| 摘要 |
An inspection robot (1) moving step by step for inspecting underwater parts of fixed or floating objects, for example ships' hulls, has members, such as suction discs (4), which are alternately releasably fixable on the surface of the object and rotatably mounted on the frame (3) of the robot (1), such that the frame for each step is pivoted a certain distance in one direction about the respective member as a result of a reaction force from a rotating member, preferably a cleaning tool (5), which is mounted on the frame and is adapted to act against the object, and also expose the surface to be inspected, to an inspection camera (13) mounted on the frame. |
