Patent ID: 12235246

DESCRIPTION OF EMBODIMENTS

Embodiment

(System Configuration)

Hereinafter, a measuring system according to the embodiment of the present disclosure will be described with reference toFIGS.1to13.

FIG.1shows an example of a measuring system100. The measuring system100is a system for measuring the hardness of a blade groove40in a rotor2of a steam turbine. The measuring system100includes a measuring device110which is the main body of the measuring device, and a control device120which controls the measuring device110.

(Functional Configuration of Measuring Device Main Body)

FIG.1shows a plan view of the measuring device110. The measuring device110is formed of, for example, frame members106ato106don four sides and has a rectangular shape with an open center portion. On two orthogonal sides of the four sides, an actuator101and an actuator102are provided with sliders which are movable in each side direction. For example, the actuator101is provided in parallel with a frame member106aforming one side in a Y-axis direction, and the actuator102is fixedly provided on a frame member106bforming one side in an X-axis direction. The actuator101is fixed to the slider of the actuator102, and by moving this slider, the actuator101can move in the X-axis direction. A header108including sensors used for hardness measurement is fixed to the slider of the actuator101, and the header108is provided with a camera103, a hardness meter104, and a laser range finder105. The camera103and the hardness meter104can be moved in the Y-axis direction by moving the header108fixed to the slider of the actuator101. In other words, by driving the sliders of the actuators101and102, the camera103and the hardness meter104can freely move within the range of a region α shown in the drawing. The camera103, the hardness meter104, and the laser range finder105are installed to face a depth direction of the paper surface. The camera103captures an image of the blade groove40. The hardness meter104measures the hardness of the blade groove40. The hardness meter104is an ultrasonic type or image measurement type hardness meter. The hardness meter104includes an actuator104a(for example, an air cylinder), and is configured to press a tip portion of the hardness meter104against the blade groove40by driving the actuator104a. The laser range finder105measures the distance to the disk20. For example, the header108is moved to each vertex of the region α, and the distance from the laser range finder105to the disk20is measured at each vertex. Thereby, the tilt of a plane (XY stage) formed by the movement of the header108and by the disk20to which the measuring device110is attached can be computed. The frame member106ais provided with fixing members107aand107bfor attaching the measuring device110to the disk20. Similarly, the frame member106cis provided with fixing members107cand107d. For example, permanent magnets, electromagnets, and the like are provided on the fixing members107ato107d, and the measuring device110is suctioned and fixed to the rotor2by these magnets. The fixing members107ato107dare provided with a height adjustment mechanism that can adjust the distance between the suction destination (rotor2and the like) of the measuring device110and the measuring device110.

FIGS.2A and2Bshow a state when the measuring device110is attached to the rotor2.

As shown inFIG.2A, the measuring device110can be inserted even in a narrow portion of the blade row3and the blade row3in the second and subsequent stages, and the fixing members107ato107dcan be fixed to the blade row3bto be measured for hardness. As shown inFIG.2B, by attaching the measuring device110such that a blade groove40A to be measured is included in the region α, the hardness meter104can be positioned at a desired position of the blade groove40A, and hardness measurement can be performed.

(Functional Configuration of Control Device)

The control device120includes a processing control unit121, a movement control unit122, a sensor control unit123, a data acquisition unit124, a storage unit125, a display control unit126, an image processing unit127, and a reception unit128.

The processing control unit121controls the hardness measurement process. For example, the processing control unit121may execute the hardness measurement process according to the procedure, or may perform the coordinate conversion of a coordinate system provided for an image captured by the camera103, a CAD data coordinate system described later, and a coordinate system provided for an XY stage (a plane on which the camera103and hardness meter104move). (The coordinate system provided for the XY stage is, for example, a coordinate system in which the origin of the stage inFIG.4, which will be described later, is the origin, and the X-axis and the Y-axis directions of the stage shown in the drawing are the X-axis and the Y-axis, respectively.)

The movement control unit122controls the actuator101and the actuator102to move the header108to a desired position.

The sensor control unit123controls the operations of the camera103, the hardness meter104, and the laser range finder105. For example, the sensor control unit123instructs the camera103to capture an image. The sensor control unit123performs measurement by the hardness meter104by driving the actuator104aprovided on the hardness meter104or the like.

The data acquisition unit124acquires an image captured by the camera103, a hardness measurement result measured by the hardness meter104, and the like.

The storage unit125stores various data acquired by the data acquisition unit124and CAD data. The CAD data includes the design data of the rotor2(coordinate data of the shape of the rotor2) and the coordinate data of the measurement point for measuring the hardness.

The display control unit126creates various images to be presented to a worker who performs the measurement work, and displays the images on a display device130.

The image processing unit127generates a superimposed image in which the measurement target point is superimposed on the image captured by the camera103, and corrects the measurement target point based on the change instruction of the worker (moves the position of the superimposed and displayed measurement target point).

The reception unit128receives an operation of the worker on the control device120, and outputs a predetermined control signal corresponding to the operation to the processing control unit121or the like.

<Hardness Measurement Process>

Next, the hardness measurement process using the measuring system100will be described with reference toFIGS.3to10.

FIG.3is a flowchart showing an example of the hardness measurement process according to the embodiment of the present disclosure.

First, parallel adjustment is performed with respect to a test plate (step S1).

The upper part ofFIG.4shows the moving direction of the header108, and the lower part ofFIG.4shows the relationship between an XY stage200and an attachment destination (test plate210) of the measuring device110. First, the worker attaches the measuring device110to the test plate210. Next, the processing control unit121executes the following process via the operation of the worker with respect to the control device120. First, the sensor control unit123turns on the laser range finder105. The movement control unit122moves the header108in the order of P1, P2, P3, and P4 as shown in the upper part ofFIG.4. At P1, P2, P3, and P4, the laser range finder105measures the distance from the laser range finder105to the test plate210. The data acquisition unit124acquires the distances measured at P1 to P4 and outputs the acquired distances to the processing control unit121. The processing control unit121computes tilt angles θ1 to θ4 with respect to the test plate210of the XY stage200based on the output difference of the laser range finder at each position of P1 and P2, P2 and P3, P3 and P4, and P4 and P1. For example, the tilt angle θ1 is an angle based on the output difference between P1 and P2, the tilt angle θ2 is an angle based on the output difference between P2 and P3, the tilt angle θ3 is an angle based on the output difference between P3 and P4, and the tilt angle θ4 is an angle based on the output difference between P4 and P1. The processing control unit121outputs the computed tilt angles θ1 to θ4 to the display control unit126. The display control unit126displays the tilt angles θ1 to θ4 on the display device130. The worker adjusts the adjustment mechanism of the fixing members107ato107dsuch that the tilt angles θ1 to θ4 are all within the allowable tilt angle, and adjusts the attaching height.

Next, the length and pixel sensitivity on the test plate210are confirmed (step S2).

First, as shown inFIG.5, the worker installs a glass scale220on the test plate210in the field of view of the camera103. The glass scale220is transparent and has a scale engraved in units of 1 mm, for example. Next, the processing control unit121executes the following process via the operation of the worker with respect to the control device120. The sensor control unit123causes the camera103to capture an image. The data acquisition unit124acquires an image captured by the camera103and outputs the acquired image to the processing control unit121. The processing control unit121computes the relationship between the pixels constituting the image captured by the camera103and the scale of the glass scale. For example, the processing control unit121computes that N pixels per 1 mm, that is, one pixel, corresponds to a size of 1/N mm.

Next, the amount of deviation between the centers of the hardness meter104and the camera103is acquired (step S3).

The worker performs a predetermined operation of instructing the control device120to compute the positional relationship between the hardness meter104and the camera103. The reception unit128receives this operation, and the processing control unit121executes the following process. The sensor control unit123operates the hardness meter104to perform a trial hit. By trial hit, the tip of the hardness meter104is pressed against the test plate210, and indentations are formed on the surface of the test plate210. The movement control unit122stores the information of the X coordinate and the Y coordinate in the XY stage200of the camera103at the time of the trial hit in the storage unit125. Next, the movement control unit122moves the camera103to the position where the indentation is formed, and the sensor control unit123causes the camera103to capture an image. The image processing unit127determines whether or not an indentation appears at the center of the image captured by the camera103. The processing control unit121causes the movement control unit122and the sensor control unit123to repeatedly move the camera103and capture the indentation until the indentation appears at the center of the image. When an indentation appears at the center of the image, the movement control unit122stores the coordinate information in the XY stage of the camera103at this time in the storage unit125. The processing control unit121obtains the amount of deviation (ΔX, ΔY) between the position of the hardness meter104and the center position of the camera103from the amount of movement of the XY stage. Specifically, the processing control unit121computes the difference (ΔX, ΔY) between the coordinate information when an indentation appears at the center of the image and the coordinate information when the trial hit is performed.

Next, the measuring device110is attached to the rotor2(step S4).

The worker attaches the measuring device110to the rotor2. The worker visually confirms that there is no gap or rattling between the magnets of the fixing members107ato107dand the suction surface of the rotor2. When the measuring device110is attached to the rotor2, the worker confirms that the tilt angles θ1 to θ4 are within a predetermined angle via the same procedure as in step S1.

Next, the entire image of the blade groove40is acquired (step S5).

Since the distance between the camera103and the rotor2is short and the magnification of the camera is high, it is not possible to capture an image of the entire blade groove40at one time. Therefore, a plurality of local images are captured, and the local images are combined to obtain an entire image.

The worker performs a predetermined operation of instructing the control device120to acquire the entire image of the blade groove40. The reception unit128receives this operation, and the processing control unit121executes the following process. The movement control unit122moves the camera103to a predetermined position, and the sensor control unit123causes the camera103to capture local images of the blade groove40. An example of the local image is shown inFIGS.6A and6B. The data acquisition unit124acquires local images. The capturing position of the local image is predetermined such that the plurality of local images are combined to obtain the entire image of the blade groove40. For example, the capturing position is given as the coordinate data of the XY stage, and the movement control unit122moves the camera103to the position indicated by the coordinate data and causes the sensor control unit123to capture an image. When the local image can be captured, the image processing unit127combines the local images to generate an entire image. For example, the image processing unit127appropriately combines local images based on the coordinate data of the capturing position in the XY stage and on the length per one pixel computed in step S2to generate an entire image. An example of the entire image is shown inFIG.6C. The display control unit126displays the entire image on the display device130.

Next, the blade groove coordinate system is generated (step S6).

The worker looks at the entire image displayed on the display device130, and generates the blade groove coordinate system via the following work. The procedure of step S6will be described with reference toFIG.7. (1) to (4) inFIG.7correspond to the following (1) to (4).

(1) The worker manually draws a blade groove tangent line61on the entire image. The reception unit128receives this operation, and the image processing unit127generates an image in which the blade groove tangent line61is displayed on the entire image.

(2) The worker manually sets a contact point62between the blade groove tangent line61and the blade groove40. The reception unit128receives this operation, and the image processing unit127generates an image in which the contact point62is displayed on the image generated in (1).

(3) The worker sets a middle point63of the line segment connecting the contact point62. The reception unit128receives this operation, and the image processing unit127generates an image in which the middle point63is displayed on the image generated in (2).

(4) The worker draws an approximate straight line (Y-axis64) connecting the middle point63. The reception unit128receives this operation, and the image processing unit127generates an image in which the Y-axis64is displayed on the image generated in (3).

(5) The worker manually sets the intersection between the Y-axis64and the top of the blade groove40as an origin O. The reception unit128receives this operation, and the image processing unit127generates an image which passes through the set origin O and which displays an X-axis65orthogonal to the Y-axis64, on the image generated in (4).

When the above processing is difficult, the shape (profile) of the blade groove is used as a template and is superimposed and displayed on the entire image of the template image, and the blade groove image coordinates and the CAD coordinates (blade groove coordinates) are calibrated.

The image processing unit127may automatically perform the process by the worker in (1) to (5) in step S6. For example, in the case of (1), the image processing unit127detects the contour of the blade groove40from the entire image and draws the blade groove tangent line61.

In the cases of (2) to (3), the image processing unit127detects the contact point62and connects the contact points62having similar coordinate positions in the paper surface height direction (the Y-axis direction to be set later) to set the middle point63. In the cases of (4) to (5), the image processing unit127connects the middle point63to set the Y-axis64, and detects the top of the blade groove40based on the space (black) around the top, and the like, to set the X-axis65.

The coordinate system on the image created in step S6is called a blade groove coordinate system.

Next, the angle of the entire image of the blade groove40is corrected (step S7).

The image processing unit127adjusts the tilt of the entire image such that the tilt (tilt with respect to the vertical direction or the horizontal direction) of the blade groove coordinate system becomes 0°.

Next, the measurement target point is displayed (step S8).

The image processing unit127reads CAD data from the storage unit125and superimposes the read CAD data on the entire image. The CAD data includes design data indicating the shape of the blade groove40to be measured for hardness and coordinate data of measurement points in the blade groove40. The image processing unit127specifies a position corresponding to the origin determined in step S6in the CAD data, and sets an XY coordinate axis with the specified position as the origin in the CAD data space in the same manner as in the blade groove coordinate system. Then, the image processing unit127converts the positions of a plurality of measurement points included in the CAD data into coordinate data in the blade groove coordinate system, and generates an image in which a mark indicating the measurement target point is displayed at the corresponding coordinate positions on the entire image. An example of the CAD data is illustrated inFIG.8. Circle points, partly marked with a reference numeral71are predetermined measurement target points.FIG.9shows an example of a superimposed image in which a mark indicating a measurement target point is superimposed and displayed on the entire image. Circle points, partly marked with a reference numeral81are superimposed and displayed measurement target points. The display control unit126displays the superimposed image in which the mark indicating the measurement target point is displayed, on the display device130.

Next, the measurement target point is confirmed and corrected (step S9).

The worker confirms the superimposed image illustrated inFIG.9. The worker visually confirms whether the mark is displayed at the correct position according to the measurement point shown in the CAD data. For example, the worker confirms whether the overall left-right, up-down bias and tilt of the measurement target point are within the allowable range. The worker confirms whether or not the measurement target point is hung on an edge of the blade groove40or a chamfered portion. In the superimposed image illustrated inFIG.9, a mark indicating a measurement target point is displayed to overlap the chamfered portion (region82). Since it is not preferable to leave an indentation on the chamfered portion by the hardness meter104, the worker selects the marks displayed in the region82one by one with a mouse or the like, and moves the marks in the direction indicated by an arrow83, for example, to perform the movement instruction (correction). The reception unit128receives this operation, and the image processing unit127moves the mark indicating the measurement target point to the position moved by the worker and displays the mark. The image processing unit127computes the coordinate position in the blade groove coordinate system of the mark indicating the measurement target point after the movement. The worker moves the mark indicating the measurement target point until the measurement target point to be corrected cannot be found.

When it is confirmed that all the measurement points are arranged at appropriate positions, the hardness measurement is executed (step S10).

The execution order of hardness measurement is predetermined. The worker performs an operation of moving the camera103to the first measurement target point. The movement control unit122controls the actuators101and102to move the camera103to the first measurement target point. The sensor control unit123causes the camera103to capture an image. The image processing unit127superimposes and displays a mark indicating a measurement target point on the image captured by the camera103. The display control unit126displays an image in which the mark indicating the measurement target point is superimposed and displayed on the display device130. The worker confirms that the center of the camera and the mark indicating the measurement target point are aligned. When the center of the camera103and the mark indicating the measurement target point are not aligned, the worker performs a predetermined operation to move the camera103and adjust the position of the camera103. Alternatively, the worker may correct the position of the mark indicating the measurement target point via the same procedure as in step S9. When the mark indicating the measurement target point is at the desired position and the center of the camera103and the mark indicating the measurement target point are aligned, the worker instructs the control device120to execute the hardness measurement. The processing control unit121records the coordinate position of the first measurement target point in the blade groove coordinate system in the storage unit125in association with the identification information of the first measurement point. The processing control unit121computes the difference between the coordinate position of the header108at this time in the XY stage and the coordinate position of the measurement point in the blade groove coordinate system. This difference indicates the relative positional relationship between the coordinate system of the XY stage and the blade groove coordinate system. The processing control unit121instructs the movement control unit122to move the header108by the amount of deviation computed in step S3. The movement control unit122moves the header108by the amount of deviation computed in step S3to align the tip position of the hardness meter104with the measurement target point. The sensor control unit123operates the actuator104aand presses the hardness meter104for measurement. The data acquisition unit124records the hardness data measured by the hardness meter104in the storage unit125in association with the identification information of the first measurement point. Next, the movement control unit122moves the header108by the amount of deviation computed in step S3such that the center of the camera103is at the position where the tip portion of the hardness meter104is hit. When the header108moves, the sensor control unit123causes the camera103to capture an indentation formed by hitting the hardness meter104. The data acquisition unit124records the indentation image captured by the camera103in the storage unit125in association with the identification information of the first measurement point. When the measurement for the first measurement point is completed, the storage unit125stores the coordinate position of the first measurement point in the blade groove coordinate system, the measured value of the hardness data, and the indentation image. The indentation image is acquired as evidence that the hardness was measured at the correct position. After acquiring the indentation image, it is possible to verify whether or not the hardness can be measured at a position that is not separated from the target measurement point by analyzing the indentation image later.

When the measurement of the first measurement point is completed, the worker instructs the control device120to perform the second measurement. The processing control unit121instructs the movement control unit122to move the header108(the center of the camera103) to the second measurement target point based on the coordinate position of the second measurement target point in the blade groove coordinate system and on the relative positional relationship between the XY stage coordinate system and the blade groove coordinate system computed earlier. The movement control unit122moves the camera103to a position where the center of the camera103is aligned with the second measurement target point according to this instruction. After that, the hardness at the second measurement point is measured by the same procedure as that at the first measurement point. In other words, the worker confirms the image obtained by capturing the second measurement target point, and when there is no problem, the worker gives an instruction for the measurement. Then, the movement control unit122moves the hardness meter104to the position of the camera103, and the sensor control unit123measures the hardness at the second measurement point using the hardness meter104. The movement control unit122moves the camera103to the position of the second measurement target point again, and the sensor control unit123causes the camera103to capture an indentation image. The data acquisition unit124acquires the hardness measurement result and the indentation image and records the acquired measurement result and the indentation image in the storage unit125. The storage unit125records the coordinate position of the second measurement point, the measured hardness data, and the indentation image. The same applies to the third and subsequent measurement points. The processing control unit121gives instructions to the movement control unit122and to the sensor control unit123until the hardness measurement at the final measurement point is completed, and sequentially executes movement to each measurement point, hardness measurement, and indentation image capturing.

When the hardness measurement and the indentation image capturing are completed at all the measurement target points, the processing control unit121completes the hardness measurement process for the current blade groove40. The image processing unit127may, for example, combine an indentation image with the entire image to generate an entire image of the blade groove40after the measurement process is completed.FIG.10shows an example of the entire image after the hardness measurement process is completed. For example, the mark in a frame91is an indentation generated by the actual hardness measurement. The image processing unit127may generate an image in which a mark indicating a measurement target point defined by CAD data is further superimposed on the actual indentation. In this case, as the distance from the center of the image increases due to the aberration of the camera, the indentation and the mark indicating the measurement point tend to be separated, but in order to prevent this, the image processing unit127may correct the aberration of the generated image.

When continuously measuring the other blade grooves40, the worker moves the measuring device110to the next blade groove40to be measured, and executes the process after step S4.

As described above, according to the present embodiment, by inserting and attaching the measuring device110between the blade rows3and the blade row3, the hardness of the blade groove40can be measured without removing the blade rows3from the rotor2of the steam turbine1. In the hardness measurement of the blade groove40, it is necessary to measure the hardness of one blade groove40at several tens of measurement points. According to the measuring system100of the present embodiment, the hardness can be measured with high accuracy at several tens of measurement points semi-automatically by simply attaching the measuring device110according to the position of the blade groove40to be measured. For example, the worker can see the superimposed image in which the measurement target point is displayed in the blade groove40before the hardness measurement, and can confirm whether or not the position of the measurement point is appropriate as a whole (step S8). When the position of the measurement point is not appropriate, the worker can set the measurement target point at the correct position on the superimposed image (step S9). The worker can make a final confirmation as to whether or not the current measurement target point is appropriate at the time of positioning immediately before the actual measurement (step S10). Accordingly, highly accurate hardness measurement is possible. Other than this confirmation work, the hardness measurement work can be automated, and hardness measurement can be performed at high speed even in places where manual work is difficult. In other words, within a limited inspection time, the tip of the hardness meter can be accurately positioned at the point to be measured in the blade groove, and the hardness distribution data can be acquired.

FIG.13is a view showing an example of a hardware configuration of a control device according to the embodiment of the present disclosure.

A computer900includes a CPU901, a main storage device902, an auxiliary storage device903, an input/output interface904, and a communication interface905.

The control device120described above is mounted on the computer900. Each of the above-described functions is stored in the auxiliary storage device903in the form of a program. The CPU901reads a program from the auxiliary storage device903, expands the read program to the main storage device902, and executes the above process according to the program. The CPU901ensures a storage area in the main storage device902according to the program. The CPU901ensures a storage area for storing the data being processed in the auxiliary storage device903according to the program.

By recording a program for realizing all or some of the functions of the control device120on a computer-readable recording medium, and by reading the program recorded on the recording medium into a computer system and executing the read program, the processes by each functional unit may be performed. The term “computer system” as used herein includes hardware such as an OS and peripheral devices. The “computer system” includes a homepage providing environment (or display environment) when a WWW system is used. The “computer-readable recording medium” refers to a portable medium such as a CD, a DVD, or a USB, or to a storage device such as a hard disk built in a computer system. When this program is distributed to the computer900by a communication line, the receiving computer900may expand the program to the main storage device902and execute the above process. The above program may be for realizing some of the above-described functions, and may be for further realizing the above-described functions in combination with a program already recorded in the computer system. The control device120may be composed of a plurality of computers900. The storage unit125may be stored in an external storage device separate from the computer900.

In addition, it is possible to replace the components in the above-described embodiment with well-known components as appropriate without departing from the gist of the present invention. The technical scope of the present invention is not limited to the above-described embodiment, and various modifications can be added without departing from the gist of the present invention.

For example, in the above-described embodiment, the hardness of the blade groove40in the rotor2of the steam turbine1is measured by using the measuring system100, but the measuring system100can be used for measuring the hardness of other machines and equipment.

<Additional Notes>

The measuring device110, the measuring system100, the measuring method, and the program described in each embodiment are understood as follows, for example.

(1) The measuring device110according to a first aspect includes: the hardness meter104for measuring hardness; the actuator104athat presses the hardness meter against an object to be measured; the camera103for capturing an image of a measurement range in the object to be measured; the movement mechanism (actuators101and102) for moving the hardness meter104and the camera103to a desired position within the measurement range; and the fixing members107ato107dfor fixing the movement mechanism to the object to be measured.

(2) The measuring system100according to a second aspect includes: the measuring device110of (1); and the control device120of the measuring device110, and the control device120includes the movement control unit122that controls the movement mechanism, the image processing unit127that generates a superimposed image showing a position of a target measurement point (measurement target point) superimposed on an image of the measurement range captured by the camera, and the display control unit126that outputs the superimposed image.

Accordingly, it is possible to confirm the position of the entire measurement point before measurement.

(3) The measuring system100according to a third aspect is the measuring system100of (2), and further includes: a calibration unit (the processing control unit121computes the relative positional relationship between the coordinate system of the XY stage and the blade groove coordinate system, and based on the relative positional relationship, the processing control unit121instructs the movement control unit122to move the header108to the next measurement point) that converts first coordinate information indicating the position of the measurement point in a first coordinate system set for the superimposed image, into second coordinate information in a second coordinate system set for a range in which the movement mechanism moves, and the movement control unit122moves the hardness meter104to a position indicated by the second coordinate information.

As a result, the hardness meter can be automatically moved to the measurement point.

(4) The measuring system100according to a fourth aspect is the measuring system100of (3), and the movement control unit122moves the camera103to the position indicated by the second coordinate information, the image processing unit127generates a superimposed image showing the position of the measurement point superimposed on the image captured by the camera at the position indicated by the second coordinate information, and the display control unit126outputs the superimposed image.

Accordingly, from now on, it is possible to make a final confirmation of the measurement point to be measured.

(5) The measuring system100according to a fifth aspect is the measuring system100of (2) to (4), and further includes: the reception unit128that receives a movement instruction of the measurement point superimposed and displayed on the superimposed image, and the image processing unit127generates the superimposed image in which the position of the measurement point is changed, based on the movement instruction received by the reception unit128.

As a result, from now on, the measurement points can be corrected.

(6) The measuring system100according to a sixth aspect is the measuring system100of (3) to (5), and further includes: the data acquisition unit124that acquires an image captured by the camera103and a measurement result of the hardness meter104, and the camera103captures an image of an indentation generated by pressing the hardness meter104against the object to be measured at the position indicated by the second coordinate information, and the data acquisition unit124acquires the measurement result by the hardness meter104and the image obtained by capturing the indentation.

As a result, from now on, it is possible to acquire an image in which the indentation after the measurement is shown as evidence of the measurement together with the measurement result by the hardness meter at the measurement point.

(7) The measuring system100according to a seventh aspect is the measuring system100of (2) to (6), and the object to be measured is a blade groove of a rotor of a steam turbine.

(8) The measuring system100according to an eighth aspect is the measuring system100of (2) to (7), and the measuring device can be fixed to any blade by the fixing member in a state where the blade is attached to a rotor of a steam turbine.

(9) A measuring method according to a ninth aspect is a measuring method by the measuring device110of (1), and includes: a step of generating a superimposed image showing a position of a target measurement point (measurement target point) superimposed on an image of the measurement range captured by the camera103; a step of displaying the superimposed image; a step of converting first coordinate information indicating the position of the measurement point in a first coordinate system set for the superimposed image, into second coordinate information in a second coordinate system set for a range in which the movement mechanism moves; a step of acquiring a confirmation result for the superimposed image; a step of moving the hardness meter to the position indicated by the second coordinate information when the confirmation result does not include the movement of the measurement point; and a step of performing measurement with the hardness meter104.

(10) The measuring method according to a tenth aspect is the measuring method of (9), and further includes: a step of changing the position of the measurement point in the superimposed image when the confirmation result includes the movement of the measurement point; and a step of displaying the superimposed image after the change.

(11) A program according to an eleventh aspect causes a computer that controls the measuring device110of (1) to execute a step of generating a superimposed image showing a position of a target measurement point (measurement target point) superimposed on an image of the measurement range captured by the camera103, a step of displaying the superimposed image, a step of converting first coordinate information indicating the position of the measurement point in a first coordinate system set for the superimposed image, into second coordinate information in a second coordinate system set for a range in which the movement mechanism moves, a step of acquiring a confirmation result for the superimposed image, a step of moving the hardness meter to the position indicated by the second coordinate information when the confirmation result does not include the movement of the measurement point, and a step of performing measurement with the hardness meter.

INDUSTRIAL APPLICABILITY

According to the above-described measuring device, measuring system, measuring method, and program, the hardness of the blade groove can be measured with the blade mounted on the rotor.

REFERENCE SIGNS LIST

1Steam turbine2Rotor3,3a,3b,3c,3dBlade row10Rotor body20Disk30Rotor blade31Blade root40Blade groove100Measuring system110Measuring device101Actuator102Actuator103Camera104Hardness meter104aActuator (air cylinder)105Laser range finder106a,106b,106c,106dFrame member107a,107b,107c,107dFixing member108Header120Control device121Processing control unit122Movement control unit123Sensor control unit124Data acquisition unit125Storage unit126Display control unit127Image processing unit128Reception unit900Computer901CPU902Main storage device903Auxiliary storage device904Input/output interface905Communication interface