| 摘要 |
PURPOSE: An independent vehicle and a controller thereof are provided to take up a narrow area upon working, to easily replace a cutter or a polishing stone of a cutting unit and to drive only with the power of a vehicle without an additional generator by lowering the drive capacity of the independent vehicle to the minimum. CONSTITUTION: An independent vehicle is inputted in an underground pipe by using a crane and an outside input is given to move and drive a position of the independent vehicle. The output power of a battery(1) is converted to a certain level by first and second inverters(2,3) through the control of a main controller. The converted power is supplied to an image amplifier(5), a monitor(6), a VCR(7), and motors(8,9). Power is supplied to image storage and output devices by preparing more than two inverters. Thus, the supply of the power to the image storage and output devices and the independent vehicle is not blocked.
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