To provide an endless track type magnetic travelling device capable of reducing setup time of travelling at high altitude and an incapacious part, and enable an accurate profiling travel with a remote control operation, without changing shape and size of the device, and without providing a profiling auxiliary facility such as a color tape on a bead.
An imaging device such as a CCD camera 3 is provided at the endless track type magnetic travelling device 1, a target line such as a laser beam is projected from outside the driving device onto a travelling surface, the target line projected on the travelling surface is captured by the imaging device as images and processed in a image processing device 5, and a side slipping which occurs abruptly when travelling is detected and corrected, whereby a travelling linearity (a profiling accuracy) can be improved.
JPH08164851 | AUTOMATIC TRAVELING DEVICE IN PIPE LINE |
WO/2000/010864 | TRAVELING VEHICLE |
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