To provide an in-pipe traveling robot or the like that eliminates the need for simultaneous control of a plurality of active joints and eliminates the need to grasp route information of piping in advance.SOLUTION: An in-pipe traveling robot 1000 that travels inside a pipe includes: a plurality of units 100 arranged in series in a pipe axis O direction of the pipe; a plurality of joint portions 200 by which the units 100 adjacent to each other among the plurality of units 100 are connected so as to be rotatable around a yaw axis extending in a direction crossing the pipe axis O direction; and control means that controls the plurality of units 100 and the plurality of joint portions 200. The control means allows the plurality of joint portions 200 to be passively displaced when reaching a bent portion of the pipe.SELECTED DRAWING: Figure 2
【課題】複数の能動関節の制御を同時に行うことを必要とせず、かつ事前に配管の経路情報を把握することを必要としない管内走行ロボット等を提供する。【解決手段】配管の内部を走行する管内走行ロボット1000であって、配管の管軸O方向に直列に配置される複数のユニット100と、複数のユニット100のうち、互いに隣り合うユニット100同士を、管軸O方向に交差する方向に延びるヨー軸回りに回転可能に接続する複数の関節部200と、複数のユニット100および複数の関節部200を制御する制御手段と、を備え、制御手段は、配管の屈曲部に到達した時に複数の関節部200を受動的に変位可能とすることを特徴とする。【選択図】図2
IN-PIPE TRAVELING ROBOT, CONTROL METHOD FOR IN-PIPE TRAVELING ROBOT, AND CONTROL PROGRAM FOR IN-PIPE TRAVELING ROBOT
管内走行ロボット、管内走行ロボットの制御方法、及び管内走行ロボットの制御プログラム
2023-07-05
Patent
Electronic Resource
Japanese
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