| 摘要 |
PROBLEM TO BE SOLVED: To reduce the weight of a robot, to miniaturize the same, to secure a sufficient traveling speed, and to put and lift the robot in a pipe without disassembling even in a narrow manhole or the like. SOLUTION: An in-pipe traveling robot is provided with a rod-like main body 1 disposed by being braced in a diameter direction within a surface orthogonal to a pipe axis O by an elongating/contracting device 6, a pair of traveling wheels 4a, 5a and 5b disposed so as to be freely steered in both ends of the main body 1, an inclination sensor 7 for detecting the back and forth inclination of the main body 1, distance sensors 8Rf, 8Rr, Lf and 8Lr for detecting the position and the traveling direction of the main body 1, and a traveling controller 9 for controlling the rotational speeds and the steering angles of the traveling wheels based on the detected values thereof so as to control the posture of the main body 1. |
