| 摘要 |
<p>A vehicle (1) for traversing the interior of a pipe or the like under self-locomotion comprises a pair of arm members (3a, 3b) extending outwardly from a main body (2) in opposite directions and disposed in alignment with each other, said arm members (3a, 3b) being movable along their common longitudinal axis, basing means (4) for biasing said arm members outwardly with respect to said main body, at least one chassis (9) which is pivotally connected to one of said arm members and which is provided with two wheels (8a, 8b), at least one wheel (7) supported by the other of said arm members, a first driving device (6b) for driving at least one of said two wheels (8a, 8b) which are provided on said chassis (9), a second driving device (6a) for driving said wheel (7) supported by the other of said arm member, detecting means (10) for detecting the angle formed between the common longitudinal axis of said arm members and the common tangential line of said two wheels (8a, 8b) of said chassis, and a servo-system for controlling said first and second driving devices (6a, 6b) in response to the detected angle so as to maintain said angle at a predetermined value.</p> |
