| 摘要 |
PROBLEM TO BE SOLVED: To provide an in-pipe travelling device free to travel by efficiently transmitting propulsive force without residing even in a curved pipe. SOLUTION: This in-pipe travelling device 1 is furnished with a plurality of driving units 3 having propulsive means 50, 60 capable of generating the propulsive force in the forwarding direction A from a wall surface by overhanging contact members 53, 63 to the side S roughly orthogonal with the forwarding direction A and making them contact with the wall surface of a conduit run, connecting parts 7 to connect the driving units 3 to each other, having flexibility and free to deform in correspondence with a shape in the axial direction of the conduit run, a connecting state monitoring part free to detect a deforming state of each of the connecting parts 7 and a control part 10 to control the propulsive means 50, 60 of each of the driving units 3 in accordance with a detection result of the connecting state monitoring part. COPYRIGHT: (C)2008,JPO&INPIT
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