To provide an in-pipe traveling device which can travel in a pipe line with out-of-plane bending, a control method for the in-pipe traveling device, and a control program for the in-pipe traveling device.SOLUTION: An in-pipe traveling device includes: a first link 10; a second link 20 which is connected to the first link 10; an active joint part 60 which connects the first link 10 with the second link 20; and a first spherical wheel 41, a second spherical wheel 42 and a central wheel 43 which rotate to enable movement of the in-pipe traveling device 100. The first spherical wheel 41 can control the angle around a pipe axis Ps of a pipe line P for a rotational axis 41s of the first spherical wheel 41. The second spherical wheel 42 can control the angle around the pipe axis Ps of the pipe line P for a rotational axis 42s of the second spherical wheel 42. The central wheel 43 can move passively along a rotational axis 43s of the central wheel 43.SELECTED DRAWING: Figure 1

    【課題】面外曲げの管路を走行可能な管内走行装置、管内走行装置の制御方法、及び管内走行装置の制御プログラムを提供する。【解決手段】第1リンク10と、第1リンク10に連結される第2リンク20と、第1リンク10と第2リンク20とを連結する能動関節部60と、管内走行装置100を移動可能とするように回転する第1球状車輪41、第2球状車輪42、及び中央車輪43と、を備え、第1球状車輪41は、第1球状車輪41の回転軸41sについて、管路Pの管軸Psまわりの角度を制御可能であり、第2球状車輪42は、第2球状車輪42の回転軸42sについて、管路Pの管軸Psまわりの角度を制御可能であり、中央車輪43は、中央車輪43の回転軸43sに沿って、受動的に移動可能であることを特徴とする。【選択図】図1


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    Title :

    IN-PIPE TRAVELING DEVICE, CONTROL METHOD FOR IN-PIPE TRAVELING DEVICE, AND CONTROL PROGRAM FOR IN-PIPE TRAVELING DEVICE


    Additional title:

    管内走行装置、管内走行装置の制御方法、及び管内走行装置の制御プログラム


    Contributors:

    Publication date :

    2025-01-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G02B Optische Elemente, Systeme oder Geräte , OPTICAL ELEMENTS, SYSTEMS, OR APPARATUS / B61B RAILWAY SYSTEMS , Eisenbahnanlagen / B62D MOTOR VEHICLES , Motorfahrzeuge



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