自動操舵装置を備えた吸着自走装置

Sucking self-running device having automatic steering device

Abstract

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.
(57)【要約】 (修正有) 【目的】 高層煙突(円筒構造物)上などで定期点検、 補修、清掃、塗装等の作業を行うときに使用する各種作 業ユニットを搭載した壁面作業装置において、車輪に作 用する力のアンバランスにより、装置の姿勢が大きくず れて落下することのない吸着自走装置を提供する。 【構成】 作業ユニットを設置した本体と、真空源に連 通し壁面と吸着して同本体を保持する複数の吸着パッド 1と、本体の前部及び後部に夫々設置されて壁面上を走 行する左右1対の前輪3a及び後輪3bと、同角前輪及 び後輪に近接して本体上に設置され、壁面との距離を検 出するセンサーと、その検出信号に基づいて前輪または 後輪を操舵して走行方向を制御する制御装置とからなる 自動操舵装置を備える。

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Cited By (3)

    Publication numberPublication dateAssigneeTitle
    JP-2010155308-AJuly 15, 2010Mitsui Eng & Shipbuild Co Ltd, 三井造船株式会社Cleaning robot system and method of controlling the same
    US-8046101-B2October 25, 2011Mitsui Engineering & Shipbuilding Co., Ltd.Cleaning robot system and method of controlling same
    WO-2010073860-A1July 01, 2010三井造船株式会社Système de robot de nettoyage et procédé de commande de celui-ci