JP2002022089A - Pipe inside inspection and repair device - Google Patents
Pipe inside inspection and repair deviceInfo
- Publication number
- JP2002022089A JP2002022089A JP2000208471A JP2000208471A JP2002022089A JP 2002022089 A JP2002022089 A JP 2002022089A JP 2000208471 A JP2000208471 A JP 2000208471A JP 2000208471 A JP2000208471 A JP 2000208471A JP 2002022089 A JP2002022089 A JP 2002022089A
- Authority
- JP
- Japan
- Prior art keywords
- tube
- laser beam
- inspection
- image
- pipe
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
- Instruments For Viewing The Inside Of Hollow Bodies (AREA)
- Cleaning In General (AREA)
- Laser Beam Processing (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、レーザ光を用いて
管の内面を検査し残留応力や汚れを除去する管内面の検
査補修装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an inspection and repair apparatus for inspecting an inner surface of a tube using a laser beam to remove residual stress and dirt.
【０００２】[0002]
【従来の技術】近年、レーザビームによる配管の内面の
応力改善手法が提案されている。この手法は、レーザビ
ームの径を１mm程度に絞り、管の内壁面を照射すること
により照射点にプラズマを発生させ、その反力により応
力を改善するものである。管内に欠陥がある状態でレー
ザビームを照射すると欠陥の進展を増長する可能性があ
るため、レーザビームを照射する前に管内の健全性を検
査する必要がある。2. Description of the Related Art In recent years, a technique for improving the stress on the inner surface of a pipe by using a laser beam has been proposed. In this method, the diameter of a laser beam is reduced to about 1 mm, and plasma is generated at an irradiation point by irradiating the inner wall surface of the tube, and the stress is improved by the reaction force. Irradiation with a laser beam in a state where there is a defect in the tube may increase the progress of the defect. Therefore, it is necessary to inspect the soundness in the tube before irradiating the laser beam.
【０００３】現在、管の内面の欠陥探傷は内装型コイル
によるＥＣＴ（Eddy Current Test、渦流探傷試験）
が主流となっている。ＥＣＴは管壁に対して位置を一定
に保った２個のコイル(内装型コイル)を用い、その２個
のコイルのインピーダンスを比較することによって欠陥
を検出するものである。探傷検査前に模擬欠陥を有する
対比試験片を作成して、検査対象での試験結果と比較し
て傷の有無を判定する。また、内装型コイルを管内面に
走査させるために、他端から巻き上げる装置が用いられ
ている。[0003] At present, flaw detection on the inner surface of a pipe is performed by ECT (Eddy Current Test) using an internal coil.
Is the mainstream. ECT uses two coils (interior type coils) whose positions are kept constant with respect to the tube wall, and detects defects by comparing the impedance of the two coils. Before the flaw detection inspection, a comparison test piece having a simulated defect is prepared, and the presence or absence of a flaw is determined by comparing the test result with the test object. Further, in order to cause the inner coil to scan the inner surface of the tube, a device that winds up from the other end is used.
【０００４】[0004]
【発明が解決しようとする課題】上述のＥＣТによる方
法は、検査装置と補修装置が別々であるため複数の装置
を用意する必要がある。補修前後にＥＣТを実施するた
めには、複数の装置を交互に設置する必要があり、作業
時間が長くなる。ＥＣТ装置の出力はコイルのインピー
ダンスのベクトル図であることが多いため、そのベクト
ル図から欠陥を判定する必要がある。In the above-mentioned method based on EC #, a plurality of devices must be prepared because the inspection device and the repair device are separate. In order to carry out EC に before and after repair, it is necessary to alternately install a plurality of devices, which increases the working time. Since the output of the ECТ device is often a vector diagram of the impedance of the coil, it is necessary to determine a defect from the vector diagram.
【０００５】直接、管の内面を目視検査する手法も考え
られるが、レーザ補修装置と検査装置を各々設置するこ
とはＥＣТ同様に作業時間の増加につながる。反対に施
工及び検査の装置を共有しようとすると、応力を改善す
るためにレーザビーム径は１mm程度に絞る必要があるた
め、レーザ発振装置の側から見ることのできる画角はレ
ーザビームと同様の１mm角であり、管内全体を検査する
には多大な時間が必要となる。Although a method of directly visually inspecting the inner surface of the pipe is also conceivable, installing a laser repair device and an inspection device, respectively, leads to an increase in working time as in ECТ. Conversely, when trying to share construction and inspection equipment, the laser beam diameter must be reduced to about 1 mm in order to improve stress, so the angle of view that can be seen from the side of the laser oscillation device is the same as that of the laser beam. Since it is 1 mm square, it takes a lot of time to inspect the entire pipe.
【０００６】そこで本発明は、レーザビームによって管
内面を簡便かつ高速に検査および補修することができ、
作業時間を短縮することができる効率の良い管内面の検
査補修装置を提供することを目的とする。Accordingly, the present invention makes it possible to easily and quickly inspect and repair the inner surface of a pipe by using a laser beam.
An object of the present invention is to provide an efficient pipe inner surface inspection and repair device capable of shortening the operation time.
【０００７】[0007]
【課題を解決するための手段】請求項１の発明は、レー
ザビームを生成するレーザ発振装置と、前記レーザビー
ムを集束させるレンズと、前記集束されたレーザビーム
を屈曲し検査補修対象である管の内面に照射する対物ミ
ラーと、前記管内面に照射されるレーザビームの直径を
変化させるビーム径変化手段と、前記管外部のレーザビ
ーム路上に移動可能に設けられ前記管内面からの反射光
を側方に取り出す可動ミラーと、前記反射光から前記管
内面の映像を取得し画像表示する画像処理手段とを備え
た構成とする。この発明によれば、一台の検査補修装置
で管内面の検査と補修をおこなうことができる。According to a first aspect of the present invention, there is provided a laser oscillator for generating a laser beam, a lens for focusing the laser beam, and a tube which bends the focused laser beam to be inspected and repaired. An objective mirror for irradiating the inner surface of the tube, a beam diameter changing means for changing a diameter of a laser beam applied to the inner surface of the tube, and a reflected light from the inner surface of the tube movably provided on a laser beam path outside the tube. A movable mirror to be taken out to the side and an image processing means for acquiring an image of the inner surface of the tube from the reflected light and displaying the image are displayed. According to the present invention, the inspection and repair of the pipe inner surface can be performed by one inspection and repair device.
【０００８】請求項２の発明は、ビーム径変化手段は、
レンズまたは対物ミラーを管の軸と平行の方向に移動さ
せるものである構成とする。この発明によれば、管内面
に照射されるレーザビームの直径を簡易かつ確実に変化
させることができる。According to a second aspect of the present invention, the beam diameter changing means includes:
The lens or objective mirror is moved in a direction parallel to the axis of the tube. According to the present invention, the diameter of the laser beam applied to the inner surface of the tube can be easily and reliably changed.
【０００９】請求項３の発明は、ビーム径変化手段によ
りレーザビームの焦点距離を変えて出力の低いレーザビ
ームを管の内面に照射し汚れを除去するようにした構成
とする。この発明によれば、管内面の汚れを簡単に除去
することができる。According to a third aspect of the present invention, the focal length of the laser beam is changed by the beam diameter changing means to irradiate the inner surface of the tube with a low-power laser beam to remove dirt. According to the present invention, dirt on the inner surface of the tube can be easily removed.
【００１０】請求項４の発明は、対物ミラーの管軸との
なす角度を変化させる駆動装置を設け、画像処理手段
は、管内面の同一点の映像を複数の視野で撮影し、管内
面の表面状態を３次元画像で表示する構成とする。この
発明によれば、管内面についての一層わかりやすい検査
情報を得ることができる。According to a fourth aspect of the present invention, there is provided a driving device for changing an angle formed between the objective mirror and the tube axis, wherein the image processing means captures an image of the same point on the inner surface of the tube in a plurality of fields of view, and The surface state is displayed as a three-dimensional image. ADVANTAGE OF THE INVENTION According to this invention, the inspection information about a pipe inner surface can be obtained more easily.
【００１１】[0011]
【発明の実施の形態】以下、本発明の第１の実施の形態
を図１および図２を用いて説明する。すなわち、本発明
の第１の実施の形態の管内面の検査補修装置は図１に示
すように、レーザビームを生成するレーザ発振装置２
と、可動ミラー３と、レーザビーム１の径を絞るための
レンズ４と、レーザビーム１を施工対象５に向けるため
の対物ミラー６とを有する。レンズ４と対物ミラー６は
施工ヘッド７を構成する。そして、対物ミラー６を旋回
方向及び上下方向に動作させるための対物ミラー駆動装
置８と、施工ヘッド７全体を上下方向に動作させるため
の施工ヘッド位置制御装置９と、施工対象５の管内の映
像を撮影するための照明装置10と、ＣＣＤカメラで撮影
した映像をＡ／Ｄ変換するＡ／Ｄ変換器12と、その画像
を処理する画像処理装置13と、対物ミラー駆動装置７と
施工ヘッド位置制御装置８の情報に基づき画像を合成す
る画像合成装置14と、その合成した画像16を表示する表
示装置15とを備えた構成である。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a first embodiment of the present invention will be described with reference to FIGS. That is, as shown in FIG. 1, the inspection and repair device for the inner surface of the pipe according to the first embodiment of the present invention is a laser oscillation device 2 for generating a laser beam.
, A movable mirror 3, a lens 4 for narrowing the diameter of the laser beam 1, and an objective mirror 6 for directing the laser beam 1 to the work 5. The lens 4 and the objective mirror 6 constitute a construction head 7. Then, an objective mirror driving device 8 for operating the objective mirror 6 in the turning direction and the vertical direction, a construction head position control device 9 for operating the entire construction head 7 in the vertical direction, and an image in the pipe of the construction target 5. Illuminating device 10 for photographing an image, an A / D converter 12 for A / D converting an image photographed by a CCD camera, an image processing device 13 for processing the image, an objective mirror driving device 7, and a construction head position The configuration includes an image synthesizing device 14 that synthesizes an image based on information of the control device 8 and a display device 15 that displays the synthesized image 16.
【００１２】本実施の形態の管内面の検査補修装置は施
工時には、レーザ発振装置２から出るレーザビーム１を
施工ヘッド７に通して気中伝播でレンズ４まで導き、施
工面で応力改善するために必要なレーザビーム径約１mm
となるようにレンズ４で絞り、施工面へレーザビームを
照射する。施工対象５は管状であるため、対物ミラー６
を旋回させるとともに施工ヘッド７全体を上下方向に動
作させ、螺旋状にレーザビームを照射し、管全体の応力
を改善する。In the inspection and repair apparatus for the inner surface of a pipe according to the present embodiment, at the time of construction, the laser beam 1 emitted from the laser oscillation device 2 is passed through the construction head 7 to the lens 4 by air propagation to improve the stress on the construction surface. Required laser beam diameter about 1mm
The lens 4 is squeezed so as to satisfy the following condition, and a laser beam is applied to the construction surface. Since the construction target 5 is tubular, the objective mirror 6
Is turned, and the entire construction head 7 is moved up and down to irradiate a laser beam in a spiral shape to improve the stress of the entire pipe.
【００１３】検査時には、対物ミラー６を動作させるこ
とによりレンズ４から施工対象５までの距離を変える。
この距離を変化させることにより、ＣＣＤカメラ11で一
度に撮影できる画角が広がり、検査の効率を上げること
ができる。また、施工時にはレーザビーム１の外の位置
にある可動ミラー３をレーザビーム１の照射口付近に挿
入し、施工対象５内面の映像をＣＣＤカメラ11の方向へ
導く。また、この光路に半透過ミラーを挿入し、管内の
映像を撮影するための光を照明装置10から導入する。At the time of inspection, the distance from the lens 4 to the object 5 is changed by operating the objective mirror 6.
By changing this distance, the angle of view that can be photographed at once by the CCD camera 11 is widened, and the efficiency of inspection can be increased. Further, at the time of construction, the movable mirror 3 located outside the laser beam 1 is inserted near the irradiation port of the laser beam 1, and the image of the inner surface of the construction target 5 is guided toward the CCD camera 11. In addition, a semi-transmissive mirror is inserted into this optical path, and light for capturing an image in the tube is introduced from the illumination device 10.
【００１４】ＣＣＤカメラ11で撮影した映像のアナログ
信号はＡ／Ｄ変換器12においてデジタル信号に変換し、
画像処理装置13においてレンズによる歪みおよび対象面
の曲率を補正する画像処理を行う。補正した画像につい
て対物ミラー駆動装置８及び施工ヘッド位置制御装置９
からの位置情報を元に照射位置を特定し、合成した画像
が施工対象５の管内の展開図となるように重ね合わせて
いく。その結果、内面が展開図の一枚の画像16として表
示装置15に表示される。An analog signal of an image photographed by the CCD camera 11 is converted into a digital signal by an A / D converter 12.
The image processing device 13 performs image processing for correcting distortion by a lens and curvature of a target surface. About the corrected image, the objective mirror driving device 8 and the construction head position control device 9
The irradiation position is specified based on the position information from, and the superimposed images are superimposed so as to become a development view in the pipe of the construction target 5. As a result, the inner surface is displayed on the display device 15 as one image 16 of the developed view.
【００１５】上記第１の実施の形態は、図３に変形例を
示すように、レンズ４を上下方向に動作させる構成に変
え、レンズ移動装置17を設けて、レンズ４から施工対象
５の照射面までの距離を変えるようにしてもよい。この
ような構成によっても上記と同様に一度に撮影できる画
角を広げることができる。In the first embodiment, as shown in a modified example in FIG. 3, the lens 4 is moved up and down, and a lens moving device 17 is provided. The distance to the surface may be changed. With such a configuration, the angle of view that can be photographed at a time can be widened in the same manner as described above.
【００１６】以上のように本発明の第１の実施の形態の
管内面の検査補修装置においては、対物ミラー６または
レンズ４を可動とすることで、レンズ４から施工対象５
まで距離を変えてＣＣＤカメラ11の画角を大きくするこ
とができ、画像処理技術により管の内面を展開図として
表示することができる。また、レーザビームの焦点をず
らして低いエネルギのレーザビームを照射し管内面の汚
れを除去することができる。As described above, in the inspection and repair apparatus for the inner surface of the tube according to the first embodiment of the present invention, the objective mirror 6 or the lens 4 is made movable so that the object 4 can be removed from the lens 4.
By changing the distance, the angle of view of the CCD camera 11 can be increased, and the inner surface of the tube can be displayed as a developed view by image processing technology. Further, it is possible to remove dirt from the inner surface of the tube by irradiating the laser beam with a low energy while shifting the focus of the laser beam.
【００１７】次に、本発明の第２の実施の形態を図４を
用いて説明する。すなわち、本発明の第２の実施の形態
の管内面の検査補修装置は、前記第１の実施の形態では
対物ミラー６が旋回方向及び上下方向のみに駆動される
のに対して、その傾きも対物ミラー駆動装置８により変
化させる。この対物ミラー駆動装置８により上下方向お
よび傾きを調整し、同一の撮影位置18を異なったアング
ルで撮影する。画像処理装置13は、映像信号19ａおよび
19ｂを用いて撮影位置18の画像を３次元で構成する。Next, a second embodiment of the present invention will be described with reference to FIG. That is, in the inspection and repair apparatus for the inner surface of the pipe according to the second embodiment of the present invention, the objective mirror 6 is driven only in the turning direction and the vertical direction in the first embodiment, but the inclination is also reduced. It is changed by the objective mirror driving device 8. The vertical direction and the inclination are adjusted by the objective mirror driving device 8, and the same photographing position 18 is photographed at different angles. The image processing device 13 includes a video signal 19a and
The image of the photographing position 18 is formed in three dimensions using 19b.
【００１８】[0018]
【発明の効果】以上説明したように、本発明の管内面の
検査補修装置によれば、一台の装置で管内面の検査と補
修をおこなうことができる。その結果、管の内面の検査
と補修に要する設備及び時間や物量を低減することがで
きる。As described above, according to the inspection and repair apparatus for the inner surface of the pipe of the present invention, the inspection and repair of the inner surface of the pipe can be performed by one apparatus. As a result, it is possible to reduce equipment, time, and quantity required for inspection and repair of the inner surface of the pipe.
【図１】本発明の第１の実施の形態の管内面の検査補修
装置を示す図。FIG. 1 is a diagram showing an inspection and repair apparatus for an inner surface of a pipe according to a first embodiment of the present invention.
【図２】本発明の第１の実施の形態の管内面の検査補修
装置における画像処理のための構成を示す図。FIG. 2 is a diagram showing a configuration for image processing in the inspection and repair apparatus for the inner surface of the pipe according to the first embodiment of the present invention.
【図３】本発明の第１の実施の形態の管内面の検査補修
装置の変形例を示す図。FIG. 3 is a view showing a modified example of the inspection and repair apparatus for the inner surface of the pipe according to the first embodiment of the present invention.
【図４】本発明の第２の実施の形態の管内面の検査補修
装置を示す図。FIG. 4 is a view showing a pipe inner surface inspection and repair apparatus according to a second embodiment of the present invention.
１…レーザビーム、２…レーザ発振装置、３…可動ミラ
ー、４…レンズ、５…施工対象、６…対物ミラー、７…
施工ヘッド、８…対物ミラー駆動装置、９…施工ヘッド
位置制御装置、10…照明装置、12…Ａ／Ｄ変換器、13…
画像処理装置、14…画像合成装置、15…表示装置、16…
画像、17…レンズ移動装置、18…撮影位置、19ａ、19ｂ
…映像信号。DESCRIPTION OF SYMBOLS 1 ... Laser beam, 2 ... Laser oscillation device, 3 ... Movable mirror, 4 ... Lens, 5 ... Work target, 6 ... Objective mirror, 7 ...
Construction head, 8 ... Object mirror driving device, 9 ... Construction head position control device, 10 ... Illumination device, 12 ... A / D converter, 13 ...
Image processing device, 14… Image synthesis device, 15… Display device, 16…
Image, 17: lens moving device, 18: shooting position, 19a, 19b
... Video signal.
───────────────────────────────────────────────────── フロントページの続き (51)Int.Cl.7 識別記号 ＦＩ テーマコート゛(参考） Ｇ０１Ｎ 21/954 Ｇ０２Ｂ 23/24 Ｂ Ｇ０２Ｂ 23/24 Ｂ２３Ｋ 101:06 // Ｂ２３Ｋ 101:06 Ｂ０８Ｂ 9/02 Ｚ (72)発明者 佐野 雄二 神奈川県横浜市磯子区新杉田町８番地 株 式会社東芝横浜事業所内 (72)発明者 嶋 誠之 神奈川県横浜市磯子区新杉田町８番地 株 式会社東芝横浜事業所内 (72)発明者 依田 正樹 神奈川県横浜市磯子区新杉田町８番地 株 式会社東芝横浜事業所内 Ｆターム(参考） 2G051 AA82 AB02 BA10 BA20 CA03 CA04 CB01 CC13 EA12 FA10 2H040 AA03 BA00 CA04 CA23 DA42 GA01 GA11 3B116 AA13 AB51 BC01 CC05 CD41 4E068 AH00 CA17 CB08 CC02 CD05 CE02 DA15 ──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. 7 Identification symbol FI Theme coat ゛ (Reference) G01N 21/954 G02B 23/24 B G02B 23/24 B23K 101: 06 // B23K 101: 06 B08B 9/02 Z (72) Inventor Yuji Sano, 8-8 Shinsugita-cho, Isogo-ku, Yokohama-shi, Kanagawa Prefecture Inside the Toshiba Yokohama Works Co., Ltd. 72) Inventor Masaki Yoda 8 Shingsugita-cho, Isogo-ku, Yokohama-shi, Kanagawa Prefecture F-term in Toshiba Yokohama Office (reference) 2G051 AA82 AB02 BA10 BA20 CA03 CA04 CB01 CC13 EA12 FA10 2H040 AA03 BA00 CA04 CA23 DA42 GA01 GA11 3B116 AA13 AB51 BC01 CC05 CD41 4E068 AH00 CA17 CB08 CC02 CD05 CE02 DA15
Claims (4)
と、前記レーザビームを集束させるレンズと、前記集束
されたレーザビームを屈曲し検査補修対象である管の内
面に照射する対物ミラーと、前記管内面に照射されるレ
ーザビームの直径を変化させるビーム径変化手段と、前
記管外部のレーザビーム路上に移動可能に設けられ前記
管内面からの反射光を側方に取り出す可動ミラーと、前
記反射光から前記管内面の映像を取得し画像表示する画
像処理手段とを備えたことを特徴とする管内面の検査補
修装置。1. A laser oscillator for generating a laser beam, a lens for focusing the laser beam, an objective mirror for bending the focused laser beam and irradiating an inner surface of a tube to be inspected and repaired, Beam diameter changing means for changing a diameter of a laser beam applied to a surface, a movable mirror movably provided on a laser beam path outside the tube, and taking out reflected light from the inner surface of the tube to the side, and the reflected light And an image processing means for acquiring an image of the inner surface of the tube from the apparatus and displaying the image.
ミラーを管の軸と平行の方向に移動させるものであるこ
とを特徴とする請求項１記載の管内面の検査補修装置。2. The apparatus according to claim 1, wherein the beam diameter changing means moves the lens or the objective mirror in a direction parallel to the axis of the tube.
焦点距離を変えて出力の低いレーザビームを管の内面に
照射し汚れを除去するようにしたことを特徴とする請求
項１記載の管内面の検査補修装置。3. The tube inner surface according to claim 1, wherein the focal length of the laser beam is changed by a beam diameter changing means to irradiate the inner surface of the tube with a low-power laser beam to remove dirt. Inspection and repair equipment.
せる駆動装置を設け、画像処理手段は、管内面の同一点
の映像を複数の視野で撮影し、管内面の表面状態を３次
元画像で表示することを特徴とする請求項１記載の管内
面の検査補修装置。4. A driving device for changing an angle between the objective mirror and the tube axis is provided, and the image processing means takes images of the same point on the inner surface of the tube in a plurality of fields of view, and three-dimensionally changes the surface state of the inner surface of the tube. The inspection and repair apparatus for the inner surface of a pipe according to claim 1, wherein the inspection and repair apparatus is displayed as an image.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000208471A JP2002022089A (en) | 2000-07-10 | 2000-07-10 | Pipe inside inspection and repair device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000208471A JP2002022089A (en) | 2000-07-10 | 2000-07-10 | Pipe inside inspection and repair device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JP2002022089A true JP2002022089A (en) | 2002-01-23 |
Family
ID=18705042
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2000208471A Pending JP2002022089A (en) | 2000-07-10 | 2000-07-10 | Pipe inside inspection and repair device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2002022089A (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009257979A (en) * | 2008-04-18 | 2009-11-05 | Japan Aerospace Exploration Agency | Method and device for inspecting inside of hole |
| JP2012230047A (en) * | 2011-04-27 | 2012-11-22 | Ihi Inspection & Instrumentation Co Ltd | Laser projection device, internal observation device, and internal observation method |
| JP2018065171A (en) * | 2016-10-19 | 2018-04-26 | 三菱日立パワーシステムズ株式会社 | Construction system by in-piping moving robot and construction method |
| JP2018084516A (en) * | 2016-11-24 | 2018-05-31 | 公益財団法人若狭湾エネルギー研究センター | Pipe inner shape measuring device having welding function and pipe inner shape measuring device for small inner-diameter pipe |
| JP2018203568A (en) * | 2017-06-05 | 2018-12-27 | 株式会社フジクラ | Inspection method of furnace core tube, and manufacturing method of optical fiber preform |
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|---|---|---|---|---|
| JP2009257979A (en) * | 2008-04-18 | 2009-11-05 | Japan Aerospace Exploration Agency | Method and device for inspecting inside of hole |
| JP2012230047A (en) * | 2011-04-27 | 2012-11-22 | Ihi Inspection & Instrumentation Co Ltd | Laser projection device, internal observation device, and internal observation method |
| CN109313333A (en) * | 2016-06-14 | 2019-02-05 | 通用电气公司 | Method and system for visual checking device |
| JP2018065171A (en) * | 2016-10-19 | 2018-04-26 | 三菱日立パワーシステムズ株式会社 | Construction system by in-piping moving robot and construction method |
| JP2018084516A (en) * | 2016-11-24 | 2018-05-31 | 公益財団法人若狭湾エネルギー研究センター | Pipe inner shape measuring device having welding function and pipe inner shape measuring device for small inner-diameter pipe |
| JP2018203568A (en) * | 2017-06-05 | 2018-12-27 | 株式会社フジクラ | Inspection method of furnace core tube, and manufacturing method of optical fiber preform |
| JPWO2019083009A1 (en) * | 2017-10-26 | 2020-12-17 | 長野オートメーション株式会社 | Inspection system and inspection method |
| US20220161357A1 (en) * | 2019-01-31 | 2022-05-26 | General Electric Company | System and method for automated laser ablation |
| US11724335B2 (en) * | 2019-01-31 | 2023-08-15 | General Electric Company | System and method for automated laser ablation |
| JP7396876B2 (en) | 2019-11-27 | 2023-12-12 | ファナック株式会社 | Internal image inspection device and internal image inspection system |
| JP2021110674A (en) * | 2020-01-14 | 2021-08-02 | トヨタ自動車株式会社 | Inspection method and inspection device of inner surface of bore |
| KR102277120B1 (en) * | 2021-03-17 | 2021-07-14 | (주)한국대상안전 | Concrete carbonation depth measurement device required for safety inspection and diagnosis, and carbonation depth measurement method using the same |
| CN113351586A (en) * | 2021-05-25 | 2021-09-07 | 上海新孚美变速箱技术服务有限公司 | Laser for cleaning inner wall of tubular component |
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