JPH0358662B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to a floor inspection device suitable for use in inspecting the floor of a room isolated from the outside into which humans cannot enter.

<Prior art> A wide range of internal inspections are performed to inspect the interior of rooms that store hazardous materials and are restricted to human access, or rooms that are physically impossible for humans to enter due to narrow spaces. When carrying out repairs, etc., inspection equipment that is remotely controlled from the outside and runs on its own is used.
That is, for example, as shown in FIG. 9, when inspecting the condition of the weld line 13 on the floor surface 12 of a sealed chamber 11 to which no one can enter, an insertion tube 15 inserted through the side wall 14 is used. The floor surface inspection device 16 is brought into the interior through the cable 18, and the floor surface inspection device 16 is remotely controlled via a cable 18 by a remote control panel 17 installed outside to inspect the weld line 13.

A conventional floor inspection device of this kind is shown in FIGS. 10 and 11. FIG. 10 is a side view thereof, and FIG. 11 is a plan view thereof. As shown in the figures, the conventional floor surface inspection device 16 is mounted on a self-propelled trolley 21 equipped with front wheels 19 and rear wheels 20. ITV camera, CCD
An imaging device 22 such as a camera is mounted. The image pickup device 22 is fixed to the truck 21 so as to face forward in the traveling direction of the truck 21, and a mirror 23 is disposed in front of the image pickup device 22. The mirror 23 is arranged around a horizontal axis (10th
It is supported so that it can rotate in the direction of arrow A in the figure.
It is designed to be rotationally driven by the drive device 24. In other words, when the mirror 23 is tilted approximately 45 degrees as shown in FIG.
The light from the floor surface 12 located below the mirror 23
is reflected by the image pickup device 22 and enters the image pickup device 22.
2, the floor surface 12 is photographed, while the mirror 23
When rotated to a horizontal position, light from the front of the truck 21 is directly incident on the imaging device 22, and the front of the truck 21 is photographed by the imaging device 22. Further, 25 is a floor lighting device, and 26 is a front lighting device.

Therefore, when inspecting the floor surface 12, the mirror 2
3 is tilted approximately 45 degrees, and the floor lighting device 2
At step 5, the floor surface 12 is illuminated, the image pickup device 22 photographs the floor surface 12, and the photograph is displayed on an external display device (not shown) for visual inspection.

<Problems to be Solved by the Invention> In the conventional floor surface inspection device 16 described above, the trolley 2
1 will run across the inspected part, so
The area that can be inspected is limited to the front of the truck 21 and the inside of the front wheels 19 and 20. Therefore, if there is an obstacle to running on the floor 12, such as a groove, a protrusion, or a wall, the inspection area is limited to the area in front of the truck 21 and the inside of the front wheels 19, 20. There was a problem that surface inspection was not possible. In other words, if the part to be inspected is near a protrusion or wall, the trolley 21 will interfere with the protrusion or wall, making it impossible to inspect that part;
When the front and rear wheels 19, 20 approach the groove, there is a risk that the front and rear wheels 19, 20 may come off or fall into the groove, making it impossible to inspect parts to be inspected near the groove or on the opposite bank of the groove.

<Means for Solving the Problems> The present invention solves the problems in the conventional floor surface inspection devices described above, and is designed to solve the problems in the conventional floor surface inspection devices described above. It is an object of the present invention to provide a floor surface inspection device that enables inspection of the floor surface on the opposite bank and expands the inspection area.

To achieve this object, the floor inspection device according to the present invention has a configuration including a self-propelled truck, an imaging device mounted on the truck, and a vehicle that is rotatably supported by the truck and in front of the imaging device. a main mirror that is disposed in the main mirror and emits light from below or from the side toward the imaging device by changing its rotational position;
an arm that is attached to the truck and can protrude to the side of the truck; and an arm that is attached to the arm and is positioned to the side of the main mirror when the arm is projected, and reflects light from below toward the main mirror. It is characterized by being equipped with an auxiliary mirror.

<Function> When the trolley can run across the part to be inspected, the trolley is positioned above the part to be inspected, and the main mirror reflects light from below, and an image is taken by the imaging device. On the other hand, if it is not possible for the cart to straddle the part to be inspected, the cart is positioned to the side of the part to be inspected, and the arm is made to protrude to the side of the cart, and the auxiliary mirror is positioned above the part to be inspected, so that the light from below is reflected. The light is sequentially reflected by an auxiliary mirror and a main mirror and photographed by an imaging device.

<Example> An example of the present invention will be described in detail below with reference to FIGS. 1 to 8. FIG. 1 is a side view of a floor inspection device according to an embodiment of the present invention, FIG. 2 is a plan view thereof, FIG. 3 is a front view of a main mirror drive device, and FIG.
The figure is a front view of the arm driving device, FIG. 5 is a plan view thereof, FIG. 6 is a plan view of the floor inspection device using an auxiliary mirror, and FIG. 7 is a diagram showing the structure and function of the auxiliary mirror. FIG. 8 is a perspective view showing an example of a usage state of the floor inspection device.

As shown in FIGS. 1 and 2, the present floor surface inspection device 31 has a self-propelled truck 34 equipped with front wheels 32 and rear wheels 33 like the conventional one, and an ITV camera and an ITV camera on the truck 34. An imaging device 35 such as a CCD camera is mounted facing forward in the traveling direction of the truck 34. A ring-shaped main mirror rotary table 36 is supported in front of the imaging device 35 of the truck 34 so as to be rotatable around an axis parallel to the front-rear direction of the truck 34.
The main mirror 37 is mounted on the main mirror rotating table 36 on the trolley 3.
It is supported so that it can rotate around an axis perpendicular to the front-rear direction of 4. That is, as shown in FIG. 3, the main mirror rotating table 36 is rotatably supported by a support device (not shown) on the cart 34 in the direction of arrow B, and a gear is provided on the outer peripheral surface of the main mirror rotating table 36. 38 is formed, and a gear 40 fixed to the drive shaft of a main mirror rotating table drive motor 39 meshes with the gear 38 to constitute a main mirror rotating table driving device 41. Further, the main mirror 37 is supported by a shaft 42 fixed to one end of the main mirror via a bearing 43 so as to be rotatable in the direction of arrow C, and a gear 44 fixed to the shaft 42 and a main mirror A main mirror drive device 47 is configured by meshing with a gear 46 fixed to a drive shaft of a mirror drive motor 45. Therefore, when the main mirror rotating table drive motor 39 is driven by remote control, the main mirror rotating table 36 moves along with the main mirror 37 in the direction of arrow B.
When the main mirror 37 is rotated in the direction of arrow C and the main mirror drive motor 45 is driven, the main mirror 37 is rotated in the direction of arrow C.
Here, as shown in FIG. 1, in a state where the shaft 42 of the main mirror 37 is oriented in the substantially horizontal direction and the main mirror 37 is inclined at about 45 degrees with respect to the horizontal direction,
Light from the floor surface 12 located below the main mirror 37 is reflected by the main mirror 37 and enters the imaging device 35 . Also, while maintaining this inclination angle of the main mirror 37, move the main mirror rotating table 36 from the state shown in FIG.
When rotated 90 degrees, light from the side will be directed to the main mirror 37.
The light is reflected by the light and enters the imaging device 35. On the other hand, when the main mirror 37 is rotated from the state shown in FIG.

Further, an arm 48 is mounted on the truck 34 so as to be rotatable in a horizontal plane so as to protrude to the side of the truck 34, and an auxiliary mirror unit 49 is fixed to the tip of the arm 48. The arm 48 is attached to the truck 3 as shown in FIGS. 4 and 5.
4, it is fixed to the upper end of an arm column 52 which is rotatably supported around a vertical axis by a rotary table 50 and a support table 51, and can be rotated in the direction of arrow D by rotation of the arm column 52. It's getting old.
Further, a worm wheel 53 is fixed to the arm column 52, and a worm 55 fixed to the drive shaft of an arm drive motor 54 meshes with the worm wheel 53 to form an arm drive device 56. Therefore, when the arm drive motor 54 is driven by remote control, the arm 48 rotates in the direction of arrow D. The rotation of this arm 48 and the rotation of the above-mentioned main mirror rotary table 36 are controlled so that they are linked, and as shown in FIG. While being stored on the trolley 34, the main mirror rotating stand 36 is rotated 90 degrees as shown in FIG.
When the main mirror 37 faces to the right in the traveling direction of the vehicle, the arm 48 protrudes to the right side of the truck 34, and the auxiliary mirror unit 49 is positioned directly beside the main mirror 37. In addition, the auxiliary mirror unit 4
As shown in FIG. 7, 9 has a half mirror 57 which is an auxiliary mirror and an illumination lamp 58, and is fixed to the tip of the arm 48 at a predetermined angle. That is, by rotating the arm 48, the auxiliary mirror unit 49 is moved as shown in FIG.
When the main mirror 37 is positioned on the side of the trolley 34, the light from below is directed to the auxiliary mirror unit 4.
The inclination angle of the half mirror 57 and the fixed angle with respect to the arm 48 are determined so that the half mirror 57 of No. 9 reflects the light toward the main mirror 37. The illumination lamp 58 illuminates an area 59 surrounded by a broken line in FIG. 7 through the half mirror 57, and a shaded area 60 in FIG. Ru.

Furthermore, a floor lighting device 61 that illuminates the floor below the main mirror 37 and a front lighting device 62 that illuminates the front are attached to the trolley 34.

In such a configuration, the present floor surface inspection device 31
is carried into a chamber 11 as shown in FIG. 9, for example, through an insertion tube 15 inserted through a side wall 14, and the floor surface 12 is inspected. First, if the trolley 34 can run across the inspection target part, the main mirror 37 is tilted approximately 45 degrees and directed downward as shown in FIG. While slightly rotating the main mirror 37, the floor surface 12 below the main mirror 37 is reflected by the main mirror 37 and photographed by the imaging device 35 for inspection.

On the other hand, when the trolley 34 cannot run across the inspected area, for example, when inspecting the floor surface on the opposite bank of the groove 63 that the trolley 34 cannot cross, as shown in FIG. device 56
the main mirror 37 as shown in FIG.
The auxiliary mirror unit 49
are made to protrude to the side of the truck 34, and the auxiliary mirror unit 49 is positioned above the part to be inspected on the floor surface opposite the groove 63. Then, the illumination lamp 58 illuminates the lower part of the auxiliary mirror unit 49, and the floor surface 12 is sequentially reflected by the half mirror 57 and the main mirror 37, and is photographed by the imaging device 35 for inspection.

In the above embodiment, the auxiliary mirror unit 49
The mounting angle of the half mirror 57 with respect to the arm 48 is fixed, and the rotation of the main mirror rotation table 36 and the arm 48 are linked, so that when the auxiliary mirror unit 49 is projected to the side of the truck 34, The floor surface 12 below the auxiliary mirror unit 49 can be immediately photographed by the imaging device 35,
Although the operation can be simplified, in the present invention, for example, the inclination angle of the half mirror 57 may be changed by a drive source such as a hydraulic unit, and the main mirror rotating table 36 and the arm 48 may be separately arranged. It may also be possible to display a wider area by controlling the area. In addition, the auxiliary mirror unit 49
The illumination lamp 58 can be omitted when the floor surface 12 is sufficiently bright. Furthermore, in the above embodiment, a gear mechanism is used as a power transmission means for the drive devices 41, 47, 56, but in other cases, for example, when the load is light and the motor torque is small, a rubber friction wheel may be used instead of the gear. It is also possible to use power transmission means such as belts and chains.

<Effects of the Invention> As described above in detail with reference to one embodiment, according to the present invention, an auxiliary mirror is attached to an arm that can protrude to the side of a cart, and the auxiliary mirror is made to face the part to be inspected. Since it is now possible to inspect that part, it is now possible to inspect areas that could not be inspected conventionally, such as near obstacles or on the opposite bank of a ditch.

[Brief explanation of drawings]

FIGS. 1 to 8 show an embodiment of the present invention,
FIG. 1 is a side view of a floor inspection device according to an embodiment of the present invention, FIG. 2 is a plan view thereof, FIG. 3 is a front view of the main mirror drive device, and FIG. 4 is a front view of the arm drive device. Fig. 5 is a plan view thereof, Fig. 6 is a plan view of the floor inspection device using an auxiliary mirror, Fig. 7 is a perspective view showing the structure and function of the auxiliary mirror, and Fig. 8 is a plan view of the floor inspection device using an auxiliary mirror. FIG. 2 is a perspective view showing an example of a usage state of the floor inspection device. Further, FIG. 9 is a perspective view showing an example of a conventional floor inspection device in use, FIG. 10 is a side view of the conventional floor inspection device, and FIG. 11 is a plan view thereof. In the drawing, 31 is a floor inspection device, 34 is a trolley, 3
5 is an imaging device, 36 is a main mirror rotating table, 37 is a main mirror, 48 is an arm, and 49 is an auxiliary mirror unit.

Claims (1)

[Claims] 1. A self-propelled truck, an imaging device mounted on the truck, and a device that is rotatably supported by the truck and placed in front of the imaging device, and that changes its rotational position to emit light from below or from the side. a main mirror that reflects the image toward the imaging device; an arm that is attached to the truck and is capable of protruding to the side of the truck; and an arm that is attached to the arm and is located to the side of the main mirror when the arm projects. A floor inspection device comprising an auxiliary mirror that reflects light from below toward the main mirror.