| 摘要 |
PURPOSE:To keep a self-travelling car which runs inside pipes and is equipped with inside-pipe inspecting devices, etc., at the horizontal position so that it can run under a regular state, by installing rotary driving machines and travelling mechanisms to both sides of the carriage and controlling the travelling of the car by means of the signal of an inclination detector. CONSTITUTION:An inspecting device 11 including a sensor 10 for detecting corrosion, etc., on the inner surface of pipes and video camera 12 are installed to a self-travelling car 1. Two pulse motors 3 and 3a which act as two rotary driving machines are mounted on the carriage 13 of the car 1 correspondingly to travelling mechanisms 2 and 2a installed to both sides of the carriage 13. A signal 60 from an inclination detector 6 which detects whether the carriage 13 is at the horizontal position or inclined rightward or leftward is inputted into a pulse motor controller and the travelling condition of the car 1 is controlled by slightly changing the speed of the travelling mechanisms 2 and 2a. Moreover, it is possible from the control device 4 of a remotely installed monitor room to move the car backward or stop the car by controlling the pulse motors 3 and 3a. |
