| 摘要 |
Apparatus for inspecting pipes in a plant, comprising an elongate inspection head portion which is provided with an optical system for receiving an inspection image by approaching an inner surface of a pipe being an object to-be-inspected; at least one proximity sensor which is disposed in the inspection head portion in order to detect a relative distance between the inspection head portion and the proximate object; a positioning mechanism which consists of a plurality of driving shafts for advancing or retreating, rotating, and revolving the inspection head portion; a control device which is capable of programmed operation and which drives and controls the positioning mechanism in a predetermined operation sequence programmed in advance; a data storage device which stores positional data of the respective driving shafts of the positioning mechanism; and an image processor which is disposed at a position remote from the inspection head portion and which reconstructs the inspection image from video signals; the control device controlling the positioning mechanism on the basis of an output signal from the proximity sensor, so that the inspection head portion can be moved and controlled from an initially-set position outside the pipe towards an inspection position of the pipe without contacting with the object to-be-inspected. |
