| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a self-traveling type movement device, easy in maintaining the direction of a travel body in the target direction, even if a passage member such as a wire rope is fixedly arranged.SOLUTION: The self-traveling type movement device comprises a travel body 2 for traveling along a wire rope 100 in a rotatable state around a central axis Oz in the longitudinal direction of the wire rope 100, flywheels 11A and 11B arranged on the travel body, wheel driving motors 12A and 12B for rotating the flywheels around a wheel central axis Ox of the flywheels and flywheel attitude changing means for changing an attitude of the flywheels so as to rotate the wheel central axis around a predetermined rotational axis Oy of extending in the direction for crossing with a virtual plane of including the axis Oz and the wheel central axis Ox according to a predetermined attitude changing command.</p> |
