In-pipe running robot and method of running the robot

An in-pipe running robot comprising:

• a vehicle body movable inside piping along a piping axis;
• a pair of running devices disposed in front and rear positions of said vehicle body, each of said running devices including a pair of wheels secured to opposite ends of an axle, with each of said running devices being steerable as a unit about a vertical axis of said vehicle body with centers of steering of said running devices disposed substantially parallel to a fore and aft direction of said vehicle body;
• drive control means for individually driving said pair of running devices;
• steering control means for individually steering said pair of running devices with respect to said fore and aft direction of said vehicle body;
• first detecting means for detecting angular displacement of said fore and aft direction of said vehicle body with respect to said piping axis;
• second detecting means for detecting steering amounts of each of said running devices with respect to said fore and aft direction of said vehicle body;
• and
• running posture control means for controlling said drive control means and said steering control means in response to results of detection by said first detecting means and said second detecting means, to place said vehicle body in a position for running in a circumferential direction of said piping, with said fore and aft direction of said vehicle body inclined with respect to said piping axis, and said running devices set to run in said circumferential direction.