JP4570535B2 - Inspection device and inspection method - Google Patents

Description

  The present invention relates to an inspection apparatus and an inspection method for inspecting a concealed space such as an underfloor space or a shed space in a building.

Conventionally, inspection in concealed spaces such as under floors and sheds of buildings, such as inspection of cracks formed on the foundation surface in the under floor space, inspection of rain leaks in the attic space, inspection of termite damage in the under floor space, In addition, when inspecting piping, wiring, equipment, structural enclosures, etc. that are installed in the attic space or under the floor, the worker himself / herself can move from the under floor inspection port or the ceiling inspection port to the under floor or the back of the shed. Entered and was inspecting visually. Such inspection work must be performed by an unreasonable posture or groping because the worker must pass through a small inspection port and move in a dark and narrow space. Was very big.
Also, when measuring the environment such as temperature and humidity and illuminance in the attic space and under the floor space, it is necessary to install the sensor with the above-mentioned unreasonable posture and groping, and the work load is large.

Therefore, in order to enable workers to perform inspections without entering the inspection space such as the attic space or under the floor space, self-running equipped with an imaging device such as a camera and an automatic traveling device such as a caterpillar traveling on the ground A formula check and inspection device is used (see, for example, Patent Document 1).
JP 2004-125773 A (page 2-5, FIG. 2)

The self-propelled confirmation and inspection device described in Patent Document 1 is intended to travel on a traveling surface, and to travel by tracing a track previously provided on the traveling surface with a magnetic tape or a marker that reflects light. It has become. However, there are various steps and obstacles in the underfloor space and the attic space, and in order to run without causing the steps and obstacles to be a problem, the traveling device such as a caterpillar is enlarged or the traveling mechanism is installed. It had to be complicated. When the apparatus is increased in size, it is difficult to pass through a narrow place, and there is a problem that a place that cannot be inspected occurs. In addition, the self-propelled type is difficult to move at high speed, and there is a problem that it takes a long time to check.
Moreover, in the confirmation inspection apparatus of patent document 1, it was not set as the structure which can install and collect | recover a sensor in the predetermined position of a hut space or under floor space during automatic driving | running | working.

  The present invention has been made in view of the above problems, and it is easy and quick to install various sensors in a concealed space such as an underfloor space or a shed space, and to collect an installed sensor. The aim is to be able to do it.

  According to the inspection device of the present invention, the subject is an inspection device comprising a rail installed in an underfloor space or a shed space of a building, and an inspection traveling body that travels along the rail, A plurality of information storage means respectively installed at a plurality of information storage positions provided along the rail, and a plurality of sensors that can be installed at a plurality of measurement positions provided along the rail, respectively, The rail is installed at a position having a traveling space under which the inspection traveling body can travel, and is installed so as to form a traveling route passing through the vicinity of an underfloor inspection port or a hut back inspection port. The body is suspended from the rail and automatically travels below the rail. The body reads a sensor installation command from the information storage means when passing the vicinity of the information storage means during traveling. And a plurality of sensor holding means configured to be able to hold and separate the sensors, respectively, and the sensor holding means separates the sensor based on the sensor installation command and the measurement position. This is solved by performing a sensor installation operation for collecting the sensor when passing the measurement position where the sensor is installed without holding the sensor.

As described above, the inspection device according to the present invention includes a rail installed at a position having a traveling space under which an inspection traveling body can travel in an underfloor space or a shed space of a building, and a rail suspended from the rail. An inspection traveling body that automatically travels downward. Thus, if it is set as the system which hangs on a rail and runs automatically, since a run is not prevented by a level difference or an obstacle near the ground, an inspection run object can be moved at high speed. Moreover, it can be reliably moved along the track.
In the present invention, since the inspection traveling body includes the reading unit and the sensor holding unit, the sensor installation command can be read from the information storage unit during traveling. Then, the sensor can be separated from the sensor holding means based on the read sensor installation command. That is, with such a configuration, the sensor can be automatically installed at the measurement position by the inspection traveling body even if the operator does not enter the underfloor space or the attic space. Moreover, when the inspection traveling body in a state where the sensor holding means does not hold the sensor passes through the measurement position where the sensor is installed, an operation of collecting the sensor can be performed. That is, the sensor can be automatically collected by the inspection traveling body. Therefore, the sensor can be installed and collected quickly and easily.

Further, in the present invention, the rail is installed so as to form a travel route that passes through an imaging position that is a predetermined distance away from the inspection object, and the reading means passes through the vicinity of the information storage means. The inspection traveling body is configured to read position information or an imaging command from an information storage unit, and the inspection traveling body reads the inspection object from a predetermined imaging position based on the imaging command, and the reading unit reads the inspection object. It is preferable that the output position information or the output means for outputting the image information picked up by the image pickup means is output to the outside.
As described above, in the present invention, the position information and the imaging command are stored in the information storage means, and the rail on which the inspection traveling body is suspended is separated from the inspection object in the underfloor space or the cabin space by a predetermined distance. Therefore, it is possible to obtain an imaging command from the information storage means in the vicinity of the inspection object, automatically image the inspection object, and automatically output it to the outside. That is, it is possible to automatically obtain a captured image of the inspection object simply by automatically traveling the inspection traveling body along the rail. Therefore, it is possible to quickly check the underfloor space and the attic space. This inspection work and the above-described sensor installation / recovery work can be performed simultaneously.

In the present invention, a display means capable of communicating with the inspection traveling body is provided, and the output means outputs position information read by the reading means or image information picked up by the image pickup means to the display means. The display means can be configured to display a current position of the inspection traveling body based on the position information and to display an inspection result based on the image information.
As described above, if the display means displays the current position of the inspection traveling body based on the output position information, it is possible to easily monitor which position the inspection traveling body is currently traveling. If the display means displays the inspection result of the inspection object based on the output image information, the inspection result can be easily monitored.

In the present invention, the traveling unit includes a traveling wheel guided by the rail, and a first driving unit that rotationally drives the traveling wheel, and the sensor holding unit is arranged along the rail. A holding member to be guided; and a second driving unit that displaces the holding member to a holding position that holds the sensor and a separation position that does not hold the sensor, and the first driving unit and the second driving unit A control unit that controls a second drive unit, and the control unit controls the first drive unit to move the inspection traveling body to the measurement position based on the sensor installation command; The second drive unit is controlled so that the sensor holding means is displaced to the separation position at the measurement position, and the control unit is configured to pass the measurement traveling body at the measurement position where the sensor is installed. And said Of the number of the holding member, it is possible to configure one of the holding member is in said disconnect positions to control said second driving unit so as to recover the sensor by displacing the holding position.
In this way, by controlling the first drive unit and the second drive unit based on the read sensor installation command, it is possible to automatically install and collect the sensor simply by running the inspection traveling body. .

In the present invention, more specifically, the sensor includes a temperature sensor or a humidity sensor, and includes a sensor tag capable of transmitting the output of the temperature sensor or the humidity sensor to the outside together with information stored in advance. It is preferable.
If comprised in this way, measurement data can be memorize | stored in the memory | storage part of a sensor tag. In addition, since information with the sensor tag can be transmitted and received wirelessly, measurement data can be easily received while outside the underfloor space or the attic space. In addition, since the sensor tag can transmit and receive information without an internal power supply, the sensor cannot be used due to power consumption. In addition, the sensor tag can rewrite or add stored information as needed. For example, if a history is additionally recorded when measurement is performed, the previous measurement history information can be easily used for subsequent measurements. be able to.

  In the present invention, it is preferable that the information storage means is an IC tag and the reading means is an IC tag reader. Since information can be transmitted and received wirelessly between the IC tag and the reading means, it is only necessary to install the IC tag so as to be positioned within the readable field range of the reading means. Therefore, the degree of freedom of the mounting position of the information storage means and the degree of freedom of design of the traveling means increase. In addition, since the IC tag can rewrite or add stored information as needed, for example, if a history is additionally recorded when an inspection is performed, the previous inspection history information can be easily used for subsequent inspections. can do.

  Further, according to the inspection method of the present invention, the problem is provided along a rail installed in an underfloor space or a shed space of a building, an inspection traveling body that travels along the rail, and the rail. By an inspection device comprising a plurality of information storage means respectively installed at a plurality of information storage positions and a plurality of sensors respectively installed at a plurality of measurement positions provided along the rail, An inspection method for installing or collecting the sensor simultaneously with an inspection of a back space, wherein the inspection traveling body is suspended from the rail and automatically travels in a traveling space provided under the rail, the inspection A reading step of reading an imaging command or a sensor installation command from the information storage means when the traveling body passes in the vicinity of the information storage means during traveling; And an imaging step of imaging the inspection object from an imaging position that is a predetermined distance away from the inspection object, and the inspection traveling body separates the sensor based on the sensor installation command and installs it at the measurement position This can be solved by performing any one of a sensor installation step of performing a sensor collection step of collecting the sensor when the inspection traveling body passes the measurement position where the sensor is installed.

As described above, the inspection method of the present invention automatically moves the inspection traveling body by suspending the inspection traveling body on the rail in the traveling process, so that the traveling is not hindered by an obstacle near the step or the ground and can be moved at a high speed. it can. Moreover, it can be reliably moved along the track.
Further, in the present invention, a reading device is provided in the inspection traveling body, and a reading process for automatically reading the sensor installation command stored in the nearby information storage means during the traveling is performed, so that the sensor installation command is automatically transmitted as needed during traveling. Can be acquired. And since the sensor installation process of separating the sensor and installing it at the measurement position based on the read sensor installation command is performed, even if the operator does not enter the underfloor space or the attic space, the sensor is moved to the measurement position by the inspection traveling body. Can be installed.
Further, in the present invention, the sensor collecting process for collecting the sensor is performed when the inspection traveling body passes the measurement position where the sensor is installed, so that the sensor can be collected by the inspection traveling body. Therefore, the sensor can be installed and collected quickly and easily.
Furthermore, since such a sensor installation process or a sensor recovery process can be performed during an inspection run in which an imaging process for imaging an inspection object in the underfloor space is performed, sensor installation or recovery can be performed in one inspection run. Imaging can be performed simultaneously.

As described above, according to the present invention, the following effects can be obtained.
According to the present invention, the inspection traveling body is suspended from the rail and automatically travels below the rail. Accordingly, traveling is not hindered by the steps, and the inspection traveling body can be moved at high speed. Moreover, it can be reliably moved along the track.
Further, an information storage means is installed along the rail to store a sensor installation command in the information storage position, and a reading device is provided on the inspection traveling body. Thereby, it is possible to automatically read the sensor installation command from the information storage means at the passing position during traveling, and to install the sensor at the measurement position by separating the sensor based on the sensor installation command. Moreover, a sensor can be collect | recovered when an inspection traveling body passes the measurement position in which the said sensor is installed. Therefore, even if the operator does not enter the underfloor space or the attic space, the sensor can be automatically installed and collected only by running the inspection traveling body.
In addition, the sensor can be installed or collected and imaged simultaneously in one inspection run.

  Embodiments of the present invention will be described with reference to the drawings. Further, the arrangement, shape, and the like described below do not limit the present invention, and various modifications can be made in accordance with the spirit of the present invention.

1-8 is a figure which shows one Embodiment of this invention, FIG. 1 is a top view which shows the driving | running route formed in the underfloor space by installation of the rail which concerns on this embodiment, FIG. 2 is this embodiment. FIG. 3 is a block diagram illustrating an electrical configuration of an inspection traveling body according to the present embodiment, and FIGS. 4 and 5 illustrate a configuration of the underfloor inspection apparatus according to the present embodiment. 4 is an AA cross-sectional view of FIG. 2, and FIG. 5 is a BB cross-sectional view of FIG.
FIG. 6 is an explanatory diagram illustrating the sensor tag installation operation according to the present embodiment, FIG. 7 is an explanatory diagram illustrating a configuration for performing an underfloor inspection operation using the underfloor inspection device according to the present embodiment, and FIG. 8 is a sensor tag installation operation. It is a flowchart which shows the flow of the underfloor inspection work at the time of performing.
FIGS. 9 and 10 relate to a modification of the present invention, FIG. 9 is an explanatory diagram showing the sensor tag collection operation, and FIG. 10 is a flowchart showing the flow of underfloor inspection work when the sensor tag collection operation is performed. .

(Configuration of underfloor inspection device)
The example which applied the inspection apparatus of one Embodiment of this invention to the underfloor inspection apparatus S for performing underfloor inspection of a building is demonstrated.
FIG. 1 is a plan view of the underfloor space G of the building H. As shown in this figure, the outer periphery of the underfloor space G is surrounded by a fabric foundation F made of reinforced concrete or the like. Further, in the underfloor space G, a cloth foundation F is also installed inside depending on the building structure, and is divided into several small spaces (blocks).
2A is a diagram showing a cross-sectional configuration of the underfloor space G, and FIG. 2B is a partially enlarged view thereof. As shown in this figure, a floor structure material K1 such as a large pull or joist is spanned above the underfloor space G, and a floor K2 is provided thereon. The lower part of the underfloor space G is the ground surface. Therefore, the underfloor space G is a closed space where the top and bottom are closed and the outer periphery is surrounded.
An underfloor ventilation port V1 is provided at a predetermined position of the fabric foundation F. The external space and the underfloor space G communicate with each other via the underfloor ventilation port V1. In addition, small spaces partitioned by the fabric foundation F are communicated with each other through the underfloor ventilation port V1. In addition, an underfloor inspection port V2 (see FIG. 1) for entering the underfloor space G from the indoor space is provided at a predetermined position of the floor K2.

The underfloor inspection apparatus S of this example includes a rail 10, an inspection traveling body 20 suspended from the rail 10 and traveling below the rail 10, and an IC tag 30 as information storage means installed at a predetermined position of the rail 10. And a sensor tag 60 as a measuring means installed at a predetermined position of the rail 10 are the main components.
The rail 10 is installed above the underfloor space G as shown in FIG. Various objects are provided in the underfloor space G. For example, concrete is laid on the ground surface, and equipment members such as various pipes and wires are provided thereon. In some cases, an independent foundation or a bundle member is erected at a predetermined position necessary for the structure, or a moisture-proof material or the like is laid. In this example, since the rail 10 is installed above the underfloor space G, a traveling space in which the inspection traveling body 20 can travel is secured below the rail 10. Accordingly, the inspection traveling body 20 can travel in the underfloor space G without coming into contact with various objects as described above.

The rail 10 is installed so as to pass through the underfloor ventilation port V1 at a location where the rail 10 moves from a small space (block) partitioned by the fabric foundation F to an adjacent small space (block). Moreover, the rail 10 is installed so that it may pass under the floor inspection opening V2 or its vicinity. Therefore, the inspection traveling body 20 can be brought into the underfloor space G from the underfloor inspection port V <b> 2 and suspended from the rail 10.
Further, as shown in FIG. 1, the rail 10 forms a travel route that starts traveling from the underfloor inspection port V2, circulates in the underfloor space G, and returns to the underfloor inspection port V2, and does not intersect on the way. It is a circulating travel route. As described above, when the circulation traveling route has no intersection, the route that returns to the original position after the inspection traveling body 20 that has started traveling from the underfloor inspection port V2 travels the entire route is uniquely determined. That is, the inspection traveling body 20 passes through all the rails 10 that are automatically installed only by traveling in the same direction.

When traveling on the travel route formed by the rail 10, the inspection traveling body 20 can image an inspection object in a predetermined imaging direction from a predetermined imaging position in the travel route.
Further, when traveling on the traveling route formed by the rail 10, the inspection traveling body 20 includes a temperature sensor, a humidity sensor, and the like at a predetermined measurement position Q (see FIG. 1B) in the traveling route. A sensor tag 60 (see FIG. 2B) as a measuring means can be installed. Further, when traveling along the rail 10, the sensor tag 60 installed at the measurement position Q can be collected.

The sensor tag 60 is configured by integrating various sensors such as a temperature sensor and a humidity sensor with a known IC tag, and can store and store desired electronic data in advance. In this example, ID information for identifying individual sensor tags 60 is stored. In addition, data stored by a radio signal from the outside can be rewritten. The stored data and the detection value of each sensor can be output to the outside in accordance with an external radio signal. Further, it is possible to store a history of detection values of each sensor in accordance with a wireless signal from the outside or a predetermined program.
The sensor tag 60 is configured such that a current is generated by irradiating an electromagnetic wave from the outside, similarly to the IC tag 30 described later, and thus an internal power source for transmitting and receiving signals is not necessary.
The sensor tag 60 includes a temperature sensor and a humidity sensor in this example, but may include an illuminance sensor or the like. Moreover, what is used as a measuring means is not limited to a sensor tag. For example, using a test specimen that changes irreversibly according to the environment such as air quality and temperature at the installation location, collect it after exposing it to the underfloor space for a certain period of time, and measure the environment of the underfloor space according to the state of alteration. It may be something like this.

Further, IC tags 30 as information storage means are respectively installed at a plurality of predetermined positions on the rail 10 of this example. In this way, the inspection traveling body 20 can read and use the information stored in each IC tag 30 when passing through the vicinity of the IC tag 30 during traveling.
The IC tag 30 stores position information for grasping the current position during traveling and an imaging command as a command for performing imaging. The IC tag 30 stores a sensor installation command for installing the sensor tag 60. In this example, as shown in FIG. 1B, an IC tag 30A that stores only position information, an IC tag 30B that stores position information and an imaging command, and an IC tag 30C that stores a sensor installation command. Or at least one of them is installed on the rail 10. The IC tag 30 (30A, 30B, 30C) can receive a command transmitted from the outside by a radio signal, and can transmit information stored therein to the outside based on the command.

In this example, the rail 10 that forms the travel route of the inspection traveling body 20 is installed under the floor simultaneously with the construction of the building H. Further, the IC tags 30 (30A, 30B, 30C) are also installed on the rail 10 simultaneously with the construction of the building H. Thus, since the rail 10 and the IC tag 30 (30A, 30B, 30C) are already installed when performing inspection or installing / recovering the measuring means, Installation and collection can be done quickly and easily.
That is, in this example, the main work performed locally at the time of periodic inspection is that the inspection traveling body 20 is brought into the underfloor space G from the underfloor inspection port V2 and installed on the traveling route to start traveling, and the traveling route is cycled. Then, it is only necessary to collect the inspection traveling body 20 that has returned to the initial position, whereby the inspection traveling body 20 can be automatically traveled to automatically photograph the inspection object.
Also, when installing and collecting the sensor tag 60 for measuring the temperature and humidity of the underfloor space G for the purpose of confirming the temperature and humidity environment of the underfloor space G, the installation and collection work is checked. Can be performed only by automatically running along the rail 10.

FIG. 3 is a block diagram showing an electrical configuration of the inspection traveling body 20 of this example. Moreover, FIG. 4 is explanatory drawing which shows the structure of the underfloor inspection apparatus S, and is AA sectional drawing of FIG.
As shown in FIG. 4, the rail 10 includes a rail main body 11 and a hanging hardware 12 for connecting the rail main body 11 to the floor structure material K1. The rail main body 11 is made of, for example, a long steel material having a substantially C-shaped cross section subjected to rust prevention treatment, and is installed with the opening of the substantially C-shaped cross section facing downward. The IC tag 30 (30A, 30B, 30C) described above is fixed to the outer peripheral surface of the side surface 11b of the rail body 11.
The lower end of the hanger 12 is fixed to the upper surface of the rail body 11, and the upper end is fixed to the floor structure material K <b> 1 located above the travel path of the rail 10. Thereby, the load of the rail 10 and the inspection traveling body 20 can be stably supported by the floor structure material K1.

As shown in FIG. 4, the inspection traveling body 20 is provided on the side of the main body 20a, the traveling part 20b that is provided above the main body 20a and hangs down on the main body 20a, and the traveling part 20b. And a sensor holding unit 50 as the sensor holding means.
The traveling unit 20b connects the traveling wheels 21A and 21B provided on the left and right sides of the uppermost end, the drive motor 22 for rotationally driving the traveling wheels 21A and 21B, and the traveling wheels 21A and 21B and the main body 20a. And a connecting portion 23.

The rail body 11 is provided with plate-like running surfaces 11c disposed substantially horizontally above the lip portions 11a provided on both sides of the opening on the lower side. The traveling wheels 21A and 21B are disposed so as to travel on the traveling surface 11c.
The traveling wheels 21A and 21B are fixed to both ends of a substantially horizontal rotating shaft 21a. The traveling wheels 21A and 21B move in the length direction of the rail body 11 along the upper surface of the traveling surface 11c by being rotated around the axial direction of the rotating shaft 21a together with the rotating shaft 21a.

  A drive motor 22 is provided below the rotation shaft 21a, and an output shaft of the drive motor 22 is connected to a substantially central portion of the rotation shaft 21a via a transmission mechanism 22a. The connecting portion 23 has an upper end through which a central portion of the rotation shaft 21a is rotatably inserted, and a drive motor 22 and a transmission mechanism 22a are accommodated therein. That is, the connecting portion 23 is formed to be a housing that houses the drive motor 22 and the transmission mechanism 22 a, and the drive motor 22 is fixed inside the connecting portion 23. And the main-body part 20a is being fixed to the lower end of the connection part 23. FIG.

Although the transmission mechanism 22a of this example is configured by a worm gear connected to the output shaft of the drive motor 22, a known transmission mechanism such as a belt mechanism may be applied.
With the configuration as described above, the traveling wheels 21 </ b> A and 21 </ b> B travel on the upper surface of the traveling surface 11 c in the length direction of the rail body 11 with the rotation of the output shaft of the drive motor 22. At the same time, the connecting portion 23 through which the rotating shaft 21a is inserted moves below the rail main body 11 together with the main body 20a. That is, the inspection traveling body 20 is suspended from the rail 10 in such a manner that the traveling wheels 21A and 21B are supported by the traveling surface 11c and travels below the rail 10.

  The sensor holding part 50 is provided in a recessed part 51 formed on the side of the connecting part 23, a shaft part 52a is provided on one end side, and a plurality of holding plates on which the shaft part 52a is rotatably supported. 52, a drive motor 53 for rotating the holding plate 52 around the shaft portion 52a as a rotation center, and a transmission mechanism 53a for transmitting the rotational motion of the output shaft of the drive motor 53 to the shaft portion 52a. Yes. The transmission mechanism 53a can be configured by a known mechanism such as a gear gear or a belt mechanism.

In this example, the space between the lip portion 11 a and the running surface 11 c faces the opening side of the recess 51 formed on the side of the connecting portion 23 on the opening side. Accordingly, the holding plate 52 of the sensor holding unit 50 can be operated in a space surrounded by the lip portion 11 a, the running surface 11 c, and the recess 51.
5 is a cross-sectional view taken along line BB in FIG. As shown in this figure, the sensor holding part 50 has a plurality of holding plates 52 arranged at substantially constant intervals in the traveling direction of the inspection traveling body 20. In this example, each holding plate 52 is configured to be able to rotate independently of each other. Further, the sensor holding unit 50 is configured to be able to detect the rotation position of each holding plate 52. For example, the rotation position can be detected by providing a switch that switches between the ON state and the OFF state according to the rotation position of each holding plate 52.

As shown in FIGS. 4 and 5, the holding plate 52 has a plate surface that is substantially perpendicular to the traveling direction of the inspection traveling body 20, and a leading end side that is located in a space between the lip portion 11 a and the traveling surface 11 c. When in the rotated position (holding position), the sensor tag 60 positioned on the lip portion 11a is supported and moved together with the inspection traveling body 20 from the rear in the traveling direction. That is, as shown in FIG. 5, the sensor holding unit 50 can carry the same number of sensor tags 60 as the number of holding plates 52 along the rail 10.
In this example, since the sensor tag 60 has a configuration in which the traveling wheel 62 is provided below the main body portion 61, the sensor tag 60 can be caused to travel with the inspection traveling body 20 by being pressed from behind by the holding plate 52.

  Further, the holding plate 52 can be rotated so that the tip side is not located in the space between the lip portion 11a and the running surface 11c. For example, as shown in FIG. 6 (A), the holding plate 52 at the rear end as viewed from the traveling direction of the inspection traveling body 20 is rotated rearward. Thereby, the holding plate 52 is displaced to a position (separation position) where the sensor tag 60 moving between the lip portion 11a and the traveling surface 11c is not supported. Thereby, the sensor tag 60 which moves to the last is left on the lip part 11a. Subsequently, as shown in FIG. 6B, when the holding plate 52 located at the second position from the rear is rotated, the next sensor tag 60 is left behind on the lip portion 11a.

  As described above, the sensor holding unit 50 holds the sensor tag 60 by the holding plate 52 and moves it on the lip portion 11a, and rotates the rearmost holding plate 52 supporting the sensor tag 60 at a predetermined position. Thus, the sensor tag 60 moving in the last direction can be left on the lip portion 11a. In this example, since the rotation position of each holding plate 52 can be detected, it is detected whether each of the plurality of holding plates 52 is in the holding position, the separation position, or another position. be able to.

The main body 20a has an image pickup unit 24A for picking up an image of the inspection object, an image pickup unit 24B for picking up the traveling direction during traveling, and data stored in the IC tag 30 (30A, 30B, 30C). Reading unit 25 for reading, output unit 26 for outputting various data such as image data captured by imaging units 24A and 24B, data read by reading unit 25, imaging unit 24A, and imaging unit A central control unit 27 for controlling the 24B, the reading unit 25, the output unit 26, and the like, and a power supply unit 28 that supplies power to these devices based on control signals from the central control unit 27 are provided.
In this example, the central controller 27 controls the rotational driving of the traveling wheels 21 </ b> A and 21 </ b> B and the rotation of the holding plate 52. That is, power is supplied from the power supply unit 28 to the drive motor 22 and the drive motor 53 based on the control signal of the central control unit 27. Further, a detection signal of a switch that detects the rotational position of the holding plate 52 described above is output to the central control unit 27.

In this example, an infrared camera is used as the imaging unit 24A and the imaging unit 24B, and an IC tag reader is used as the reading unit 25. Each of the infrared camera and the IC tag reader includes an independent control unit, and can perform an imaging process and a reading process based on a control signal from the central control unit 27. In addition, you may comprise so that an infrared camera and an IC tag reader may be directly controlled by the central control part 27. FIG.
As shown in FIG. 4, the imaging unit 24A includes an imaging lens 24a provided on the surface of the main body 20a on the inspection object side. The imaging unit 24B includes an imaging lens 24b provided on the surface of the main body 20a on the traveling direction side. In this example, an infrared camera is used as the imaging means, so even in spaces where outside light does not enter, such as under-floor space, an infrared radiation from an object is captured and an image that can be identified for its shape and surface state is captured. be able to.
Note that the imaging lenses 24a and 24b may be capable of adjusting the viewing direction. And based on the control signal from the central control part 27, you may control so that the visual line direction of the imaging lenses 24a and 24b may face the direction of a test target object.

The reading unit 25 includes a communication unit 25a for transmitting and receiving signals to and from the IC tag 30 (30A, 30B, 30C). The communication unit 25a is configured in accordance with the transmission / reception mode of signals with the IC tag 30 (30A, 30B, 30C). For example, the frequency band transmitted / received with the IC tag 30 (30A, 30B, 30C) Are equipped with an antenna capable of transmitting and receiving a radio wave within a predetermined field range. The communication unit 25a is installed from the main body unit 20a toward the side surface 11b, and the IC tag 30 (30A, 30B, 30C) is installed so as to pass through the transmission / reception field range.
Further, since the IC tag 30 (30A, 30B, 30C) is configured to generate a current when irradiated with an electromagnetic wave from the outside, an internal power source for transmitting and receiving signals is not required.

The output unit 26 can be configured to output a signal from the underfloor space G to the outside, for example, by wireless radio waves. In addition, the output part 26 is good also as a structure which provided the communication terminal in the inspection traveling body 20 which always contacts the communication line arrange | positioned along the rail 10 during driving | running | working. If it does in this way, a communication line can be extended outside from underfloor space G, and a signal can be output outside from underfloor space G via this communication line.
The power supply unit 28 may be provided with an internal power source such as a battery. Further, a power supply line may be provided along the rail 10 so that the inspection traveling body 20 can receive power supply at an arbitrary position on the travel route.

With the configuration as described above, the reading unit 25 performs the following reading process, and the position information, the imaging command, the sensor installation command, and the like from the IC tag 30 (30A, 30B, 30C) that passes in the vicinity during traveling. Information can be acquired.
The central control unit 27 controls the reading unit 25 so that commands are transmitted at regular time intervals by radio signals from the communication unit 25a while the inspection traveling body 20 is traveling. Thereby, when the inspection traveling body 20 reaches the vicinity of the place where the IC tag 30A is installed, that is, within the transmission / reception field range, the IC tag 30A receives the command and transmits the position information. Further, when the inspection traveling body 20 reaches the vicinity of the place where the IC tag 30B is installed, position information and an imaging command are transmitted from the IC tag 30B. When the inspection traveling body 20 reaches the vicinity of the place where the IC tag 30C is installed, a sensor installation command is transmitted from the IC tag 30B.

Based on the reading of the position information, the imaging command, and the sensor installation command by the reading unit 25, the central control unit 27 can perform various processes as described below.
For example, when the reading unit 25 receives position information, the position information is transmitted to the outside of the underfloor space G via the output unit 26 without delay. Therefore, if the position information is received without delay by the receiving means such as an antenna outside the underfloor space G and displayed in real time on the display means such as a monitor, the inside of the underfloor space G is visually confirmed. Even without this, the current position of the inspection traveling body 20 can be accurately grasped in real time.

For example, when the reading unit 25 reads an imaging command, the imaging command is output to the central control unit 27 without delay. The central control unit 27 outputs a control signal for causing the imaging unit 24A to perform an imaging process based on the imaging command. Since the imaging lens of the imaging unit 24A is installed in advance so as to face the inspection object side, the imaging unit 24A can perform imaging processing without delay based on this control signal. Then, the captured image can be transmitted to the outside of the underfloor space G via the output unit 26.
Outside the underfloor space G, this image is received without delay by a display device having a receiving means, image processing is performed, and information for confirming the state of the inspection object is displayed. For example, a crack formed on the base surface by image processing is discriminated and its dimensions such as width and length are judged. Then, the image is processed and displayed on the monitor so as to highlight the shape determined to be a crack in the image. Further, only cracks having a certain width or more may be highlighted, or the generated quantity may be displayed in a list for each crack size.

  The captured image is stored in a storage unit provided in the imaging unit 24A or the central control unit 27 in association with the position information of the imaging position, and the inspection traveling body 20 is removed from the underfloor inspection port V2 after the inspection traveling is completed. After being taken out of the underfloor space G, the stored image data may be output to the outside, and image processing may be performed collectively.

For example, when the reading unit 25 reads the sensor installation command, the sensor installation command is output to the central control unit 27 without delay. Based on the sensor installation command, the central control unit 27 performs a process of rotating the holding plate 52 of the sensor holding unit 50 in order to separate the sensor tag 60 and install it at a predetermined position.
For example, first, it is detected whether each holding plate 52 is in a holding position, a separation position, or another position, thereby identifying the rearmost holding plate 52 that supports the sensor tag 60. To do. Then, by rotating the specified holding plate 52, the sensor tag 60 that moves in the rearmost direction can be left on the lip portion 11 a and installed at the measurement position Q set along the rail 10.

  In addition, in this example, since the imaging unit 24B facing in the traveling direction is provided, the imaging unit 24B performs imaging processing based on the reception of the position information, the imaging command, and the sensor installation command, and outputs an image. It may be transmitted to the outside via the H.26. Further, the imaging unit 24B may perform imaging processing at regular time intervals regardless of the information read by the reading unit 25 and transmit an image in the traveling direction to the outside. Furthermore, by using an infrared video camera as the imaging unit 24B, a moving image in a traveling direction instead of a still image may be continuously captured and transmitted to the outside and displayed on a display device such as a monitor in real time. If it does in this way, the image of the advancing direction can be displayed on display devices, such as a monitor, in real time.

(Underfloor inspection method to install sensor tag at the same time)
Next, the configuration for performing the underfloor inspection using the underfloor inspection apparatus S described above and the flow of the underfloor inspection work will be described. In this example, the installation work of the sensor tag 60 is performed simultaneously with the underfloor inspection work.
In the present embodiment, as shown in FIG. 7, various information output from the inspection traveling body 20 is transmitted to the underfloor inspection apparatus S including the rail 10, the inspection traveling body 20, the IC tag 30, and the sensor tag 60 according to the above-described configurations. Underfloor inspection work is performed using the device S1 to which the monitoring device 40 is added as a display means that receives, performs predetermined processing, and displays.
The monitoring device 40 includes a communication unit 41 that can receive information from the output unit 26 of the inspection traveling body 20, a control unit 42 that includes a CPU for performing various control processes, and a display such as a liquid crystal panel. The unit 43 and an operation unit 44 including a keyboard for performing various inputs are the main components. The monitoring device 40 is composed of a portable information terminal such as a notebook personal computer.

The communication unit 41 is configured in accordance with the output mode of information output from the output unit 26. For example, when output from the output unit 26 as a radio wave, an antenna capable of receiving the radio wave is provided. In addition, when information is output from the output unit 26 via a communication line, a terminal that can be connected to the communication line is provided.
Various data and programs are stored in the control unit 42, and processing based on these data and programs can be performed. For example, the control unit 42 can perform a process of displaying the current position of the inspection traveling body 20 on the display unit 43 without delay based on the position information received by the communication unit 41. Further, the control unit 42 can perform predetermined image processing on the image data of the inspection target received by the communication unit 41, and can display or output information on the state of the inspection target.
In FIG. 7, a part of the configuration of the inspection traveling body 20 is omitted (the central control unit 27, the power supply unit 28, etc. are omitted).

Next, the flow of underfloor inspection work will be described according to the flowchart shown in FIG.
Before starting the inspection, the inspection operator brings the inspection traveling body 20 into the underfloor space G from the underfloor inspection port V2 and inspects the traveling wheels 21A and 21B on the traveling surface 11c of the rail body 11. The traveling body 20 is installed. In addition, the same number of sensor tags 60 as the number of measurement positions Q provided along the rail 10 are placed on the lip portion 11a of the rail body 11 in a state where the sensor tags 60 can travel. Each holding plate 52 is displaced to the holding position to support. The monitoring device 40 is placed outside the underfloor space G so that an inspection operator can check the display contents.
In such a state, for example, when the inspection operator operates an operation switch provided on the inspection traveling body 20 or transmits an operation signal wirelessly from the outside, traveling starts to the central control unit 27 of the inspection traveling body 20. A signal is input. The central control unit 27 outputs a control signal for driving the drive motor 22 based on the travel start signal, and performs a process of starting the travel of the inspection travel body 20 (step S1).

In step S <b> 1, the inspection traveling body 20 starts to travel, and the sensor tag 60 is supported from the rear in the traveling direction by the holding plate 52 and starts moving together with the inspection traveling body 20.
Next, the central control unit 27 drives the drive motor 22 so that the inspection traveling body 20 and the sensor tag 60 travel at a constant speed, while the IC tag 30 (30A, 30B, 30C) is transmitted by radio signal from the communication unit 25a. A read command for reading the information stored in is sent at regular time intervals (step S2). When any of the IC tags 30 (30A, 30B, 30C) moves to a position within the transmission / reception field range of the communication unit 25a, the IC tag 30 is based on the command transmitted from the communication unit 25a. (30A, 30B, 30C) transmits data including at least one of position information, an imaging command, and a sensor installation command. The reading unit 25 receives this data via the communication unit 25a, and performs a reading process of extracting position information, an imaging command, and a sensor installation command from the received data (step S3).

Subsequently, the central control unit 27 transmits the position information automatically read from the IC tag 30 (30A, 30B, 30C) to the outside of the underfloor space G via the output unit 26 without delay (step S4). . Further, based on the imaging command read from the IC tag 30B, the imaging unit 24A is controlled to image the basic surface as the inspection object from a predetermined imaging position (step S5).
In step S5, the drive motor 22 is controlled based on the control signal from the central control unit 27 so that the imaging unit 24A stops at the imaging position. Then, after the imaging surface is stopped and the basic surface is imaged, the drive motor 22 is controlled so that the traveling of the inspection traveling body 20 is started again. The image data captured in step S5 is transmitted to the outside of the underfloor space G via the output unit 26 (step S6).

  The position information or the image data transmitted in steps S4 and S6 is received by the communication unit 41 of the monitoring device 40 outside the underfloor space G. Based on the received position information, the control unit 42 performs a process of displaying the current position of the inspection traveling body 20 on the display unit 43 without delay (step S7). Further, when image data of the basic surface is received, predetermined image processing is performed on the image data to determine the cracks formed on the basic surface and the size of the cracks. And the process which displays the generation | occurrence | production condition of the crack of the basic | foundation surface determined by this image processing, ie, an inspection result, on the display part 43 is performed (step S8).

  Furthermore, the central control unit 27 performs a process of rotating the holding plate 52 and installing the sensor tag 60 at a predetermined measurement position Q based on the sensor installation command read from the IC tag 30C (steps S9 to S10). In step S9, the rotation position of each holding plate 52 is determined. In step S10, the holding plate 52 that is in the holding position for holding the sensor tag 60 and is determined to be located at the rearmost in the traveling direction is rotated rearward in the traveling direction and displaced to the separation position. Thereby, the sensor tag 60 is installed at the measurement position Q.

The inspection traveling body 20 travels in the underfloor space G according to the traveling path formed by the rail 10, but in this example, the inspection traveling body 20 is installed at a predetermined position on the traveling path with the IC tag 30 (30A, 30A, 30B, 30C), the processing in steps S2 to S10 is repeated as the installation points sequentially pass.
Since only position information is read when passing the installation point of the IC tag 30A, steps S7 to S10 are omitted, and only position information and an imaging command are read when passing the installation point of the IC tag 30B. Since S10 is omitted and only the sensor installation command is read when passing the installation point of the IC tag 30C, steps S4 to S8 are omitted.
Further, an imaging command, a sensor installation command, position information, and a sensor installation command may be stored in the IC tag. When a plurality of commands and information are stored in the IC tag in this way, any process based on the read information or command may be preceded, and a predetermined time lag occurs between the read timing and the timing of executing the processing based on the read timing. May be set.

When the inspection traveling body 20 travels along the entire route and returns to the underfloor inspection port V2, the inspection operator returns that the inspection traveling body 20 has returned from the display content of the current position displayed on the monitoring device 40. The travel stop signal for stopping the inspection traveling body 20 is input by operating the operation switch or transmitting the operation signal. The central control unit 27 outputs a control signal for driving the drive motor 22 based on the traveling stop signal, and stops traveling of the inspection traveling body 20 (step S11).
If the traveling stop signal is stored in an IC tag installed at a position immediately before reaching the underfloor inspection port V2, it is automatically detected when the reading unit 25 reads this and returns to the underfloor inspection port V2. Can be stopped.

As described above, according to the apparatus S1 of this example, the inspection traveling body 20 is suspended from the rail 10 and travels below the rail 10, so that it can be moved at a higher speed than traveling on the ground. it can. Further, in order to travel on the rail installed on the ground, a large and complicated traveling mechanism that can overcome obstacles and steps is required, but it is suspended from the rail 10 and travels below the rail 10. The ropeway system can be moved at high speed with a simple configuration.
In addition, since the inspection traveling body 20 can automatically perform the imaging process by automatically reading the imaging command from the IC tag 30B during the automatic traveling along the traveling route, accurate imaging can be performed only by traveling the inspection traveling body 20. Image data captured from a position can be automatically acquired. Thus, it is not necessary for the inspection operator to enter the underfloor space, and the underfloor inspection can be performed quickly and easily with a small work load.
Moreover, since the position information can be automatically read from the IC tags 30A and 30B and output to the outside without delay, the accurate current position of the inspection traveling body 20 can be confirmed in real time by an external monitoring device.

Further, the inspection traveling body 20 can automatically install the sensor tag 60 by automatically reading the sensor installation command from the IC tag 30C during the automatic traveling along the traveling route. Thus, the inspection operator does not need to enter the underfloor space, and the sensor tag 60 can be installed in the underfloor space quickly and easily with a small work load.
And since the installed sensor tag 60 can receive and read information and perform various measurement processes by receiving a radio wave from outside as described above, it can be installed in the underfloor space G for a long time. However, it will not become unusable due to battery exhaustion. Therefore, long-term measurement can be performed without performing work such as battery replacement.

(Modification 1: Underfloor inspection method for collecting sensor tags simultaneously)
In this example, along with the underfloor inspection, the collection work of the sensor tag 60 is performed instead of the installation work of the sensor tag 60 of the above embodiment. Hereinafter, based on FIG.9 and FIG.10, only a different point from the above-mentioned underfloor inspection method is demonstrated.
In the above-described embodiment, the holding plate 52 is displaced to the holding position before the inspection is started and the running with the sensor tag 60 is started. However, in this example, since the sensor tag 60 is sequentially collected, As shown in FIG. 9 (A), the holding plates 52 except the last holding plate 52 are set in a state of being rotated in the traveling direction.

  In this example, as shown in FIG. 10, in place of step S3 in the above embodiment, in addition to the reading process from the IC tag 30 performed in step S3, the ID information reading process from the installed sensor tag 60 is performed. (Step S3a). Moreover, it replaces with the installation process of the sensor tag 60 performed by step S9-S10 of the said Example, and the collection process (step S9a-S10a) of the sensor tag 60 is performed.

In step S9a, the central control unit 27 determines whether or not the measurement position Q where the sensor tag 60 is installed has passed based on the presence or absence of the ID information read from the sensor tag 60. In this example, since at least the rearmost holding plate 52 is in the holding position, the sensor tag 60 is supported by the holding plate 52 and starts traveling together with the inspection traveling body 20.
Subsequently, in step S <b> 10 a, the central control unit 27 performs a process of displacing the sensor holding unit 50 so that the next sensor tag 60 can be recovered. That is, the central control unit 27 reads the ID information from the sensor tag 60 and confirms that the sensor tag 60 is traveling with the inspection traveling body 20. Then, only when the ID information from the sensor tag 60 is continuously read and it is determined that the sensor tag 60 is traveling with the inspection traveling body 20, as shown in FIG. The holding plate 52 at the position is displaced to the holding position.

As described above, in this example, it is possible to automatically retrieve the sensor tag 60 by automatically reading the ID information from the sensor tag 60 installed in the course of automatically traveling along the travel route. Thus, the inspection operator does not need to enter the underfloor space, and the sensor tag 60 can be installed in the underfloor space quickly and easily with a small work load.
Instead of performing automatic collection based on the ID information read from the sensor tag 60, the sensor tag 60 is based on the sensor installation command read from the IC tag 30C on the assumption that all the sensor tags 60 are installed at the measurement position Q. You may comprise so that automatic collection | recovery may be performed.

(Modification 2: Attic check device and attic check method)
Although the configuration of each of the above embodiments is for inspecting the underfloor space, this configuration can also be applied to an apparatus or system for inspecting the cabin space.
For example, the rail 10 of each of the above embodiments is connected to a roof structure member exposed above the cabin space. Specifically, the upper end portion of the hanging hardware 12 is fixed to a beam, a purlin, a rafter, or the like. If it does in this way, the load of the rail 10 and the inspection traveling body 20 can be stably supported by the roof structure member, and the inspection traveling body 20 is caused to travel along the traveling route formed above the roof space. Can do.

In this example, the inspection traveling body 20 is brought into the shed space from the shed inspection port (ceiling inspection port) provided on the ceiling surface that closes the lower side of the shed space. Therefore, the rail 10 of this example is installed so as to pass through the vicinity of the hut back inspection opening (ceiling inspection opening).
In the shed space, for example, in addition to various facilities and structural members, a part where rain leakage is likely to occur can be set as an inspection object. The rail 10 is installed so as to pass through imaging positions separated by a predetermined distance from these inspection objects, and an IC tag storing an imaging command is installed at each imaging position. In addition, this rail 10 is previously installed at the time of construction of a building similarly to each said Example.

In this example, the inspection traveling body 20 can automatically travel in the cabin space in the same manner as in the above embodiments, and the imaging process can be performed by automatically reading the imaging command from the IC tag 30B during traveling. Therefore, it is possible to automatically acquire the image data of the inspection object imaged from the accurate imaging position only by running the inspection vehicle 20. Thus, it is not necessary for the inspection worker to enter the attic space, and the attic can be inspected quickly and easily with a small work load. Moreover, the exact present position of the inspection traveling body 20 can be confirmed in real time as in the above embodiments. Furthermore, the inspection traveling body 20 can be moved at high speed with a simple configuration.
Furthermore, simultaneously with the inspection work, the sensor tag 60C can be automatically read and the sensor tag 60 can be automatically set and collected automatically.
In the attic space, it is difficult for the inspection operator to enter the interior if the insulation material is blown, but even in such a case, according to the configuration of this example, the attic inspection and the sensor tag 60 can be performed relatively easily. Installation and collection can be performed.

(Modification 3: Configuration of sensor holding unit)
In each of the above embodiments, the sensor holding unit 50 rotates the holding plate 52 so that the holding plate supports the sensor tag 60 that travels in the space between the lip portion 11a and the running surface 11c (holding position). ) And a position where the sensor tag 60 moving between the lip portion 11a and the traveling surface 11c is not supported (separation position), the present invention is not limited to such a configuration.
For example, the holding plate 52 is moved forward and backward toward the concave portion 51 while maintaining the posture of the above-described holding position, that is, the posture of the plate surface substantially perpendicular to the traveling direction. Even in such a movement, the sensor tag 60 can be displaced without being held. If the vertical dimension of the space between the lip portion 11a and the running surface 11c can be increased, the holding plate 52 is moved upward, that is, moved to the running surface 11c side so that the sensor tag 60 is not held. Can be made.

(Modification 4: Configuration of information storage means)
In each of the above embodiments, an IC tag is applied as the information storage unit and an IC tag reader is applied as the reading unit 25. However, a light reflection plate is applied as the information storage unit, and illumination light is applied to the light reflection plate as the reading unit 25. It is also possible to apply an illumination device for applying light and a light receiving device for measuring reflected light. In such a configuration, for example, information can be stored by associating the reflectance of the light reflecting plate with the content of the information. Further, for example, a plurality of small pieces of light reflecting plates are installed at a predetermined interval, and the number of continuous light receptions of reflected light and the light reception time interval are associated with the information content to identify more complicated information content. be able to.

In addition, a color marker may be applied as the information storage unit, and a color meter may be applied as the reading unit 25. In this way, the content of information can be identified by the hue, saturation, brightness, and various color indexes of the color marker. Further, it is possible to store more complicated information by combining color markers.
Furthermore, a magnetic tape can be applied as the information storage means, and a magnetic field detector can be applied as the reading unit 25.

It is a top view which shows the driving | running route formed in the underfloor space by installation of the rail which concerns on this embodiment. It is sectional drawing of the underfloor space where the underfloor inspection apparatus which concerns on this embodiment was installed. It is a block diagram which shows the electrical structure of the inspection traveling body which concerns on this embodiment. It is explanatory drawing (AA sectional drawing of FIG. 2) which shows the structure of the underfloor inspection apparatus which concerns on this embodiment. It is explanatory drawing (BB sectional drawing of FIG. 4) which shows the structure of the underfloor inspection apparatus which concerns on this embodiment. It is explanatory drawing which shows a sensor tag installation operation | movement. It is explanatory drawing which shows the structure for performing an underfloor inspection operation | work using the underfloor inspection apparatus which concerns on this embodiment. It is a flowchart which shows the flow of the underfloor inspection work at the time of performing a sensor tag installation operation | movement. It is explanatory drawing which shows sensor tag collection | recovery operation | movement. It is a flowchart which shows the flow of underfloor inspection work at the time of performing sensor tag collection | recovery operation | movement.

Explanation of symbols

10. Rail 11 ... Rail body 11a ... Lip 11b ... Side 11c ... Traveling surface 12 ... Hanging hardware 20. Inspection traveling body 20a ... main body portion 20b ... traveling portions 21A, 21B ... traveling wheels 21a ... rotating shaft 22 ... drive motor 22a ... transmission mechanism 23 ... .. Connection unit 24a, 24b ... Imaging lens 24A, 24B ... Imaging unit 25 ... Reading unit 25a ... Communication unit 26 ... Output unit 27 ... Central control unit 28 ...... power supply unit 30 (30A, 30B, 30C) ... IC tag 40 ... monitoring device 41 ... communication unit 42 ... ..Control unit 43 ...... Display unit 44 ...... Operating unit 50 ...... Sensor holding unit 51 ...... Recessed portion 52 ...... Holding plate 52a ... Shaft 53 ... Drive motor 53a ... Transmission mechanism 60 ... Sensor tag 61 ... Main body 62 ... Running wheel F ... Cloth foundation G ... ... Underfloor space H ... Building K1 ... Floor structure material K2 ... Floor Q ... Total Position S ...... underfloor inspection apparatus S1 ... equipment V1 ... under the floor vents V2 ... under the floor inspection opening

Claims (7)

An inspection device comprising a rail installed in the underfloor space or the attic space of a building, and an inspection traveling body that travels along the rail,
A plurality of information storage means respectively installed at a plurality of information storage positions provided along the rail, and a plurality of sensors that can be installed at a plurality of measurement positions provided along the rail, respectively.
The rail is installed at a position having a traveling space under which the inspection traveling body can travel, and is installed so as to form a traveling route passing through the vicinity of an underfloor inspection port or a hut back inspection port,
The inspection traveling body is suspended from the rail, and automatically travels below the rail. The inspection traveling body reads a sensor installation command from the information storage means when passing near the information storage means during traveling. A plurality of sensor holding means configured to be capable of holding and separating each of the sensors,
The sensor holding means performs a sensor installation operation for separating the sensor and installing the sensor at the measurement position based on the sensor installation command, and determines a measurement position where the sensor is installed without holding the sensor. An inspection apparatus that performs a sensor recovery operation for recovering the sensor when passing. The rail is installed so as to form a travel route that passes through an imaging position that is a predetermined distance away from the inspection object,
The reading unit is configured to read position information or an imaging command from the information storage unit when passing in the vicinity of the information storage unit;
The inspection traveling body externally captures an imaging unit for imaging an inspection target object from a predetermined imaging position based on the imaging command, and position information read by the reading unit or image information captured by the imaging unit. The inspection device according to claim 1, further comprising output means for outputting the output to the device. Comprising display means capable of communicating with the inspection traveling body,
The output means outputs position information read by the reading means or image information picked up by the image pickup means to the display means,
The inspection device according to claim 1, wherein the display unit displays a current position of the inspection traveling body based on the position information and also displays an inspection result based on the image information. The traveling means includes a traveling wheel guided by the rail, and a first drive unit that rotationally drives the traveling wheel,
The sensor holding means includes: a holding member guided along the rail; and a second driving unit that displaces the holding member to a holding position that holds the sensor and a separation position that does not hold the sensor. Have
A control unit for controlling the first drive unit and the second drive unit;
The control unit controls the first driving unit to move the inspection traveling body to the measurement position based on the sensor installation command, and moves the sensor holding means to the separation position at the measurement position. Controlling the second drive unit to displace,
The control unit displaces one of the plurality of holding members at the separation position to the holding position when the inspection traveling body passes the measurement position where the sensor is installed. The inspection apparatus according to claim 1, wherein the second driving unit is controlled so as to collect the sensor.   The inspection apparatus according to claim 1, wherein the sensor includes a temperature sensor or a humidity sensor, and includes a sensor tag that can transmit an output of the temperature sensor or the humidity sensor together with information stored in advance.   The inspection apparatus according to claim 1, wherein the information storage unit includes an IC tag, and the reading unit includes an IC tag reader. Rail installed in under floor space or attic space of building, inspection traveling body traveling along the rail, and a plurality of information storage means respectively installed at a plurality of information storage positions provided along the rail And a plurality of sensors that can be installed at a plurality of measurement positions provided along the rails, and an inspection device that installs or collects the sensors simultaneously with the inspection of the underfloor space or the attic space. A method,
A traveling process in which the inspection traveling body is automatically suspended in a traveling space suspended from the rail and provided below the rail;
A reading step of reading an imaging command or a sensor installation command from the information storage means when the inspection traveling body passes near the information storage means during traveling;
The inspection traveling body performs each of an imaging step of imaging the inspection object from an imaging position away from the inspection object by a predetermined distance based on the imaging command,
A sensor installation step in which the inspection traveling body separates the sensor based on the sensor installation command and installs the sensor at the measurement position, and the sensor is collected when the inspection traveling body passes the measurement position where the sensor is installed. One of the sensor collection processes to perform, the inspection method characterized by the above-mentioned.

Images