| 摘要 |
PROBLEM TO BE SOLVED: To provide a self-propelled inspection apparatus for a metal plate, configured to easily and accurately determine a position of a dolly on a metal plate without using marking of the metal plate or a mark for image processing, and to inspect an outer periphery of the metal plate, thereby ensuring straight travel for a target travel route, and to provide an inspection method.SOLUTION: A self-propelled inspection apparatus includes: a dolly having at least two forward/backward rotating wheels and a drive part for driving the wheels, and traveling on a metal plate surface; a navigation signal transmitter or a navigation signal receiver mounted on the dolly and constituting an indoor position measurement system for measuring its own position in an indoor space on the basis of triangular principle; an inspection sensor provided in the dolly to inspect a flaw of the metal plate; and control means which calculates deviation between a target position and the own position recognized using an indoor position measurement system signal, instructs the drive part to rotate forward/backward or stop the wheels according to the deviation, and causes the dolly to autonomously travel to the predetermined target position. |
