PURPOSE: To have stable running along the running line as target by arranging a plurality of mobile bodies, and sensing the position of the moving body accurately even though the sensing distance is long.
CONSTITUTION: A relay dolly 5 fitted with sensors for moving amount and attitude, which can travel on a wall surface, is run between a reference surface device 3 to give level reference and an inspection dolly 6 equipped with sensors for moving amount, attitude, and for inspection, which is capable of traveling on the wall surface of a nuclear reactor pressure vessel 30. The position of dolly 5 relative to the reference surface device 3 is sensed, and therefrom the position of dolly 6 is sensed. Therein the device 3 having the free level of water is coupled with a pressure sensor on the dolly 5 through a water hose, and further coupling is made with a pressure sensor on the dolly 6 through water hose and reference level device mounted on the dolly 5, and thereby the positions are sensed. These are controlled by a control part 2, and the inspection signal is processed by an inspection part. In this manner, position sensing and cable processing are backed up with the dolly 5, and precise sensing of the running position and a stable running are accomplished.
KOIKE MASAHIRO
SATO CHIKARA
TAKAKU KAZUO
SASAKI TSUKASA
