| 摘要 |
<p>PURPOSE:To prevent an inclination of a robot in avoidance movement by rotating a weight to shift the center of gravity with a weight slewing means provided at the lower part of a device. CONSTITUTION:When a robot moves on a cable 1 and approaches an obstacle 20, an arm 4 in front is raised and a wheel 2 in the rear is rotated. Then the arm 4 in front is lowered, the wheel 2 is brought into contact with on the obstacle 20 and a weight 14 is rotated at 180 deg.. At this moment, as the center of gravity is shifted towards the wheel 2 in front, the main body of a device can be advanced by the rotation of the wheel 2. The arm 4 in the rear is then raised to advance the main body further. After the wheel 2 in the rear completely avoided the obstacle 20, the rear arm 4 is lowered and the rear wheel 2 is brought into contact with on the cable 1 to complete the avoidance of the obstacle 20. In the case of movement from the cable 1 to a branch line 30, the position of a branch point P and a branch angle theta of the stringing 1 with the branch line 30 is measured by an ultrasonic sensor and by bringing the rear wheel 2 into contact with the branch line 30 with the rear arm 4 lowered, the movement from the cable 1 to the branch line 30 is performed.</p> |
