PURPOSE: To provide a sucking self-running device which is prevented from dropping owing to wide displacement of the posture of a device due to an unbalance of a force exerted on wheels, in a wall surface working device on which various working units used when a work, such as periodic inspection, repair, cleaning, and painting, is carried out on a tall chimney (a cylindrical structure) are mounted.
CONSTITUTION: A sucking self-running device having an automatic steering device comprises a body to which working units are installed, a plurality of sucking pads 1 communicated to a vacuum source and sucked on a wall surface to hold the body, a pair of right and left front wheels 3a and rear wheel 3b installed to the front and the rear, respectively, of a body and running on a wall surface, sensors mounted on a body in the vicinity of the front wheels and the rear wheels and detecting a distance to the wall surface, and a control device to steer the rear wheels or the front wheels based on detected signals therefrom to control a running direction.
WADA KOICHI
TAKEUCHI SHO
YUGAWA NOBUHIRO
UESUGI HIDEYUKI
GOTO SANPEI
OKUBO AKIO
CHUBU ELECTRIC POWER