| 摘要 |
PROBLEM TO BE SOLVED: To control the traveling of the robot main body of a submergible cleaning robot which travels in a channel by remote operation to clean the channel even when a defective part exists in the wall surface of the channel. SOLUTION: Distance detecting means which are installed in front and in the rear of the robot main body and measure a distance to the sidewall surface of the channel by using reflective waves, a control means 7A for making the robot main body travel along the sidewall surface by feedback control based on the detection results of the distance detecting means, and a judgment means 7c for judging whether the defective part of the sidewall surface exists in the present detection area by the distance detecting means or not are provided. When the defective part is judged to exist by the judgment means 7c, the control means 7A controls the traveling of the robot main body by any other control in place of the feedback control based on the detection results of the distance detecting means.
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