blade stages 36 are provided at intervals in the direction of the axis O1. These turbine stator blade stages 36 are provided upstream of each turbine rotor blade stage 32 so as to correspond one-to-one to each turbine rotor blade stage 32. Thus, the turbine stator blade stages 36 and the turbine rotor blade stages 32 are alternately arranged in the direction of the axis O1. Each turbine stator blade stage 36 has a plurality of stator blades 37 arranged side by side at intervals in the circumferential direction on the inner peripheral surface of the turbine casing 35. In the present embodiment, inside the turbine casing 35, the rotor blade 33 and the stator blade 37 arranged on the most upstream side are referred to as the first-stage rotor blade 331 and the first-stage stator blade 371. The turbine casing 35 is provided with a plurality of inspection ports 38 for checking from the outside to the inside. The inspection port 38 is formed so as to communicate with a space where the rotor blades 33 and the stator blades 37 in the turbine casing 35 can be confirmed.

[0021] The combustor 4 is provided at the connecting portion between the compressor 2 and the turbine casing 35. A plurality of combustors 4 are provided at intervals in the circumferential direction with the axis O1 as the center. The combustor 4 of the present embodiment has a hollow cylindrical combustion cylinder 41.

[0022] Inside the combustion cylinder 41, a combustion gas is generated by burning a mixture of high-pressure air compressed by the compressor 2 and fuel gas. The combustion cylinder 41 is a cylindrical member. In the portion including the upstream end of the combustion cylinder 41, its virtual central axis O4 extends inclined so as to approach the axis O1 as it goes from the compressor 2 toward the turbine 3. The downstream end (outlet) of the combustion cylinder 41 is connected to the inlet of the turbine 3. In the combustion cylinder 41, the portion including the downstream end is bent so as to be along the direction of the axis O1 with respect to the portion including the upstream end.

[0023] The inspection device 5 of the present embodiment is a device for performing a non-destructive inspection for visually inspecting the inside of the turbine 3 without opening the turbine casing 35. Note that the inside of the turbine 3 is a space through which the combustion gas inside the turbine casing 35 flows, and is a space in which the moving blades 33 and the stationary blades 37 are arranged.

[0024] (Configuration of the inspection device) FIG. 2 is a schematic diagram showing a schematic configuration around the combustor for explaining the inspection device. FIG. 3 is a schematic diagram showing a schematic configuration for explaining the tube and the attitude actuator. FIG. 4 is an enlarged view of a main part of the tube showing the tube body and the wire. FIG. 5 is a cross-sectional view of a main part of the tube body showing the attachment position of the wire on the tube body at the tip. FIG. 6 is a cross-sectional view of a main part of the tube body showing the attachment position of the wire on another tube body adjacent to the tube body at the tip. FIG. 7 is a cross-sectional view of a main part showing the structure of the attitude actuator. FIG. 8 is a schematic diagram showing a state where the tube is inserted deep into the inside of the turbine. FIG. 9 is a schematic diagram for explaining the schematic configuration of the guide jig. FIG. 10 is a schematic diagram for explaining the route.

[0025] The inspection device 5 is a device capable of checking the inside of the turbine 3 from the outside. The inspection device 5 is fixed to the combustor 4 so that it is possible to visually check narrow parts and bent parts that are difficult to visually check inside the turbine 3 through the inside of the combustor 4. The inspection device 5 of the present embodiment includes an inspection cable 61, an inspection tube 6, a guide jig 7, a drive control device (drive control device for the inspection tube) 8, a monitoring device 80, a camera image monitor 91, and a self-position display monitor 92.

[0026] The inspection cable 61 has a highly flexible cable main body 611 and a sensor 612 provided at the tip of the cable main body 611 for inspecting the inside of the turbine 3. The cable main body 611 can be bent in an arbitrary direction intersecting the cable extending direction, which is the direction in which the cable main body 611 extends, by an operator operating an operation unit (not shown). The cable main body 611 is a member separate from the tube 62 and is detachably fixed to the tube 62. An actuator (not shown) for cable movement is provided on the cable main body 611 so that it can be driven independently of the inspection tube 6.

[0027] The sensor 612 is fixed to the tip of the cable main body 611. The sensor 612 and the cable main body 611 are built into the tube 62. The sensor 612 in this embodiment is a camera capable of photographing the inside of the turbine 3. The image (photographed data such as a video or a still image) photographed by the sensor 612 is sent to the camera image monitor 91 via a cable extending from the end (rear end) of the cable main body 611 on the side where the sensor 612 is not provided. As the inspection cable 61 in this embodiment, for example, a borescope (industrial endoscope) for observing and inspecting a deep part that cannot be directly visually observed is used.

[0028] The inspection cable 61 only needs to have a bendable structure. For example, it may be a snake-shaped robot having a multi-joint structure in which a plurality of highly flexible members are connected.

[0029] Also, the sensor 612 is not limited to being a camera as in this embodiment. For example, the sensor 612 in this embodiment may be a sensor 612 having a dimensional measurement function (for example, three-dimensional phase measurement), or a sensor 612 capable of measuring temperature and the presence or absence of damage.

[0030] The inspection tube 6 includes a tube 62, an attitude actuator 65, and a forward and backward actuator 67.

[0031] As shown in FIG. 3, the tube 62 has a hollow portion inside which the inspection cable 61 can be inserted. The tube 62 is flexible. The tube 62 has a multi-joint structure that can be bent at a plurality of locations. Therefore, the tube 62 can be bent in any direction intersecting the tube extending direction, which is the direction in which the tube 62 extends. It should be noted that each joint portion of the tube 62 preferably has a structure that is easy to bend, difficult to twist, and difficult to be compressed. The outer diameter of the tube 62 is sized to be insertable into the combustor 4 and the narrow portion between the stationary and rotating blades of the turbine 3. The cable body 611 is detachable from the tube 62. The tube 62 of the present embodiment is configured by connecting a plurality of tube bodies 63.

[0032] The plurality of tube bodies 63 are arranged side by side in the extending direction of the tube body 63 and are connected to each other. The tube body 63 can be deformed from an initial state in which it extends linearly along its central axis to a deformed state in which it bends. As shown in FIG. 4, the tube body 63 has a cylindrical portion 631 with both ends open and a flange portion 632 that projects radially outward from the outer peripheral surfaces of both ends of the cylindrical portion 631. The cylindrical portion 631 has a cylindrical shape into which the inspection cable 61 can be inserted. The cylindrical portion 631 is formed with, for example, a plurality of slits (not shown) and can be bent in any direction. The flange portion 632 has an annular shape and is integrally formed with the cylindrical portion 631.

[0033] As shown in FIG. 3, the attitude actuator 65 can adjust the attitude of the tube 62. Here, the attitude of the tube 62 refers to the position and orientation of the tip of the tube 62 on a virtual plane intersecting the tube extending direction. The attitude actuator 65 of the present embodiment is fixed to the rear end of the tube 62. As shown in FIG. 7, the attitude actuator 65 has a plurality of wires 651, a housing portion 652, a pulley 653, a wire driving portion 654, and a wire load detecting portion 655.

[0034] As shown in FIG. 4, a plurality of wires 651 are provided for one tube body 63 (for example, four in this embodiment). The tip of the wire 651 is fixed to a flange portion 632 located on the tip side of the tube body 63. As shown in FIG. 5, the wires 651 are fixed to be separated from each other with a phase shift (for example, 90 degrees) with respect to one flange portion 632. Also, the wires 651 are arranged with a phase shift for each adjacent tube body 63. Therefore, as shown in FIG. 6, for one tube body 63 arranged on the tip side, in another adjacent tube body 63 on the rear end side, for example, the fixing positions of the wires 651 are shifted by 45 degrees. Therefore, a wire insertion hole 633 is formed in the flange portion 632 of the tube body 63 on the rear end side for inserting the wire 651 fixed to the tube body 63 arranged on the tip side of that tube body 63. Therefore, the more tube bodies 63 are arranged closer to the most rear end position, the more wire insertion holes 633 are formed.

[0035] As shown in FIG. 7, the housing portion 652 is fixed to the rear end of the tube 62. The housing portion 652 houses one end of the wire 651 inside. A housing through hole 652A through which the cable body 611 protruding from the rear end of the tube 62 can be inserted is formed in the housing portion 652. The housing through hole 652A is formed so as to penetrate the housing portion 652.

[0036] The pulley 653 is rotatably attached inside the housing portion 652. The pulley 653 reverses the extending direction of the wire 651 inside the housing portion 652. The pulley 653 is provided for each wire 651. That is, one pulley 653 is provided for one wire 651. A plurality of pulleys 653 are provided to be separated from each other so as to surround the housing through hole 652A.

[0037] The wire driving unit 654 is fixed within the housing unit 652. The wire driving unit 654 is provided for each wire 651. That is, one wire driving unit 654 is provided for one wire 651. The wire driving unit 654 is connected to the rear end of the wire 651, which is the end of the wire 651 that is not fixed to the tube body 63, via the wire load detection unit 655. The wire driving unit 654 is capable of moving the wire 651 forward and backward with respect to the pulley 653. As the wire driving unit 654, for example, an electric slider, an electric cylinder, or a ball screw is used.

[0038] The wire load detection unit 655 is disposed between the rear end of the wire 651 and the wire driving unit 654. The wire load detection unit 655 measures the load (wire tensile force) generated in the wire 651 and sends the measurement result to the wire driving unit 654. When the sent measurement result is equal to or greater than a value determined to be excessive (for example, a value that would damage the wire 651), the wire driving unit 654 is driven to loosen the wire 651. Also, when the sent measurement result is equal to or less than a value determined to be too small (for example, a value that can be regarded as the wire 651 being deflected), the wire driving unit 654 is driven to tension the wire 651 to a degree that it does not loosen. The wire load detection unit 655 may be, for example, a load cell capable of directly measuring the load. As an alternative means, the load may also be measured indirectly based on the motor current value in the wire driving unit 654.

[0039] Also, the attitude actuator 65 drives a part of the tube bodies 63 disposed at a position close to the tip among the plurality of tube bodies 63. The number of tube bodies 63 driven by the attitude actuator 65 may be one or a plurality. As shown in FIG. 3, the tube 62 of the present embodiment is divided into an active part 62A driven by the attitude actuator 65 and a passive part 62B that is not driven (deformed or moved) by the attitude actuator 65.

[0040] In the active part 62A, the wire 651 is fixed to the flange part 632 of each tube body 63. The active part 62A is an area of a predetermined length from the tip in the tube 62. Here, the predetermined length is a length that can reach a desired inspection range.

[0041] The driven part 62B moves following the movement of the active part 62A. In the driven part 62B, the wire 651 is not fixed to the flange part 632 of each tube body 63. The driven part 62B is an area from the rear end to the active part 62A in the tube 62. The driven part 62B of the present embodiment is an area sandwiched between the housing part 652 and the active part 62A.

[0042] As shown in FIG. 2, the forward and backward actuator 67 is capable of moving the tube 62 forward and backward. Here, the forward and backward movement of the tube 62 means moving the tube 62 in the tube extending direction. The forward and backward actuator 67 of the present embodiment is capable of moving the housing part 652 to which the tube 62 is fixed. The forward and backward actuator 67 has a guide rail 672 and a forward and backward drive part 671.

[0043] The guide rail 672 can be fixed to the upstream end of the combustor 4 via the guide jig 7. The guide rail 672 of the present embodiment extends in parallel with the virtual central axis O4 of the portion including the upstream end of the combustion cylinder 41 in a state of being fixed to the combustor 4.

[0044] The forward and backward drive part 671 moves on the guide rail 672. The housing part 652 is fixed to the forward and backward drive part 671. The forward and backward drive part 671 is, for example, an electric slider. As shown in FIG. 8, when the forward and backward drive part 671 moves on the guide rail 672 so as to approach the connection position with the combustor 4, the tube 62 is inserted deep into the inside (downstream side) of the turbine 3. Conversely, as shown in FIG. 2, when the forward and backward drive part 671 moves on the guide rail 672 so as to move away from the connection position with the combustor 4, the tube 62 is moved from the inside of the turbine 3 to the vicinity of the inlet (upstream side) of the turbine 3.

[0045] The guiding jig 7 guides the tube 62 from the outside of the gas turbine 1 to the inside of the turbine 3. The guiding jig 7 of the present embodiment is inserted into the combustion cylinder 41 from the upstream side of the combustor 4, thereby guiding the tip of the tube 62 from the outside of the combustor 4 to the outlet of the combustor 4 (near the upstream side of the first-stage stationary vane 371 inside the turbine 3). As shown in FIG. 9, the guiding jig 7 includes a guide tube 71, a tip tube 72, a tip tube rotating portion 73, and a guide tube rotating portion 74.

[0046] The guide tube 71 extends along the central axis O7. The guide tube 71 is a cylindrical member through which the tube 62 can be inserted. The guide tube 71 is formed to be longer than the length of the portion including the upstream end extending along the virtual central axis O4 in the combustion cylinder 41. The tip tube 72 is connected to the tip of the guide tube 71. A guide tube flange portion 711 is formed at the rear end of the guide tube 71 on the side opposite to the end where the tip tube 72 is provided. The guide tube flange portion 711 projects radially outward from the outer peripheral surface so as to form an annular shape at the rear end of the guide tube 71. A gear is formed on the outer peripheral surface of the guide tube flange portion 711. The guide tube 71 can be fixed to the combustor 4 with the guide tube flange portion 711 positioned outside.

[0047] Similar to the guide tube 71, the tip tube 72 is a cylindrical member through which the tube 62 can be inserted. The rear end of the tip tube 72 is rotatably supported by the guide tube 71 via a tip tube rotating shaft 721. The tip tube rotating shaft 721 extends in a direction orthogonal to the central axis O7. The tip tube rotating shaft 721 rotatably connects the tip tube 72 and the guide tube 71. The tip of the tip tube 72 is a free end. The tip tube 72 is formed shorter than the guide tube 71. The tip tube 72 is formed to have a length approximately the same as the length of the portion including the downstream end in the combustion cylinder 41.

[0048] The tip tube rotating part 73 rotates the tip tube 72 relative to the guide tube 71. The tip tube rotating part 73 includes a tip tube rotating motor 731, a tip tube side pulley 732, a motor side pulley 733, and a wire part 734. The tip tube rotating motor 731 is provided so as to be located outside the combustor 4 when the guide jig 7 is attached to the combustor 4. The tip tube side pulley 732 is fixed to the tip tube rotating shaft 721. The motor side pulley 733 is fixed to the drive shaft of the tip tube rotating motor 731. The wire part 734 is endless and is looped around the tip tube side pulley 732 and the motor side pulley 733. Thus, when the tip tube rotating motor 731 is driven, the motor side pulley 733 rotates. The rotation of the motor side pulley 733 is transmitted to the tip tube side pulley 732 via the wire part 734, and the tip tube side pulley 732 rotates together with the tip tube rotating shaft 721. Thereby, the tip tube 72 rotates about the tip tube rotating shaft 721 as the center.

[0049] The guide tube rotating part 74 rotates the guide tube 71 about the central axis O7. The guide tube rotating part 74 includes a guide tube rotating motor 741 and a guide tube rotating gear 742. The guide tube rotating motor 741 is arranged outside the combustor 4 so that the guide tube rotating gear 742 meshes with the guide tube flange part 711 when the guide jig 7 is attached to the combustor 4. The guide tube rotating gear 742 is fixed to the drive shaft of the guide tube rotating motor 741. Thus, when the guide tube rotating motor 741 is driven, the guide tube rotating gear 742 rotates. When the guide tube rotating gear 742 rotates, the meshing guide tube flange part 711 rotates. Thereby, the guide tube 71 rotates about the central axis O7 together with the tip tube 72.

[0050] As shown in Fig. 2, the drive control device 8 is capable of controlling the movement of the tube 62 by sending signals to the attitude actuator 65 and the forward / backward actuator 67. The drive control device 8 determines the route R based on the design information including the three-dimensional shape data inside the turbine 3 stored in advance, and controls the attitude actuator 65 and the forward / backward actuator 67 of the inspection device 5 so that the inspection device 5 moves along the route R. Here, as shown in Fig. 10, the route R is the path from the starting point SP where the tip of the tube 62 is first placed inside the turbine 3 to the target point EP to be inspected (checked). The starting point SP is the location where the tip of the tube 62 is located before the start of inspection. In the present embodiment, the starting point SP is the connection portion between the inlet of the turbine 3 and the outlet of the combustor 4, and is near the upstream end of the first-stage stationary blade 371. The target point EP is an arbitrary inspection position inside the turbine 3 such as the stationary blade 37 or the moving blade 33 to be inspected. Since the functional configuration of the drive control device 8 is the same as a known functional configuration (for example, Patent Document 3), a detailed description thereof is omitted.

[0051] The camera image monitor 91 displays the video (image) captured by the sensor 612. Images captured by the sensor 612 from the inspection cable 61 are input to the camera image monitor 91. Further, the images input to the camera image monitor 91 are sent to the self-position display monitor 92, the drive control device 8, and the monitoring device 80. Further, based on the information input from the monitoring device 80, information such as the relative phase of the stationary blade 37 and the moving blade 33 is superimposed and displayed on the image captured by the sensor 612 on the camera image monitor 91.

[0052] The self-position display monitor 92 displays the route R on the three-dimensional shape data inside the turbine 3, and the current position and attitude of the tube 62. The self-position display monitor 92 displays the current position and attitude of the tube 62 on the route R and the like based on the information input from the drive control device 8 and the monitoring device 80.

[0053] The monitoring device 80 estimates the amount of phase shift of the rotating body of the turbine 3 with respect to the reference phase based on the imaging data captured by the sensor 612 provided at the tip of the inspection device 5. In this embodiment, an example in which the monitoring device 80 is built in the drive control device 8 as shown in FIG. 2 will be described. In other embodiments, the monitoring device 80 may be configured as a device different from the drive control device 8, or may be implemented as a function executed by the CPU of the drive control device 8.

[0054] (Hardware Configuration of Monitoring Device) FIG. 11 is a diagram showing the hardware configuration of the monitoring device according to the first embodiment. As shown in FIG. 11, the monitoring device 80 is a computer including a CPU (Central Processing Unit) 101, a ROM (Read Only Memory) 102, a RAM (Random Access Memory) 103, a storage unit 104, and an interface unit 105. Signals are exchanged between the attitude actuator 65 and the forward and backward actuator 67, and the camera image monitor 91 and the self-position display monitor 92, which will be described later, via the interface unit 105.

[0055] The CPU 101 is a processor that controls the overall operation of the monitoring device 80. The CPU 101 operates according to a program prepared in advance to exhibit various functions described later.

[0056] The ROM 102 is a non-rewritable non-volatile memory. The RAM 103 is a rewritable volatile memory. The ROM 102 and the RAM 103 are also called main storage devices, and programs for the CPU 101 to exhibit various functions and operate are developed.

[0057] The storage unit 104 is a large-capacity storage device (non-volatile memory) built into the drive control device 8, such as an HDD (Hard Disk Drive), an SSD (Solid State Drive), etc. The storage unit 104 is also called an auxiliary storage device, and stores necessary information in advance, such as the design information of the turbine 3 described later, data acquired and generated from the processing of each part of the CPU 101, and a program for operating the CPU 101.

[0058] (Functional configuration of the monitoring device) FIG. 12 is a block diagram showing the functional configuration of the monitoring device according to the first embodiment. As shown in FIG. 12, the monitoring device 80 of the present embodiment includes an image acquisition unit 81, a reference line setting unit 82, a ratio calculation unit 83, a position setting unit 84, a distance estimation unit 85, and a phase estimation unit 86.

[0059] The image acquisition unit 81 acquires an image including the stationary body and the rotating body of the turbine 3 from the sensor 612. In the present embodiment, an example will be described in which the stationary body is the stator blade 37 and the rotating body is the rotor blade 33. In other embodiments, if the relative phase between the stationary body and the rotating body can be detected, the stationary body may be another structure such as the turbine casing 35.

[0060] The reference line setting unit 82 receives the designation of the positions on the image indicating both ends of a line segment extending in the circumferential direction of the turbine 3 in the ground coordinate system (on the actual three-dimensional space) and a perpendicular line perpendicular to this line segment, and sets a first reference line corresponding to the circumferential line segment on the image and a second reference line corresponding to the perpendicular line.

[0061] The ratio calculation unit 83 receives the designation of the position of a predetermined part of the turbine 3 on the image, and calculates the ratio of the size (circumferential length) of the predetermined part on the image to the actual size of the predetermined part included in the design information of the turbine 3.

[0062] The position setting unit 84 receives the designation of the positions of the stator blades 37 and the rotor blades 33 on the image, and sets a first position indicating the circumferential position of the stator blades 37 and a second position indicating the circumferential position of the rotor blades 33.

[0063] Based on the circumferential distance on the image between the first position and the second position and the calculated ratio, the distance estimation unit 85 estimates the circumferential actual distance in the ground coordinate system between the first position and the second position.

[0064] Based on the estimated circumferential actual distance, the phase estimation unit 86 estimates the amount of phase deviation of the rotor blades 33 with respect to the reference phase.

[0065] (Processing example of the monitoring device) FIG. 13 is a first flowchart showing an example of the monitoring method of the first embodiment. FIG. 14 is a second flowchart showing an example of the monitoring method of the first embodiment. FIG. 15 is a diagram for explaining the processing in the monitoring method of the first embodiment. Here, with reference to FIGS. 13 to 15, the details of the monitoring method S1 using the monitoring device 80 of the first embodiment will be described.

[0066] As shown in FIG. 13, the operator installs the inspection device 5 on the turbine 3 which is the object to be inspected (step S10). For example, as shown in FIG. 2, the operator attaches the inspection device 5 to the combustor 4 of the gas turbine 1.

[0067] Next, the operator operates the inspection device 5 to move the tip of the inspection tube 6 to a location where there is a feature point of the object to be inspected (step S11). For example, the operator moves the inspection tube 6 to a position near the stator blades 37 (first-stage stator blades 371) of the turbine 3 and in front of the rotor blades 33 (first-stage rotor blades 331) provided on the downstream side of the stator blades 37.

[0068] Also, while looking at the camera image monitor 91, the operator adjusts the viewing angle (the direction of the inspection tube 6) of the sensor 612 so that the feature points of the stator blades 37 and the rotor blades 33 are simultaneously reflected (step S12).

[0069] When the adjustment of the viewing angle of the sensor 612 is completed, the monitoring device 80 acquires an image that simultaneously includes the feature points of the stationary blade 37 and the moving blade 33 from the sensor 612, and executes a process of estimating the amount of phase shift with respect to the reference phase of the moving blade 33 (step S13).

[0070] The flow of the phase shift amount estimation process S13 by the monitoring device 80 will be described with reference to FIGS. 14 to 15. First, the image acquisition unit 81 acquires an image captured by the sensor 612 (step S130). FIG. 15 shows an example of the image acquired by the image acquisition unit 81. By the adjustment in step S12, the image simultaneously includes both the stationary blade 37 and the moving blade 33 as shown in FIG. 15.

[0071] Next, the reference line setting unit 82 sets a first reference line L1 corresponding to a line segment extending in the circumferential direction of the turbine 3 (step S131). The line segment extending in the circumferential direction of the turbine 3 is, for example, a line segment indicating one end (contour line) in the axial direction of the inner shroud of the stationary blade 37. The inner shroud is a plate-like member provided on the radially inner side of the stationary blade 37 and extending in the circumferential direction. The operator visually confirms the stationary blade 37 on the image and designates first feature points F1, F1' indicating any two points (both ends) on the contour line extending in the circumferential direction of the inner shroud of the stationary blade 37. Then, the reference line setting unit 82 sets the line connecting the first feature points F1 - F1' on the image as the first reference line L1.

[0072] Further, the reference line setting unit 82 sets a second reference line L2 corresponding to a vertical line orthogonal to the circumferential direction in the ground coordinate system (on the actual three-dimensional space) (step S132). The vertical line is a line parallel to the axis O1 and is, for example, a line segment indicating one end (outline) in the circumferential direction of the platform of the moving blade 33. The platform is a plate-like member provided on the radially inner side of the moving blade 33 and extending in the circumferential direction. The operator visually checks the moving blade 33 in the image and designates second feature points F2, F2' indicating any two points (both ends) on the outline extending in the axial direction of the platform of the moving blade 33. Then, the reference line setting unit 82 sets the line connecting the second feature points F2 - F2' in the image as the second reference line L2.

[0073] The ratio calculation unit 83 receives the designation of feature points F3, F3' indicating both ends of a predetermined part of the turbine 3 in the image (step S133). The predetermined part is a structure whose actual dimensions (circumferential length) are known from the design information of the turbine 3. In the example of FIG. 15, as the predetermined part, a cooling part composed of a plurality of cooling holes provided in the moving blade 33 is used. The operator visually checks the position of the predetermined part in the image and designates third feature points F3, F3' indicating both ends of this predetermined part.

[0074] Further, the ratio calculation unit 83 calculates the ratio (distance per pixel) of the size of the predetermined part in the image to the actual dimensions of the predetermined part included in the design information of the turbine 3 based on the third feature points F3, F3' designated by the operator (step S134).

[0075] The position setting unit 84 sets a first position F4 indicating the circumferential position of the stationary blade 37 and a second position F5 indicating the circumferential position of the rotating blade 33 (step S135). The first position F4 is, for example, an end portion on one circumferential side of the stationary blade 37 (inner shroud) as shown in FIG. 15. The operator visually checks the stationary blade 37 in the image and designates a feature point indicating the circumferential end of the stationary blade 37. Then, the position setting unit 84 sets the designated feature point as the first position F4. Further, the second position F5 is, for example, a feature point F3 on one end side of a predetermined portion (cooling portion) provided on the rotating blade 33 as shown in FIG. 15. The operator visually checks the rotating blade 33 in the image and designates a feature point indicating one end side of the cooling portion on the rotating blade 33. Then, the position setting unit 84 sets the designated feature point as the second position F5. When using a feature point on either one end side of a predetermined portion (cooling portion) as the feature point indicating the circumferential position of the rotating blade 33 (F3 or F3'), the position setting unit 84 may omit the designation operation by the operator and automatically set the feature point F3 or F3' designated in step S133 as the second position F5.

[0076] The distance estimation unit 85 estimates the circumferential actual distance in the ground coordinate system of the first position F4 and the second position F5 based on the circumferential distance on the image of the first position F4 and the second position F5 and the ratio calculated in step S134 (step S136). At this time, as in the example of FIG. 15, the axial positions of the first position F4 and the second position F5 may be different. In such a case, the distance estimation unit 85 virtually aligns the axial positions of the first position F4 and the second position F5 and estimates the circumferential distance between these positions F4 and F5. Specifically, first, the distance estimation unit 85 sets a first virtual line L4 that is parallel to the second reference line L2 and passes through the first position F4, and a second virtual line L5 that is parallel to the second reference line L2 and passes through the second position F5. Next, the distance estimation unit 85 sets a first intersection point F6 where the first reference line L1 and the first virtual line L4 intersect, and a second intersection point F7 where the first reference line L1 and the second virtual line L5 intersect, respectively. Then, the distance estimation unit 85 obtains the distance from the first intersection point F6 to the second intersection point F7 on the first reference line L1 as the circumferential distance between the positions F4 and F5. Note that, as in the example of FIG. 15, when the first reference line L1 does not intersect the first virtual line L4 or the second virtual line L5, a third virtual line L6 obtained by translating the first reference line L1 in parallel is set, and the distance from the first intersection point F6 where the third virtual line L6 and the first virtual line L4 intersect to the second intersection point F7 where the third virtual line L6 and the second virtual line L5 intersect may be obtained as the circumferential distance between the positions F4 and F5. At this time, the length of the third virtual line L6 may be changed (scaled) from the length of the first reference line L1 as necessary. The distance estimation unit 85 estimates the circumferential actual distance in the ground coordinate system corresponding to the circumferential distance (number of pixels) on the image between the positions F4 and F5 based on the ratio calculated in step S134.

[0077] Based on the estimated circumferential actual distance, the phase estimation unit 86 estimates the amount of phase shift of the moving blade 33 with respect to the reference phase, and outputs the estimated relative phase to the camera image monitor 91 and the drive control device 8 (step S137). For example, the design information of the turbine 3 includes a reference distance indicating the circumferential actual distances of the first position F4 and the second position F5 at the reference phase. The phase estimation unit 86 estimates the amount of phase shift (±α degrees) of the moving blade 33 with respect to the reference phase (0 degrees) from the difference between the circumferential actual distance estimated in step S136 and the reference distance read from the design information.

[0078] Also, the amount of phase shift output by the phase estimation unit 86 is superimposed and displayed on the image captured by the sensor 612 in the camera image monitor 91.

[0079] Next, returning to FIG. 13, the operator determines whether to continue the entry operation of the inspection tube 6 based on the information on the amount of phase shift displayed on the camera image monitor 91 or the like (step S14). For example, when the amount of phase shift of the moving blade 33 is relatively small and the possibility of contact is low even if the inspection tube 6 is advanced along the current route R, the operator may determine to continue the entry operation. On the other hand, when the amount of phase shift of the moving blade 33 is relatively large and the possibility of contact is high when the inspection tube 6 is advanced along the current route R, the operator determines that the continuation of the entry operation is not possible. Note that the phase estimation unit 86 may output information indicating whether the amount of phase shift is equal to or less than a predetermined threshold value, and display it on the camera image monitor 91. In this case, the operator determines whether to continue the entry operation based on the information indicating whether the amount of phase shift is equal to or less than the threshold value. When it is determined that the entry operation cannot be continued, the operator, for example, operates the drive control device 8 to change the position and orientation of the inspection tube 6. Alternatively, the operator may cause the drive control device 8 to recalculate the route R. The operator, for example, operates the drive control device 8 to change and update the three-dimensional shape data inside the turbine 3 based on the amount of phase shift estimated by the phase estimation unit 86. The drive control device 8 recalculates the route R based on the updated three-dimensional shape data. Also, the drive control device 8 may automatically update the three-dimensional shape data based on the information on the amount of phase shift and recalculate the route R.

[0080] (Function, effect) As described above, the monitoring device 80 according to the present embodiment includes an image acquisition unit 81 that acquires an image including the stationary blade 37 and the moving blade 33 from the sensor 612, both end positions of a predetermined part of the turbine 3 specified on the image, and the actual dimensions of the predetermined part included in the design information of the turbine 3. A ratio calculation unit 83 that calculates the ratio of the size of the predetermined part on the image to the actual dimensions, and a first position indicating the circumferential position of the stationary body and a second position indicating the circumferential position of the rotating body based on the feature points of the stationary body and the rotating body respectively specified on the image. A position setting unit 84 for setting the position, a distance estimation unit 85 for estimating the circumferential actual distance in the ground coordinate system of the first position F4 and the second position F5 based on the circumferential distance on the image between the first position F4 and the second position F5 and the calculated ratio, and an estimated circumferential actual distance. And a phase estimation unit 86 that estimates the amount of phase shift with respect to the reference phase of the moving blade 33 based on the above.

[0081] In the conventional technology, a route was generated assuming that the moving blade stopped operating at the reference phase. For this reason, when the inspection tube was inserted along the route, if the moving blade stopped operating at a position (phase) different from the assumption, the inspection tube might interfere with the moving blade. In addition, in a conventional system for performing inspections while checking images inside a turbine, the operator estimated the amount of deviation of the moving blade from the reference phase relying only on the image information, but this estimation accuracy depended on the operator's skill level. Therefore, it was difficult for an inexperienced operator to perform non-intrusive inspections with a certain level of quality and within a limited time. On the other hand, the monitoring device 80 of the present embodiment can automatically estimate how much the position (phase) of the moving blade 33 has deviated from the reference phase from the image. Therefore, the operator can easily determine whether the inspection tube 6 can be inserted along the pre-set route R by referring to the estimated amount of phase shift. Therefore, the operator can perform non-intrusive inspections with a certain level of quality and within a limited time without depending on the skill level.

[0082] Further, the monitoring device 80 receives the designation of first feature points F1, F1' indicating both ends of a line segment extending in the circumferential direction of the turbine 3 in the ground coordinate system, and second feature points F2, F2' indicating both ends of a perpendicular line orthogonal to the circumferential line segment in the ground coordinate system, and further includes a reference line setting unit 82 that sets a first reference line L1 connecting the first feature points F1, F1' on the image and a second reference line L2 connecting the second feature points F2, F2'. The phase estimation unit 86 determines the distance from the first intersection point F6 between the first virtual line L4 (a line segment passing through the first position F4 and parallel to the second reference line L2) and the first reference line L1 to the second intersection point F7 between the second virtual line L5 (a line segment passing through the second position F5 and parallel to the second reference line L2) and the first reference line L1 as the circumferential distance between the first position F4 and the second position F5 on the image.

[0083] By doing so, the monitoring device 80 can more accurately estimate how much the moving blade 33 is deviated in the circumferential direction from the reference phase.

[0084] Also, the predetermined part is provided on the moving blade 33, and the position setting unit 84 sets the position (feature point F3 or F3') on one end side of the predetermined part as the second position F5.

[0085] By doing so, the monitoring device 80 can omit the designation operation of the second position F5 by the operator, thereby reducing the labor of the operator and shortening the working time required for estimating the amount of phase shift.

[0086] Further, the operator or the drive control device 8 may update the three-dimensional shape data based on the amount of phase shift of the moving blade 33. In this case, based on the three-dimensional shape data reflecting the actual position (phase) of the moving blade 33, it is possible to generate a route R that can more reliably suppress the interference of the inspection tube 6 with the narrow part.

[0087] <Second Embodiment> Next, a second embodiment will be described in detail with reference to FIGS. 16 to 20. Among the configurations of the second embodiment, those having the same configuration as the first embodiment will be described using the same reference numerals as the first embodiment.

[0088] (Functional Configuration of Monitoring Device) FIG. 16 is a block diagram showing the functional configuration of the monitoring device according to the second embodiment. As shown in FIG. 16, the monitoring device 80 of the present embodiment includes an image acquisition unit 81, a feature point setting unit 87, and a position and orientation estimation unit 88.

[0089] The image acquisition unit 81 acquires an image including the stator blade 37 and the rotor blade 33 from the sensor 612 provided at the tip of the inspection tube 6.

[0090] The feature point setting unit 87 accepts the designation of a plurality of feature points on the image.

[0091] The position and orientation estimation unit 88 estimates the position and orientation of the sensor 612 in the ground coordinate system based on the positions of the plurality of feature points on the image and the position information of the feature points included in the design information of the turbine 3 in the ground coordinate system.

[0092] (Example of Processing of Monitoring Device) FIG. 17 is a first flowchart showing an example of the monitoring method according to the second embodiment. FIG. 18 is a second flowchart showing an example of the monitoring method according to the third embodiment. FIG. 19 is a diagram for explaining the processing in the monitoring method according to the second embodiment. FIG. 20 is a diagram for explaining the function of the position and orientation estimation unit according to the second embodiment. Here, with reference to FIGS. 17 to 20, the details of the monitoring method S2 using the monitoring device 80 according to the second embodiment will be described.

[0093] As shown in FIG. 17, the operator installs the inspection device 5 on the turbine 3 which is the object to be inspected (step S20), and causes the tip of the inspection tube 6 to enter the location where there are characteristic points of the object to be inspected (step S21). Further, while looking at the camera image monitor 91, the operator adjusts the viewing angle (the orientation of the inspection tube 6) of the sensor 612 so that the characteristic points of the stator blade 37 and the rotor blade 33 are simultaneously imaged (step S22). These processes are the same as steps S10 to S12 of the first embodiment (FIG. 13).

[0094] When the adjustment of the viewing angle of the sensor 612 is completed, the monitoring device 80 acquires an image that simultaneously includes the characteristic points of the stator blade 37 and the rotor blade 33 from the sensor 612, and executes a process of estimating the position and orientation of the sensor 612 (step S23).

[0095] The flow of the position and orientation estimation process S23 by the monitoring device 80 will be described with reference to FIGS. 18 to 19. First, the image acquisition unit 81 acquires the image captured by the sensor 612 (step S230). FIG. 19 shows an example of the image acquired by the image acquisition unit 81. By the adjustment in step S22, the image simultaneously includes both the stator blade 37 and the rotor blade 33 as shown in FIG. 19.

[0096] Next, the feature point setting unit 87 receives the designation of the origin F10 and the feature points F11 on the image from the operator, and specifies the positions (XY coordinates) of the points F10 and F11 in the normalized image coordinate system (step S231). The origin F10 is the origin of the normalized image coordinate system. The position of the surrounding feature points F11 on the image is represented as the two-dimensional position (XY coordinates) from the origin F10. The origin F10 and the feature points F11 are structures provided on the stationary blade 37 and the moving blade 33, and are structures whose positions (XYZ coordinates) in the ground coordinate system are known from the three-dimensional shape data included in the design information of the turbine 3. In the example of FIG. 19, cooling holes provided in the stationary blade 37 and the moving blade 33 are designated as the origin F10 and the feature points F11. Also, in the three-dimensional shape data, some of the plurality of structures (cooling holes) are predetermined as target structures, and position information indicating the positions (XYZ coordinates) in the ground coordinate system of the target structures and the surrounding structures included in the image when the sensor 612 images the target structures at a plurality of positions in the turbine 3 is included. Therefore, the operator adjusts the viewing angle of the sensor 612 so that the target structure is included in the image in step S22. Then, the operator first designates the target structure on the image as the origin F10, and then designates a predetermined number (six in the example of FIG. 19) of the structures surrounding the target structure as the feature points F11.

[0097] Next, the position and orientation estimation unit 88 calculates the perspective projection matrix P of the sensor 612 based on the positions of the designated origin F10 and feature points F11 on the image (XY coordinates of each point in the normalized image coordinate system) and the three-dimensional shape data (XYZ coordinates of each point in the ground coordinate system) (step S232). The perspective projection matrix P is calculated by solving a known system of simultaneous linear equations.

[0098] Further, the position and orientation estimation unit 88 decomposes the perspective projection matrix P (= K[R, t]) into the rotation matrix R and the translation vector t, estimates the position and orientation (X, Y, Z, Roll, Pitch, Yaw) of the sensor 612 in the ground coordinate system, and outputs them to the camera image monitor 91, the self-position display monitor 92, and the drive control device 8 (step S233). Then, the camera image monitor 91 superimposes and displays the information on the position and orientation of the sensor 612 estimated by the position and orientation estimation unit 88 on the image captured by the sensor 612. Also, the self-position display monitor 92 displays the current position and orientation of the tube 62 on the route R based on the information on the position and orientation of the sensor 612 estimated by the position and orientation estimation unit 88.

[0099] Furthermore, the position and orientation estimation unit 88 may calculate the error between the estimated position and orientation of the sensor 612 and the target position and target orientation of the sensor 612, and output it to the camera image monitor 91, the self-position display monitor 92, and the drive control device 8 (step S234). Then, the camera image monitor 91 superimposes and displays the information indicating the error from the target position and target orientation of the sensor 612 on the image captured by the sensor 612.

[0100] Note that the processing of the position and orientation estimation unit 88 may be performed using an existing general-purpose library including a functionalized position estimation solver, as shown in FIG. 20. The position estimation solver receives as input the image captured by the sensor 612, the feature point information indicating the positions (XY coordinates) of the origin F10 and the surrounding feature points F11 in the image specified by the operator, and the three-dimensional shape data including the positions (XYZ coordinates) of each point F10, F11 in the ground coordinate system. The position estimation solver outputs the estimated values of the position and orientation of the sensor 612 for these inputs (step S233). The position and orientation estimation unit 88 calculates and outputs the error between the estimated values of the position and orientation output by the position estimation solver and the target values (step S234).

[0101] Next, returning to FIG. 17, the operator determines whether to continue the insertion operation of the inspection tube 6 based on the information on the estimated position and orientation of the sensor 612 displayed on the camera image monitor 91 or the like and the error from the target value (step S24). For example, if the error between the target position and orientation of the sensor 612 is relatively small and there is a low possibility of contact even if the inspection tube 6 is inserted along the current route R, the operator determines that the insertion operation may be continued. On the other hand, if the error between the target position and orientation of the sensor 612 is relatively large and there is a high possibility of contact when the inspection tube 6 is inserted along the current route R, the operator determines that the insertion operation cannot be continued. The position and orientation estimation unit 88 may output information indicating whether the error between the target position and orientation of the sensor 612 is equal to or less than a predetermined threshold value and display it on the camera image monitor 91. In this case, the operator determines whether to continue the insertion operation based on the information indicating whether the error between the target position and orientation of the sensor 612 is equal to or less than the threshold value. If it is determined that the insertion operation cannot be continued, the operator operates the drive control device 8, for example, to change the position and orientation of the inspection tube 6. After the change, the series of processes in FIG. 18 is executed again. If the error between the target position and orientation of the sensor 612 becomes less than the threshold value, it is determined that the insertion operation may be continued.

[0102] (Function, effect) As described above, the monitoring device 80 according to the present embodiment includes an image acquisition unit 81 that acquires an image including the stationary blade 37 and the moving blade 33 from the sensor 612 provided at the tip of the inspection tube 6, a feature point setting unit 87 that receives designation of a plurality of feature points F10, F11 on the image, and a position and orientation estimation unit 88 that estimates the position and orientation of the sensor 612 in the ground coordinate system based on the positions of the plurality of feature points F10, F11 on the image and the position information of the feature points F10, F11 in the ground coordinate system included in the design information of the turbine 3.

[0103] In the conventional technology, an operator estimated the position of a sensor etc. relying only on image information, but this estimation accuracy depended on the operator's skill level. Therefore, it was difficult for an inexperienced operator to perform non-contact inspection with a certain level of quality and within a limited time. Also, in the conventional technology, it was difficult to accurately detect the position of an object in an environment with few features such as inside a turbine. On the other hand, the monitoring device 80 of the present embodiment can accurately estimate the position and orientation of the sensor 612 even in a narrow space with few features used for position detection such as inside the turbine 3, due to the above-described configuration. For this reason, by referring to the estimated position and orientation of the sensor 612, an operator can perform non-contact inspection with a certain level of quality and within a limited time without depending on the skill level.

[0104] Also, the position and orientation estimation unit 88 further estimates the error between the estimated position and orientation of the sensor 612 and the target position and target orientation of the sensor 612.

[0105] By doing so, the monitoring device 80 can easily let the operator grasp how much the sensor 612 is deviated from the target position and target orientation. Thereby, an operator can correctly determine whether to continue the entry operation of the inspection tube 6 without depending on the skill level, or whether to adjust the position and orientation of the inspection tube.

[0106] <Third Embodiment> Next, the third embodiment will be described in detail with reference to FIGS. 21 to 22. Among the configurations of the third embodiment, those having the same configuration as the above-described embodiment will be described using the same reference numerals as the above-described embodiment.

[0107] (Functional Configuration of Monitoring Device) FIG. 21 is a block diagram showing the functional configuration of the monitoring device of the third embodiment. As shown in FIG. 21, this embodiment is a combination of the first embodiment and the second embodiment. That is, the monitoring device 80 of this embodiment includes an image acquisition unit 81, a reference line setting unit 82, a ratio calculation unit 83, a position setting unit 84, a distance estimation unit 85, a phase estimation unit 86, a feature point setting unit 87, and a position and orientation estimation unit 88. The functions of each unit are the same as the functions described in the above-described first embodiment and second embodiment.

[0108] (Processing example of monitoring device) FIG. 22 is a flowchart showing an example of the monitoring method of the third embodiment. Here, with reference to FIG. 22, the details of the monitoring method S3 using the monitoring device 80 of the third embodiment will be described.

[0109] As shown in FIG. 22, the operator installs the inspection device 5 on the turbine 3 which is the object to be inspected (step S30), and advances the tip of the inspection tube 6 to a location where there are feature points of the object to be inspected (step S31). Further, while looking at the camera image monitor 91, the operator adjusts the viewing angle (the orientation of the inspection tube 6) of the sensor 612 so that the feature points of the stationary blade 37 and the moving blade 33 are simultaneously reflected (step S32). These processes are the same as steps S10 to S12 of the first embodiment (FIG. 13).

[0110] When the adjustment of the viewing angle of the sensor 612 is completed, the monitoring device 80 acquires an image including the feature points of the stationary blade 37 and the moving blade 33 from the sensor 612, and executes a process of estimating the amount of phase shift with respect to the reference phase of the moving blade 33 (step S33). This process is the same as the process of step S13 of the first embodiment (FIGS. 13 to 14).

[0111] Further, the monitoring device 80 acquires an image including the feature points of the stationary blade 37 and the moving blade 33 from the sensor 612, and executes a process of estimating the position and orientation of the sensor 612 (step S34). This process is the same as the process of step S23 of the second embodiment (FIGS. 17 to 18).

[0112] Next, the operator determines whether to continue the entry operation of the inspection tube 6 based on the phase shift amount of the moving blade 33 displayed on the camera image monitor 91 or the like, and the error between the estimated values and the target values of the position and orientation of the sensor 612 (step S35). This process is the same as the process of step S14 in the first embodiment (FIG. 13) or step S24 in the second embodiment (FIG. 17).

[0113] (Function, effect) As described above, the monitoring device 80 according to the present embodiment includes, in addition to the image acquisition unit 81, ratio calculation unit 83, position setting unit 84, distance estimation unit 85, and phase estimation unit 86 of the first embodiment, the feature point setting unit 87 and the position and orientation estimation unit 88 of the second embodiment.

[0114] By doing so, the monitoring device 80 can enable the operator to easily grasp the phase shift amount of the moving blade 33 and the position and orientation of the sensor 612. As a result, the operator can perform non-opening inspection with a certain quality or more within a limited time without depending on the skill level.

[0115] <Other embodiments> As described above, the embodiments have been described in detail with reference to the drawings. However, the specific configuration is not limited to the above, and various design changes and the like are possible. That is, in other embodiments, the order of the above processes may be appropriately changed. Also, some processes may be executed in parallel.

[0116] <Supplementary note> The monitoring device, inspection device, monitoring method, and program described in each embodiment are understood as follows, for example.

[0117] (1) According to the first aspect, the monitoring device 80 includes an image acquisition unit 81 that acquires an image including a stationary body of a rotating machine and a rotating body that rotates relative to the stationary body from a sensor 612 provided at the tip of the inspection tube 6, a ratio calculation unit 83 that calculates a ratio of the size of a predetermined part of the rotating machine on the image to the actual size based on both end positions of the predetermined part of the rotating machine specified on the image and the actual size of the predetermined part included in the design information of the rotating machine, a position setting unit 84 that sets a first position indicating the circumferential position of the stationary body and a second position indicating the circumferential position of the rotating body based on the feature points of the stationary body and the rotating body respectively specified on the image, a distance estimation unit 85 that estimates the circumferential actual distance in the ground coordinate system of the first position and the second position based on the circumferential distance on the image of the first position and the second position and the calculated ratio, and a phase estimation unit 86 that estimates the amount of phase shift of the rotating body with respect to the reference phase based on the estimated circumferential actual distance.

[0118] In the conventional technology, a route was generated assuming that the moving blade stopped operating at the reference phase. Therefore, when the inspection tube was inserted along the route, if the moving blade stopped operating at a position (phase) different from the assumption, the inspection tube might interfere with the moving blade. Also, in the conventional system for inspection while checking the image inside the turbine, the operator estimated the amount of deviation of the moving blade from the reference phase relying only on the image information, but this estimation accuracy depended on the operator's proficiency. Therefore, it was difficult for an unskilled operator to perform non-intrusive inspection with a certain level of quality within a limited time. In contrast, the monitoring device 80 of the present embodiment can automatically estimate how much the position (phase) of the moving blade 33 has deviated from the reference phase from the image. Therefore, the operator can easily determine whether to insert the inspection tube 6 along the pre-set route R by referring to the estimated amount of phase shift. Thus, the operator can perform non-intrusive inspection with a certain level of quality within a limited time without depending on proficiency.

[0119] (2) According to the second aspect, the monitoring device 80 according to the first aspect further includes a reference line setting unit 82 that sets a first reference line on the image corresponding to the line segment extending in the circumferential direction of the rotating machine in the ground coordinate system and a second reference line on the image corresponding to the perpendicular line perpendicular to the line segment, both specified on the image, based on the end positions of each of the line segment extending in the circumferential direction and the perpendicular line. The phase estimation unit 86 uses the distance from the first intersection point of the first virtual line passing through the first position and parallel to the second reference line and the first reference line to the second intersection point of the second virtual line passing through the second position and parallel to the second reference line and the first reference line as the circumferential distance between the first position and the second position on the image.

[0120] By doing so, the monitoring device 80 can more accurately estimate how much the moving blade 33 is displaced in the circumferential direction with respect to the reference phase.

[0121] (3) According to the third aspect, in the monitoring device 80 according to the first or second aspect, the predetermined part is provided on the rotating body, and the position setting unit 84 sets the position on one end side of the predetermined part as the second position.

[0122] By doing so, the monitoring device 80 can omit the designation operation of the second position F5 by the operator, thereby reducing the labor of the operator and shortening the working time required for estimating the amount of phase shift.

[0123] (4) According to the fourth aspect, the monitoring device 80 according to any one of the first to third aspects further includes a feature point setting unit 87 that accepts the designation of a plurality of feature points on the image, and a position and orientation estimation unit 88 that estimates the position of the sensor 612 in the ground coordinate system based on the positions of the plurality of feature points on the image and the position information of the feature points included in the design information of the rotating machine in the ground coordinate system.

[0124] By doing so, the monitoring device 80 can enable the operator to easily grasp the phase shift amount of the moving blade 33 and the position and orientation of the sensor 612. As a result, the operator can perform the no-open-point inspection with a certain level of quality and within a limited time without depending on their skill level.

[0125] (5) According to a fifth aspect, in the monitoring device 80 according to the fourth aspect, the position and orientation estimation unit further estimates the error between the estimated position and orientation of the sensor 612 and the target position and target orientation of the sensor 612.

[0126] By doing so, the monitoring device 80 can easily let the operator know how much the sensor 612 is deviated from the target position and target orientation. As a result, the operator can correctly determine whether to continue the insertion operation of the inspection tube 6 or adjust the position and orientation of the inspection tube without depending on their skill level.

[0127] (6) According to a sixth aspect, the monitoring device 80 includes an image acquisition unit 81 that acquires an image including a stationary body of the rotating machine and a rotating body that rotates relative to the stationary body from a sensor 612 provided at the tip of the inspection tube 6, a feature point setting unit 87 that accepts the designation of a plurality of feature points on the image, and a position and orientation estimation unit 88 that estimates the position and orientation of the sensor 612 in the ground coordinate system based on the positions of the plurality of feature points on the image and the position information of the feature points included in the design information of the rotating machine in the ground coordinate system.

[0128] In the conventional technology, the operator estimated the position of the sensor etc. relying only on the image information, but this estimation accuracy depended on the proficiency of the operator. Therefore, it was difficult for an unskilled operator to perform non-intrusive inspection with a certain level of quality within a limited time. Also, in the conventional technology, it was difficult to accurately detect the position of an object in an environment with few features such as inside a turbine. On the other hand, the monitoring device 80 of the present embodiment can accurately estimate the position and orientation of the sensor 612 even in a narrow space with few features used for position detection such as inside the turbine 3, due to the above-described configuration. For this reason, by referring to the estimated position and orientation of the sensor 612, the operator can perform non-intrusive inspection with a certain level of quality within a limited time without depending on proficiency.

[0129] (7) According to the seventh aspect, the inspection device 5 includes an inspection tube 6 provided with a sensor 612 at its tip, and a monitoring device 80 according to any one of the first to sixth aspects.

[0130] (8) According to the eighth aspect, the monitoring method includes: a step of acquiring an image including a stationary body of a rotating machine and a rotating body that rotates relative to the stationary body from a sensor 612 provided at the tip of an inspection tube 6; a step of calculating a ratio of the size of a predetermined part of the rotating machine on the image to the actual size based on both end positions of the predetermined part of the rotating machine specified on the image and the actual size of the predetermined part included in the design information of the rotating machine; a step of setting a first position indicating the circumferential position of the stationary body and a second position indicating the circumferential position of the rotating body based on the feature points of the stationary body and the rotating body respectively specified on the image; a step of estimating the circumferential actual distance in the ground coordinate system of the first position and the second position based on the circumferential distance on the image of the first position and the second position and the calculated ratio; and a step of estimating the amount of phase shift with respect to the reference phase of the rotating body based on the estimated circumferential actual distance.

[0131] (9) According to the ninth aspect, the monitoring method includes: obtaining an image including a stationary part of the rotating machine and a rotating part that rotates relative to the stationary part from a sensor 612 provided at the tip of the inspection tube 6; receiving a designation of a plurality of feature points on the image; and estimating the position and orientation of the sensor 612 in the ground coordinate system based on the positions of the plurality of feature points on the image and the position information of the feature points in the ground coordinate system included in the design information of the rotating machine.

[0132] (10) According to the tenth aspect, the program causes the monitoring device 80 to execute: obtaining an image including a stationary part of the rotating machine and a rotating part that rotates relative to the stationary part from a sensor 612 provided at the tip of the inspection tube 6; calculating a ratio of the size of a predetermined part of the rotating machine on the image to the actual size based on the positions of both ends of the predetermined part of the rotating machine designated on the image and the actual size of the predetermined part included in the design information of the rotating machine; setting a first position indicating the circumferential position of the stationary part and a second position indicating the circumferential position of the rotating part based on the feature points of the stationary part and the rotating part respectively designated on the image; estimating the circumferential actual distance between the first position and the second position in the ground coordinate system based on the circumferential distance between the first position and the second position on the image and the calculated ratio; and estimating the amount of phase shift of the rotating part relative to the reference phase based on the estimated circumferential actual distance.

[0133] (11) According to the eleventh aspect, the program causes the monitoring device 80 to execute: obtaining an image including a stationary part of the rotating machine and a rotating part that rotates relative to the stationary part from a sensor 612 provided at the tip of the inspection tube 6; receiving a designation of a plurality of feature points on the image; and estimating the position and orientation of the sensor 612 in the ground coordinate system based on the positions of the plurality of feature points on the image and the position information of the feature points in the ground coordinate system included in the design information of the rotating machine.

Explanation of Reference Numerals

[0134] 1 Gas turbine 2 Compressor 3 Turbines 4 Combustors 5 Inspection Devices 6 Inspection Tubes 61 Inspection Cables 62 Tubes 62A Active Part 62B Driven Part 63 Tube Body 65 Attitude Actuator 67 Forward and Backward Actuator 7 Guide Jigs 8 Drive Control Devices 31 Turbine Rotors 32 Turbine Moving Blade Stages 33 Moving Blades (Rotating Bodies) 35 Turbine Casings (Stationary Bodies) 36 Turbine Stationary Blade Stages 37 Stationary Blades (Stationary Bodies) 80 Monitoring Devices 81 Image Acquisition Parts 82 Reference Line Setting Parts 83 Ratio Calculation Parts 84 Position Setting Parts 85 Distance Estimation Parts 86 Phase Estimation Parts 87 Feature Point Setting Parts 88 Position and Attitude Estimation Parts 91 Camera Image Monitors 92 Self-Position Display Monitors

Claims

1. An image acquisition unit that acquires an image including a stationary body of a rotating machine and a rotating body that rotates relative to the stationary body from a sensor provided at the tip of an inspection tube; A ratio calculation unit that calculates a ratio of the size of a predetermined part of the rotating machine on the image to the actual size of the predetermined part based on both end positions of the predetermined part of the rotating machine specified on the image and the actual size of the predetermined part included in the design information of the rotating machine; A position setting unit that sets a first position indicating the circumferential position of the stationary body and a second position indicating the circumferential position of the rotating body based on feature points of the stationary body and the rotating body respectively specified on the image; A distance estimation unit that estimates the circumferential actual distance in the ground coordinate system of the first position and the second position based on the circumferential distance on the image between the first position and the second position and the calculated ratio; A phase estimation unit that estimates the amount of phase shift of the rotating body with respect to the reference phase based on the estimated circumferential actual distance; A monitoring device comprising the above.

2. Further comprising a reference line setting unit that sets a first reference line on the image corresponding to the line segment extending in the circumferential direction of the rotating machine in the ground coordinate system and a second reference line on the image corresponding to the perpendicular line perpendicular to the line segment in the ground coordinate system based on both end positions of the line segment extending in the circumferential direction of the rotating machine specified on the image and both end positions of the perpendicular line perpendicular to the line segment in the ground coordinate system respectively, The phase estimation unit uses the distance from the first intersection point of the first virtual line passing through the first position and parallel to the second reference line and the first reference line to the second intersection point of the second virtual line passing through the second position and parallel to the second reference line and the first reference line as the circumferential distance between the first position and the second position on the image. The monitoring device according to Claim 1.

3. The predetermined part is provided on the rotating body, The position setting unit sets the position on one end side of the predetermined part as the second position. The monitoring device according to Claim 1.

4. A feature point setting unit that receives designation of a plurality of feature points on the image, A position and orientation estimation unit that estimates the position of the sensor in the ground coordinate system based on the positions of the plurality of feature points on the image and the position information of the feature points in the ground coordinate system included in the design information of the rotating machine, The monitoring device according to claim 1, further comprising:

5. The position and orientation estimation unit further estimates an error between the estimated position and orientation of the sensor and the target position and target orientation of the sensor. The monitoring device according to claim 4.

6. An image acquisition unit that acquires an image including a stationary body of a rotating machine and a rotating body that rotates relative to the stationary body from a sensor provided at the tip of an inspection tube, A feature point setting unit that receives designation of a plurality of feature points on the image, A position and orientation estimation unit that estimates the position and orientation of the sensor in the ground coordinate system based on the positions of the plurality of feature points on the image and the position information of the feature points in the ground coordinate system included in the design information of the rotating machine, A monitoring device comprising:

7. An inspection tube having a sensor provided at its tip, The monitoring device according to any one of claims 1 to 6, An inspection device comprising:

8. A step of acquiring an image including a stationary body of a rotating machine and a rotating body that rotates relative to the stationary body from a sensor provided at the tip of an inspection tube, A step of calculating a ratio of the size of a predetermined part of the rotating machine on the image to the actual size of the predetermined part based on both end positions of the predetermined part of the rotating machine designated on the image and the actual size of the predetermined part included in the design information of the rotating machine, A step of setting a first position indicating the circumferential position of the stationary body and a second position indicating the circumferential position of the rotating body based on the characteristic points of the stationary body and the rotating body specified on the image; A step of estimating the circumferential actual distance in the ground coordinate system of the first position and the second position based on the circumferential distance on the image between the first position and the second position and the calculated ratio; A step of estimating the amount of phase shift of the rotating body with respect to the reference phase based on the estimated circumferential actual distance; A monitoring method comprising the above.

9. A step of acquiring an image including a stationary body of a rotating machine and a rotating body that rotates relative to the stationary body from a sensor provided at the tip of an inspection tube; A step of receiving designation of a plurality of characteristic points on the image; A step of estimating the position and orientation of the sensor in the ground coordinate system based on the positions of the plurality of characteristic points on the image and the position information of the characteristic points in the ground coordinate system included in the design information of the rotating machine; A monitoring method comprising the above.

10. A step of acquiring an image including a stationary body of a rotating machine and a rotating body that rotates relative to the stationary body from a sensor provided at the tip of an inspection tube; A step of calculating a ratio of the size of a predetermined part of the rotating machine on the image to the actual size of the predetermined part based on the positions of both ends of the predetermined part of the rotating machine specified on the image and the actual size of the predetermined part included in the design information of the rotating machine; A step of setting a first position indicating the circumferential position of the stationary body and a second position indicating the circumferential position of the rotating body based on the characteristic points of the stationary body and the rotating body specified on the image; A step of estimating the circumferential actual distance in the ground coordinate system of the first position and the second position based on the circumferential distance on the image between the first position and the second position and the calculated ratio; Based on the estimated circumferential actual distance, estimating the amount of phase shift of the rotating body with respect to the reference phase; A program for causing a monitoring device to execute. **Claim 11** Obtaining an image including a stationary body of a rotating machine and a rotating body that rotates relative to the stationary body from a sensor provided at the tip of an inspection tube; Receiving designation of a plurality of feature points on the image; Estimating the position and orientation of the sensor in the ground coordinate system based on the positions of the plurality of feature points on the image and the position information of the feature points included in the design information of the rotating machine in the ground coordinate system; A program for causing a monitoring device to execute.

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