| 摘要 |
PURPOSE:To enable smooth running to be attained on a wall surface providing a mismatching surface having irregularity by advancing an endless track succes sively pulled up in its each local part in a wall surface side by means of an endless track supporting and actuating means only to the height in proportion to the irregularity by an output of a distance sensor, in case of detecting the irregularity on the wall surface. CONSTITUTION:A crawler type wall surface running mechanism runs on a wall surface by guide wheels 2c, 2d rotating an endless track 3b provided with a sucked for sucking the track to the wall surface. Here linear actuators 5g to 5l, engaged with the endless track 3b, are mounted to a frame 4b. While a sensor 7b, detecting a distance from the wall surface and judging a wall surface obstacle for whether it is present or not, is provided, transmitting an output data successively from the first section A1 to A6 of a shift register 16b similarly successively controlling the corresponding linear actuators 5g to 5l by a signal input to each of these sections, and by successively similarly giving the right angle directional displacement to the suckers 9g to 9l, the running mechanism is allowed to ride across the obstacle. |
