JPH0894399A - Movable inspection apparatus - Google Patents

Abstract

PURPOSE: To provide a movable inspection apparatus which improves the working environment of an inspecting operation, the operating efficiency and the safety and which can supplement and execute for a person and inspect without specifying the operating place. CONSTITUTION: The movable inspection apparatus comprises a moving unit 7 for moving elements 2, 5, 6 to be inspected at arbitrary positions to the vicinities of the elements 2, 5, 6, a position recognition unit for recognizing the positions of the elements 2, 5, 6, a multiple spindle driver 9 approaching the object position to be measured of the elements 2, 5, 6, an inspection unit 10 for measuring the temperatures, radiations, etc., of the elements 2, 5, 6, a controller 12 for controlling the recognition unit and the driver 9, and a data processor 11 for processing the data obtained by the unit 10.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION The present invention is applicable to non-destructive inspection and shape measurement of a large inspected object requiring a scaffold, or radiation measurement and temperature measurement inaccessible by a person. The present invention relates to a mobile inspection device that is effective for measurement in a place where the device is mounted or the inspection place is not specified.

[0002]

2. Description of the Related Art Conventionally, when performing nondestructive inspection, shape measurement, radiation measurement, temperature measurement, etc. of an object to be inspected, first, a person installs a measuring machine having each function near the object to be inspected. It is mounted or carried by hand, and then the target inspection position of the inspected object is measured after measuring with a tape measure or the like.
However, when the measurement position is high or when it is difficult for a person to approach it, in the former case, the scaffolding is used to approach the measurement, and in the latter case, remote inspection from a few meters away with a simple hot stick etc. And so on.

The obtained measurement data is recorded and then analyzed manually or processed off-line by a computer. Furthermore, in order to convey the processing result to the manager of the management room away from the measurement place, communication is performed using a telephone or a facsimile.

[0004]

However, with such means, it takes time to prepare the equipment and to determine the measurement position, and at the same time, especially for a large inspection object, the work is performed at a high place, which is dangerous. . Further, when using a remote-controlled hot stick or the like, the distance can be up to about 3 m at maximum, and the influence of radiation and heat cannot be ignored.

Further, when the shape of the object to be inspected is not fixed and there are various kinds, or when the position of the object to be inspected is not fixed and there is no choice but to place it in various positions, a scaffold or It is inefficient because you have to change the type of hot stick.

Further, the inspection work becomes an outdoor work when the inspection object is large, and the influence of snow, wind and rain, and temperature cannot be ignored on the measuring machine. Processing of measurement data,
Since the resulting information communication also takes time, there is a possibility that appropriate measures cannot be taken if any problem occurs.

Therefore, the present invention improves the working environment in the inspection work, improves the work efficiency and safety, can assist and substitute humans, and can perform the inspection without specifying the work place. An object is to provide an inspection device.

[0008]

In order to achieve such an object, the present invention provides a moving device for moving an object to be inspected at an arbitrary position to the vicinity of the object to be inspected, and an object to be inspected. A position recognition device that recognizes a position, a multi-axis drive device that approaches a target measurement position of an inspected object, an inspection device that measures the shape, defect, temperature, radiation, etc. of the inspected object, the position recognition device and A control device for controlling the shaft drive device and a data processing device for processing the data obtained by the inspection device are provided.

Preferably, the moving device comprises one or more moving carriages placed around the object to be inspected, and a towing vehicle for pulling the moving carriages, wherein the moving carriage is a hydraulic unit device or a pneumatic unit. Equipment, hydraulic unit equipment, peripheral equipment such as power supply unit equipment, multi-axis drive device, position recognition device, inspection device, data processing device and control device are connected or mounted to inspect the inspected object from the surroundings. It has a function, or the moving device covers the entire object to be inspected, peripheral devices such as a hydraulic unit device, a pneumatic unit device, a hydraulic unit device, a power supply unit device, a multi-axis drive device, and a position recognition device. , Having an inspection device, a data processing device and a control device, and having a function of inspecting an inspected object from the surroundings, or a mobile device having video information installed therein. It has a function of remotely operating and moving to a predetermined position near the inspected object by using it, or the moving device stores the shape information and the peripheral shape information of the inspected object in a storage device provided in the moving device. Then, it is complemented with the communication data with the geostationary satellite and has a function of autonomous traveling, or the mobile device has a function of autonomously traveling according to a traveling guide installed in advance, or the mobile device is It has a function of recognizing its position by a transmitting device provided in advance on the object to be inspected and moving it to a predetermined position near the object to be inspected, and the position recognition device is installed in advance at a predetermined position on the object to be inspected. It has a function of recognizing the position by performing image processing or reading processing on the generated symbols or codes, or the position recognition device measures the shape of the inspection object three-dimensionally and It has a function for recognizing the position of Luo inspection object, also multi-axis drive device,
Having an operating range that can approach the inspection target part of the inspection object, and the shape, defects, and temperature of the inspection object.
An inspection device that measures radiation, etc., has a structure in which the sensor part can be replaced depending on the type of inspection, or has the function of simultaneously processing multiple inspections with multiple inspection devices, or snow, wind and rain. And has a protection function that can cope with temperature (especially in a low temperature environment) environment, or the control device installs or moves a part of the obtained measurement data away from the object to be inspected. A function that wirelessly or wiredly transmits to the operation room installed inside the type vehicle to notify the manager or operator, and receives commands instructed from the operation room wirelessly or by wire to control the whole It is configured to have.

[0010]

In the mobile inspection device of the present invention, first, the moving device is provided according to the width of the object to be inspected, then the position of the object to be inspected is specified by the position recognition device, and the target measurement position of the object to be inspected. The multi-axis driving device moves the inspection device at the tip to measure the temperature and shape of the inspection object.

After that, the data processing device for processing the obtained data is used to analyze the data, and the wireless transmission device installed in the control device sends the data to the operator at a remote position. Go to step. Further, the next inspected objects having different shapes are inspected one after another. As a result, the inspection can be performed smoothly and safely without approaching a person, and the inspection place can be performed without restriction.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. First, an outline of the entire system of the present embodiment will be described. A high temperature inspection object 2 is mounted on a first trailer 1 and a high temperature inspection object 2 having a different shape from the inspection object 2 is mounted on a second trailer 4. The inspection object 5 is mounted. In addition, an inspection object 6 that emits radiation is installed at a certain place. The recognition symbols 201, 501, 60 are previously provided on the three types of inspected objects 2, 5, 6, respectively.
1 is attached.

Mobile trolleys 701, 70 in which a first trailer 1 carrying a high-temperature inspection object 2 constitutes a mobile device 7
It temporarily stops between the two, confirms that the temperature of the inspected object 2 is below the allowable value, starts after the permission is given, and then has a different shape from the first inspected object 2. The second trailer 4 carrying the high temperature inspection object 5 temporarily stops between the moving carriages 701 and 702 constituting the moving device 7, and here it is confirmed that the temperature of the inspection object 5 is below the allowable value. Confirmed,
Departing after the permission is issued, this time, the moving carriages 701 and 702 of the moving device 7 are arranged on both sides of the inspected object 6 that emits radiation placed in different places, and the radiation dose is less than the allowable value. After that, the inspection object is inspected one after another, and the inspection is finished.

The mobile inspection apparatus of this embodiment is mainly the first
Moving device 7 including a moving carriage 701, a second moving carriage 702, and one towing vehicle 703, and respective recognition symbols 201 preliminarily attached to three types of inspected objects 2, 5 and 6. A position recognition device that image-processes the symbols and positions of 501 and 601 to recognize the positions, and a multi-axis drive device 9 that can approach all measured points of three types of inspected objects 2, 5, and 6, Mainly, the temperature measuring device 101 and the radiation dose measuring device 1 attached to the tip of the multi-axis driving device 9
02, etc., and a data processing device 11 that mainly arranges and measures the data measured by the inspection device 10 and the data obtained by the position recognition device inside the computer,
Mainly, not only the operation control of the entire device but also the results sent from various interlocks and data processing devices are transmitted to the operation room 121 installed at a remote position by the wireless transmission device 122 to notify the operator 123. , Operation room 121
The command transmitted from the wireless transmission device 124 is received,
A control device 12 for controlling the whole and a peripheral device 13 mainly including a power supply unit device 131 and a pneumatic unit device 123 required by those devices are combined into one system.

More specifically, the mobile inspection apparatus of this embodiment is provided with a moving device 7 including a first moving carriage 701, a second moving carriage 702, and one towing vehicle 703. . First moving carriage 701 and second moving carriage 7
02 can be arranged in parallel with each other, and when they are arranged in parallel with each other, they are structured to be symmetrical to each other.

At the front ends of the movable carriages 701 and 702,
A handle 704 for pulling the towing vehicle 703 is provided, and a handle 705 for pulling the peripheral device 13 is provided at the rear end portion.

Each of the movable carriages 701 and 702 has eight
It is supported by wheels 706 each having a steering function, and four jacks 707 for temporarily fixing the moving carriages 701 and 702 are provided on both sides of the front end side and the rear end side thereof. There is.

Two LM guides 708 and two racks 709 are provided in parallel on the moving carriages 701 and 702 along the longitudinal direction thereof.
The multi-axis drive device 9 is adapted to travel on the 08 by pinion drive. Now, let us say that this traveling direction is the X axis.

Further, a data processing device 11, a control device 12, and a wireless transmission device 124 are provided on the front ends of the moving carriages 701 and 702, respectively. Towing vehicle 7
03 is a modified trailer of a commercial trailer.
In addition to basic driving equipment such as an engine and a steering wheel required for towing, a wireless transmission device 122 that receives data transmitted from a wireless transmission device 124 provided on each of the mobile carriages 701 and 702, and a result thereof. And an operation room 121 for recognizing and operating.

As shown in FIG. 6, the multi-axis drive device 9 includes an LM guide 70 provided on movable carriages 701 and 702.
In addition to the X-axis along the direction of 8, the front-rear axis (referred to as the Y1 axis) that is perpendicular to the X-axis and the vertical axis that is perpendicular to the Y1 axis (referred to as the Z-axis) , This Z
Telescopic axis in the direction perpendicular to the axis (referred to as Y2 axis)
And the θ1 axis that rotates ± 180 ° around this Y2 axis,
It has six axes: a θ2 axis which is provided at the tip of the Z axis and rotates ± 90 ° back and forth, and a θ3 axis which is provided on the θ2 axis and rotates ± 180 ° left and right. The Y-axis is bent 90 ° in order to widen the operation range of the multi-axis drive device 9.

A pinion 92 provided on the motor 91 with a speed reduction mechanism meshes with the rack 709 and is driven in the X-axis direction by the rotation of the motor 91 with a speed reduction mechanism. The LM guide 93 and the ball screw 94 move in the Y1 axis direction. Driven to L
The M guide 95 and the ball screw 96 are driven in the Z-axis direction.

An adapter 97 is provided on the θ3 axis, and a CCD camera 82 is attached to the adapter 97. Further, the adapter 97 has a temperature measuring device 101 and a radiation dose measuring device 10 as an inspection device.
2 etc. can be attached detachably. Further, a potentiometer 81 is provided on each axis of the multi-axis drive device 9.

The position recognizing device is a potentiometer 81 provided on each axis of the multi-axis driving device 9, a CCD camera 82 provided on the adapter 97, an arithmetic device and an image processing device provided in the control device 12. It consists of

Next, the procedure of the inspection work will be described.
In normal times, the mobile carriages 701 and 702, the peripheral device 13
Etc. are stored in the storage 14. At the time of inspection, first, a towing vehicle 703 is connected to the first moving carriage 701, and the towing vehicle 703 pulls the first moving carriage 701 to an arbitrary measurement place and then stops the first moving carriage 701. The moving carriage 701 is fixed to the measurement place via the jack 707. In addition, the driver's instruction mark 16 and the whole monitoring camera 161 are provided in advance at this measurement site, and then the towing vehicle 703 is separated from the first moving carriage 701 and returned to the storage case 14. Then, the towing vehicle 703 is connected to the second moving carriage 702. Further, the peripheral device 13 mounted with the power supply unit device 131 and the pneumatic unit device 132 is connected to the second moving carriage 702.

In this state, the towing vehicle 703 pulls the second moving carriage 702 to the measurement location, and the second moving carriage 702 is arranged in parallel with the first moving carriage 701 at a predetermined interval. Place and stop. After stopping,
The tow vehicle 703 is separated from the second moving carriage 702, and the second moving carriage 702 is fixed to the measurement place with the jack 707. The stop position of the trailer 1 at this time is within an error of about 200 mm based on the measurement position of the DUT 2 and the width of the trailer 1.

Next, in order to supply a utility such as a power source to the first moving carriage 701, the second moving carriage 70
Connect the cable 15 from 2 to the first mobile carriage 701,
Further, the first moving carriage 701 and the driver's instruction mark 16 are connected by the cable 17. Furthermore, each mobile carriage 701, 7
The temperature measuring device 101 is attached to the adapter 97 of the multi-axis drive device 9 in 02.

With this, the preparation for the work is completed, and then the inspection work is started. First, the first trailer 1 equipped with the inspection object 2 is driven, and the trailer 1 is moved to the first moving carriage 7
01 and the second moving carriage 702 are brought in and stopped. The stopping accuracy at this time is about 200 mm.

The image of the whole surveillance camera 161 provided on the driver's instruction mark 16 is sent to the operation room 121 by the wireless transmission device 124, and the operator 123 confirms the stop of the trailer 1 and then the inspection operation. Will start.

First, in order to confirm the type of the object 2 to be inspected and to determine the correct position, the control device 12 causes the CCD camera 82 provided on the adapter 97 of the multi-axis drive device 9 to recognize the object 201 to be recognized. Of the multi-axis driving device 9 at the same time as determining the type and position of the multi-axis driving device 9 by using the pattern matching function in the image processing device.
The axial angles of the 1, θ2, and θ3 axes are read from the resistance values of the potentiometer 81 provided on the respective axes, and the position of the tip is calculated. As a result, the relative positional relationship between the inspection object 2 and the multi-axis drive device 9 can be accurately known, and the position of the inspection object 2 as a whole can be specified.

When the position of the object to be inspected 2 is accurately determined, the measured point previously input as data is read out, the multi-axis driving device 9 is moved to that position, and the temperature measuring device 101 measures it. To do.

The points to be measured are one each in the front-rear center of the object 2 to be inspected, three points in front, center, and rear of the left and right side surfaces, three points in each of front, center, and rear of the upper surface, and in the left and right side surfaces of the trailer 1. Front, center,
There are a total of 17 locations later.

The temperature and position information of the measured point measured by the multi-axis driving device 9 is sequentially sent to the data processing device 11 and stored in the memory, and at the same time, it is collated with a previously input allowable value and analyzed. It

The control device 12 uses the wireless transmission device 124 to analyze the data and sends the analysis result to the operating room 121 of the towing vehicle 703.
It is transmitted to the wireless transmission device 122 provided in the. The wireless transmission device 122 displays the sent data on the monitor in the operation room 121. The operator 123 confirms this display,
If there is no abnormality, the controller 12 is instructed to proceed to the next step.

The control device 12 displays the instruction result on the driver instruction sign 16 to inform the driver of the trailer 1. This completes a series of inspection work. When the inspection of the inspection object 2 of the first trailer 1 is completed, the inspection object 5 of the second trailer 4 is inspected.

The inspection method of the inspection object 5 of the second trailer 5 is performed in substantially the same steps as the inspection procedure of the inspection object 2 of the first trailer 1. Finally, the third inspection object 6 installed at a specific place different from the measurement place is inspected.

Since the inspection place in this case is different from the arrangement place of the first and second objects to be inspected 2, 5, the connection cable 15 is first disconnected, and the tow vehicle 703 is used to make the first movement. The dolly 701 is transferred to one side of the inspection object 6 and the second moving dolly 702 is transferred to the other side of the inspection object 6, respectively, and the first moving trolley 701 and the second moving trolley 702 are transferred.
And are arranged in parallel with the object 6 to be inspected. Then, the first moving carriage 701 and the second moving carriage 702 are connected by the connection cable 15.

Since the object 6 to be inspected in this case emits radiation, the radiation dose measuring device 102 is attached to the adapter 97 of the multi-axis driving device 9, and the radiation dose is measured by this radiation dose measuring device 102.

As described above, according to this embodiment, regardless of the shape, size, and installation location of the object to be inspected, even if the object to be inspected emits high heat or emits radiation, the measurer can be informed of the fact. Since it does not affect the operation and the scaffolding is not necessary, it is possible to perform the work safely.

Regarding the processing of the measurement data and the information communication of the result, the result is immediately judged by the control device or the wireless transmission device. Therefore, if there is a problem, appropriate measures are immediately taken. It becomes possible.

FIG. 7 shows another embodiment of the present invention. In this embodiment, the moving device 7 has a gate-shaped structure that covers the entire object 2 to be inspected. The moving device 7 performs image processing on the images obtained by the car navigation system and the cameras 8a and 8b. It has a self-sustaining function of determining its own position and moving to a target position, and next to the moving device 7, a peripheral device 13 including a hydraulic unit device, a pneumatic unit device, a power supply unit device, etc. is provided, and inside the device, A crane-type multi-axis driving device 9 is provided, an inspection device 10 is provided at the tip of the multi-axis driving device 9, a data processing device 11 and a control device 12 are further mounted, and a predetermined position near the inspection object 2 is provided. Has the function of moving up to
It has a position recognition device that three-dimensionally measures the shape of the inspection object 2 and recognizes the position of the inspection device 10 from the data.
Although not shown in the figure, there are two multi-axis drive devices 9, and different types of inspection devices are attached to the respective tips, so that a plurality of inspections can be processed simultaneously. Further, the control device 13 transmits a part of the obtained measurement data to the operation room 121 installed at a position distant from the inspection object 2 by the optical fiber line 125, and the operator 12
3 has a function of notifying 3 and receiving a command instructed from the operation room 121 through the optical fiber line 125 and controlling the whole.

[0041]

As described above, according to the present invention, the inspection work can be performed safely and quickly without being influenced by the shape, size, and installation position of the inspection object, and without requiring a dedicated inspection place. In addition, it is possible to provide a mobile inspection device capable of protecting against radiation and high heat.

[Brief description of drawings]

FIG. 1 is an overall perspective view showing an embodiment of the present invention.

FIG. 2 is a plan view of the movable carriage and the towing vehicle according to the embodiment.

FIG. 3 is a side view of the movable carriage and the towing vehicle according to the embodiment.

FIG. 4 is a front view of the movable carriage of the embodiment as viewed from the front end side.

FIG. 5 is a front view of the moving carriage of the embodiment as viewed from the rear end side.

FIG. 6 is a perspective view of the multi-axis drive device according to the embodiment.

FIG. 7 is a perspective view showing another embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Trailer 2 ... Inspected object (first) 4 ... Trailer 5 ... Inspected object (second) 6 ... Inspected object 7 ... Moving device 9 ... Multi-axis drive device 10 ... Inspection device 11 ... Data processing device 12 ... Control device 13 ... Peripheral device 81 ... Potentiometer 82 ... CCD camera 101 ... Temperature measuring device 102 ... Radiation dose measuring device 121 ... Operation room 122 ... Wireless transmission device 123 ... Operator 124 ... Wireless transmission device 131 ... Power supply unit Device 132 ... Pneumatic unit device 201 ... Recognition symbol (first inspected object) 501 ... Recognition symbol (second inspected object) 601 ... Recognition symbol (third inspected object) 701 ... First moving carriage 702 ... second moving carriage 703 ... towing vehicle

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Takeshi Yamanaka 3-7-1, Nishishimbashi, Minato-ku, Tokyo Toshiba Plant Construction Co., Ltd.

Claims (3)

[Claims] 1. A moving device for moving an object to be inspected at an arbitrary position to the vicinity of the object to be inspected, a position recognition device for recognizing the position of the object to be inspected, and a target measurement position of the object to be inspected. Multi-axis drive device to approach, shape of inspection object, defect,
An inspection device for measuring temperature, radiation, etc., a control device for controlling the position recognition device and the multi-axis drive device, and a data processing device for processing data obtained by the inspection device are provided. Mobile inspection device. 2. A moving device comprises one or more moving carriages placed around an object to be inspected, and a towing vehicle for pulling the moving carriage. The moving carriages are a hydraulic unit device, a pneumatic unit device, and a water pressure unit. A peripheral device such as a unit device and a power supply unit device, a multi-axis drive device, a position recognition device, an inspection device, and a data processing device and a control device are connected or mounted, and have a function of inspecting an inspected object from the surroundings. Alternatively, the moving device covers the entire object to be inspected, peripheral devices such as hydraulic unit device, pneumatic unit device, water pressure unit device, power supply unit device, multi-axis drive device, position recognition device, and inspection device. The device, the data processing device and the control device are installed to have the function of inspecting the inspected object from the surroundings, or the mobile device uses the image information installed in the device to remotely Function, and has a function of moving the object to a predetermined position near the object to be inspected, or the moving device stores the shape information of the object to be inspected and the peripheral shape information in a storage device provided in the moving device and stops the operation. Complementary with the communication data with the satellite, it has the function of autonomous traveling, or the mobile device has the function of autonomously traveling according to a traveling guide installed in advance, or The mobile inspection apparatus according to claim 1, wherein the mobile inspection apparatus has a function of recognizing the position by an equipped transmission device and moving the position to a predetermined position near the inspection object. 3. The position recognizing device has a function of recognizing a position by performing image processing or reading process of a symbol or a code previously installed at a predetermined position of the object to be inspected, or the position recognizing device comprises: The mobile inspection apparatus according to claim 1, wherein the mobile inspection apparatus has a function of three-dimensionally measuring the shape of the inspection object and recognizing the position of the inspection object from the data.