• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    18 Abstract The present invention relates to a positioning device and amethod for determining the position of defects in a test object (1)in a space (2). The positioning device comprises a flexible hollowcable (16), a sensor arrangement (18) including at least oneaccelerometer (18) enclosed in a capsule (17) which is movablyarranged in the hollow cable (16) between a known stationary firstposition (p1) and a second position (pg) related to the position ofa movable inspection apparatus (7a, 7b). A drive system movesthe capsule (17) from the first position (p1) to the second position(pg) when the inspection apparatus (7a, 7b) detects a defect (28)in the test object (1 ). A calculating unit (9a) calculates the positionof the defect (28) by means of information of the known firstposition (p1) and information about measured velocity changesfrom the accelerometer (18) during the movement of the capsule(17) from the first position (p1) to the second position (pg). (Fig.2)
    公开号:SE538972C2
    申请号:SE1551490
    申请日:2015-11-18
    公开日:2017-03-07
    发明作者:Sandberg Martin
    申请人:Wesdyne Sweden Ab；
    IPC主号:
    专利说明:

    AND PRIOR ART The present invention relates to a positioning device and amethod for positioning of defects in a test object in a space,wherein the defects are detected by means of an inspectionapparatus which is movably arranged in the space. ln, for example, nuclear power plants, such as Boiling WaterReactors BWR and Pressure Water Reactors PWR, a very highsafety is required. inspection processes of reactor tanks and subsystems are performed with regular intervals for checking thatdefects, in the form of cracks or other kinds of damages, have notbeen formed in the reactor tank and its internal components.During a shutdown period, it is known to inspect the reactor tankand its internal components by means of different kinds ofinspection apparatus. Such inspection apparatus may beequipped with a detection device using visual technique,ultrasonic technique, eddy current technique, or other testingtechnique for indicating defects in inspection surfaces of thereactor tank and its internal components. The positioning work ofthe detection device is usually controlled by an operator standingon the side of the reactor basin. Usually, the inspection apparatusis provided with a plurality of cables. The cables can, for example,conduct electric signals and compressed air etc. to and from theinspection apparatus. ln case the inspection apparatus detects a defect in a reactortank, it is important to determine the position and the extent ofthe defect with a high accuracy. The positioning work is time wasting and it takes up a relatively large portion of the totalinspection process. The costs related to a shutdown period of areactor tank are high. lt is therefore desired to reduce the time forthe inspection process.
    An accelerometer is a type of measuring sensor which emits anelectrical signal proportional to the velocity changes(accelerations) it is subjected to. Accelerometers are, forexample, used in navigation systems. Such navigation systemscalculates substantially continuously a current position based onmeasured velocity changes in relation to a previously calculatedposition. Errors in the measurement are accumulated from pointto point. This leads to a difference between a calculated positionand a real position increasing with the time.
    SUMMARY OF THE INVENTION An object of the present invention is to provide a positioningdevice capable to detect the position of a defect in a test objectin a space in a fast manner and with a high accuracy.
    This object is achieved by the initially mentioned positioningdevice comprising a flexible hollow cable having an extensionfrom a first end portion located outside the space to a second endportion connected to the inspection apparatus, a sensorarrangement including at least one accelerometer enclosed in acapsule which is movably arranged in an inner space of the hollowcable between a known stationary first position and a secondposition related to the position of the movable inspectionapparatus, a drive system configured to move the capsule fromthe first position to the second position when the inspectionapparatus has been stopped in a detecting position in which itdetects a defect in an area of the test object and a calculatingunit configured to calculate the position of the defect by means ofinformation of said known first position and information aboutmeasured velocity changes from the at least one accelerometer during the movement of the capsule from the first position to thesecond position.
    Some kind of accelerometers are capable of measuring velocitychanges in all three spatial axes. Such an accelerometer may beused to measure the velocity changes when the capsule movesfrom the first position to the second position. An alternative to useone such accelerometer is to use three accelerometers eachmeasuring velocity changes in one of the three spatial axes. Thecapsule and the enclosed accelerometer is stationary arranged inthe first position until a defect is detected by the inspectionapparatus. Thus the accelerometer is not subjected to anyvelocity changes during the time period when the inspectionapparatus inspects the test object without finding any defects.
    When a defect is detected in the test object, the movement of theinspection apparatus is stopped. Thereafter, the drive systemprovides a movement of the he capsule and the enclosedaccelerometer from the first position to the second position alonga path formed by the inner space of the hollow cable. Theaccelerometer measures the velocity changes during thismovement and the calculating unit ads successively measuredvelocity changes to a previously calculated position of thecapsule. Even small errors in the measurement of the velocitychanges results in a difference between the calculated position ofthe capsule and the real position of the capsule. This differenceincreases with the time and the number of measurements. ln thiscase the time period for moving the accelerometer from the firstposition to the second position is very short. Since the velocitychanges are measured during a very short time period, theaccumulated errors will be small as well as the difference betweenthe calculated position of the capsule and the real position of thecapsule. As a consequence, the present positioning device iscapable to detect the second position of the capsule in a fastmanner and with a high accuracy. The second position of thecapsule is related to the position of the inspection apparatus and the position of the detected defect in the test object.Consequently, the positioning device is capable to detect theposition of a defect in a test object in a fast manner and with ahigh accuracy position.
    According to the present invention, the calculating unit isconfigured to calculate the position of the defect with informationabout a positional difference between the second position of thecapsule and the position of the area detected by the inspectionapparatus. The capsule may be moved to a second position closeto the area detected by the inspection apparatus. lnevitably, it isnot possible to move the capsule to a second position fullycorresponding to the position of the area detected by theinspection apparatus. This positional difference may be aconstant value for the inspection apparatus used.
    According to the present invention, the drive system comprises acompressed medium source, a conduit arranged between thecompressed medium source and the inner space of the flexiblehollow cable and a valve member which in an open positionsupply compressed medium from the compressed medium sourceto the inner space of the flexible hollow cable in a position suchthat the compressed air provide a movement of the capsule fromthe first position to the second position. The compressed mediumsource may be a compressed air source. The compressed air issupplied to the inner space of the hollow cable in a position suchit comes in contact with a rear end surface of the capsule in thefirst position. Alternatively, the medium may be water which ispressurized by a pump and supplied to the inner space of thehollow cable in order to move the capsule from the first positionto the second position.
    According to the present invention, the drive system is configuredto move the capsule from the first position to the second positionwith a substantially constant velocity. ln this case, the size andthe number of the velocity changes of the capsule during the movement from the first position to the second position may bereduced. As a consequence, the influence of error in themeasurement of the velocity changes will be reduced.
    According to the present invention, the capsule has a diametersubstantially corresponding to the inner diameter of the innerspace of the hollow cable. ln this case, it is easy provide amovement of the capsule by establishing different pressuresacting on the opposite end sides of the capsule. The capsule mayhave an at least partly rounded front end surfaces. Such a designprevents that the capsule gets stuck in curved portions of theinner space of the hollow cable.
    According to the present invention, the drive system is configuredto return the capsule from the second position to the first positionas soon as the position of a defect has been determined. ln orderto shorten the inspecting process in an optimal way, it is suitableto restart the remaining part inspection process as soon aspossible after the position of a defect has been determined.
    According to the present invention, the drive system comprises avacuum source, an conduit arranged between the vacuum sourceand the inner space of the hollow cable and a valve member whichin an open position supply a vacuum pressure to the inner spaceof the hollow cable such that the capsule is returned from thesecond position to the first position by the vacuum pressure. lnthis case, the capsule is sucked back from the second position tothe first position when the position of a defect has beendetermined.
    According to the present invention, the drive system comprises aline having an end connected to the capsule and a portionarranged outside the hollow cable by which it is possible to returnthe capsule from the second position to the first position. ln thiscase, an operator may manually retract the capsule by a pullingmovement in the line. The line may an electric line conducting electric signals from the accelerator in the capsule. A robust suchelectric line may be used to retract the capsule to the firstposition. The capsule may have an at least partly rounded rearsurfaces. Such a surface prevents that the capsule gets stuck incurved portions of the inner space of the hollow cable during thereturn movement.
    According to the present invention, the capsule comprises at leastone gyroscope. By means of one or several gyroscopes it ispossible to measure rotation of the capsule around threeorthogonal axes when it moves from the first position to thesecond position. The use of accelerometers and gyroscopesmakes it possible to increase the measurement accuracy andcalculate the position of the capsule in the second position and adetected defect with an increased precision. The capsule mayalso comprises a magnetometer. A magnetometer makes itpossible to calibrate against orientation drift. A capsule enclosingaccelerometers, gyroscopes and a magnetometer forms anelectronic device called inertial measurement unit IMU. An IMU isbe a component in inertial navigation systems used in aircraft,watercraft, and guided missiles among other.
    BRIEF DESCRIPTION OF THE DRAWINGSln the following, preferred embodiments of the invention are described as examples with reference to the attached drawings,in which: Fig. 1 shows two inspection apparatus each provided with apositioning device for positioning of defects in a reactortank, Fig. 2 shows a first end portion of a hollow cable of apositioning device, Fig. 3 shows a second end portion of a hollow cable of a positioning device and Fig.4 shows an alternative embodiment of a positioning device.
    DETAILED DESCRIPTION OF PREFERRED EMBODIMENTSOF THE INVENTION Fig. 1 shows selected parts of a nuclear plant which comprises areactor tank 1. The reactor tank 1 is arranged at a bottom surfaceof a reactor basin 2. The reactor tank 1 and the reactor basin 2are filled with water. A bridge 3 extends over the reactor basin 2.The bridge 3 is provided with a moveably arranged lifting device4. The reactor tank 1 has here been opened and partly emptiedof internal parts for inspection of the reactor tank 1. However, thereactor tank 1 contains some remaining internal parts such as acore shroud 5 which contains the reactor core. The core shroud 5can in this state contain fuel rods which are not unloaded, thecore grid, remaining control rods etc. One or several operators 6are intended to perform an inspection of the reactor tank 1.
    Fig. 1 shows two inspection apparatus 7a, b for detecting ofdefects in the reactor tank 1. The inspection apparatus 7a, 7b aremovably arranged in the reactor basin 2. Each inspectionapparatus 7a, b are equipped with at least one detecting devicefor detecting of defects in the wall surfaces of the reactor tank 1.The inspection apparatus 7a, b can also be provided withequipment for performing repairs. The first inspection apparatus7a is movably arranged between different areas in the reactortank 1 by means of swingable lifting rods 8. Alternatively, the firstinspection apparatus 7a can be suspended in cables or in someform of wires. An operator 6 is provided with a remote controldevice 9 for controlling the first inspection apparatus 7a. Thesecond inspection apparatus 7b comprises a drive mechanismsuch that it itself can move in the reactor basin 2 betweendifferent places in the reactor tank 1. An operator 6 is providedwith a remote control device 9 for controlling the movement of thesecond inspection apparatus 7b in the liquid filled space 2. The remote control devices 9 may consist of a computer device, whichis provided with software for controlling the inspection apparatus7a, 7b.
    Each remote control device 9 is connected to a number of cables12 having a first end arranged in a base unit 11 and a second endconnected to the inspection apparatus 7a, 7b. ln this case, thebase unit 11 is designed as a box but it may have a substantiallyarbitrary design. The base unit 11 is placed on a floor surface 13on the side of the reactor basin 2. The cables 12 may transmitcontrol signals between the base unit 11 and the inspectionapparatus 7a, 7b. The remote control device 9 is connected to thebase unit 11 via a wire 14. Alternatively, the remote control device9 can be wireless connected to the base unit 11. The cables 12can be electric, hydraulic, and pneumatic or constitutecombinations of these. The cables 12 can also be intended totransmit signals from, for example, sensors in the inspectionapparatus 7a, 7b to the base unit 11 and supply compressed airto the inspection apparatus 7a, 7b. The cables 12 are heldtogether in a cable bundle 10. Each cable bundle 10 has anextension from the base unit 11 arranged on a floor surface 13outside the reactor basin 2 to the respective inspection apparatus7a, 7b movably arranged in the reactor basin 2.
    Fig 2 shows the base unit 11 for the second inspection apparatusmore in detail. The base unit 11 for the first inspection apparatushas a substantially corresponding design. The base unit 11 isarranged in a known stationary position on the floor surface 13outside the reactor basin 2. The base unit 11 comprises amounting terminal 15 for the first ends of the cables 12. Theremote control device 9 transmits electrical signals to the cables12 and receives electric signals from the cables 12 via the wire14. The cable bundle 10 comprises an extra flexible hollow cable16. The hollow cable 16 has an extension between a first endportion 16a arranged in the base unit 11 and a second end portion16b connected to the inspection apparatus 7a, 7b.
    A capsule 17 is arranged in the inner space of the hollow cable16. The capsule 17 has a diameter which substantiallycorresponding to the inner diameter of the hollow cable 16. Thecapsule 17 is provided with at least partly rounded end surfaces.The capsule 17 encloses a sensor arrangement 18. The sensorarrangement 18 may comprise an accelerometer capable ofmeasuring velocity changes in all three spatial axes.Alternatively, the sensor arrangement may comprise threeaccelerometers. ln this case, each accelerometer measures thevelocity changes in one of the three spatial axes. ln order tofurther increase the capacity of the sensor arrangement 18, it maycomprise one or more gyroscopes. By means of threegyroscopes, it is possible to detect changes in rotation of thecapsule 17 like pith, roll and yaw. ln order to further increase thecapacity of the sensor arrangement 18, it may comprise amagnetometer. A sensor arrangement 18 includingaccelerometers, gyroscopes and a magnetometer may be calledan inertial measurement unit IMU.
    An end of an electric line 19 is connected to the sensorarrangement 18. The electric line 19 can be rolled up on arotatable drum 20. The object of the electric line 19 is to conductelectric signals from the sensor arrangement 18 to the remotecontrol device 9. The electric signal is conducted from the electricline 19, via not shown electric components, to the wire 14 and acalculating unit 9a in the remote control device 9. A first endportion 16a of the hollow cable 16 is arranged in a fixed positionin the base unit 11. A conduit 21 is connected to the first endportion 16a of the hollow cable on one side of the capsule 17. Theconduit 21 is, via a valve member 22, connectable to acompressed air source 23. Alternatively, the conduit 21 isconnectable to a vacuum source 24 by means of a valve member22. ln this case, a three valve member 22 is used for alternativelyconnecting the conduit 21 and the inner space of the first endportion 16a of the hollow cable with compressed air or a vacuum pressure. Alternatively, two separate valve members may beused. Since the base unit 11 is arranged in a known position onthe floor surface 13 and the first end portion 16a of the hollowcable 16 is arranged in a fixed position in the base unit 11, theposition of the end portion 16a of the hollow cable is known. Thefirst end portion of the hollow cable 16 comprises an inner spacedefining a known stationary first position p1 for the capsule 17.
    Fig. 3 shows the second end portion 16b of the hollow cable andthe second ends of the other cables 12 in the cable bundle 10which are connected to the inspection apparatus 7b. ln this case,the inspection apparatus 7b comprises a suction cup 25 by whichit is attachable to a surface in the reactor tank 1. Alternatively,the inspection apparatus 7b will be attached by suitable attachingmembers such as, for example, magnets to the surface in thereactor tank 1. The inspection apparatus 7b comprises further aschematically shown drive mechanism 26 such that it itself canmove "swim" in the reactor basin 2 between different places inthe reactor tank 1. Such drive mechanism can consist ofpropellers or water jet nozzles. Alternatively, the inspectionapparatus may have a drive mechanism in the form wheels orendless belts by which it is driven along the surface of the reactortank 1. The inspection apparatus 7b comprises a detectingmember in the form a camera 27 for detecting of defects in thereactor tank 1. Alternatively or in combination, the inspectionapparatus 7a, b may be equipped with ultrasonic probes or otherequipment for detecting defects. The second end portion 16b ofthe hollow cable comprises an inner space defining a secondposition pg for the capsule 17. The second position pg is relatedto the position of the movable inspection apparatus 7b. ln thiscase, the second position is arranged in the vicinity of the camera27.
    When an inspection process is to be performed, the base unit 11is initially arranged on the floor surface 13 in a known position inrelation to the reactor basin 2. As a consequence, the first end 11 portion 16a of the hollow cable and the enclosed capsule 17 willbe arranged in a known stationary first position p1. The inspectionapparatus 7b is then placed in the liquid filled space 2 and theoperator 6 controls the movement of the inspection apparatus 7bby means of the remote control device 9. The operator 6 maycontrol the inspection apparatus 7b such that it moves along apredetermined path in the reactor basin 2 during which thecamera 27 scans the entire surface of the reactor tank or specificparts of the reactor tank. Electric signals from the camera 27 issent substantially continuously, via at least one of the cables 12to a screen or the like of the remote control device 9. The operator6 examines the images of the inner surface of the reactor tank 1.As long as the operator 6 does not detect any defects in thereactor tank 1, the capsule 17 is remained in the stationary firstposition p1. lt is important to determine the position and the extent of possibledefects with a high accuracy. ln case a defect 28 is detected inthe reactor tank 1, the operator 6 sets, via the remote controldevice 9, the three way valve member 22 in a first open position.Compressed air flows from the compressed air source 23, via theconduit 21, to the inner space of the hollow cable 16 in a positionupstream the capsule 17. The compressed air provides apressure force on the rear end surface of the capsule 17 such itobtains a movement from the first position p1. The compressedair moves the capsule 17 through the inner space of the hollowcable 16 until it reaches a second position pg. The compressedmedium source 23 and the conduit 21 is dimensioned such thecapsule 17 obtains a movement with a substantially constantvelocity from the first position p1 to the second position pg. Thesensor arrangement 18 in the capsule detect the velocity changesin at least the three spatial axes during the movement of thecapsule 17 along the path defined by the inner space flexiblehollow cable 16. 12 When the capsule 17 reaches the second end portion 16b of thehollow cable, it is stopped in the second position pg. The secondend portion 16b of the hollow cable may comprise a flexible stopmember 29 or the like in order to provide a relatively softretardation of the capsule 17 in the second end portion 16b. Theflexible stop member 29 reduces the risk of damages on thecapsule 17 and the inspection apparatus 7b. The calculating unit9a receives substantially continuously information from thesensor arrangement 18 about velocity changes of the capsule 17during the movement from the first position p1 to the secondposition pg. The calculating unit 9a calculates the position of thecapsule 17 substantially continuously from the known firstposition p1 to the second position pg by means of the measuredvelocity changes during the movement. lt is a positionaldifference Ap between the second position pg of the capsule 17and the position of the area pa scanned by the camera 27. Thecalculating unit 9a has access to information concerning thispositional difference Ap. The calculating unit 9a determines theposition of the defect 28 by means of the calculated secondposition pg and the positional difference Ap.
    When the calculating unit 9a has calculated the position of thedefect 28 in the reactor tank 1, the operator 6 sets, via the remotecontrol device 9, the three way valve member 22 in a second openposition. A vacuum pressure from the vacuum source 24 isapplied, via the conduit 21, to the inner space of the hollow cable16 in a position in the vicinity of the first position p1. The vacuumpressure provides a suction force returning the capsule 17 fromthe second position pg to the first position p1. Alternatively, it ispossible to return the capsule 17 via a pulling movement in theelectric line 19. ln this case, the rotary drum 20 may be providedwith a crank or connected to an electric motor which provide arotary motion of the drum 20 such that the electric line rolls up onthe drum 20 at the same time electric line 19 returns the capsule17 from the second position pg to the first position p1. When thecapsule 17 has returned to the first position p1, the calculating 13 unit 9a is reset such that it is able to calculate the position of afurther possible detect 28. lnevitably, the measurement of the velocity changes includeserrors. This errors results in a difference between the calculatedposition of the capsule 17 and the real position the capsule 17.This difference increases with the time and the number ofmeasurements of the velocity changes. ln this case the timeperiod for moving the capsule 17 from the first position p1 to thesecond position pg is very short. As a consequence, theaccumulated errors will be small as well as the difference betweenthe calculated position of the capsule 17 and the real position ofthe capsule 17. Thus, the above mentioned positioning device isable to detect the position of a defect in the reactor tank 1 in afast manner and with a high accuracy.
    Fig. 4 shows an alternative embodiment of the positioning device.ln this case, the first end portion 16a of the hollow cable 16 isarranged in a component 30 having a known position in relationto the reactor tank 1. ln this case, the known stationary firstposition p1 is related to the position of said component 30. Thus,it is possible to arrange the base unit 11 with the first ends of thecables 12 in a substantially arbitrary position on the floor surface13.
    The present invention is not in any way restricted to the above-described embodiments on the drawings but may be modifiedfreely within the scope of the claims.
    权利要求:
    Claims (16)
    [1] 1. A positioning device for determining the position of defects ina test object (1) in a space (2), wherein the defects are detectedby means of an inspection apparatus (7a, 7b) which is movablyarranged in the space (2), characterised in that the positioningdevice comprises a flexible hollow cable (16) having an extensionfrom a first end portion (16a) located outside the space (2) to asecond end portion (16b) connected to the inspection apparatus(7a, 7b), a sensor arrangement (18) including at least oneaccelerometer (18) enclosed in a capsule (17) which is movablyarranged in an inner space of the hollow cable (16) between aknown stationary first position (p1) and a second position (pg)related to the position of the movable inspection apparatus (7a,7b), a drive system configured to move the capsule (17) from thefirst position (p1) to the second position (pg) when the inspectionapparatus (7a, 7b) has been stopped in a detecting position inwhich it detects a defect (28) in an area of the test object (1) anda calculating unit (9a) configured to calculate the position of thedefect (28) by means of information of the known first position(p1) and information about measured velocity changes from the atleast one accelerometer (18) during the movement of the capsule(17) from the first position (p1) to the second position (pg).
    [2] 2. A positioning device according to claim 1, characterised in thatthe calculating unit (9a) is configured to calculate the position ofthe defect (28) with information about the positional difference(Ap) between the second position (pg) of the capsule (17) and theposition of the area (pa) detected by the inspection apparatus (7a,7b).
    [3] 3. A positioning device according to claim 1 or 2, characterised inthat the drive system comprises a compressed medium source(23), an medium conduit (21) arranged between the compressedmedium source (23) and the inner space of the flexible hollowcable (16) and a valve member (22) which in an open position supply compressed medium from the compressed medium source(23) to the inner space of the hollow cable (16) such that thecompressed air moves the capsule (16) from the first position (p1)to the second position (pg).
    [4] 4. A positioning device according to any one of the precedingclaims, characterised in that the drive system is configured tomove the capsule (17) from the first position (p1) to the secondposition (pg) with a substantially constant velocity.
    [5] 5. A positioning device according to any one of the precedingclaims, characterised in that the capsule (17) has a diametersubstantially corresponding to the inner diameter of the innerspace of the hollow cable (16).
    [6] 6. A positioning device according to any one of the precedingclaims, characterised in that the capsule (16) has at least a partlyrounded front end surface.
    [7] 7. A positioning device according to any one of the precedingclaims, characterised in that the drive system is configured toreturn the capsule (17) from the second position (pg) to the firstposition (pi) as soon as the position of a defect (28) has beendetermined.
    [8] 8. A positioning device according to claim 7, characterised in thatdrive system comprises a vacuum source (24), an conduit (21)arranged between the vacuum source (24) and the inner space ofthe hollow cable (16) and a valve member (22) which in an openposition supply a vacuum pressure to the inner space of thehollow cable (16) such that the capsule (17) is returned from thesecond position (pg) to the first position (p1) by the vacuumpressure.
    [9] 9. A positioning device according to claim 7, characterised in thatthe drive system comprises a line (19) having an end connected 16 to the capsule (17) and a portion arranged outside the hollowcable (16) by which it is possible to return the capsule (17) fromthe second position (pg) to the first position (p1).
    [10] 10. A positioning device according to claim 9, characterised in that the line is an electric line (19) conducting electric signalsfrom the sensor arrangement (18) in the capsule (17).
    [11] 11. A positioning device according to any one of the precedingclaims, characterised in that the capsule (17) comprises at leastone gyroscope.
    [12] 12. A positioning device according to any one of the preceding claims, characterised in that the capsule (17) comprises amagnetometer.
    [13] 13. A method for determining the position of defect in a test objectin a space (2), wherein the defects are detected by means of aninspection apparatus (7a, 7b) which is movably arranged in thespace, characterised by the steps of arranging a first end portion(16a) of a flexible hollow cable (16) outside the space (2),connecting a second end portion (16b) to the inspectionapparatus (7a, 7b), arranging a capsule (17) with a sensorarrangement (18) comprising at least one accelerometer in aninner space of the hollow cable (16) where the capsule (17) ismovably arranged between a known stationary first position (p1)and a second position (pg) related to the position of the movableinspection apparatus (7a, 7b), stopping the movement of theinspection apparatus (7a, 7b) when it has detected a defect (28)in an area of the test object (1), moving the capsule (17) from theknown first position (p1) to the second position (pg) when a defect(28) has been detected in the test object by the inspectionapparatus (7a, 7b) and calculating the position of the defect (28)by means of information of the known first position (p1) andinformation about measured velocity changes from the at least 17 one accelerometer (18) during the movement of the capsule (17)from the first position (p1) to the second position (pg).
    [14] 14. A method according to claim 13, characterised by the step ofcalculating the position of the defect with information about thepositional difference (Ap) between the second position (pg) of thecapsule (17) and the position of the area (pa) detected by theinspection apparatus (7a, 7b).
    [15] 15. A method according to claim 13 or 14, characterised by thestep of moving the capsule from the first position (p1) to thesecond position (pg) with a substantially constant speed.
    [16] 16. A method according to any one of the claims 13 or 15,characterised by the step of returning the capsule (17) from thesecond position (pg) to the first position (p1) when the position ofa defect has been determined.
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    同族专利:
    公开号 | 公开日
    SE1551490A1|2017-03-07|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    SE1551490A|SE1551490A1|2015-11-18|2015-11-18|A positioning device and a method for positioning of defectsin a test object in a space|SE1551490A| SE1551490A1|2015-11-18|2015-11-18|A positioning device and a method for positioning of defectsin a test object in a space|
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