| 摘要 |
PURPOSE:To make mounting of guide rails unnecessary and attempt to reduce radioactive effect to an inspector, by installing a plurality of displacement meters to the bottom of a self-propelling running body equipped with magnetic wheels and calculating the propelling direction from detecting signals from these meters. CONSTITUTION:When a propelling running body 13 runs in the diametral direction 17, a ridge line 29 of a pipe line 2 assumes a straight line when viewed from the forward direction 20 of the running body 13 and consequently, each displacement meter 12a-12d shows the same indication value. On the other hand, when the propelling direction of the running body 13 is misaligned with the diametral direction of the pipe line 2 through an angle of theta deg., the ridge lines 23, 24 of the pipe line depict an ellipse and consequently, 2 magnetic wheels 19b, 19d on a diagonal line 21 out of the magnet wheels 19a-19d, float up from the pipe line 2 and other 2 magnet wheels 19a, 19c located on the other diagonal line 22 are attracted by the pipe line 2 and the readings of the meters 12b, 12d are elongated by an amount of floated distance and thus, the propelling direction of the running body can be calculated by a processors basing on either of the elongation DELTAl of the meters 12a-12d.
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