| 摘要 |
PURPOSE:To provide a mobile inspection device and its positioning method by which safety such as reduction in an exposure dosage can be enhanced and installing positioning of a master machine in a reference position can be easily performed with high accuracy. CONSTITUTION:Self-travel is performed by a self-traveling mechanism arranged in a master machine 21, and installing positioning is performed by traveling to a reference position A after being installed through an opening part high in safety such as a low exposure dosage. When a track or a rail or the like becomes an obstacle to the travel of this master machine 21, a laser receiver 33 and an ultrasonic wave transmitter 34 are lowered by a raising-lowering mechanism, and interference with the obstacle is prevented, and the self-travel is made possible. The master machine 21 is beforehand moved to the vicinity of the reference position A arranged on an inspection object, and a dislocation quantity from the reference position is found through a mounted camera, and a moving position of a slave machine 9 is found on the basis of a received result of a laser from the slave machine and a received result of a transmitted ultrasonic wave in the slave machine 9 by using this slave machine 21 as a reference, and a position of the slave machine 9 is grasped with high accuracy. |
