To increase stability in wall surface traveling of a wall surface travel device.SOLUTION: A wall surface travel device 10 of one embodiment of the present invention is constituted to be pressed against a wall surface by a tension member 20 stretched over a wall surface 12W of a building structure, in order to be able to travel on the wall surface. The device 10 includes: a travel part 30 constituted to travel on the wall surface; a contact part 32 constituted to be in contact with the tension member; a vibration detection device 56 constituted to detect vibration of the contact part relative to the tension part, in a second direction which is orthogonal to a first direction in which the tension member is stretched; a steering device 40 constituted to change a direction of the wheels of the travel part; and a steering control part 80 which controls operation of the steering device so that the vibration detected by the vibration detection device is restricted.SELECTED DRAWING: Figure 2

    【課題】壁面走行装置の壁面走行において、その安定性を高める。【解決手段】本発明の一実施形態に係る壁面走行装置10は、建造物の壁面12Wに張られたテンション部材20により前記壁面に押し付けられて該壁面を走行可能に構成されている。壁面走行装置10は、前記壁面を走行するように構成された走行部30と、前記テンション部材に接するように構成された接触部32と、前記テンション部材が張られた第1方向と直交する第2方向における、前記テンション部材に対する前記接触部の振れを検出するように構成された振れ検出装置56と、前記走行部の車輪の向きを変えるように構成された操舵装置40と、前記振れ検出装置が検出した振れを抑制するように、前記操舵装置の作動を制御する操舵制御部80とを備える。【選択図】図2


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    Title :

    WALL SURFACE TRAVEL DEVICE


    Additional title:

    壁面走行装置


    Contributors:

    Publication date :

    2020-07-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B60P Fahrzeuge zum Transport von Lasten oder zum Befördern, Tragen oder Aufnehmen besonderer Lasten oder Gegenstände , VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS / A47L DOMESTIC WASHING OR CLEANING , Waschen oder Reinigen im Haushalt / B25J Manipulatoren , MANIPULATORS



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