PURPOSE: To provide an in-pipe self-propelled robot capable of stably propelling even in a piping such as sewer where fluid is flowing in the bottom, without being submerged, and a pipe axis measuring device and method with the use of the robot.
CONSTITUTION: Provided are a dolly 2 movable in a main pipe P having at least a pair of legs 11 opening toward below and support wheels 12 supported free of rotation at the lower end of the legs 11, a pair of arm parts 35 extending to both sides from the dolly 2, drive wheels 32 fixed free of rotation to the outer edge of the am parts 35, a forcing means to push the drive wheels to the wall inside, and a drive means having a driver part 34 to drive the rotation of both drive wheels 32 in synchronization.
WO/1982/003753 | BOOT OR SHOE INCORPORATING PEDOMETER OR THE LIKE |
MORI HAJIME
MORI HAJIME