To provide an in-pipe travel device by which highly accurate traveling distance information can be acquired even if the idling of wheels occurs.SOLUTION: An in-pipe travel device 1 which comprises a set of first wheels 13 and a set of second wheels 13 that are in a forward/backward relationship to the advancing direction and drives the first wheels. The in-pipe travel device comprises: a first detecting part 36 which detects the number of revolutions of the set of the first wheels; a second detecting part 38 which detects the number of revolutions of the set of the second wheels; an idling determining part 39 which determines whether or not the idling of the first wheels occurs on the basis of the output from the first and second detecting parts; a storage part 40 which stores the output of the first detecting part before the idling is determined by the idling determining part; and a wheel control part 34 which resumes driving at a lower speed than the speed corresponding to the number of revolutions stored in the storage part when the idling is determined by the idling determining part.SELECTED DRAWING: Figure 1
【課題】車輪の空転が発生しても高精度な走行距離情報を取得できる管内走行装置を提供する。【解決手段】進行方向に対し前後関係にある一組の第1の車輪13及び一組の第2の車輪13を有し第1の車輪を駆動する管内走行装置1であって、一組の第1の車輪の回転数を検出する第1の検出部36と、一組の第2の車輪の回転数を検出する第2の検出部38と、第1の検出部と第2の検出部からの出力に基づいて第1の車輪が空転しているか否かを判定する空転判定部39と、空転判定部により空転が判定される前の第1の検出部の出力を記憶する記憶部40と、空転判定部により空転が判定された際に記憶部に記憶された回転数に対応する速度よりも遅い速度で駆動を再開する車輪制御部34とを具備する。【選択図】図1
IN-PIPE TRAVEL DEVICE
管内走行装置
2019-07-18
Patent
Electronic Resource
Japanese
IPC: | B61B RAILWAY SYSTEMS , Eisenbahnanlagen |