Self-propelled inspection method for the metal plate for a self-propelled inspection equipment and the metal plate as well as the inspection system,

摘要

PROBLEM TO BE SOLVED: To provide a self-traveling inspection device for metal plate and a self-traveling inspection method for metal plate with high position control accuracy, and an inspection system using the device.;SOLUTION: An inspection device 300 for traveling by itself on a metal plate on the basis of information from position measurement means and inspecting the metal plate, comprises: a carriage 14 which has at least two wheels 26 capable of normal rotation and reverse rotation and a drive part 27 thereof; a flaw detection head 35 which is mounted on the carriage 14 and has a probe of ultrasonic flaw detection for inspecting the metal plate; and pieces of control means 21, 13 which calculate the deviation between the body position recognized by the position measurement means and the target position, give commands of normal rotation, reverse rotation and stoppage of the wheels 26 to the drive part 27 so that the deviation becomes the minimum, and perform control so that the inspection device autonomously travels to the prescribed target position. The pieces of control means detect any or both of the weight change of the body and slide resistance between the metal plate and the flaw detection head 35, feed back the correction value obtained from the detection value to the commands, and control magnetic force of an electromagnet 49 in accordance with the deviation between the body position and the target position.;COPYRIGHT: (C)2016,JPO&INPIT