| 摘要 |
PURPOSE:To make it possible to apply a robot to a filter basin having nonlinear or various configuration and various area, by providing a caterpillar traveling type contaminated sand scraping robot with a traveling route change sensor, a traveling route correction sensor and a program controller so that self-judgement and combined control can be conducted. CONSTITUTION:A screw type contaminated sand scraping device is provided and contaminated sand can be discharged out of a basin 2 through a contaminated sand discharge hose 4 by means of a submergible sand pump. A caterpillar traveling robot for scraping contaminated sand 1 is provided with a program controller, a traveling route change sensor, and a traveling route correction sensor, wherein said program controller is connected to an electric supply controlling panel 6 by a flexible electric cable 7 placed outside the basin. When the self-traveling robot reaches the other end of the route, the route change sensor detects it and the robot is transferred to the next traveling route, while the route correction sensor detects a part which has been scraped and a remaining part, whereby correct traveling route is maintained by its self judgement even when there is any irregularity such as steps on the bottom surface of the basin, therefore, the robot can be used at a filter basin having various area and configuration.
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