Magnetic particle inspection device

Abstract

To provide a magnetic particle flaw detection device that can reliably eliminate liquid accumulation in the inspection fluid without using a handheld blower or blowing air into it, and to provide an operating mechanism that ensures reliable sliding of the air blower nozzle in the forward and backward directions and oscillation of the inspection fluid spray nozzle. [Solution] A magnetic particle inspection device comprising a frame and a trolley having three or more wheels, a magnetar, an oiler, a black light, etc., with an inspection liquid spray nozzle 12N and a blower 13 installed at the bottom of the frame, wherein the inspection liquid spray nozzle 12N can be swung around a vertical axis within a predetermined angular range by a swinging mechanism, and the blower 13 can be slid in the front-rear direction of the trolley within a predetermined operating range by a sliding mechanism.

Description

[Technical Field]

[0001] The present invention relates to a flaw detection image display system that displays the movement trajectory of a magnetic particle flaw detection device, which magnetizes a magnetic object such as a steel plate or butt weld using a magnetizer, sprays an inspection liquid containing magnetic powder onto the magnetized object's surface, and detects defects present in the object from the magnetic powder pattern formed on the object's surface, and displays an image captured at a specified position within the movement trajectory. [Background technology]

[0002] Magnetic particle testing involves bringing the magnetic poles of an electromagnet on a magnetizer into contact with the object to be tested, energizing the poles to magnetize the object, then spraying a test solution containing magnetic particles onto the object's surface, shining a black light on the areas where the magnetic particles have been sprayed, and having the inspector observe the magnetic particle patterns that appear on the object's surface. This process is physically demanding, as it involves the inspector repeatedly crouching with their head down, moving and operating testing equipment such as the magnetizer, test solution sprayer, and black light while observing the object. Furthermore, the work is often performed in extremely hot or cold environments with no lighting, such as inside storage tanks, making it difficult to maintain concentration, resulting in poor work efficiency, a high likelihood of missing defects, and a shortage of inspectors.

[0003] Therefore, the applicant has invented and obtained a patent for a magnetic particle testing apparatus that includes a frame consisting of a chassis (1) and a support column (2), a trolley (4) with four wheels (3), a magnifier (5), an oiler (6), a blower (7), a black light (8), and a camera (9) in order to improve the efficiency of magnetic particle testing work <Patent Document 1: Japanese Patent Application Publication No. 2021-32612 (Japanese Patent No. 6440892)>. In the magnetic particle testing apparatus according to this patented invention, the condition of the surface of the object to be tested is captured by a camera (9), the captured image is displayed on a display device (14), and the image information is recorded in a storage device built into the display device (14) (see paragraph 0017 and Figure 1, etc.). However, since positional information that identifies which part of the object to be tested is not recorded, if a new defect is discovered at a later date, the condition of the area around the new defect at the time of the magnetic particle testing cannot be confirmed, and the error may be attributed to the inspector. In particular, when the object to be tested is a corner of a storage tank or near the connection between a flat surface and a side surface, it is necessary to contact one magnetic pole of the magnetizer with the flat surface and the other magnetic pole with the side surface in order to detect defects in the welded parts of the corner or the steel plate near the connection, which is inefficient and time-consuming, so it is desirable to avoid re-inspections due to the errors described above as much as possible.

[0004] Furthermore, Patent Document 2 (Japanese Patent Publication No. 2015-111111) describes that in a deterioration diagnosis support system, the data storage unit (406) stores data ID, time information, location information, etc., associated with each image data captured by the camera (46) in memory (paragraph 0086), deterioration information can be image data obtained by imaging surface scratches occurring on a structure (paragraph 0026), location information can be a relative position from a reference position set on or near the structure, or an absolute position measured using GPS, etc. (paragraph 0028), and when an operator searches using location information as a key, image data etc. associated with the location information can be displayed and output (paragraph 0145). [Prior art documents] [Patent Documents]

[0005] [Patent Document 1] Japanese Patent Publication No. 2021-32612 (Japanese Patent No. 6832398) [Patent Document 2] Japanese Patent Publication No. 2015-111111 (Japanese Patent No. 6423686) [Overview of the Initiative] [Problems that the invention aims to solve]

[0006] However, as mentioned above, the magnetic particle testing apparatus described in Patent Document 1 has the problem that it is not possible to select image information taken at a specific location from the image information recorded in the storage device during the magnetic particle testing work and later confirm the condition of the surface of the object under test at that location during the work. Furthermore, the deterioration diagnosis support system described in Patent Document 2 stores data ID, time information, location information, etc., associated with each captured image data (deterioration information) in memory, and when an operator searches using location information as a key, it can display and output the image data etc. associated with the location information. However, the location information is a relative position from a reference position set on or near the structure, or an absolute position measured using GPS, etc. According to the detailed description of the invention, the rotational drive of the cable gripping unit (48) is controlled to move the inspection robot (40) back and forth in the longitudinal direction of the cable (50), and the location information acquisition unit (408) monitors the rotational drive of the cable gripping unit (48) and measures the distance moved from the reference position to acquire location information (see paragraphs 0073 and 0080, etc.). Moreover, according to the explanation in paragraph 0073, the rotation angle of the camera (46) is also controlled to acquire image data of the structure under test, so there is a problem that the range of image data cannot be determined by simply knowing the location information of the inspection robot (40). The first objective of this invention is to solve these problems and enable, after performing magnetic particle testing, to select image information captured at a specific location during the process and to later confirm the condition of the surface of the specimen at that location. Furthermore, a second challenge is to enable the selection and display of image information that reliably contains a specified area from among multiple image data obtained during magnetic particle testing in environments such as the inside of storage tanks, where there is no lighting and GPS cannot be used. [Means for solving the problem]

[0007] The invention according to claim 1 is a trolley having a frame and three or more wheels, A magnetar capable of magnetizing at least the flaw detection area of ​​the sample, An oiler capable of spraying an inspection liquid containing magnetic powder onto at least the aforementioned flaw detection area, A black light that irradiates ultraviolet light onto the flaw detection area, A camera capable of capturing images of the inspection area, which is magnetized, sprayed with an inspection liquid containing magnetic powder, and irradiated with ultraviolet light, and acquiring inspection image information, A magnetic particle testing apparatus having a display means capable of displaying various types of information, The camera is mounted on the trolley with its optical axis fixed. A means for measuring the time when the camera captures an image of the flaw detection area, A means for acquiring shooting position information that acquires the position information of the trolley at the time when the flaw detection area is photographed with the camera, A flaw detection image information storage means records in association the flaw detection image information acquired by the aforementioned camera, the shooting time information measured by the aforementioned shooting time information measurement means, and the shooting location information acquired by the aforementioned shooting location information acquisition means. A means for specifying shooting time information and shooting location information, A flaw detection image information selection means selects flaw detection image information from among a plurality of flaw detection image information recorded in the flaw detection image information storage means that matches the specified shooting time and shooting location information, based on the shooting time information and shooting location information specified by the shooting information specification means. The system is characterized by comprising a selected flaw detection image information display means for displaying the flaw detection image information selected by the flaw detection image information selection means on the display means.

[0008] The invention according to claim 2 is a magnetic particle testing apparatus according to claim 1, The subject itself or the subject is provided with a plurality of position notification means installed around the subject, The aforementioned means for acquiring shooting location information is: A distance measuring means for measuring the distance between a point on the trolley and the position notification means, When the flaw detection area is photographed by the camera, based on the distance between a point on the carriage measured by the distance measuring means and the plurality of position notification means, a photographing position determination means for calculating the position of a point on the carriage and determining the position information of the carriage, characterized by comprising.

[0009] The invention according to claim 3 is the magnetic flaw detection device according to claim 1, Comprising object distance measuring means for measuring the distance to an object in the surroundings on the carriage, <0000​​​​​​​​​​​​​​​​​​​​The magnetic particle inspection apparatus according to claim 1 comprises a trolley, a magnifier, an oiler, a black light, a camera capable of photographing a flaw detection area, and a display means, wherein the camera is mounted on the trolley with its optical axis fixed, and includes a shooting time information measuring means for measuring the time when the flaw detection area is photographed by the camera, a shooting position information acquiring means for acquiring the position information of the trolley at the time the flaw detection area is photographed by the camera, a flaw detection image information storage means for recording the flaw detection image information acquired by the camera, the shooting time information measured by the shooting time information measuring means, and the shooting position information acquired by the shooting position information acquiring means in association with each other, and a shooting information specifying the shooting time information and the shooting position information. The system includes a reporting specification means, a flaw detection image information selection means that selects flaw detection image information from among a plurality of flaw detection image information recorded in the flaw detection image information storage means that matches the specified shooting time information and shooting location information based on the shooting time information and shooting location information specified by the shooting information specification means, and a selected flaw detection image information display means that displays the flaw detection image information selected by the flaw detection image information selection means on the display means. Therefore, from among the plurality of flaw detection image information recorded in the flaw detection image information storage means, flaw detection image information that matches the specified shooting time information and includes the location of the specified flaw detection location information can be displayed on the display means, allowing the condition of the object under test during past magnetic particle testing to be checked at any time.

[0012] According to the invention of claim 2, in addition to the effects of the invention of claim 1, the invention is further equipped with a plurality of position notification means installed on or around the subject, and the shooting position information acquisition means includes a distance measuring means for measuring the distance between a point on the trolley and the position notification means, and a shooting position determination means for calculating the position of a point on the trolley and determining the position information of the trolley based on the distance between a point on the trolley and the plurality of position notification means measured by the distance measuring means at the time the camera photographs the flaw detection area. Therefore, in magnetic particle flaw detection work in environments where there is no lighting and GPS cannot be used, such as inside a storage tank, it is possible to select and display flaw detection image information that reliably includes a specified area from among the plurality of flaw detection image information obtained by photography.

[0013] According to the invention of claim 3, in addition to the effects of the invention of claim 1, the trolley is equipped with an object distance measuring means for measuring the distance to surrounding objects, and the shooting position information acquisition means includes a map creation means that creates a map of the inside of the subject based on the distance to surrounding objects measured by the object distance measuring means while the trolley is moving, and a shooting position determination means that estimates where the object distance measuring means is located on the map created by the map creation means based on the distance to surrounding objects measured by the object distance measuring means at the time the camera photographs the flaw detection area, and determines the position information of the trolley, so that in magnetic particle flaw detection work in an environment where there is no lighting and GPS cannot be used, such as inside a storage tank, it is possible to select and display flaw detection image information that reliably contains a specified area from among multiple flaw detection image information obtained by photography.

[0014] According to the invention of claim 4, in addition to the effects of the invention of any one of claims 1 to 3, the invention further comprises: a flaw detection image extraction means that extracts a series of flaw detection image information from flaw detection image information recorded in a flaw detection image information storage means that is close to the shooting time information specified by a shooting information specification means; and a superimposed image display means that displays on a display means a superimposed image obtained by superimposing contour information showing the entire area of ​​the object to be examined, trajectory information of the trolley moved during the magnetic particle testing work corresponding to the shooting time information specified by the shooting information specification means, and all the flaw detection image information extracted by the flaw detection image extraction means. The shooting information specification means can specify shooting position information using a position identification means that identifies any point within the superimposed image displayed on the display means. This allows for an overview of the entire area of ​​the subject, the trajectory of the trolley moved during the magnetic particle testing operation corresponding to the specified shooting time information, and all the inspection image information captured during the magnetic particle testing operation. By identifying any point within the superimposed image, the condition of the subject near that point can be confirmed in detail. [Brief explanation of the drawing]

[0015] [Figure 1] A perspective view of the magnetic particle testing apparatus according to the embodiment, taken from the front left and slightly above. [Figure 2]A perspective view from the rear left of the magnetic particle testing apparatus according to the embodiment. [Figure 3] A side view of the magnetic particle testing apparatus according to the embodiment, taken from the side in contact with the side of the specimen to be tested. [Figure 4] A diagram showing the positional relationship between the magnetar and the object under test before magnetizing the flaw detection area. [Figure 5] A diagram showing the positional relationship between the magnetar and the specimen during magnetization preparation of the flaw detection area. [Figure 6] A diagram showing the positional relationship between the magnetar and the object under test at the time the flaw detection area is magnetized. [Figure 7] A diagram illustrating the guide roller, magnetic attachment mechanism, and operation of the magnetic attachment mechanism in this embodiment. [Figure 8] A diagram showing the blower in the embodiment positioned at the front. [Figure 9] A diagram showing the blower in the embodiment positioned at the rear. [Figure 10] This diagram shows the blower of the embodiment viewed from a diagonal angle below. [Figure 11] A diagram illustrating the sliding motion of the blower nozzle and the oscillation of the inspection liquid spray nozzle in the embodiment. [Figure 12] A diagram illustrating the configuration for storing flaw detection image information and the like in the embodiment. [Figure 13] A diagram illustrating the configuration for checking flaw detection image information in modified example 18. [Modes for carrying out the invention]

[0016] Embodiments of the present invention will be described below with reference to examples. [Examples]

[0017] Figure 1 shows a perspective view of the magnetic particle testing apparatus according to the embodiment from the front left diagonally above, Figure 2 shows a perspective view from the rear left, and Figure 3 shows a side view from the side in contact with the side surface of the object to be tested 1. The magnetic particle testing apparatus of this embodiment has a trolley 6 and a small trolley 11, as shown in Figures 1 to 3. The trolley 6 has a frame consisting of a chassis section 2, a support section 3, and a magnet support frame 4, and four wheels 5 installed at the bottom of the chassis section 2. The small trolley 11 has a small chassis section 8 connected to the right side of the chassis section 2 in the direction of travel by an L-shaped connector 7, a small support section 9, and four small wheels 10 installed at the bottom of the small chassis section 8.

[0018] Mounted on the chassis section 2 are an oiler 12 (inspection fluid spraying mechanism) for spraying an inspection fluid containing magnetic powder onto the inspection area of ​​the object to be examined 1, a blower 13 (inspection fluid diffusion mechanism) for blowing air onto the inspection area where the inspection fluid has been sprayed, a black light 14 for irradiating ultraviolet light when observing the inspection area where the inspection fluid has been sprayed, a camera 15 for photographing the inspection area where ultraviolet light is being irradiated, a laser pointer 16 for spotting a specific point on the inspection area, a guide roller 17 that contacts the side of the object to be examined 1 and can roll in the direction of travel of the trolley 6, and a magnetic attachment mechanism 18 that acts to press the guide roller 17 against the side of the object to be examined 1. In Figures 2 and 3, thin lines extend from the camera 15 and the tip of the inspection liquid spray nozzle 12N of the oiler 12. These lines indicate the optical axis of the camera 15 and the spray direction of the inspection liquid spray nozzle 12N, and do not actually exist. Furthermore, the magnetic attachment mechanism 18 is located directly above the guide roller 17, and the two sets of guide rollers 17 and the magnetic attachment mechanism 18 are positioned at the front and rear, protruding to the left side in the direction of travel of the chassis section 2.

[0019] The Magnar support frame 4 is installed in the center of the chassis section 2, perpendicular to the direction of travel of the trolley 6, and extending diagonally at a 45-degree angle to the upper surface (horizontal plane) of the chassis section 2. A sliding body moving mechanism 19 is installed on the upper part of the Magnar support frame 4, and a sliding body 20 is installed below the sliding body moving mechanism 19, which slides in the longitudinal direction of the Magnar support frame 4 in accordance with the extension and contraction of the sliding body operating rod 19R. Furthermore, the U-shaped member 21, which is formed to protrude from the lower part of the sliding body 20, has elongated holes 21H formed on its opposing sides, and a shaft portion 23 that connects the upper parts of the two L-shaped magnet holders 22 is inserted into these elongated holes 21H (see Figure 4). Magners, consisting of a magnet body portion 24, a flat-side magnetic pole 25, and a side-side magnetic pole 26, are fixed to the lower part of the two L-shaped magnet holders 22. The Magnar main body 24 is U-shaped, with a flat-side magnetic pole 25 formed at one end whose lower surface can contact the flat surface of the object 1, and a side-side magnetic pole 26 formed at the other end whose side surface can contact the side surface of the object 1. The movement and detailed configuration of the sliding body 20, the U-shaped member 21, the two L-shaped magnet holders 22, the shaft portion 23, and the magnets will be described later.

[0020] The upper part of the support column 3 is equipped with a control panel 27 which has switches to control the on / off and strength of the oiler 12, blower 13, black light 14, and Magnar main unit 24, a camera switch to control the shutter, focus adjustment mechanism and field of view adjustment mechanism of the camera 15, a laser pointer switch to control the on / off and direction of the laser pointer 16, a sliding body switch to control the sliding body moving means 19, and a Magnar switch to control the supply of power to the Magnar main unit 24, as well as a display device 28 (personal computer or tablet terminal, etc.) which displays an image of the flaw detection area captured by the camera 15 and stores the flaw detection image information in the flaw detection image information storage means 33, and a distance measuring means 35. The inspector then checks the image of the inspection area displayed on the display device 28. If a defect is found, the inspector operates the laser pointer switch to turn on the laser pointer 16, controls its direction so that the spotlight hits the area with the defect, and then operates the shutter of the camera 15. If no defect is found, the camera 15's shutter is operated without turning on the laser pointer 16. When the shutter is operated, the camera 15 photographs the inspection area of ​​the object 1 and transmits the inspection image information to the display device 28. The transmitted inspection image information is stored in the inspection image information storage means 33, associated with the time of photography information indicating the time the inspection area was photographed and the position information indicating the position of the trolley 6 at the time the inspection area was photographed. The time of photography information measuring means 32 for measuring the time of photography and the position information acquiring means 34 for acquiring the position information of the trolley 6 at the time of photography will be described later.

[0021] A compressor, consisting of a compressor 29 and a tank 30 for storing compressed air, is mounted on top of the small chassis section 8 and serves as the power source for the sliding body moving means 19. Furthermore, the small trolley 11 is connected to the chassis 2 of the trolley 6 by an L-shaped connector 7, and has four small wheels 10 on its lower part, so it moves together with the trolley 6.

[0022] Figure 4 shows the positional relationship between the Magnar and the specimen before magnetizing the flaw detection area, Figure 5 shows the positional relationship between the Magnar and the specimen during preparation for magnetizing the flaw detection area, and Figure 6 shows the positional relationship between the Magnar and the specimen at the time of magnetizing the flaw detection area. Note that in Figures 4-6, components not directly related to the support, retention, and movement of the Magnar have been omitted in order to make the positional relationship between the Magnar and the subject easier to see.

[0023] Next, we will explain the configuration related to the movement of the Magnar. The sliding body moving mechanism 19, installed on the upper part of the Magner support frame 4, is operated by the air pressure of a compressor, extending and retracting the sliding body operating rod 19R. Two sliding body springs 20S are provided between the upper part of the sliding body 20 and the lower part of the Magner support frame 4, biasing the sliding body 20 downwards. Furthermore, a U-shaped body 21 is connected to the lower part of the sliding body 20, and elongated holes 21H are provided on two sides of the U-shaped body 21. The longitudinal direction of the elongated holes 21H is perpendicular to the slope of the magnet support frame 4. A shaft portion 23 connecting two L-shaped magnet holders 22 passes through the two elongated holes 21H, and the two L-shaped magnet holders 22 and the magnets fixed to their lower parts are rotatably suspended from the U-shaped body 21. Furthermore, a retaining spring 21S is provided between the connecting pin 21P that connects the upper ends of the U-shaped body 21 and the retaining connecting pin 22P that connects the upper ends of the two L-shaped magnetar retainers 22. Therefore, when no external force is acting, the shaft portion 23 is positioned at the lower end of the elongated hole 21H due to gravity and the upward biasing force of the retaining spring 21S. Furthermore, the sliding body 20 moves downward when the sliding body operating rod 19R extends, and moves upward when the sliding body operating rod 19R retracts.

[0024] At the start of the magnetic particle testing operation, as shown in Figure 4, the magnetic pole 25 on the flat surface and the magnetic pole 26 on the side surface are separated from the flat surface and side surface of the specimen 1, respectively. With both magnetic poles 25 and 26 separated from the object 1, the trolley 6 is moved, and as shown in Figure 1, the two guide rollers 17 are brought into contact with the side surface of the object 1, positioning it in the flaw detection area. Then, by extending the sliding body operating rod 19R and moving the sliding body 20 and the U-shaped body 21 downward along the upper surface of the magnet support frame 4, the L-shaped magnet holder 22 and the magnet, which are suspended from the U-shaped body 21, also move downward, and as shown in Figure 5, the magnetic pole 25 on the flat side comes into contact with the flat surface of the specimen 1. Subsequently, when the sliding body operating rod 19R is further extended from the state shown in Figure 5, the shaft portion 23 moves diagonally downward along with the diagonal downward movement of the U-shaped body 21. However, the magnetic pole 25 on the flat side is in contact with the flat side and cannot move any further, so as shown in Figure 6, only the shaft portion 23 rotates forward around the point of contact between the magnetic pole 25 on the flat side and the flat side. It then stops when the magnetic pole 26 on the side side reaches the side of the object being examined 1. Therefore, in Figure 6, the magnetic pole 25 on the flat side and the magnetic pole 26 on the side side are in firm contact with the flat side and side of the object being examined 1, respectively, and the flaw detection area can be reliably magnetized. Furthermore, in the state shown in Figure 6, the shaft portion 23 is located above the elongated hole 21H.

[0025] Figure 7 illustrates the guide roller 17 and magnetic attachment mechanism 18 of the embodiment, as well as the operation of the magnetic attachment mechanism 18. Figure 7(A) is a front view of a pair of guide rollers 17 and magnetic attachment mechanism 18 in the normal state, as seen from the front side of the trolley 6, while Figures 7(B) to (F) illustrate the arrangement of magnets and magnetic flux inside the magnetic attachment mechanism 18 in various states. As shown in Figure 2, a pair of guide rollers 17 and a magnetic attachment mechanism 18 are installed in close proximity on the same frame. When the trolley 6 moves to the next inspection area, the guide rollers 17 normally rotate in contact with the side surface of the object to be inspected 1, as shown in Figure 7(A), while the magnetic attachment mechanism 18 is positioned to maintain a small distance from the side surface of the object to be inspected 1, acting to press the guide rollers 17 against the side surface of the object to be inspected 1. Therefore, the trolley 6 can move to the next inspection area without shifting while maintaining a constant distance from the side surface.

[0026] Figure 7(B) shows the arrangement of magnets and magnetic flux inside the magnetic attachment mechanism 18 under normal conditions. Specifically, on the right side of the magnetic attachment mechanism 18 (the side facing the specimen 1), a central right-side permanent magnet is positioned in the center, with its upper surface as the north pole and its lower surface as the south pole. Above and below it, at equal intervals, are a right-side upper permanent magnet and a right-side lower permanent magnet, both with their upper surfaces as the south pole and their lower surfaces as the north pole. To the right of these three permanent magnets are non-magnetic materials (buffers) to adjust the attractive force. Furthermore, on the left side (bogie 6 side) of the magnetic attachment mechanism 18, a left upper magnet (a permanent magnet in this embodiment) is positioned adjacent to the right central permanent magnet and the right upper permanent magnet, and in the normal state, the right side is the north pole and the left side is the south pole. Similarly, a left lower magnet (a permanent magnet in this embodiment) is positioned adjacent to the right central permanent magnet and the right lower permanent magnet, and in the normal state, the right side is the south pole and the left side is the north pole. The housing of the magnetic attachment mechanism 18 is made of a non-magnetic material (for example, aluminum or hard resin).

[0027] In the state shown in Figure 7(B), a closed magnetic path, indicated by the dotted line, is formed around the permanent magnet in the center right, and the magnetic attachment mechanism 18 attempts to move in the direction of attracting to the side surface of the specimen 1, thereby acting to press the guide roller 17 against the side surface of the specimen 1. Therefore, the guide roller 17 can guide the trolley 6 without leaving the side surface. However, if some external force is applied and the magnetic attachment mechanism 18 gets too close to the side surface, the side surface of the housing of the magnetic attachment mechanism 18 may attract to the side surface of the specimen 1, as shown in Figure 7(C), causing the trolley 6 to stop. Therefore, if the situation shown in Figure 7(C) occurs, the dial 31 on the top of the magnetic attachment mechanism 18 is rotated 180 degrees as shown in Figure 7(D). In the state shown in Figure 7(D), the upper left magnet, fixed to the shaft (not shown) extending downward from the dial 31, has its right side as the south pole and its left side as the north pole, while the lower left magnet, fixed to the coaxial body, has its right side as the north pole and its left side as the south pole. As a result, three closed magnetic paths are formed between the upper right permanent magnet and the upper left magnet, between the central right permanent magnet, the upper left magnet and the lower left magnet, and between the lower right permanent magnet and the lower left magnet, as indicated by the dotted lines. Therefore, the magnetic attachment mechanism 18 loses its attractive force to the side surface of the object 1. When the magnetic attachment mechanism 18 loses its magnetic force against the side surface of the object 1, the magnetic attachment mechanism 18 detaches from the side surface due to the repulsive force of the guide roller 17, which is strongly pressed against the side surface of the object 1, resulting in the state shown in Figure 7(E). Afterward, when dial 31 is rotated 180 degrees, as shown in Figure 7(F), the upper left magnet becomes north pole on the right and south pole on the left, and the lower left magnet becomes south pole on the right and north pole on the left, returning to the normal state as in Figure 7(B).

[0028] Figure 8 shows the blower 13 of the embodiment positioned at the front, Figure 9 shows the blower 13 of the embodiment positioned at the rear, Figure 10 shows the blower 13 of the embodiment viewed from diagonally below, and Figure 11 illustrates the sliding motion of the blower nozzle 13N in the front-rear direction and the swinging motion of the inspection liquid spray nozzle 12N of the embodiment. As shown in Figures 8 and 9, the blower 13 consists of a blower 13B that sends out air and a blower nozzle 13N that blows the air sent out from the blower 13B onto the inspection area. Furthermore, the blower 13 is mounted on the lower surface of the blower fixing plate 13F, which is installed protruding to the left side in the direction of travel at the front of the chassis 2, so that it can slide in the front-rear direction. The sliding mechanism of the blower 13, as shown in Figures 10 and 11(A) and (B), consists of a sliding motor 13M installed on the upper surface of the blower fixing plate 13F and supplying power to slide the blower 13 in the front-rear direction within a predetermined range of motion, a sliding crank 13C fixed to the rotating shaft of the sliding motor 13M, a slider 13S slidably attached to the lower surface of the blower fixing plate 13F to which the blower 13B is fixed, and a connecting rod 13R having hinge pins at both ends that connects the tip of the sliding crank 13C and the front end of the slider 13S. In other words, the rotational motion of the sliding motor 13M is converted into linear motion via the sliding crank 13C and connecting rod 13R, and by sliding the slider 13S, the blower 13 can be slid in the front-rear direction within a range of motion of distance d from the front position shown in Figures 8 and 11(A) to the rear position shown in Figures 9 and 11(B).

[0029] As shown in Figures 10 and 11(C) and (D), a spray nozzle support plate 12S that supports the inspection liquid spray nozzle 12N and its swinging mechanism is installed above the inspection liquid spray nozzle 12N, and a swinging motor 12M that supplies power to swing the inspection liquid spray nozzle 12N within a predetermined angular range is installed on the upper surface of the spray nozzle support plate 12S. Furthermore, a spray nozzle holder 12H, which holds the inspection liquid spray nozzle 12N, is installed on the lower surface of the spray nozzle support plate 12S so as to be able to rotate around a vertical axis. The oscillation mechanism of the inspection liquid spray nozzle 12N consists of an oscillation motor 12M, an oscillation crank 12C fixed to the rotation axis of the oscillation motor 12M, and an oscillation link 12L having hinge pins at both ends that connects the tip of the oscillation crank 12C to the spray nozzle holder 12H. In other words, the rotational motion of the oscillating motor 12M is converted into oscillating motion via the oscillating crank 12C and the oscillating link 12L, and by oscillating the spray nozzle holder 12H, the inspection liquid spray nozzle 12N can be oscillated around the vertical axis within a predetermined angular range. In Figures 10 and 11(C) and (D), nothing is shown connected to the rear end of the test liquid spray nozzle 12N. However, in reality, a flexible tube for supplying the test liquid is connected between the oiler 12 and the rear end of the test liquid spray nozzle 12N.

[0030] The above-mentioned shooting time information measuring means 32 for measuring the shooting time, shooting position information acquiring means 34 for acquiring the position information of the trolley 6 at the time of shooting, and flaw detection image information storage means 33 for storing flaw detection image information, shooting time information, and shooting position information in association will be described. Figure 12 is a diagram illustrating the configuration for storing flaw detection image information and the like in the embodiment. As shown in Figure 12, the shooting time information measuring means 32 has a radio-controlled clock that receives standard radio waves to set the time or a high-precision clock with an average monthly deviation of 15 seconds or less, and transmits the shooting time information to the flaw detection image information storage means 33 when it receives an operation signal from the shutter of the camera 15. When the shutter of the camera 15 is operated, the flaw detection image information, which is the image information of the flaw detection area S that has been captured, is transmitted to the display device 28 and the flaw detection image information storage means 33, and the image of the flaw detection area S is displayed on the screen of the display device 28. Furthermore, as shown in Figures 1-3 and 12, the shooting position information acquisition means 34 includes a distance measuring means 35 and a position information calculation means 36 installed at the upper end of the support column 3 on the side of the trolley 6 closest to the subject 1. The distance measuring means 35 measures the distance to the subject itself or a plurality of position notification means 37a-37d installed around the subject 1 when it receives an operation signal from the shutter of the camera 15, and the position information calculation means 36 calculates the position information of the trolley 6 based on the measured distance to at least two position notification means 37 (for example, 37a and 37b). Once the position information of the trolley 6 is calculated, the shooting position information acquisition means 34 transmits the calculation result as shooting position information to the flaw detection image information storage means 33. Then, when the flaw detection image information from the camera 15 or display device 28, the shooting time information from the shooting time information measuring means 32, and the shooting position information from the shooting position information acquisition means 34 are transmitted to the flaw detection image information storage means 33, the flaw detection image information storage means 33 stores the flaw detection image information, shooting time information, and shooting position information in association with each other. Furthermore, since the position of the distance measuring means 35 and the position of the flaw detection area S are always in a constant relationship, if all the flaw detection image information obtained by magnetic particle testing is stored in association with the shooting time information and shooting position information, it becomes possible to select the flaw detection image information of the flaw detection area S that includes the point to be checked at any time by identifying the position information of the trolley 6 that indicates the position of the distance measuring means 35.

[0031] Next, we will explain how the shooting position information is acquired by the shooting position information acquisition means 34, that is, how the distance measuring means 35 measures the distance to the multiple position notification means 37a to 37d, and how the position information calculation means 36 calculates the position information of the trolley 6. The position notification means 37 is a position signal transmitting / receiving means that receives a trigger signal from the distance measuring means 35 and transmits a position signal, or a display unit (such as a barcode) that displays position information. The distance measuring means 35 includes a position signal receiving / receiving means that transmits a trigger signal and receives a position signal if the position notification means 37 is a position signal transmitting / receiving means, and a display reading means (such as a barcode reader) if the position notification means 37 is a display unit. Furthermore, the distance measurement by the distance measuring means 35 is performed, in the former case, by measuring the time from when the position signal receiving / receiving means transmits a trigger signal until the position signal is received, and in the latter case, by the focusing means (ultrasonic sensor type, stereo camera type, etc.) of the display reading means. Furthermore, the calculation of position information (XY coordinates of the distance measuring means 35) by the position information calculation means 36 can be easily performed, for example, as shown in the upper left of Figure 12, based on position signals transmitted from position notification means 37a and 37b, or the XY coordinates of position notification means 37a and position notification means 37b obtained from the display bodies of position notification means 37a and 37b read by the display reading means, as well as the distance La between distance measuring means 35 and position notification means 37a and the distance Lb between distance measuring means 35 and position notification means 37b measured by distance measuring means 35. In other words, if the distance measuring means 35 and the position notification means 37a to d are placed on a horizontal plane parallel to the bottom surface of the subject 1, with the center of the bottom surface as the origin, the radius of the bottom surface as R, and the XY coordinates of the distance measuring means 35 as (x,y), then the XY coordinates of the position notification means 37a are (0,R) and the XY coordinates of the position notification means 37b are (R,0), so x and y can be found from the following two equations. x 2 +(Ry) 2 =La 2 ...Equation (1) (Rx) 2 +y 2 =Lb 2 ...Equation (2) And (La 2 -Lb 2) If α is set to / 2R, then y = x - α. Substituting this into Equation (1), from the quadratic formula, x becomes Equation (3) and y becomes Equation (4). x = {(R + α) ± (La 2 + Lb 2 - R 2 - α 2 ) 1 / 2} / 2 ······ Equation (3) y = {(R - α) ± (La 2 + Lb 2 - R 2 - α 2 ) 1 / 2} / 2 ······ Equation (4) Note that only from Equation (3) and Equation (4), two solutions can be obtained. However, if the distance measurement means 35 is at a position slightly away from the position notification means 37a or 37b, one of the solutions will be at a position outside the bottom surface of the test object 1 and thus can be excluded. And when the distance measurement means 35 is at a position close to both the position notification means 37a and 37b, it is advisable to obtain the XY coordinates of the distance measurement means 35 using the position notification means 37c or 37d that is far from the distance measurement means 35.

[0032] The working procedure of magnetic particle inspection performed using the magnetic particle inspection device of the embodiment will be described. (1) Check whether the guide roller 17 is in contact with the side surface of the test object 1 and the magnetic attachment mechanism 18 is in a state where it is slightly separated from the side surface (the state in FIG. 1). (2) After operating the black light 14 and waiting for the luminance to stabilize, constantly irradiate the inspection area S of the test object 1 with ultraviolet rays (since the black light 14 is fixed to the tip of the flexible tube, the irradiation direction of the ultraviolet rays can be freely adjusted). (3) Operate the camera 15 and the display device 28. The camera 15 can capture moving images, and by operating the shutter, it can capture a still image of the inspection area S and transmit the inspection image information to the display device 28 and the inspection image information storage means 33. (4) Operate the Euler 12 and the swing motor 12M, spray the inspection liquid while swinging the inspection liquid spraying nozzle 12N, spray the inspection liquid containing magnetic powder over the entire inspection area of the test object 1, and stop the spraying after a predetermined time has elapsed. (5) In order to eliminate the accumulation of the inspection fluid, the blower 13 is activated and air is blown from the blower nozzle 13N onto the surface of the flaw detection area S where the inspection fluid has been sprayed to control the flow rate of the inspection fluid containing magnetic powder. Furthermore, the inspection fluid spray nozzle 12N and the air blower nozzle 13N can be manually adjusted to control the incidence angle of the inspection fluid and airflow relative to the floor surface, as well as the left-right angle, allowing for precise spraying of the inspection fluid and airflow into the flaw detection area S between the flat-side magnetic pole 25 and the side-side magnetic pole 26. Furthermore, by rotating the sliding motor 13M, the blower 13 can be slid from a forward position to a backward position. Therefore, after positioning the blower nozzle 13N in a position where air can easily reach the liquid puddle in the flaw detection area S, the liquid puddle can be reliably eliminated by moving the blower nozzle 13N forward or backward. (6) The switch on the control panel 27 located on the upper part of the support column 3 is operated to activate the sliding body moving means 19 and retract the sliding body operating rod 19R so that the flat-side magnetic pole 25 and the side-side magnetic pole 26 are separated from the flat and side surfaces of the specimen 1, respectively (as shown in Figure 4), and then the magnetic particle inspection device is moved to the work start position. (7) Extend the sliding body operating rod 19R so that the magnetic pole 25 on the flat side is in contact with the flat side of the specimen 1 (the state shown in Figure 5). (8) The sliding body operating rod 19R is gradually extended until the side magnetic pole 26 is in contact with the side of the specimen 1 (as shown in Figure 6), at which point the extension of the sliding body operating rod 19R is stopped. (9) The switch on the control panel 27 is operated to energize the Magnar main unit 24. As a result, the flaw detection area S of the specimen 1 is magnetized.

[0033] During steps (10)(4) to (9), a moving image of the surface of the flaw detection area S is captured by the camera 15 and displayed on the display device 28. The inspector checks the moving image, and if they determine that there is no defect, they operate the shutter of the camera 15 without turning on the laser pointer 16 to capture a still image of the surface of the flaw detection area S. If they determine that there is a defect, they turn on the laser pointer 16, control its direction so that the spot hits the location of the defect, draw a circle around the spot with chalk, and then operate the shutter of the camera 15 to capture a still image of the surface of the flaw detection area S. When a still image of the flaw detection area S is captured, the flaw detection image information, shooting time information, and shooting location information are associated and stored in the flaw detection image information storage means 33. The areas marked with circles indicate where scratches will be repaired with a grinder after inspection. After the procedure in (11)(10) is completed, the power supply to the Magnar main unit 24 is stopped.

[0034] (12) Once the inspector has finished checking the images, etc., the switch on the control panel 27 is operated to reactivate the sliding body moving means 19 and retract the sliding body operating rod 19R so that the flat-side magnetic pole 25 and the side-side magnetic pole 26 are separated from the flat and side surfaces of the subject 1, respectively (the state shown in Figure 4). (13) Push the trolley 6 forward and move it until it reaches the next inspection area. (14) After stopping the trolley 6, perform magnetic particle testing according to the procedures described in (4) to (11) above. Thereafter, by repeating steps (12) to (14), the trolley 6 can be moved along the side of the specimen 1, and magnetic particle testing can be performed repeatedly. The still images (inspection image information) of the inspection area S captured in each magnetic particle testing are stored in the inspection image information storage means 33 in association with the time information and position information of the images taken. Although not shown in the diagram, power is supplied to the oiler 12, blower 13, black light 14, camera 15, laser pointer 16, and Magnar main unit 24 by routing the power cords along the chassis 2 and support column 3 in a path that does not obstruct the field of view of the camera 15 or the movement of the wire 18, and by plugging the power plugs into outlets provided on the control panel 27, which receives power from the power line.

[0035] Finally, we will explain the procedure for checking the condition of the area around a new flaw during a past magnetic particle inspection if a new flaw is discovered at a later date, using the flaw detection image information, shooting time information, and shooting location information stored in association with the flaw detection image information storage means 33. Furthermore, in order to extract a desired captured image (still image) from among the many flaw detection image information recorded in the flaw detection image information storage means 33, a shooting information specification means is used that allows input and specification of the date and time of the magnetic particle inspection (shooting time information) and the position of the trolley 6 (shooting position information). (a) The date and time of the magnetic particle inspection performed in the past closest to the date and time when the new defect was discovered, and the position of the trolley 6 corresponding to the location of the new defect are entered using the photographic information specification means. (i) The flaw detection image information selection means selects flaw detection image information that matches the date and time (shooting time information) and location (shooting location information) entered in the above procedure (a) from among the many flaw detection image information recorded in the flaw detection image information storage means 33. (c) The selected flaw detection image information display means displays the flaw detection image information selected in the above procedure (b) on the screen of the display device 28 and compares and examines it with the current state.

[0036] The following are examples of modifications of the embodiments. (Modification 1) In the embodiment, the chassis section 2 and the support column section 3 were fixed at an angle of 90 degrees. However, in order to allow insertion and removal even if the entrance to the place where magnetic particle testing work is performed is narrow, and to facilitate transportation, it is preferable to provide a frame fixing device that allows the angle to be selectively fixed at either 90 degrees or 180 degrees, or a detachable device that allows the support column section 3 to be removed from the chassis section 2. (Modification 2) In the embodiment, the small trolley 11 was connected to the chassis 2 of the trolley 6 by an L-shaped connector 7 and moved together with the trolley 6. However, the small trolley 11 may be placed near the trolley 6 without moving together and connected to the magnetar moving device 19 with a flexible pipe or the like. Alternatively, the area of ​​the chassis 2 may be increased to accommodate a compressor, and the magnetic particle inspection device may be made without the small trolley 11. (Modification 3) In the embodiment, the trolley 6 had four wheels 5 and the small trolley 11 had four small wheels 10. However, the wheels 5 and small wheels 10 only need to be able to stably support the frame, so it is sufficient to have three or more wheels 5 and small wheels 10.

[0037] (Modification 4) In the embodiment, the magnetic particle testing apparatus had a shaft portion 23 passing through two elongated holes 21H, and two L-shaped magnet holders 22 and a magnet fixed to their lower part were rotatably suspended from a U-shaped body 21. However, the two L-shaped magnet holders 22 may be held so that the magnet body portion 24 is slidable relative to the magnet support frame 4 and rotatable around a parallel line parallel to the direction of travel of the trolley 6. In such a case, in addition to the magnet moving means (corresponding to the sliding body moving means 19, sliding body operating rod 19R, sliding body 20, sliding body spring 20S, and U-shaped member 21 in the embodiment) that moves the magnet body portion 24 and the L-shaped magnet holders 22 in the longitudinal direction of the magnet support frame 4, a magnet rotating means is provided to rotate the magnet body portion 24 around the aforementioned parallel line. Furthermore, although the magnetic particle testing apparatus of the embodiment was specialized for detecting defects present in steel plates near fillet welds and joints, and therefore used a magnar having a magnetic pole on the flat side and a magnetic pole on the side, the functions of the inspection liquid spray nozzle 12N and the blower 13 are also useful in a magnetic particle testing apparatus that detects defects present in the flat surface of the specimen 1, so the magnar can be configured in any way. (Modification 5) In the magnetic particle inspection apparatus of the embodiment, the Magnar was moved downward along the upper surface of the Magnar support frame 4 so that the flat-side magnetic pole 25 and the side-side magnetic pole 26 were in contact with the flat and side surfaces of the object to be inspected 1, respectively (state in Figure 6). After the inspector finished checking the images, etc., the U-shaped body 21 was moved upward along the upper surface of the Magnar support frame 4 so that the flat-side magnetic pole 25 and the side-side magnetic pole 26 were separated from the flat and side surfaces of the object to be inspected 1, respectively (state in Figure 4). However, the mechanism for moving the Magnar's flat-side magnetic pole and side-side magnetic pole toward and toward the flat surface and side surface of the specimen 1, respectively, is not limited to the mechanism described in the Examples and Modification 4. Any mechanism is acceptable as long as it has a flat-side magnetic pole that is perpendicular to the direction of travel of the trolley 6 and whose lower surface can move toward and toward the flat surface of the specimen, and a side-side magnetic pole that is perpendicular to the direction of travel of the trolley 6 and whose side surface can move toward and toward the side surface of the specimen. For example, a magnetization device for fillet weld inspection described in Japanese Patent Application Publication No. 9-325131 may be provided, which has a flat-side magnetic pole extending downward from the chassis 2 and a side-side magnetic pole extending laterally, and maintains a predetermined gap between the lower surface of the flat-side magnetic pole and the flat surface of the specimen, and a predetermined gap between the side surface of the side-side magnetic pole and the side surface of the specimen, so that when the Magnar is energized, each magnetic pole is attracted to the flat surface and side surface of the specimen. (Modification 6) The magnetic particle inspection apparatus of the embodiment was equipped with a laser pointer 16, but as a means of indicating the location of a defect, the relevant location in the inspection area S can also be marked directly with chalk or the like, so the laser pointer 16 is not required.

[0038] (Modification 7) In the embodiment, the magnetic attachment mechanism 18 was provided directly above the guide roller 17, but it may be provided anywhere in the vicinity of the guide roller 17. Furthermore, although the magnetic particle inspection apparatus in the embodiment was equipped with two sets of guide rollers 17 and a magnetic attachment mechanism 18, it may also be equipped with one set of guide rollers 17 and a magnetic attachment mechanism 18. Furthermore, if the magnetic particle testing device detects defects present on the flat surface of the object to be tested 1, there is no need to pay special attention to the distance between the trolley 6 and the side surface of the object to be tested 1. Even if the magnetic particle testing device detects defects present on the steel plate near fillet welds or joints, the inspector can move the trolley 6 while paying attention to the distance between the trolley 6 and the side surface of the object to be tested 1. Therefore, it is possible to perform magnetic particle testing without providing guide rollers 17 and a magnetic attachment mechanism 18. (Modification 8) In the magnetic attachment mechanism 18 of the embodiment, the upper left magnet and the lower left magnet are permanent magnets, and the N pole and S pole are swapped by the rotation of the shaft extending from the dial 31. However, the upper left magnet and the lower left magnet may be electromagnets, and the N pole and S pole may be swapped by changing the direction of the current flowing through each coil. (Modification 9) The magnetic particle inspection apparatus of the embodiment was equipped with a magnetic attachment mechanism 18 with the internal structure shown in Figure 7, but it is not limited to this structure, and any magnetic attachment mechanism that can switch the magnetic force on and off and is generally sold as a magnet base may be used. Alternatively, instead of a magnetic attachment mechanism that allows the magnetic force to be switched on and off, a magnetic attachment mechanism incorporating a permanent magnet that constantly presses the guide roller 17 against the side surface of the specimen 1 may be used. However, in such a case, if the magnetic attachment mechanism becomes attached to the side surface of the specimen 1, the inspector will need to remove the magnetic attachment mechanism from the side surface of the specimen 1, either directly or using an appropriate tool.

[0039] (Modification 10) In the embodiment, the magnetic particle inspection device had the blower 13B and the blower nozzle 13N sliding together, but the blower 13B and the blower nozzle 13N may be connected with a flexible hose or the like, so that only the blower nozzle 13N slides in the front-rear direction of the trolley 6. (Modification 11) In the embodiment, the blower 13 was made to slide in the front-rear direction by connecting the tip of the crank 13C, which is fixed to the rotating shaft of the sliding motor 13M, and the front end of the slider 13S with a connecting rod 13R having hinge pins at both ends. However, it may also be made to slide using a rack and pinion mechanism, a linear motor, a solenoid, etc. (Modification 12) The magnetic particle inspection apparatus in the embodiment was equipped with a blower 13, but since liquid accumulation can be eliminated using a handheld blower or the like, the blower 13 is not required. (Modification 13) In the embodiment, the magnetic particle inspection apparatus was not equipped with a stopper for fixing the trolley 6 in a predetermined position. However, a stopper may be provided at any position on the wheels 5 or the chassis 2, and the trolley 6 may be fixed in place by operating the stopper when the trolley 6 is moved to the work start position. (Modification 14) In the example, as described in the work procedures (12) to (14), after the magnetic particle inspection in the work procedures (4) to (11) was completed, the inspector operated the switch on the control panel 27 to move the Magnar away from the specimen 1, then the inspector pushed the trolley 6 to move it to the next inspection area, stopped it, and then performed the next magnetic particle inspection. However, after the first magnetic particle inspection is completed by moving the trolley 6 to the starting position, the Magnar is moved away from the object 1, the trolley 6 is moved forward a predetermined distance and stopped, and the magnetic particle inspection procedure (4) to (11) is repeated. Therefore, labor can be further reduced by installing a drive mechanism and control mechanism that moves the Magnar away from the object 1, moves the trolley 6 forward a predetermined distance and stops it, and then brings the Magnar into contact with the object 1, using remote operation or automatic operation.

[0040] (Modification 15) In the embodiment, the magnetic particle inspection apparatus is equipped with a display device 28, and the captured images are recorded in the flaw detection image information storage means 33 built into the display device 28. However, the camera 15 may transmit information about the captured images to an information terminal (notebook PC, tablet terminal, headset, etc.) held by the inspector using an appropriate information transmission means, and the captured images may be displayed or recorded on the display device or storage device equipped on that information terminal. (Modification 16) In the embodiment, the magnetic particle inspection apparatus was equipped with a control panel 27. However, if on / off and intensity control can be performed on the device side, the shutter, focus adjustment and field of view adjustment of the camera 15 can be performed on the camera side, and the image displayed on the display device 28 can be controlled on the display device side, then the control panel 27 does not need to be provided. In such cases, power to each device may be supplied by placing a device with multiple outlets, such as a power strip connected to a power line, on the trolley 6 and plugging power cords into those outlets, or by using longer power cords for each device and plugging power cords into outlets located at a different location from the trolley 6. Furthermore, even if each device can be controlled on its own, a control panel 27 may be installed, allowing the user to select the device they wish to control and providing a switch to control that device. (Modification 17) In the embodiment, the shooting position information acquisition means 34 measures the distance between the distance measuring means 35 and at least two position notification means 37, calculates the position information of the trolley 6, and acquires the shooting position information. However, when starting magnetic particle testing work, the trolley 6 may be set to a reference position, the movement of the trolley 6 from the reference position may be detected using a gyroscope or accelerometer, and the shooting position information may be acquired based on the deviation in the X and Y directions from the reference position at the time an operation signal is received from the shutter of the camera 15. Also, if a GPS signal can be received, the position of the trolley 6 at the time an operation signal is received from the shutter of the camera 15 may be measured by the GPS system and that position may be used as the shooting position information. Furthermore, the position of the trolley 6 may be measured or estimated using the following system, the position of the trolley 6 at the time an operation signal is received from the shutter of the camera 15 may be determined, and that position may be used as the shooting position information. (1) An indoor global positioning system (iGPS) as described in Japanese Patent Publication No. 4977210 and Japanese Patent Publication No. 6011562, which installs a plurality of beam transmitting means (iGPS transmitter 31 in the latter publication) that emit a rotating fan beam inside the subject 1, and installs a beam receiving means (communication device 11a in the latter publication) that receives the rotating fan beam on the trolley 6, and calculates the position information of the trolley 6 by determining the relative position between the beam receiving means and the plurality of beam transmitting means. (2) A trolley position detection system as described in Japanese Patent Publication No. 2001-188609, wherein a laser projection means (laser lighthouse) is installed at the center of a circular object 1 that rotates horizontally and pulses laser light at a constant period, an angle signal transmitting means (wireless device) is installed inside the object 1 that transmits an angle signal of laser light, a plurality of laser light detection means (photosensors) for detecting laser light and an angle signal receiving means (wireless device) for receiving angle signals are installed on a trolley 6, and the trolley position detection system determines the position information (position θ, attitude angle, radius distance R) of the trolley 6 based on the detection timing of the laser light and the received angle signal. (3) A SLAM (Simultaneous Localization And Mapping) system, as described in Japanese Patent Publication No. 5296746 and Japanese Patent Publication No. 6011562, which involves installing object distance measuring means (range detection device 12 in the former publication) on a trolley 6 to measure the distance to surrounding objects, creating a map of the inside of the subject 1 based on the distance to surrounding objects measured by the object distance measuring means while the trolley 6 is moving, estimating where the object distance measuring means is located on the created map, and determining the position information of the trolley 6. (4) A system that uses the indoor position measurement system described in (1) above and the SLAM system described in (3) above in combination, as described in Japanese Patent Publication No. 6011562. Similarly, a system that uses the trolley position measurement system described in (2) above and the SLAM system described in (3) above in combination.

[0041] (Modification 18) In the embodiment, the date and time of the magnetic particle inspection and the position of the trolley 6 were input using the shooting information specification means, and flaw detection image information that matches the input date and time (shooting time information) and position (shooting position information) was selected from among many flaw detection image information and displayed. However, the shooting information specification means may be configured to input only the date or date and time of the magnetic particle inspection, extract a series of flaw detection image information close to the input date or date and time (shooting time information), display a superimposed image that overlays contour information showing the entire area of ​​the subject 1, trajectory information of the trolley 6 moved during the magnetic particle inspection work corresponding to the input shooting time information, and the extracted series of flaw detection image information. Furthermore, an arbitrary point within the superimposed image can be specified to specify shooting position information, and the flaw detection image information corresponding to that shooting position information can be displayed on the screen of the display device 28. Figure 13 illustrates the configuration for verifying flaw detection image information in modified example 18, and the verification procedure is as follows. (c) Enter the desired date or time using the shooting information specification means. (k) The flaw detection image extraction means extracts a series of flaw detection image information that is close to the date or date and time (shooting time information) entered in the above procedure (f). (k) The superimposed image display means displays a superimposed image on the screen of the display device 28, as shown in Figure 13(A), which includes contour information showing the entire area of ​​the object 1, trajectory information of the trolley 6 moved during the magnetic particle testing work corresponding to the input shooting time information (the line inside the contour information), and a series of flaw detection image information extracted in the above procedure (k). Note that the contour information and trajectory information in Figure 13(A) were acquired by the SLAM system, and the black area inside the object 1 is the part for which a map could not be created. (k) Using a position identification means to identify any point within the displayed superimposed image (for example, the "x" mark in Figure 13(A)), the shooting position information is input to the shooting information specification means. To locate a device, if the screen is a touchscreen, tap the desired point on the screen. If the screen is not a touchscreen, touch the desired point with a stylus, or display a pointer on the screen and move the pointer to the desired point using a mouse or similar device before clicking. (c) Select the flaw detection image information that matches the shooting position information entered in the above procedure (k) from the series of flaw detection image information and display it on the screen of the display device 28 as shown in Figure 13(B). [Explanation of symbols]

[0042] 1. Test subject 2. Chassis section 3. Support column section 4. Magnar support frame 5. Wheels 6. Bogie 7. Connector 8. Small chassis 9. Small support column 10 Small wheels 11 Small trolley 12 Oiler 12C Swivel crank 12H Spray nozzle holder, 12L Oscillating link, 12M Oscillating motor 12N Inspection liquid spray nozzle, 12S Spray nozzle support plate 13 Blower 13B Blower 13C Sliding crank 13F Blower mounting plate 13M Sliding motor 13N Blower nozzle 13R Connecting Rod, 13S Slider, 14 Blacklight 15 Camera 16 Laser pointer 17 Guide roller 18 Magnetic attachment mechanism 19 Sliding body moving means 19R Sliding body operating rod 20 Sliding body 20S Spring for sliding body 21 U-shaped member 21H Slotted hole, 21P Connecting pin, 21S Spring for retainer 22 L-shaped magnet holder 22P Holder connecting pin 23 Shaft 24 Magner main body 25 Magnetic pole on flat side 26 Magnetic pole on side side 27 Control panel 28 Display device 29 Compressor 30 Tank 31 Dial 32 Shooting time information measurement means 33. Means for storing flaw detection image information 34. Means for acquiring shooting location information 35 Distance measuring means 36 Position information calculation means 37a~37d Position notification means La Distance between distance measuring means 35 and position notification means 37a Lb is the distance between the distance measuring means 35 and the position notification means 37b. R: Radius of the bottom surface of the specimen; S: Inspection area x: X-coordinate of the distance measuring means 35 y: Y-coordinate of the distance measuring means 35

Claims

1. A trolley having a frame and three or more wheels, A magnetar capable of magnetizing at least the flaw detection area of ​​the sample, An oiler capable of spraying an inspection liquid containing magnetic powder onto at least the aforementioned flaw detection area, A black light that irradiates ultraviolet light onto the flaw detection area, A camera capable of capturing images of the inspection area, which is magnetized, sprayed with an inspection liquid containing magnetic powder, and irradiated with ultraviolet light, and acquiring inspection image information, A magnetic particle testing apparatus having a display means capable of displaying various types of information, The camera is mounted on the trolley with its optical axis fixed. A means for measuring the time when the camera captures an image of the flaw detection area, A means for acquiring shooting position information that acquires the position information of the trolley at the time when the flaw detection area is photographed with the camera, A flaw detection image information storage means records in association the flaw detection image information acquired by the aforementioned camera, the shooting time information measured by the aforementioned shooting time information measurement means, and the shooting location information acquired by the aforementioned shooting location information acquisition means. A means for specifying shooting time information and shooting location information, A flaw detection image information selection means selects flaw detection image information from among a plurality of flaw detection image information recorded in the flaw detection image information storage means that matches the specified shooting time and shooting location information, based on the shooting time information and shooting location information specified by the shooting information specification means. The system includes a selected flaw detection image information display means that displays the flaw detection image information selected by the flaw detection image information selection means on the display means. A magnetic particle testing device characterized by the following features.

2. The subject itself or the subject is provided with a plurality of position notification means installed around the subject, The aforementioned means for acquiring shooting location information is: A distance measuring means for measuring the distance between a point on the trolley and the position notification means, The camera has a shooting position determination means that, at the time the flaw detection area is photographed by the camera, calculates the position of a point on the trolley and determines the position information of the trolley based on the distance between a point on the trolley measured by the distance measuring means and the plurality of position notification means. The magnetic particle inspection apparatus according to feature 1.

3. The trolley is equipped with object distance measuring means for measuring the distance to objects in the surrounding area. The aforementioned means for acquiring shooting location information is: A map creation means creates a map of the inside of the subject based on the distance to surrounding objects measured by the object distance measuring means while the trolley is moving, The camera has a shooting position determination means that, at the time the camera captures a flaw detection area, estimates where the object distance measuring means is located on the map created by the map creation means based on the distance to surrounding objects measured by the object distance measuring means, and determines the position information of the trolley. The magnetic particle inspection apparatus according to feature 1.

4. A flaw detection image extraction means extracts a series of flaw detection image information from the flaw detection image information stored in the flaw detection image information storage means that is close to the shooting time information specified by the shooting information specification means, The system further comprises a superimposed image display means that displays on the display means a superimposed image obtained by superimposing contour information showing the entire area of ​​the subject, trajectory information of the trolley moved during the magnetic particle testing work corresponding to the shooting time information specified by the shooting information specification means, and all the flaw detection image information extracted by the flaw detection image extraction means, The aforementioned shooting information specifying means can specify shooting position information using a position identifying means that identifies any point within the superimposed image displayed on the display means. A magnetic particle testing apparatus according to any one of the features 1 to 3.

Images