CRACK INSPECTION DEVICE, CRACK INSPECTION SYSTEM, AND CRACK INSPECTION METHOD

Abstract

A control unit (10, 30) generates a shape model of a pipe (40) on the basis of structural information indicating the structure of the pipe (40), performs a first setting control for setting a crack initiation surface on the inner surface of the pipe (40) on the basis of the shape model, performs a second setting control for setting the surface of the pipe that is deformed when a crack occurs on the crack initiation surface as a measurement surface, performs a third setting control for setting, on the basis of the shape model provided with boundary conditions including first pressure information added to the inner surface of the pipe (40), the change of the measurement surface when the crack occurs on the crack initiation surface as an estimated change vector of the measurement surface for each of a plurality type of crack candidates, and performs a first estimation control of deriving the deformation of the measurement surface as a measurement surface deformation vector, calculating and normalizing a similarity between the measurement surface deformation vector and the estimated change vector of the measurement surface for each crack candidate, and estimating the normalized similarity, a state quantity deformation vector indicating the deformation state of the crack initiation surface for each crack candidate, and the crack.

Description

[Technical field]

[0001] The present application relates to a crack inspection device, a crack inspection system, and a crack inspection method. [Background technology]

[0002] When a crack occurs inside a pipe that transports a fluid, it is difficult to inspect the condition of the crack because the inside of the pipe cannot be visually inspected or directly measured, and as a result, fluids such as liquids, gases, and powders flowing inside the pipe may leak from the pipe through the crack. If a fluid leaks from a pipe while the equipment to which the pipe is connected is in operation, the equipment must be stopped to inspect and repair it, resulting in an unplanned period when the equipment cannot be used. In order to solve such problems, an inspection device has been disclosed as a crack inspection device as described below, which inspects the state of cracks inside a structure based on an image of the surface of a structural part.

[0003] That is, a conventional inspection device includes an acquisition unit that acquires multiple images of the surface of a structure taken at different times while the load on the structure is changing, the images including at least a portion of the crack, a displacement calculation unit that calculates the displacement of a first local region on one side of the crack on the surface of the structure and the displacement of a second local region on the other side based on the multiple images, and an estimation unit that estimates the state of the crack inside the structure based on the displacement of the first local region and the displacement of the second local region (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] International Publication No. WO2019 / 176464 Summary of the Invention [Problem to be solved by the invention]

[0005] In the above-mentioned conventional inspection device, a displacement calculation unit calculates the displacement of a first local region on one side of the crack and the displacement of a second local region on the other side, and estimates the state of the crack inside the structure based on the displacement of the first local region and the displacement of the second local region. However, a pipe that transports a fluid usually has a complex structural shape with branch paths and the like in order to transport a desired amount of fluid to a desired location, and furthermore, pressure changes occur in the transported fluid. Therefore, the crack state, such as the position where a crack occurs inside the pipe and its size, changes, and therefore there is a problem that it is difficult to accurately estimate the state of a crack inside the pipe using the estimation method described above. The present application discloses technology for solving the above-mentioned problems, and aims to provide a crack inspection device, crack inspection system, and crack inspection method that can accurately estimate cracks inside a pipe that transports a fluid. [Means for solving the problem]

[0006] The crack inspection device disclosed in the present application is A measurement unit that measures deformation on a surface of a pipe that transports a fluid; A control unit that estimates a crack on the inner surface of the pipe based on a measurement value from the measurement unit, The control unit is generating a shape model that models a shape of the piping based on structural information that indicates a structure of the piping; Based on the shape model, a crack is generated on the inner surface of the pipe. Possible a first setting control is performed to identify a location and set an area including the location as a crack initiation surface, and a second setting control is performed to identify an area on the surface of the pipe where deformation occurs when a crack occurs on the crack initiation surface and set the area as a measurement surface; performing a third setting control for setting a change in the measurement surface when a crack occurs on the crack occurrence surface as a measurement surface estimated change vector for each of a plurality of types of crack candidates based on the shape model to which a boundary condition including first pressure information applied to the inner surface of the pipe by the fluid is given; deriving a deformation on the measurement surface as a measurement surface deformation vector based on the measurement value from the measurement unit, calculating a similarity between the derived measurement surface deformation vector and the measurement surface estimated change vector for each of the crack candidates, and normalizing the similarity; A crack occurring on the crack initiation surface is determined from the normalized similarity and a state quantity deformation vector indicating a deformation state of the crack initiation surface for each crack candidate. At least one of the size, shape, or location of A first estimation control is performed to estimate It is do. Ma In addition, the crack inspection system disclosed in the present application A crack inspection system including a crack inspection device configured as described above, a display unit that displays a control result by the control unit of the crack inspection device, and a memory unit that stores the measurement value from the measurement unit, The measurement unit acquires, as the measurement value, at least one of image information obtained by capturing an image of deformation on a surface of the pipe, pressure information applied to the pipe, displacement information of the pipe, and temperature information of the pipe, and The control unit is storing the acquired measurement value in the storage unit; In the first estimation control, the crack is detected by using the measurement surface deformation vector of the pipe derived based on the stored image information and at least one of the stored measurement values ​​of the pressure information, the displacement information, and the temperature information. At least one of the size, shape, or location of Estimate Estimated crack At least one of the size, shape, or location of is displayed on the display unit. It is something. The crack inspection method disclosed in the present application further comprises: A measurement unit that measures deformation on a surface of a pipe that transports a fluid; A crack inspection method for a crack inspection device including a control unit that estimates a crack on an inner surface of the pipe based on a measurement value from the measurement unit, a model generation step of generating a shape model that models a shape of the piping based on structural information indicating a structure of the piping; Based on the shape model, a crack is generated on the inner surface of the pipe. Possible a first setting control for identifying a location and setting an area including the location as a crack initiation surface, and a second setting process for identifying an area on the surface of the pipe where deformation occurs when a crack occurs on the crack initiation surface, and setting the area as a measurement surface; a third setting step of setting a change in the measurement surface when a crack occurs on the crack occurrence surface as a measurement surface estimated change vector for each of a plurality of types of crack candidates based on the shape model to which a boundary condition including first pressure information applied to the inner surface of the pipe by the fluid is assigned; deriving a deformation on the measurement surface as a measurement surface deformation vector based on the measurement value from the measurement unit, calculating a similarity between the derived measurement surface deformation vector and the measurement surface estimated change vector for each of the crack candidates, and normalizing the similarity; A crack occurring on the crack initiation surface is determined from the normalized similarity and a state quantity deformation vector indicating a deformation state of the crack initiation surface for each crack candidate. At least one of the size, shape, or location of A first estimation step of estimating It is something. Effect of the Invention

[0007] According to the crack inspection device and the crack inspection method disclosed in the present application, it is possible to accurately estimate cracks inside a pipe that transports a fluid. Furthermore, according to the crack inspection system disclosed in the present application, accurately estimated cracks can be provided to workers, enabling appropriate piping maintenance work to be carried out. [Brief description of the drawings]

[0008] [Figure 1] 1 is a block diagram showing a basic configuration of a crack inspection device according to a first embodiment. [Diagram 2] 1 is a flow chart showing an outline of a crack inspection method in the crack inspection device according to the first embodiment. [Diagram 3] 1 is a diagram showing a structure of a pipe to be inspected by a crack inspection device according to embodiment 1. FIG. [Figure 4]1 is a diagram showing a structure of a pipe to be inspected by a crack inspection device according to embodiment 1. FIG. [Diagram 5] FIG. 2 is a perspective view showing a shape model obtained by modeling the shape of a pipe according to the first embodiment. [Figure 6] 4 is a flow chart showing details of control of a model generating unit according to the first embodiment. FIG. [Figure 7] 4 is a diagram showing a state in which a crack occurrence surface of a pipe according to the first embodiment is divided into elements. FIG. [Figure 8] FIG. 4 is a diagram showing a state in which a measurement surface of a pipe is divided into elements according to the first embodiment. [Figure 9] 11 is a diagram showing a displacement change vector due to a difference in the amount of displacement change of each node on the crack occurrence surface of the pipe according to embodiment 1. FIG. [Figure 10] 6 is a diagram showing a strain change vector due to the difference in strain at each node on the measurement surface of a pipe according to the first embodiment. FIG. [Figure 11] FIG. 11 is a diagram showing a load change vector due to a difference in load change amount at each node on a crack occurrence surface of a pipe according to the first embodiment. [Figure 12] 5 is a diagram showing a displacement change vector representing the amount of displacement change of each node on a measurement surface of a pipe according to the first embodiment. FIG. [Figure 13] 5 is a diagram showing angle change vectors representing the amount of angle change of each node on the measurement surface of the pipe according to the first embodiment. FIG. [Figure 14] 4 is a flow chart showing detailed steps of a measurement section of the crack inspection device according to embodiment 1. FIG. [Figure 15] 4 is a flow chart showing detailed steps of a crack state analysis unit of the crack inspection device according to embodiment 1. FIG. [Figure 16] 11 is a flow chart showing an outline of a crack inspection method in the crack inspection device according to the second embodiment. FIG. [Figure 17] 11 is a diagram showing an example of the structure of a pipe to be inspected by a crack inspection device according to a second embodiment. FIG. [Figure 18] FIG. 11 is a flow chart showing details of a control process of a model generating unit according to the second embodiment. [Figure 19]FIG. 11 is a flow chart showing detailed steps of a measurement section of a crack inspection device according to embodiment 2. [Figure 20] FIG. 11 is a flow chart showing details of a control process of a model generating unit according to the third embodiment. [Figure 21] FIG. 11 is a flow chart showing detailed steps of a measurement section of a crack inspection device according to embodiment 3. [Figure 22] 13 is a flow chart showing detailed steps of a crack state analysis unit in the crack inspection device according to embodiment 3. FIG. [Figure 23] 13 is a flow chart showing detailed steps of a model generation unit of a crack inspection device that inspects cracks in piping in embodiment 4. FIG. [Figure 24] FIG. 13 is a block diagram showing the basic configuration of a crack inspection device according to embodiment 5. [Figure 25] 13 is a flow chart showing an outline of a crack inspection method in the crack inspection device according to embodiment 5. FIG. [Figure 26] 13 is a flow chart showing an outline of a crack inspection method in the crack inspection device according to embodiment 5. FIG. [Figure 27] 13 is a flow diagram showing an outline of a crack inspection method in the crack inspection system according to the sixth embodiment. FIG. [Figure 28] FIG. 23 is a diagram showing a schematic configuration of a crack inspection system in a sixth embodiment. [Figure 29] FIG. 23 is a diagram showing a schematic configuration of a crack inspection system in a sixth embodiment. [Diagram 30] FIG. 23 is a diagram showing a schematic configuration of a crack inspection system in a sixth embodiment. [Diagram 31] FIG. 2 is a diagram illustrating an example of a hardware configuration of a crack inspection device and a crack inspection system in each embodiment. [Diagram 32] FIG. 2 is a diagram illustrating an example of a hardware configuration of a crack inspection device and a crack inspection system in each embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Embodiment 1 Hereinafter, a crack inspection device 100 and a crack inspection method for inspecting cracks in a pipe 40 according to the present embodiment will be described with reference to the drawings. Note that the same reference numerals in each drawing indicate the same or corresponding parts. The crack inspection device 100 of this embodiment inspects for cracks that occur inside a pipe 40 that transports a fluid such as a liquid, gas, or powder.

[0010] FIG. 1 is a block diagram showing a basic configuration of a crack inspection device 100 according to the first embodiment. FIG. 2 is a flow chart showing an outline of a crack inspection method in the crack inspection device 100 according to the first embodiment. FIG. 3 is a diagram showing the structure of a pipe 40 to be inspected by the crack inspection device 100 according to the first embodiment. FIG. 4 is a cross-sectional view of the pipe 40 taken along line AA in FIG. FIG. 5 is a perspective view showing a shape model M that models the shape of a pipe 40 that is an object to be inspected by the crack inspection device 100 according to the first embodiment.

[0011] First, the piping 40 to be inspected will be described with reference to FIG. FIG. 3 shows an example of the structure of a pipe 40 to be inspected. The pipe 40 has a structure in which a straight pipe 41 having a branch 43 that branches the fluid and an L-shaped pipe 42 are welded together at a weld Wel.

[0012] The straight pipe 41 is supported by supports S1 and S2 such as a jig, and the L-shaped pipe 42 is supported by a support S3 such as a jig. Here, a crack Cra occurs inside the L-shaped pipe 42 due to poor welding at the welded part Wel connecting the L-shaped pipe 42 and the straight pipe 41, or due to erosion or corrosion that occurs in the L-shaped pipe 42 near the branch 43 when liquid flows through the pipe 40.

[0013] This crack Cra grows due to pressure applied to the pipe 40, and fluids such as liquids, gases, and powders in the pipe 40 leak through the crack Cra to the outside of the pipe 40. Alternatively, the pipe 40 may be damaged in the portion where the crack Cra exists due to the application of excessive pressure. This crack Cra is inspected by the crack inspection device 100 of the present embodiment.

[0014] The crack inspection device 100 will now be described. 1, the crack inspection device 100 includes a model generating unit 10 as a control unit, a measuring unit 20, and a crack state analyzing unit 30 as a control unit, and estimates the state of the crack Cra. The estimated state of the crack Cra is the size, shape, position, etc. of the crack Cra. In addition, the crack state analysis unit 30 is connected to the model generation unit 10 and the measurement unit 20 via a communication line or the like, and can receive data output from the model generation unit 10 and the measurement unit 20.

[0015] Hereinafter, an outline of the control of the model generating unit 10, the measuring unit 20, and the crack state analyzing unit 30 will be described with reference to FIG. First, the model generating unit 10 will be described. The model generating unit 10 generates a shape model M that models the shape of the pipe 40 based on design information input from the outside or structural information of the pipe 40 obtained by actual measurement (steps S101 to S102, model generating step). Here, structural information refers to the inner diameter, outer diameter, pipe end shape, welding shape, welding position, welding method, support information such as jigs for fixing set parts of the pipe 40, support method, etc.

[0016] Next, the model generating unit 10 performs a first setting control Se1 to identify a location on the inner surface of the pipe 40 where a crack Cra may occur, based on the shape model M, and to set a set area in the pipe 40 including the location where the crack Cra may occur as a crack occurrence surface CraS (first setting step). Also, the model generating unit 10 performs a second setting control Se2 to identify an area on the surface of the pipe 40 where deformation occurs when a crack Cra occurs on the crack occurrence surface CraS, based on the shape model M, and to set the area as a measurement surface MeaS (step S103, second setting step).

[0017] Next, the model generating unit 10 adds the first pressure information P1, which is the internal pressure applied to the inside of the pipe 40 by the transported fluid, and the above-mentioned structural information such as the support information of the pipe 40, to the shape model M as boundary conditions (step S104). Here, boundary conditions are conditions that are set for a geometric model for which structural analysis is performed. The boundary conditions are composed of load conditions and constraint conditions. The load conditions define where and to what extent a load is applied to a structure, that is, force vector information at the portion of the geometric model where the load is applied. Meanwhile, constraint conditions define information such as a support method, that is, information on where and how the structure is supported.

[0018] Next, the model generation unit 10 performs a third setting control Se3, which sets the change in the measurement surface MeaS when a crack Cra occurs on the crack occurrence surface CraS as a measurement surface estimated change vector V1, for each of multiple types of crack candidates, based on the shape model M to which boundary conditions including the first pressure information P1, which is the internal pressure applied to the inner surface of the pipe 40 by the fluid, are given (step S105, third setting process). Note that multiple types of crack candidates refer to candidate information of estimated cracks Cra having different shapes and different positions.

[0019] Next, an overview of the control of the measurement unit 20 will be described. The measurement unit 20 measures the deformation on the measurement surface MeaS of the surface of the pipe 40 that occurs in response to the presence of the crack Cra (step S201). The measurement unit 20 has a control unit (not shown) and obtains the deformation on the measurement surface MeaS as a measurement surface deformation vector V2 based on the measured value (step S202). In this example, the control unit (not shown) of the measuring unit 20 determines the measurement surface deformation vector V2 based on the measurement value, but the present invention is not limited to this. The measurement surface deformation vector V2 indicating the deformation of the measurement surface may be determined, for example, by the crack state analysis unit 30 (described later) based on the measurement value from the measuring unit 20.

[0020] Next, an outline of the control of the crack state analysis unit 30 will be described. The crack state analysis unit 30 calculates the similarity between the measurement surface estimated change vector V1 and the measurement surface deformation vector V2 based on the measurement surface estimated change vector V1, which is learning data obtained from the model generation unit 10, and the measurement surface deformation vector V2 acquired by the measurement unit 20 (step S301).

[0021] The crack state analysis unit 30 multiplies the state quantity deformation vector V3 indicating the state of the crack initiation surface CraS by the normalized similarity for each crack candidate (step S302). Next, the crack state analysis unit 30 estimates the crack by adding up the state quantity deformation vector V3 indicating the state of the crack initiation surface CraS multiplied by the similarity (step S303). This provides information on the size, shape, and location of the estimated crack Cra.

[0022] The process of estimating a crack through steps S301 to S303 is referred to as a first estimation control Es1 (first estimation process). The first estimation control Es1 will be described in detail later.

[0023] Hereinafter, the shape model M of the pipe 40 generated by the model generating unit 10 will be described. The shape model M shown in FIG. 5 is generated from the range indicated by B in FIG. Inside the geometric model M, a crack initiation surface CraS is set as a candidate surface, and on the surface of the geometric model M, a measurement surface MeaS is set. In FIG. 5, the flat plate which is the geometric model M is shown in a cylindrical coordinate system, the plane on which the measurement plane MeaS is set is the θz plane, and the plane on which the crack initiation surface CraS as a candidate surface is set is the RZ plane.

[0024] As described above, the crack initiation surface CraS as a candidate surface is set at a location where the crack Cra is expected to occur. The measurement surface MeaS is set in a range where the surface of the geometric model M changes due to a change in the candidate surface. As described above, in the shape model M, the entire structure of the pipe 40 is not modeled, but a part B of the pipe 40 shown in FIG. 3 is cut out in the θ direction and modeled.

[0025] 2, in step 104 by the model generation unit 10 shown in Fig. 2, first pressure information P1, which is the internal pressure applied to the pipe 40 by the fluid, and structural information such as a support method in the circumferential direction of the pipe 40 are added as boundary conditions to the shape model M. At this time, the entire structure of the pipe 40 as shown in Fig. 3 may be modeled, support conditions by supports S1, S2, and S3 may be added, a displacement near the shape model M of the pipe 40 when the internal pressure is applied may be calculated, and this displacement may be added to the boundary conditions as a support condition of the shape model M.

[0026] The outline of the control of the model generating unit 10 has been explained above with reference to FIG. 2. In the following, the details of the control of the model generating unit 10 by numerical analysis will be explained. Fig. 6 is a flow diagram showing detailed steps of control when the model generating unit 10 according to the embodiment 1 is created by numerical analysis. In Fig. 6, the same reference numerals are used for the steps already shown in Fig. 2.

[0027] In step S101, at least one of the inner diameter, outer diameter, end shape, weld shape, weld position, support method for fixing a set portion of the pipe 40, and support position of the pipe 40 is input as structural information indicating the structure of the pipe. Also, in this step S101, first pressure information P1 which is the internal pressure applied to the pipe 40 is input.

[0028] In step S102, a numerical analysis model for creating learning data is created based on the structural information. In this case, it is a shape model M of the pipe 40 shown in FIG. In step S103, assuming that a crack occurs in the geometric model M of the piping 40 due to a defect in the weld Wel, a crack initiation surface CraS and a measurement surface MeaS are set near the weld Wel of the geometric model M as candidate surfaces. In step S104, boundary conditions created from structural information such as a support method for the pipe 40 and first pressure information P1 which is the internal pressure applied to the pipe 40 are input to the shape model M. In step S105, the shape of the crack candidate to be created is determined based on the structural information of the pipe 40. An example of setting the shape of the crack candidate will be described below.

[0029] FIG. 7 is a diagram showing how the crack initiation surface CraS as a candidate surface in FIG. 4 is divided into elements 360 by parallel lines. The crack initiation surface CraS as a candidate surface is divided into n elements in the x-axis direction and m elements in the y-axis direction, and the points where the parallel lines that divide it into a grid intersect, that is, the vertices of the divided grid, are shown as positions (i, j). The positions (i, j) are expressed by numbers from (0, 0) to (n, m). If the vertices of the intersections are nodes, each node is a point located on the line that forms the element 360. In FIG. 7, the element 360 is shown as a square, but this is not limited thereto, and it may be a trapezoid, for example.

[0030] The structural analysis of the crack initiation surface is performed for each node position on the crack initiation surface. For example, if a crack occurs at the node at the (0,0) position on the crack initiation surface, structural analysis is performed on the displacement changes of all nodes on the crack initiation surface from the (0,0) position to the (n,m) position on the crack initiation surface. In this case, the node at the (0,0) position corresponds to a crack, so it is hollow. Therefore, no displacement change occurs at the (0,0) position. On the other hand, since it is assumed that there is no crack in the nodes at positions other than (0,0), displacement changes occur depending on the boundary conditions. In addition, by performing structural analysis of the displacement changes on the crack initiation surface for each node position in this way, the number of learning data is limited, and the time required to generate the learning data can be limited.

[0031] FIG. 8 is a diagram showing how the measurement surface MeaS in FIG. 5 is divided into elements 370. The measurement surface MeaS is divided into n elements in the x-axis direction and p elements in the z-axis direction, and the points where the parallel lines that divide it into a grid intersect, that is, the vertices of the divided grid, are indicated by positions (k, l). The positions (k, l) are expressed by numbers from (0, 0) to (n, p). If the vertices of the grid are nodes, each node is a point located on a line that forms the element 370. Note that in FIG. 8, the element 370 is shown as a square, but this is not limited thereto, and it may be, for example, a trapezoid.

[0032] Structural analysis of the measurement surface is performed for each node position on the crack initiation surface. For example, if a crack occurs at a node at position (0,0) on the crack initiation surface, structural analysis is performed on the deformation of all nodes on the measurement surface from position (0,0) to position (n,p) on the measurement surface. In the crack inspection device 100 in embodiment 1, strain changes are used as the deformation of nodes on the measurement surface. Next, for example, if a crack occurs at a node at position (0,1) on the crack initiation surface, structural analysis is performed on the strain changes of all nodes on the measurement surface from position (0,0) to position (n,p) on the measurement surface.

[0033] In step S106 shown in FIG. 6, a crack candidate is created at the crack initiation location of the created shape model M. For example, if a crack occurs at the node at the position (0,1) on the crack initiation surface, a structural analysis is performed on the displacement changes of all nodes on the crack initiation surface from the position (0,0) to the position (n,m) on the crack initiation surface. In this case, the node at the position (0,1) corresponds to a crack, and is therefore hollow. Therefore, no displacement change occurs at the position (0,1). On the other hand, since it is assumed that there are no cracks in the nodes at positions other than (0,1), displacement changes may occur depending on the boundary conditions.

[0034] In step S107 shown in FIG. 6, the created model is subjected to a numerical analysis. In step S108 shown in FIG. 6, the measurement surface estimated change vector V1 of the measurement surface MeaS and the state quantity deformation vector V3 indicating the state quantity of the crack initiation surface CraS are stored as learning data.

[0035] Thereafter, as shown in step S109 in Fig. 6, for nodes at positions other than (0,0) and (0,1) on the crack initiation surface, structural analysis is similarly performed on the displacement changes of the nodes on the crack initiation surface in accordance with the shape of the crack candidate. That is, assuming that the shape of the crack candidate is generated on the crack initiation surface, the displacement changes of all the nodes on the crack initiation surface are obtained. In step S110 in Fig. 6, the displacement changes obtained in this manner are stored as learning data.

[0036] In other words, the following relationship is set between each node on the crack initiation surface and the boundary conditions. First, the amount of change in all directions is set to zero for the nodes on the crack initiation surface on which the constraint conditions are set. As a result, the nodes on the crack initiation surface on which the constraint conditions are set do not move. On the other hand, the amount of change in a certain direction is set to a value other than zero for the nodes on the crack initiation surface on which the load conditions are set and on which no cracks have occurred. Furthermore, the amount of change in all directions is set to zero for the nodes on the crack initiation surface on which the load conditions are set and on which a crack has occurred.

[0037] FIG. 9 is a diagram showing displacement change vectors due to differences in the amount of displacement change of each node of the crack initiation surface CraS as a candidate surface for each shape of the crack candidate of the crack initiation surface CraS as a candidate surface shown in FIG. As shown in FIG. 9, the displacement data of each node included in the column vector of Δ(-) is arranged in a predetermined order. Here, "-" represents meaningless indefinite data. In the following description, "-" also represents meaningless indefinite data. δ(i,j) is the displacement change of the node at the position (i,j) on the crack initiation surface CraS as the candidate surface in FIG. 7. Furthermore, for example, δ0(i,j) is the displacement data of the node at the position (i,j) when a crack occurs at the node at the position of the first crack in the predetermined order of the shape of the crack candidate, and Δ(0) is the displacement change vector as the state quantity deformation vector V3 when a crack occurs at the node at the position of the first crack in the predetermined order of the shape of the crack candidate of (0,0).

[0038] The following formula (1) shows the crack surface matrix Δcrack_diff composed of multiple displacement change vectors in Fig. 9. The displacement change vectors Δ(0) to Δ(T) shown in Fig. 9 are column vectors, and Δcrack_diff shown in formula (1) is obtained by arranging these column vectors in the order in which the cracks assumed to move to each node are moved.

[0039]

number

[0040] Furthermore, the model generating unit 10 creates a strain change vector based on the difference in strain at the nodes of the measurement surface in the structural analysis model.

[0041] Fig. 10 is a diagram showing strain change vectors due to the difference in strain at each node of the measurement surface MeaS shown in Fig. 8 for each shape of the crack candidate on the crack initiation surface CraS as the candidate surface shown in Fig. 5. As shown in Fig. 10, the displacement data of each node included in the column vector of E(-) is arranged in a predetermined order.

[0042] ε(k,l) is strain data of a node at the position (k,l) on the measurement surface MeaS in Fig. 8. Furthermore, for example, ε0(k,l) is strain data of a node at the position (k,l) on the measurement surface MeaS when a crack occurs at the node at the position of the first crack in the predetermined order of the shape of the crack candidate on the crack initiation surface CraS as a candidate surface, and E(0) is the measurement surface estimated change vector V1 when a crack occurs at the node at the position of the first crack in the predetermined order of the shape of the crack candidate on the crack initiation surface CraS as a candidate surface. is the strain change vector as

[0043] The following formula (2) shows the measurement plane matrix Emeasure composed of multiple strain change vectors in Fig. 10. The strain change vectors E(0) to E(T) shown in Fig. 9 are column vectors, and Emeasure shown in formula (2) is obtained by arranging these column vectors in the order in which the expected cracks are moved to each node.

[0044]

number

[0045] As a parameter to be stored as learning data, in addition to the displacement change vector as the state quantity deformation vector V3 of the crack initiation surface CraS as the candidate surface, the load change vector as the state quantity deformation vector V3 of the crack initiation surface CraS as the candidate surface may also be used.

[0046] FIG. 11 is a diagram showing load change vectors due to differences in load change amounts at each node of the crack initiation surface CraS as a candidate surface for each shape of the crack candidate of the crack initiation surface CraS as a candidate surface shown in FIG. As shown in Fig. 11, the displacement data of each node included in the column vector of Z(-) is arranged in a predetermined order. Furthermore, for example, ζ0(i,j) is the load data of the node at the position (i,j) when a crack occurs at the node at the position of the first crack in the predetermined order of the shape of the crack candidate on the crack initiation surface CraS as the candidate surface, and Z(0) is the load change vector when a crack occurs at the node at the position of the first crack in the predetermined order of the shape of the crack candidate on the crack initiation surface CraS as the candidate surface. Specifically, the force of the node at the position where there is a crack is zero, and the force of the node at the position where there is no crack is non-zero.

[0047] As parameters to be saved as learning data, in addition to the strain change vector due to the difference in strain of each node of the measurement surface MeaS, the displacement change vector or angle change vector of the measurement surface MeaS may be used. A case where the displacement change is used as the deformation of the node on the measurement surface will be described. When the displacement change is used as the deformation of the node on the measurement surface, the model generation unit 10 creates a displacement change vector due to the difference in displacement of the node on the measurement surface in the structural analysis model.

[0048] FIG. 12 is a diagram showing a displacement change vector as a measurement surface estimated change vector V1 representing the displacement change amount of each node of the measurement surface MeaS in FIG. 5 in the shape of a crack candidate on the crack initiation surface CraS as the candidate surface in FIG. 5. As shown in Fig. 12, the displacement data of each node included in the column vector of Dis(-) is arranged in a predetermined order. d(k,l) is the displacement change of the node at the position (k,l) on the measurement surface MeaS. Furthermore, for example, d0(k,l) is the displacement data of the node at the position (k,l) on the measurement surface MeaS when a crack occurs at the node at the position of the first crack in the predetermined order of the shape of the crack candidate on the crack initiation surface CraS as the candidate surface, and Dis(0) is the displacement change vector when a crack occurs at the node at the position of the first crack in the predetermined order of the shape of the crack candidate on the crack initiation surface CraS as the candidate surface.

[0049] The following formula (3) shows the measurement plane matrix Dismeasure, which is composed of multiple displacement change vectors in Fig. 12. When using displacement change as the deformation of nodes on the measurement plane, Dismeasure is used as the measurement plane matrix. The displacement change vectors Dis(0) to Dis(T) shown in Fig. 12 are column vectors, and these column vectors are arranged in the order in which they move the cracks assumed to move to each node to form Dismeasure shown in formula (3).

[0050]

number

[0051] Next, a case where an angle change is used as the deformation of a node on a measurement surface will be described. When using an angle change as the deformation of the node on the measurement surface, the model generation unit 10 creates an angle change vector based on the difference in the angle of the node on the measurement surface in the structural analysis model. FIG. 13 is a diagram showing an angle change vector as a measurement surface estimated change vector V1, which represents the angle change amount of each node of the measurement surface MeaS in FIG. 5 in the shape of a crack candidate on the crack initiation surface CraS as the candidate surface in FIG.

[0052] As shown in Fig. 13, the displacement data of each node included in the column vector of A(-) is arranged in a predetermined order. a(k,l) is the angle change of the node at the position (k,l) on the measurement surface MeaS. Furthermore, for example, a0(k,l) is the angle data of the node at the position (k,l) on the measurement surface MeaS when a crack occurs at the node at the position of the first crack in the predetermined order of the shape of the crack candidate on the crack initiation surface CraS as the candidate surface, and A(0,0) is the angle change vector when a crack occurs at the node at the position of the first crack in the predetermined order of the shape of the crack candidate on the crack initiation surface CraS as the candidate surface.

[0053] The following formula (4) shows the measurement plane matrix Ameasure, which is composed of multiple angle change vectors in Fig. 13. When using angle change as the deformation of the nodes on the measurement plane, Ameasure is used as the measurement plane matrix. The angle change vectors A(0) to A(T) shown in Fig. 13 are column vectors, and Ameasure shown in formula (4) is obtained by arranging these column vectors in the order in which the cracks assumed to move to each node are moved.

[0054]

number

[0055] In step S109 of FIG. 6, it is determined whether learning data has been created for all crack candidates, and if not, the process returns to step S106 to change the shape of the crack. When the creation of learning data for all crack candidates is completed, the learning data for the crack candidates is output in step S110.

[0056] Next, the details of the measurement performed by the measuring unit 20 of the crack inspection device 100 will be described. FIG. 14 is a flow chart showing detailed steps in the measurement unit 20 of the crack inspection device 100 according to the first embodiment. In FIG. 14, steps corresponding to those shown in FIG. 2 are denoted by the same reference numerals.

[0057] In step S201a, a measurement plane MeaS is set on the surface of the pipe 40 based on the shape model M created by the model generation unit 10. In step S201, the deformation of the measurement surface MeaS on the surface of the pipe 40 is measured. In step S201b, the measured deformation of the surface of the pipe 40 is converted into a format identical to that of the measurement surface estimated change vector V1 of the learning data. An example of the format is shown in FIG. In step S202, the transformed deformation of the measurement surface is stored as a deformation vector. In step S203, the stored deformation vector is output as the measurement surface deformation vector V2.

[0058] The actual measurement method of the measurement unit 20, which is carried out through steps S201a to S203 in FIG. 14, will now be described in detail. The measurement unit 20 measures deformation of the surface of the measurement surface MeaS, which is at least a partial area of ​​the surface of the pipe 40. The measuring unit 20 is, for example, a strain gauge attached to the measuring surface MeaS. The strain gauge is composed of a base material and a resistive material. The base material is composed of an electrical insulator. The resistive material is attached to the base material, and a lead wire is provided at the portion protruding from the base material. The base material is attached to the surface of the structure via an adhesive, and when the base material expands or contracts, the resistive material also expands or contracts, causing a change in the electrical resistance of the resistive material. The lead wire of the resistive material is connected to the measuring unit 20. For example, when a strain occurs on the surface of pipe 40, the resistive material expands and contracts, and the electrical resistance of the resistive material changes. In step S201 shown in Fig. 14, the change in the electrical resistance of the resistive material measured in this manner is transmitted to a control unit (not shown) of measurement unit 20 via a lead wire.

[0059] In this manner, in step S201, the strain gauge measures the strain change on the surface of the pipe 40. With this configuration, while pressure is still being applied, the measurement unit 20 can measure the strain change on the measurement surface MeaS on the surface of the pipe 40. The measurement unit 20 takes the measurement surface MeaS as the measurement surface and outputs the measured deformation of the measurement surface as a measurement surface deformation vector V2.

[0060] When using a displacement change as the deformation of the nodes on the measurement surface, the measurement unit 20 includes a displacement sensor to measure the displacement of each node on the measurement surface MeaS. As the displacement sensor, for example, a laser displacement sensor, an eddy current loss type displacement sensor, a capacitance type displacement sensor, a contact type displacement sensor, a wire type displacement sensor, a laser micrometer, etc. are used. The measurement unit 20 measures the displacement change on the surface of the measurement surface MeaS and outputs it as a measurement surface deformation vector V2.

[0061] When an angle change is used as the deformation of a node on the measurement surface, the measurement unit 20 is equipped with an inclination sensor for measuring the angle of each node on the measurement surface MeaS. Furthermore, the measurement unit 20 may measure the deformation of the measurement surface MeaS of the pipe 40 by a digital image correlation method. In this case, a photograph of the measurement surface MeaS is taken at a stage when there are no cracks Cra in the pipe 40, or at a stage when the shape of the cracks Cra in the pipe 40 is grasped by a different inspection method. In a subsequent inspection, a photograph of the same location is taken, and the amount of deformation is obtained by comparing the photographs by performing image analysis based on the digital image correlation method.

[0062] Next, the operation of the measurement unit 20 will be described. The measurement unit 20 measures the strain change on the surface of the measurement surface MeaS of the pipe 40 for each of the conditions where there is no crack Cra inside the pipe 40 and where a crack Cra occurs inside the pipe 40. The measured strain changes are arranged as a column vector in the same order as the learning data, as shown in equation (5).

[0063]

number

[0064] The measurement unit 20 measures the column vector shown in formula (5) as the measurement surface deformation vector V2. In the measurement surface deformation vector V2, the suffix "0*0" indicates that it is for node (0,0) on the measurement surface MeaS in Fig. 8. The measurement surface deformation vector measured in this manner is output to the analysis unit 150, which analyzes the crack state of the crack inspection device 100.

[0065] When selecting and using any one of strain change, displacement change and angle change as the deformation of the node on the measurement surface, the strain change vector, the displacement change vector representing the amount of displacement change of each node on the measurement surface, and the angle change vector representing the amount of angle change of each node on the measurement surface are all saved as learning data, and the measurement unit 20 measures at least one of the strain, displacement and angle of each node on the measurement surface MeaS.

[0066] The control of the crack state analysis unit 30 of the crack inspection device 100 will be described. Fig. 15 is a flow diagram showing details of the analysis steps of the crack state analysis unit 30. In Fig. 15, steps corresponding to the steps already shown in Fig. 2 are denoted by the same reference numerals.

[0067] In step S301a2, the measurement surface estimated change vector V1, which is the learning data output from the model generating unit 10, is acquired. In step S301a3, the measurement surface deformation vector V2 output from the measurement unit 20 is acquired. In step S301a1, in order to calculate the vector similarity, a distortion change matrix E(s) consisting of a measurement surface estimated change vector V1 of the difference in distortion of nodes of the measurement surface in the learning data acquired in step S301a2 is received. In order to obtain the similarity between the measurement surface deformation vector V2 and the measurement surface estimated change vector V1 shown in formula (5), the Euclidean distance, which is the L2 norm, is obtained as shown in formula (6). By using the Euclidean distance as the similarity, it is possible to obtain a highly accurate similarity with a limited amount of processing.

[0068]

number

[0069] Here, assuming that the variance of the Euclidean distance α(s) calculated by equation (6) is the same as the variance σ2 of the measurement surface deformation vector calculated by equation (5), the likelihood function shown in equation (7) is calculated from the Euclidean distance α(s) calculated by equation (6) and the variance σ2 of the measurement surface deformation vector, assuming a normal distribution.

[0070]

number

[0071] Here, S runs from 1 to T and represents the cases in the training data. In step S301, similarities are calculated and determined for all the learning data crack candidates, and the process proceeds to step S301b.

[0072] In step S301b, in order to normalize the likelihood function shown in equation (7), a value C obtained by adding up the likelihood functions is calculated as shown in equation (8).

[0073]

number

[0074] The likelihood function calculated by equation (7) is normalized by C shown in equation (8) and is shown in equation (9).

[0075]

number

[0076] The normalized likelihood function shown in equation (8) is equal to the likelihood function of the distribution of displacement changes on the crack initiation surface CraS as a candidate surface for the crack. In step S302, the crack surface matrix Δcrack_diff(S) shown in Figure 8 in the training data is received, and the likelihood function shown in equation (9) is multiplied by the corresponding displacement change vector Δ(S) for all training data. In step S307, it is determined whether all training data has been multiplied. In step S303, the expected value of the displacement change in the likelihood function is calculated by adding up all crack candidates as shown in equation (10).

[0077] In step S303b, the value shown in formula (10) is output as the estimated crack Cra. The estimated crack Cra is obtained by thresholding the expected value of the displacement change obtained in (10) with a predetermined threshold value to obtain the position and size of the crack estimated on the crack initiation surface.

[0078]

number

[0079] Furthermore, the expected value may be obtained using a load change vector Z(S), which is a vector consisting of state quantities indicating the state of each node on the crack initiation surface, similar to the latent displacement change vector Δ(S). The normalized likelihood function shown in formula (9) is equal to the likelihood function of the load change of each node on the crack initiation surface CraS as a candidate surface. The likelihood function shown in formula (9) may be multiplied by the corresponding load change vector Z(s) and summed for all crack candidates to obtain the expected value of the load change in the likelihood function, and the obtained expected value may be subjected to threshold processing using a predetermined threshold value to obtain the position and size of the crack estimated on the crack initiation surface. The crack estimation device according to the present application can be realized even if the vector quantities used for the estimation up to this point are treated as two-dimensional arrays or image data.

[0080] In the crack state analysis unit 30, the measurement surface matrix Dismeasure is used instead of the measurement surface matrix Emeasure to calculate the Euclidean distance as the similarity between the measurement surface deformation vector of the displacement change obtained from the measurement unit 20 and the measurement surface matrix Dismeasure, and the position and size of the crack on the crack initiation surface CraS as a candidate surface is estimated.

[0081] In the crack condition analysis unit 30, the measurement surface matrix Ameasure is used instead of the measurement surface matrix Emeasure to calculate the Euclidean distance as the similarity between the measurement surface deformation vector of the angle change obtained from the measurement unit 20 and the measurement surface matrix Ameasure, and the position and size of the crack on the crack initiation surface CraS as a candidate surface is estimated.

[0082] The crack inspection device of the present embodiment configured as described above has the following features: A measurement unit that measures deformation on a surface of a pipe that transports a fluid; A control unit that estimates a crack on the inner surface of the pipe based on a measurement value from the measurement unit, The control unit is generating a shape model that models a shape of the piping based on structural information that indicates a structure of the piping; A first setting control is performed to identify a location where a crack will occur on the inner surface of the pipe based on the shape model, and to set an area including the location as a crack occurrence surface, and a second setting control is performed to identify an area on the surface of the pipe where deformation will occur when a crack occurs on the crack occurrence surface, and to set the area as a measurement surface; performing a third setting control for setting a change in the measurement surface when a crack occurs on the crack occurrence surface as a measurement surface estimated change vector for each of a plurality of types of crack candidates based on the shape model to which a boundary condition including first pressure information applied to the inner surface of the pipe by the fluid is given; deriving a deformation on the measurement surface as a measurement surface deformation vector based on the measurement value from the measurement unit, calculating a similarity between the derived measurement surface deformation vector and the measurement surface estimated change vector for each of the crack candidates, and normalizing the similarity; performing a first estimation control for estimating a crack occurring on the crack initiation surface based on the normalized similarity and a state quantity deformation vector indicating a deformation state of the crack initiation surface for each of the crack candidates; It is something.

[0083] In this manner, the control unit of the crack inspection device of this embodiment generates a shape model that models the shape of the pipe based on the structural information that indicates the structure of the pipe. Then, based on this shape model, a location where a crack will occur on the inner surface of the pipe is identified, and a first setting control is performed to set an area including the location as a crack occurrence surface. In this way, the shape model generated in this embodiment uses structural information of the complex piping caused by the occurrence of cracks in the branch passages, welds, etc., so that the location where a crack occurs on the inner surface of the piping can be accurately specified as the crack occurrence surface. At the same time, it becomes possible to set a measurement surface that can accurately measure the deformation on the surface of the piping that is caused by the occurrence of a crack on the crack occurrence surface.

[0084] Furthermore, a third setting control is performed, which sets the change in the measurement surface when a crack occurs on the crack occurrence surface as a measurement surface estimated change vector for each of multiple types of crack candidates, based on a geometric model given boundary conditions including first pressure information applied to the inner surface of the pipe by the fluid. In this way, even if the wear and friction state on the inner surface of the pipe changes due to a fluid that causes pressure changes, flow rate changes, etc., it is possible to derive accurate learning data because the measurement surface estimated change vector, which is learning data, is set using a shape model that includes the first pressure information added to the inner surface of the pipe.

[0085] Furthermore, the deformation on the measurement surface is derived as a measurement surface deformation vector, and the similarity between the derived measurement surface deformation vector and the measurement surface estimated change vector is calculated for each crack candidate, and the similarity is normalized. Then, a first estimation control is performed to estimate a crack that will occur on the crack occurrence surface from the normalized similarity and the state quantity deformation vector indicating the deformation state of the crack occurrence surface for each crack candidate.

[0086] In this way, estimation is performed by weighting high similarities, so that the measurement surface estimated change vectors and measurement surface deformation vectors can be narrowed down to cracks that are likely to occur in the piping. This reduces the effort required for creating learning data and taking measurements, shortens inspection time, and improves estimation accuracy. Furthermore, by normalizing and estimating the similarity between the measurement surface estimated change vector and the measurement surface deformation vector, the normalized similarity can be used to estimate the shape of a crack even if the crack shape is not included in the learning data created by the model generation unit, thereby improving the estimation accuracy. Furthermore, by creating learning data through numerical analysis, it becomes unnecessary to create test specimens for the pipes, simplifying preparation for inspection. In addition, models can be prepared for many crack candidates, improving estimation accuracy.

[0087] Here, if a configuration is adopted in which a displacement change or an angle change is used as the measurement surface deformation vector instead of a strain change, it is possible to measure the change in the measurement surface of the pipe in a shorter time and with higher accuracy than with strain measurement. Also, if one of a strain change, a displacement change, and an angle change is selected and used as the deformation of the node on the measurement surface, it is possible to handle pipes of various shapes.

[0088] In addition, in the crack inspection device of the present embodiment configured as described above, In the third setting control, the control unit a displacement in the pipe is calculated based on the first pressure information applied to the inner surface of the pipe by the fluid, and the measurement surface estimated change vector is set for each of the plurality of types of the crack candidates based on the shape model to which the displacement is assigned as a boundary condition; It is something.

[0089] In this way, the shape model used in setting the learning data to set the measurement surface estimated change vector for each of multiple types of crack candidates reflects the displacement of the pipe due to the first pressure information, such as the pressure change applied to the inner surface of the pipe by the fluid. In this way, even when the piping is displaced by a fluid that causes changes in pressure, flow rate, etc., it is possible to derive accurate learning data.

[0090] In addition, in the crack inspection device of the present embodiment configured as described above, The control unit, in the first estimation control, multiplying the state quantity deformation vector of the crack initiation surface by the normalized similarity for each of the crack candidates, and estimating a crack that has occurred on the crack initiation surface from the sum of the results for all of the crack candidates; It is something.

[0091] In this way, the state quantity deformation vector of the crack initiation surface is multiplied by the normalized similarity for each crack candidate, and the results are added up for all crack candidates to estimate the crack that has occurred on the crack initiation surface, thereby satisfying the uniqueness of the solution, the existence of a solution, and the premise of the solution, making it possible to estimate the crack with high accuracy.

[0092] In addition, in the crack inspection device of the present embodiment configured as described above, The measurement unit is measuring deformations on a surface of the pipe using a digital image correlation method; The control unit performs image analysis based on a digital image correlation method on the measurement value from the measurement unit to derive the measurement surface deformation vector. It is something.

[0093] In this way, non-contact measurement is performed by detecting deformation on the measurement surface based on an image, which prevents the increase in inspection time and labor required when increasing the number of inspection points, as is the case with contact-type methods such as condition monitoring using attached strain gauges and ultrasonic flaw detection.

[0094] In addition, in the crack inspection device of the present embodiment configured as described above, In the first setting control, the control unit identifying a location where a crack will occur on the inner surface of the pipe using information about the first pressure applied to the inner surface of the pipe by the fluid; It is something.

[0095] When characterizing the crack occurrence surface in the pipe in this manner, the control unit may use not only the structural information of the pipe but also the first pressure information applied to the inner surface of the pipe, which allows the region in the pipe where the crack will occur to be identified with even greater accuracy.

[0096] Embodiment 2 Hereinafter, the second embodiment of the present invention will be described with reference to the drawings, focusing on the differences from the first embodiment. The same parts as those in the first embodiment will be given the same reference numerals and the description thereof will be omitted. FIG. 16 is a flow diagram showing an outline of a crack inspection method in the crack inspection device 200 according to the second embodiment. FIG. 17 is a diagram showing an example of the structure of a pipe 40 to be inspected by the crack inspection device 200 according to the second embodiment. FIG. 18 is a flow diagram showing details of control when the model generating unit 10 according to the second embodiment is created by numerical analysis. FIG. 19 is a flow diagram showing details of the measurement in the measuring section 20 of the crack inspection device 200 according to the first embodiment.

[0097] In the crack inspection device 200 in the second embodiment, as shown in FIG. 17, a pressure jig 260 for applying pressure to the surface of the pipe 40 is provided. In step S2104 shown in Figures 16 and 18, in addition to the first pressure information P1 similar to that in embodiment 1 and the structural information of the piping 40, the model generation unit 10 further adds, as boundary conditions, second pressure information P2 having information on the magnitude and direction of the external force applied to the surface of the piping 40, and the support location and support method by the pressure jig 260 for applying the external force.

[0098] In step S2201 shown in FIGS. 16 and 19, measurement unit 20 measures deformation in measurement surface MeaS of the surface of pipe 40 that occurs in response to application of an external force by pressurizing jig 260. 17, the deformation of the measurement surface MeaS corresponding to the crack Cra is measured in a state where the support forces S2a, S2b, S1a, and S1b from the support jigs and the external force 260P from the pressure jig 260 are applied to the pipe 40. The subsequent control is the same as that in the first embodiment.

[0099] In the crack inspection device of the present embodiment configured as described above, A pressure jig is provided to apply pressure to a surface of the pipe, In the third setting control, the control unit based on the shape model to which a boundary condition including second pressure information applied to the pipe by the pressurizing jig is given, a change in the measurement surface when a crack occurs on the crack occurrence surface is set as the measurement surface estimated change vector for each of the multiple types of crack candidates; It is something.

[0100] This makes it possible to open the crack using a pressure tool and set a measurement surface estimated change vector based on the deformation of the pipe surface, thereby improving the estimation accuracy of the learning data corresponding to the size, position, etc. of the crack. Furthermore, by applying an external force to the pipe using a pressure jig and then measuring the deformation of the measurement surface as a measurement surface deformation vector using the measurement unit, the accuracy of estimating the size, position, etc. of the crack is further improved.

[0101] Embodiment 3 Hereinafter, the third embodiment of the present invention will be described with reference to the drawings, focusing on the differences from the first embodiment. The same parts as those in the first embodiment will be given the same reference numerals and the description thereof will be omitted. FIG. 20 is a flow diagram showing details of the control by the model generating unit 10 according to the third embodiment. FIG. 21 is a flow diagram showing details of measurement in the measuring section 20 of the crack inspection device according to the third embodiment. FIG. 22 is a flow chart showing details of the analysis by the crack state analysis unit in the crack inspection device according to the third embodiment.

[0102] In this embodiment, in step S3101 of the model generating unit 10 shown in Fig. 20, pressure under the same or different pressure conditions is applied multiple times to the pipe 40. Then, first pressure information P1 or second pressure information P2 indicating the pressure conditions to be applied multiple times is input. Thereafter, the same control as in the first embodiment is performed from step S102 to step S108, and in step S3109, it is determined whether learning data has been calculated for all pressure conditions of the input pressure, and the result is output in step S110.

[0103] 21, in step S3205 following step S201a of the measurement unit 20, pressure based on the first pressure information P1 and the second pressure information P2 is applied to the pipe 40. Then, in step S201, the deformation of the measurement surface MeaS is measured. Then, in step S3204, it is determined whether measurements have been performed under all pressure conditions set in step S3101 of FIG. 20. If measurements have been performed under all pressure conditions, the process proceeds to step S201b, and thereafter, the same control as in embodiment 1 is performed. In step 203, the measurement surface deformation vector V2 measured under all pressure conditions is output.

[0104] Next, in the detailed flow of the crack state analysis unit 30 for analyzing the crack state shown in FIG. 22, the same control as in the first embodiment is performed from steps S301a2 and 301a3 to step S303b. In step S3304, it is determined whether a crack has been estimated under all pressure conditions set in step S3101 of Figure 20, and if a crack has been estimated under all pressure conditions, the process proceeds to step S3305, where the average of the crack size and position estimated under all pressure conditions is output as the estimation result.

[0105] In the crack inspection device of the present embodiment configured as described above, At least one of the first pressure information and the second pressure information is configured to include pressure information in which pressure having the same or different pressure conditions is applied multiple times, The control unit is In the third setting control, the measurement surface estimated change vector is set for each of the pressures applied a plurality of times; In the first estimation control, a crack occurring on the crack occurrence surface is estimated for each of the pressures applied a plurality of times. It is something.

[0106] In this way, the second pressure information, which is the same or different external force, or the change in the first pressure information, which is the internal pressure, is applied to the pipe, and a measurement surface estimated change vector, which is learning data, is set for each of the multiple pressures applied. Then, cracks are estimated for each of the multiple pressures applied. In this way, cracks are estimated from the results of multiple measurements with changing pressure, thereby improving the accuracy of crack estimation.

[0107] Embodiment 4 Hereinafter, the fourth embodiment of the present invention will be described with reference to the drawings, focusing on the differences from the first embodiment. The same parts as those in the first embodiment will be given the same reference numerals and the description thereof will be omitted. FIG. 23 is a detailed flow chart of the model generating unit 10 of the crack inspection device for inspecting cracks in piping according to the fourth embodiment.

[0108] In this embodiment, in step S4101 by model generation unit 10 shown in Fig. 23, a position tolerance indicating a positional variation of a support position where pipe 40 is supported by a structure such as a jig, and a variation of a pressure value to be applied are input. Thereafter, control is performed in steps S102 to S110 in the same manner as in embodiment 1, and in step S4111, it is determined whether learning data has been created by reflecting the support dimension tolerance and the pressure variation in the boundary conditions, and if the learning data has been created, the learning data including the dimension tolerance and the pressure variation is output in step S4112.

[0109] In the crack inspection device of the present embodiment configured as described above, In the third setting control, the control unit The measurement surface estimated change vector corresponding to a change in pressure value in the first pressure information or a positional tolerance of a support position of the pipe included in the structural information is set for each of the plurality of types of crack candidates.

[0110] In this way, based on the variation in the internal pressure applied to the pipe, which is determined by the devices connected to the pipe, and the range of the dimensional tolerance of the structure supporting the pipe, it is possible to set the measurement surface estimated change vector, which is learning data corresponding to the change in the internal pressure and the dimensions of the structure. In this way, it is possible to estimate the crack with high accuracy, taking into account the variation in the support dimensions and pressure of the pipe.

[0111] Embodiment 5. Hereinafter, the fifth embodiment of the present invention will be described with reference to the drawings, focusing on the differences from the first embodiment. The same parts as those in the first embodiment will be given the same reference numerals and the description thereof will be omitted. FIG. 24 is a block diagram showing a basic configuration of a crack inspection device 500 according to the fifth embodiment. FIG. 25 is a flow diagram showing an outline of a crack inspection method in the crack inspection device 500 according to the fifth embodiment. FIG. 26 is a flow chart showing an outline of a crack inspection method in a crack inspection apparatus 500ex1 according to the fifth embodiment, which is different from the crack inspection apparatus 500 shown in FIG.

[0112] In this fifth embodiment, a crack determination unit 540 serving as a control unit is provided, which performs second estimation control, which is a state determination of the strength of the pipe 40 or the progress of the crack, based on an estimated crack as shown in FIG. First, as shown in step S5401 in Figure 25, the crack determination unit 540 in the crack inspection device 500 estimates whether or not the pipe 40 will break near the crack due to excessive load such as an earthquake based on the size and position of the crack estimated in step S303, and displays the estimation result on the display unit in step S5402.

[0113] In addition, the crack determination unit 540 in the crack inspection device 500ex1 determines whether or not leakage of fluid will occur inside the piping 40 based on the size and position of the crack estimated in step S303, as shown in step S5401ex1 in Figure 26, and displays the estimation result on a display device or the like in step S5402.

[0114] In the crack inspection device of the present embodiment configured as described above, The first pressure information includes repeated load information repeatedly applied to the piping or maximum load value information applied to the piping, The control unit is performing a second estimation control to estimate a state of the piping due to the crack on the crack occurrence surface estimated in the first estimation control based on the first pressure information; It is something.

[0115] In this way, the first pressure information includes information on repeated loads that are repeatedly applied to the piping, or information on the maximum load value that is applied to the piping due to an earthquake or the like. The control unit then performs a second estimation control to estimate the state of the pipe due to the crack on the crack occurrence surface estimated in the first estimation control based on the first pressure information. In this way, by estimating the state of the pipe as fluid leakage, rupture, etc., it is possible to perform efficient repairs in the appropriate order according to the degree of the defect in the pipe.

[0116] Embodiment 6 Hereinafter, the sixth embodiment of the present invention will be described with reference to the drawings, focusing on the differences from the first embodiment. The same parts as those in the first embodiment will be given the same reference numerals and the description thereof will be omitted. FIG. 27 is a flow diagram showing an outline of a crack inspection method in a crack inspection system 1000 including a crack inspection device according to the sixth embodiment. FIG. 28 is a diagram showing a schematic configuration of a crack inspection system 1000 including a crack inspection device in the sixth embodiment.

[0117] As shown in Fig. 28, a crack inspection system 1000 of this embodiment includes a crack inspection device shown in any one of the above-mentioned embodiments 1 to 5, a storage device 650, and a display device 641 as a display unit that displays the control results of the control unit of the crack inspection device. Note that in Fig. 28, the model generation unit 10 of the crack inspection device is omitted. In the crack inspection system 1000, the measurement unit 20 and the storage device 650, the storage device 650 and the crack state analysis unit 30, and the crack state analysis unit 30 and the display device 641 are connected to each other via communication lines or the like. In step S6201 shown in FIG. 27, the measurement unit 20 acquires at least one of pressure information, displacement information, and temperature information of the pipe 40, and image information of the surface of the pipe 40, as measurement values. This image information is an image acquired by the digital image correlation method or the like shown in the first embodiment, and a method for measuring deformation is used to acquire the surface deformation distribution, from which the measurement surface deformation vector V2 can be derived. Therefore, depending on the method for measuring deformation from an image, two images may be used: one image when there is no crack or when the equipment starts operating, and the other image at the time of inspection.

[0118] Next, in step S6201b, the control unit (not shown) of the measuring unit 20 stores the acquired measurement value in the storage device 650 as a storage unit. Note that, although an example in which the measuring unit 20 stores the measurement value in the storage device 650 has been shown here, the present invention is not limited to this. Any control unit included in the crack inspection system 1000 may perform this storage operation, and for example, the crack state analysis unit 30 as a control unit may receive the measurement value transmitted from the measuring unit 20 and store the measurement value in the storage device 650. Then, the crack state analysis unit 30 estimates the crack based on the measurement values ​​stored in the storage device 650. The method of estimating a crack is the same as in the first embodiment, but as shown in step S6303, the crack state analysis unit 30 uses at least one of stored information on the pressure, displacement, and temperature of the piping 40 in this estimation. This enables highly accurate estimation of a crack based on the pressure, displacement, and temperature that affect the deformation of the piping 40. Then, as shown in step S6304, the crack state analysis unit 30 outputs the estimated crack size and displays it on the display device 641. Furthermore, a worker performing maintenance work on the piping can check the information on the crack estimated with such a high accuracy on the display device 641, and therefore can perform maintenance work appropriately and efficiently.

[0119] The crack inspection system of this embodiment configured as described above has the following features: a measuring unit that acquires, as measured values, at least one of image information obtained by photographing deformation on a surface of a pipe, pressure information applied to the pipe, displacement information of the pipe, and temperature information of the pipe; A storage unit that stores the acquired measurement values; a control unit that estimates a crack on the inner surface of the pipe using a measurement surface deformation vector that indicates a deformation of the pipe, which is derived based on the stored image information, and at least one of the stored measurement values ​​of the pressure information, the displacement information, and the temperature information; and A display unit that displays the crack estimated by the control unit. It is something.

[0120] In this way, by obtaining measurements from images of the deformation of the pipe caused by a crack, as well as information on the pressure applied to the pipe, information on the displacement of the pipe, information on the temperature of the pipe, and other information that have a large impact on the deformation, and estimating the size and location of the crack based on these results, it is possible to estimate the crack with high accuracy. Based on the highly accurate estimated crack information displayed on the display unit, workers can carry out efficient and appropriate maintenance work.

[0121] In addition, the crack inspection system according to the present embodiment configured as described above has the following features: A crack inspection system including the crack inspection device according to any one of the above embodiments, a display unit that displays a control result by the control unit of the crack inspection device, and a memory unit that stores the measurement value from the measurement unit, The measurement unit acquires, as the measurement value, at least one of image information obtained by capturing an image of deformation on a surface of the pipe, pressure information applied to the pipe, displacement information of the pipe, and temperature information of the pipe, and The control unit is storing the acquired measurement value in the storage unit; In the first estimation control, the crack is estimated using the measurement surface deformation vector of the pipe derived based on the stored image information and at least one of the stored measurement values ​​of the pressure information, the displacement information, and the temperature information; Displaying the estimated crack on the display unit. It is something.

[0122] In this way, the crack can be estimated with high accuracy by measuring the deformation caused by the crack obtained from the image and the measurement value, which is a parameter that has a large effect on the deformation, and performing the first estimation control to estimate the size and position of the crack based on these results. Then, based on the highly accurate estimated crack information displayed on the display unit, the worker can perform efficient and appropriate maintenance work.

[0123] FIG. 29 is a diagram showing a schematic configuration of a crack inspection system 1000ex1 which is different from the above-mentioned crack inspection system 1000. In FIG. The crack inspection system 1000ex1 includes a crack determination unit 540 that performs the second estimation control, which is used to determine the state of the pipe 40, such as the strength and progress of a crack, as shown in the fifth embodiment. In addition, the measurement unit 20 of the crack inspection system 1000ex1, similar to the above-mentioned crack inspection system 1000, measures at least one of the pressure information, displacement information, and temperature information of the piping 40, and image information of the surface of the piping 40, and further measures the positional information of the measurement point of the piping 40 where the pressure information, displacement information, and temperature information were measured. The crack state analysis unit 30 and the crack determination unit 540, and the crack determination unit 540 and the display device 641 are connected to each other via a communication line or the like.

[0124] As with the above-mentioned crack inspection system 1000, the acquired images are images acquired by digital image correlation method or the like, and the deformation distribution of the surface can be acquired using a method for measuring deformation. Therefore, depending on the method for measuring deformation from an image, two images may be used: an image when there is no crack or when the equipment starts operating, and an image at the time of inspection.

[0125] As shown in FIG. 29, the measuring section 20 stores in the storage device 650 the measurement values ​​including the position information of the measurement points and the image information in association with the acquisition time when the measurement values ​​were measured. Then, the crack state analysis unit 30 estimates and outputs a crack for each piece of position information of the measurement point based on the measurement values ​​stored in the storage device 650. Furthermore, the crack determination unit 540 receives the estimated crack output by the crack state analysis unit 30, and performs a second estimation control, which is a state determination of the strength of the piping 40 or the progression of the crack, based on this crack, as in embodiment 5.

[0126] In this second estimation control, the crack determination unit 540 estimates the predicted leak occurrence location where leakage will occur from a cracked pipe when the pipe 40 continues to be used after the inspection and the predicted leak occurrence time as the first time for each position information of the measurement location, and determines whether the pipe can be used without leakage until the next inspection or repair time. In the determination result, the crack determination unit 540 displays on the display device 641 the predicted location where leakage may occur, the estimated size and position of the crack, and the first time when the leak will occur in association with each other. In this way, the predicted location and time of leak occurrence are predicted for each positional information of the measurement point of the piping 40 where pressure, displacement, and temperature were measured, making it possible to make accurate predictions based on the pressure, displacement, and temperature information that changes depending on the position of the piping 40. Furthermore, workers performing maintenance work on the piping can check the accurately estimated crack information, the predicted location of the leak, and the predicted time of the leak on the display device 641, allowing them to perform appropriate maintenance work before a fluid leak occurs in the piping 40.

[0127] Such a crack inspection system 1000ex1 may be used for periodic inspections, or the condition of the piping 40 may be inspected at all times by positioning and operating the crack inspection system 1000ex1 so as to monitor the status of the measurement values.

[0128] In the crack inspection system of the present embodiment configured as described above, The control unit is recording, in the storage unit, measurement position information in the piping where at least one of the measurement values ​​of the pressure information, the displacement information, and the temperature information was acquired, and the image information in association with the acquisition time; performing a second estimation control to estimate a state of the pipe due to the crack on the crack occurrence surface estimated in the first estimation control based on the first pressure information; In the first estimation control, a position of a crack is estimated for each of the stored measurement position information; In the second estimation control, a propagation of a crack is estimated for each of the stored measurement position information, and a first time when leakage of the fluid from the pipe occurs due to the propagation of the estimated crack is estimated; The display unit displays the position of the crack for each of the estimated measurement position information and the corresponding first time. It is something.

[0129] In this way, the location and time of the leak can be identified from the estimated crack information, and the areas most likely to develop problems can be displayed on the display unit so that the worker can be made aware of them, allowing pipes to be repaired efficiently.

[0130] FIG. 30 is a diagram showing a schematic configuration of a crack inspection system 1000ex2 in the sixth embodiment. As will be described in detail later, the crack inspection system 1000ex2 differs in part from the above-mentioned crack inspection systems 1000 and 1000ex1 in the determination content in the crack determination unit 540. In addition, the measurement values ​​measured by the measuring unit 20 of the crack inspection system 1000ex2 are similar to those of the above-mentioned crack inspection system 1000, and include at least one of pressure information, displacement information, and temperature information of the pipe 40, as well as image information of the surface of the pipe 40.

[0131] As shown in FIG. 30, the measured values ​​are stored in a storage device 650. Then, the crack state analysis unit 30 estimates the crack based on the measurement values ​​stored in the storage device 650. The method of estimating the crack is the same as in the first embodiment, and the crack state analysis unit 30 outputs the estimated size and position of the crack. Furthermore, similarly to the above-mentioned crack inspection system 1000ex1, the crack determination unit 540 performs a second estimation control, which is a state determination of the strength of the pipe 40 or the progress of the crack, based on the estimated crack. At this time, the crack determination unit 540 performs this second estimation control for each of the multiple pipes 40.

[0132] In this second estimation control, the crack determination unit 540 estimates a predicted leak occurrence time as a first time when a leak may occur from a cracked pipe when the pipe 40 continues to be used after inspection, and determines whether the pipe 40 can be used without leaking until the next inspection or repair time for each pipe 40. In the determination result, the crack determination unit 540 displays on the display device 641 the pipe 40 where a leak may occur, the estimated size and position of the crack, and the first time when the leak will occur in association with each other.

[0133] Based on the result of the crack determination unit 540, the display device 641 displays one of a pressure gauge, a flow meter, a water level gauge, and an oil level gauge as a second measuring instrument for monitoring the state of the fluid, which is connected to the piping 40 close to the first time when the leak will occur, in order of the time when the leak will occur. More specifically, as shown in the predicted leak occurrence timing of the judgment result, a first time when a leak will occur after inspection is estimated for each of the pipes from pipe A to pipe C. Then, as shown in an example of the relationship between the pipes A, B, and C and the pressure gauges, the pressure gauges connected to each of the pipes A to C are displayed. Then, as shown on the display device 641, the display order of the pressure gauges monitoring the status is changed in order of the time when the leak will occur.

[0134] In the crack inspection system of the present embodiment configured as described above, The control unit is performing the second estimation control for each of the plurality of pipes, and estimating the crack growth for each of the pipes and the first timing for each of the pipes; The pipes are arranged and displayed on the display unit in the order of the first time period, and second measuring instruments that are connected to the pipes and measure the state of the fluid transported through the pipes are displayed on the display unit in association with the pipes. It is something.

[0135] In this way, the display unit displays the pipes arranged in chronological order of the predicted time when leaks are expected to occur, and a second measuring instrument connected to each pipe and measuring the state of the fluid being transported through the pipe is displayed on the display unit in association with each pipe. By controlling this type of crack inspection system, workers performing maintenance work on the pipes can easily identify pipes that are prone to malfunction and check the second measuring device related to those pipes. This allows workers to quickly check for the possibility of fluid leakage in the event of an excessive load such as an earthquake.

[0136] In addition, the crack inspection system may control at least one of the pressure and flow rate of the fluid flowing through the piping based on the values ​​of a pressure gauge, flow meter, water level gauge, or oil level gauge as a second measuring instrument that monitors the condition of the fluid. This allows the pressure or flow rate applied to the pipe that is close to leaking to be controlled based on the result of the judgment, reducing the pressure applied to the pipe and suppressing the progression of the crack. This allows the timing of repairs to be controlled, and the downtime of the equipment including the pipe to be reduced.

[0137] The crack inspection system may also store geometric models of multiple pipes each having a different shape, and add position information to each geometric model indicating the actual position of a crack that occurred in the past. Then, in the first estimation control, the location where a crack will occur on the inner surface of the pipe may be identified using this past position information. This makes it possible to identify candidate crack initiation surfaces based on actual crack locations that have occurred in similar piping in the past, making it possible to predict the location of a crack while taking into account factors not reflected in the model, further improving the accuracy of the estimation.

[0138] Each embodiment includes a processing circuit for executing the estimation device. The processing circuit may be a dedicated hardware or a CPU (also called a central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, processor, or DSP) that executes a program stored in a memory.

[0139] Fig. 31 is a diagram for explaining an example of the hardware configuration of a crack inspection device and a crack inspection system. In Fig. 31, a processing circuit 601 shown as a control unit of the crack inspection device and the crack inspection system of each of the above-mentioned embodiments is connected to a bus 602. When the processing circuit 601 is a dedicated hardware, the processing circuit 401 corresponds to, for example, a single circuit, a composite circuit, a programmed processor, an ASIC, an FPGA, or a combination of these. Each function of the parts of the estimation device may be realized by the processing circuit 601, or the functions of each part may be realized collectively by the processing circuit 601.

[0140] FIG. 32 is a diagram for explaining another hardware configuration example of the crack inspection device and the crack inspection system. In FIG. 32, a processor 603 shown as a control unit of the crack inspection device and the crack inspection system of each of the above embodiments, and a memory 604 as a storage unit are connected to a bus 602. When the processing circuit is a CPU, the functions of each unit of the estimation device are realized by software, firmware, or a combination of software and firmware. The software or firmware is written as a program and stored in the memory 604. The processing circuit realizes the functions of each unit by reading and executing the program stored in the memory 604. That is, the crack inspection device and the crack inspection system are provided with a memory 604 for storing a program that, when executed by the processing circuit, results in the execution of a step. In addition, it can be said that these programs cause a computer to execute the procedure or method to be executed. Here, memory 404 refers to non-volatile or volatile semiconductor memory such as RAM (Random access memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), etc., or a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD, etc.

[0141] The functions of each part of the crack inspection device and the crack inspection system may be partially realized by dedicated hardware and partially realized by software or firmware. For example, the model generation part 10 among the functions can be realized by a processing circuit as dedicated hardware. Also, the crack state analysis part 30 among the functions can be realized by the processing circuit reading and executing a program stored in the memory 604.

[0142] Thus, the processing circuitry can implement each of the above functions by hardware, software, firmware, or a combination of these.

[0143] In each embodiment, an example is described in which the crack initiation surface CraS or the measurement surface MeaS as the candidate surface is divided into a grid shape as an element, but this is not particularly limited. For example, the crack initiation surface CraS or the measurement surface MeaS as the candidate surface may be divided into a trapezoid shape as an element.

[0144] Although the present application describes various exemplary embodiments and examples, the various features, aspects, and functions described in one or more embodiments are not limited to application to a particular embodiment, but may be applied to the embodiments alone or in various combinations. Therefore, countless modifications not exemplified are assumed within the scope of the technology disclosed in this application, including, for example, modifying, adding, or omitting at least one component, and further, extracting at least one component and combining it with a component of another embodiment. [Explanation of symbols]

[0145] 10 model generation unit (control unit), 20 measurement unit, 30 crack state analysis unit (control unit), 40 piping, 540 crack determination unit (control unit), 641 display device (display unit), M shape model.

Claims

1. A measurement unit that measures deformation on a surface of a pipe that transports a fluid; A control unit that estimates a crack on the inner surface of the pipe based on a measurement value from the measurement unit, The control unit is generating a shape model that models a shape of the piping based on structural information that indicates a structure of the piping; Based on the shape model, a first setting control is performed to identify a location on the inner surface of the pipe where a crack may occur and set an area including the location as a crack occurrence surface, and a second setting control is performed to identify an area on the surface of the pipe where deformation occurs when a crack occurs on the crack occurrence surface and set the area as a measurement surface; performing a third setting control for setting a change in the measurement surface when a crack occurs on the crack occurrence surface as a measurement surface estimated change vector for each of a plurality of types of crack candidates based on the shape model to which a boundary condition including first pressure information applied to the inner surface of the pipe by the fluid is given; based on the measurement value from the measurement unit, deriving a deformation on the measurement surface as a measurement surface deformation vector, calculating a similarity between the derived measurement surface deformation vector and the measurement surface estimated change vector for each of the crack candidates, and normalizing the similarity; performing a first estimation control for estimating at least one of a size, a shape, and a position of a crack occurring on the crack initiation surface from the normalized similarity and a state quantity deformation vector indicating a deformation state of the crack initiation surface for each of the crack candidates; Crack inspection equipment.

2. In the third setting control, the control unit a displacement in the pipe is calculated based on the first pressure information applied to the inner surface of the pipe by the fluid, and the measurement surface estimated change vector is set for each of the plurality of types of crack candidates based on the shape model to which the displacement is assigned as a boundary condition; The crack inspection device according to claim 1 .

3. In the third setting control, the control unit The measurement surface estimated change vector corresponding to a change in pressure value in the first pressure information or a positional tolerance of a support position of the pipe included in the structural information is set for each of the plurality of types of crack candidates. The crack inspection device according to claim 1 or 2.

4. A pressure jig is provided to apply pressure to a surface of the pipe, In the third setting control, the control unit based on the shape model to which a boundary condition including second pressure information applied to the pipe by the pressurizing jig is given, a change in the measurement surface when a crack occurs on the crack occurrence surface is set as the measurement surface estimated change vector for each of the plurality of types of crack candidates; The crack inspection device according to any one of claims 1 to 3.

5. At least one of the first pressure information and the second pressure information is configured to include pressure information in which pressure having the same or different pressure conditions is applied a plurality of times; The control unit is In the third setting control, the measurement surface estimated change vector is set for each of the pressures applied a plurality of times; In the first estimation control, at least one of a size, a shape, and a position of a crack occurring on the crack occurrence surface is estimated for each of the pressures applied a plurality of times.

5. The crack inspection device according to claim 4.

6. The first pressure information includes repeated load information repeatedly applied to the piping or maximum load value information applied to the piping, The control unit is performing a second estimation control to estimate a state of the piping due to the crack on the crack occurrence surface estimated in the first estimation control based on the first pressure information; The crack inspection device according to any one of claims 1 to 5.

7. The control unit stores the shape models of the plurality of pipes each having a different shape, and each of the shape models is added with position information indicating the position of an actual crack that has previously occurred in the pipe; The control unit, in the first estimation control, identifies a location where a crack will occur on the inner surface of the pipe by using the position information. The crack inspection device according to any one of claims 1 to 6.

8. In the first setting control, the control unit identifying a location where a crack will occur on the inner surface of the pipe using information about the first pressure applied to the inner surface of the pipe by the fluid; The crack inspection device according to any one of claims 1 to 7.

9. The measurement unit is measuring deformations on a surface of the pipe using a digital image correlation method; The control unit performs image analysis based on a digital image correlation method on the measurement value from the measurement unit to derive the measurement surface deformation vector. The crack inspection device according to any one of claims 1 to 8.

10. The control unit, in the first estimation control, multiplying the state quantity deformation vector of the crack initiation surface by the normalized similarity for each of the crack candidates, and summing the results for all of the crack candidates, from the results, estimating at least one of the size, shape, and position of a crack that has occurred on the crack initiation surface; The crack inspection device according to any one of claims 1 to 9.

11. As the structural information, at least one of an inner diameter, an outer diameter, a weld shape, a weld position, and a support method for fixing a set portion of the pipe is set, As the second pressure information, at least one of a support position, a support method, a pressure value, and a pressure application direction of the pressure jig is used together with a tolerance indicating the respective variations. The crack inspection device according to claim 4 or 5.

12. A crack inspection system comprising the crack inspection device according to any one of claims 1 to 11, a display unit that displays a control result by the control unit of the crack inspection device, and a memory unit that stores the measurement value from the measurement unit, The measurement unit acquires, as the measurement value, at least one of image information obtained by capturing an image of deformation on a surface of the pipe, pressure information applied to the pipe, displacement information of the pipe, and temperature information of the pipe, and The control unit is storing the acquired measurement value in the storage unit; In the first estimation control, at least one of a size, a shape, and a position of the crack is estimated using the measurement surface deformation vector of the pipe derived based on the stored image information and at least one of the stored measurement values ​​of the pressure information, the displacement information, and the temperature information; Displaying the estimated crack on the display unit. Crack Inspection System.

13. The control unit is recording, in the storage unit, measurement position information in the piping where at least one of the measurement values ​​of the pressure information, the displacement information, and the temperature information was acquired, and the image information in association with the acquisition time; performing a second estimation control to estimate a state of the pipe due to the crack on the crack occurrence surface estimated in the first estimation control based on the first pressure information; In the first estimation control, a position of a crack is estimated for each of the stored measurement position information; In the second estimation control, a progress of a crack is estimated for each of the stored measurement position information, and a first time when leakage of the fluid from the pipe occurs due to the estimated progress of the crack is estimated; The display unit displays the position of the crack for each of the estimated measurement position information and the corresponding first time. The crack inspection system of claim 12.

14. The control unit is performing the second estimation control for each of the plurality of pipes, and estimating the progress of a crack for each of the pipes and the first time for each of the pipes; The pipes are arranged and displayed on the display unit in the order of the first time period, and second measuring instruments that are connected to the pipes and measure the state of the fluid transported through the pipes are displayed on the display unit in association with the pipes. The crack inspection system of claim 13.

15. The control unit is At least one of a pressure and a flow rate of the fluid flowing through the pipe is controlled based on a result of the estimation of the crack growth by the second estimation control. A crack inspection system according to claim 13 or 14.

16. A measurement unit that measures deformation on a surface of a pipe that transports a fluid; A crack inspection method for a crack inspection device including a control unit that estimates a crack on an inner surface of the pipe based on a measurement value from the measurement unit, a model generation step of generating a shape model that models a shape of the piping based on structural information indicating a structure of the piping; a first setting control for identifying a location on the inner surface of the pipe where a crack may occur based on the shape model and setting an area including the location as a crack occurrence surface, and a second setting process for identifying an area on the surface of the pipe where deformation occurs when a crack occurs on the crack occurrence surface and setting the area as a measurement surface; a third setting step of setting a change in the measurement surface when a crack occurs on the crack occurrence surface as a measurement surface estimated change vector for each of a plurality of types of crack candidates based on the shape model to which a boundary condition including first pressure information applied to the inner surface of the pipe by the fluid is assigned; based on the measurement value from the measurement unit, deriving a deformation on the measurement surface as a measurement surface deformation vector, calculating a similarity between the derived measurement surface deformation vector and the measurement surface estimated change vector for each of the crack candidates, and normalizing the similarity; A crack inspection method comprising: a first estimation process for estimating at least one of the size, shape, or position of a crack occurring on the crack initiation surface from the normalized similarity and a state quantity deformation vector indicating the deformation state of the crack initiation surface for each crack candidate.

Images