Title:
TRAVELING DEVICE OF WORKING ROBOT AND TRAVELING METHOD THEREOF
Document Type and Number:
Japanese Patent JP3509973
Kind Code:
B2
Abstract:
PURPOSE: To move a change section of a pipe cross section and a change section in the direction of pipe axis easily by providing a detector which detects the arrival of a working robot at the change section of the pipe cross section and the change section in the direction of pipe axis and a controller which outputs drive signals in such a manner that it can pivot freely by signals detected by the detector.
CONSTITUTION: When a cleaning robot 2 arrives at a change section 32 of a pipe cross section, an object which reacts for a proximity sensor 34 disappears suddenly and the proximity sensor 34 is turned off to detect that the cleaning robot 2 arrives at the change section 32 of the pipe cross section. Then, the detected signal is outputted to a controller, which outputs again drive signals to a drive motor. A first traveling body 22 is rotated forward and backward only by 360 around a pipe axis 4 by the drive signals. During the rotation, the controller detects two points where the proximity sensor 34 is changed from on to off or from off to on and performs calculation in the direction of branching.
Inventors:
Oki, Katsuyoshi
Komada, Shuji
Hiuga, Minoru
Arimoto, Kazuhiko
Fujimura, Takashi
Komada, Shuji
Hiuga, Minoru
Arimoto, Kazuhiko
Fujimura, Takashi
Application Number:
JP230895A
Publication Date:
March 22, 2004
Filing Date:
January 11, 1995
Export Citation:
Assignee:
CHUBU ELECTRIC POWER CO INC
HITACHI ZOSEN CORP
HITACHI ZOSEN CORP
International Classes:
G01M3/02; B08B9/049; B25J5/00; B61B13/10; B62D57/024; F16L55/18; (IPC1-7): B61B13/10; B08B9/049; B25J5/00; B62D57/024; F16L55/18; G01M3/02
Attorney, Agent or Firm:
森本 義弘
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