Winch system for wall-mounted self-propelled device

Abstract

To provide a winch system for a wall surface suction self-propellent apparatus in which the winch system not only applies force in the upward direction to the wall surface suction self-propellent apparatus, but also does not prevent straight advancing ability of the wall surface suction self-propellent apparatus in the upward direction.SOLUTION: Two load sensors 34 and 44 for detecting tension of each wire rope of two wire ropes 32 and 42 and two angle sensors 37 and 47 for detecting an angle formed by each wire rope of the two wire ropes 32 and 42 and the gravitational line are provided. A computation is performed by a small-sized computer on the basis of data obtained by the two load sensors 34 and 44 and the two angle sensors 37 and 47, under the conditions that component of force of each tension of the two wire ropes 32 and 42 in the horizontal direction has the same value, and each tension of the two wire rope tractors is automatically controlled, thereby applying force in the upward direction to the wall surface suction self-propellent apparatus.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a winch system for a wall-adhering self-propelled device. Conventionally, so-called wall adhesion self-propelled devices that can adhere to a wall surface by the action of negative pressure or magnets and self-propel along the wall surface have been equipped with a winch system to prevent the device from detaching from the wall surface and falling to the ground due to an event such as a power outage. The winch system generally consists of two winch units. Each winch unit is composed of a wire rope and a wire rope puller that pulls the wire rope. One end of the wire rope is attached to the wire rope pulling machine, and the other end is connected to the wall-suction self-propelled device. In addition, when the wire rope pulling machine is placed on the ground, the other end of the wire rope is connected to the wall suction self-propelled device via a pulley placed on the top of the wall. In general, there are two types of wire rope pulling machines: a drum type wire rope pulling machine equipped with a winch drum that winds up and stores the wire rope, and an endless type wire rope pulling machine that simply pulls the wire rope. The winch system of the present invention, which is composed of two winch units, is equipped with two load sensors for detecting the tension of each of the two wire ropes, and two angle sensors for detecting the angle between each of the two wire ropes and the gravity line. The first object of the winch system for a wall-adhering self-propelled device of the present invention is to prevent the wall-adhering self-propelled device from detaching from the wall and falling to the ground due to an event such as a power outage. A second purpose of the winch system for a wall-adhesive self-propelled device of the present invention is to apply an upward force to the wall-adhesive self-propelled device to complement the so-called upward self-propelling ability of the wall-adhesive self-propelled device, in which the wall-adhesive self-propelled device moves independently in an upward direction parallel to the line of gravity along the wall surface. In order to achieve the second object of the winch system for a wall-adhered self-propelled device of the present invention, the winch system must not only apply an upward force to the wall-adhered self-propelled device, but also must not hinder the straight-line movement of the wall-adhered self-propelled device in the upward direction. That is, in order to achieve the second object of the winch system for the wall-suction self-propelled device of the present invention, calculations are performed by a small computer such as a PLC (programmable controller) based on the data obtained from the two load sensors and two angle sensors, and the tension of each of the two wire rope traction machines is automatically controlled. [Background technology]

[0002] The winch system for a wall-adhering self-propelled device according to the present invention belongs to the technical field of winch devices having an auto-tension function. An example of a winch device having an auto-tensioning function is the device described in Japanese Patent Publication No. 5-8768. The winch device with auto-tensioning function described in Patent Publication No. 5-8768 is provided to complement the functions of a "wall peeling robot" that can adhere to a wall surface by utilizing negative pressure and move along the wall surface by itself, and is used for the purpose of cleaning the walls of structures such as building walls and peeling off deteriorated paint, etc. In Japanese Patent Publication No. 5-8768, the following is described as an application example of a winch device having an auto-tension function in the wall peeling robot. "The wall peeling robot is suspended by a pair of auto-tensioning winches 50, 50. When the tension of the pair of auto tension winches 50, 50 is set to a level that causes no slack in the rope 51 and does not interfere with the movement of the robot body 1, the tension of the auto tension winches 50, 50 acts to support all or part of the weight of the robot body 1. The auto tension winches 50, 50 have a predetermined tension (in this embodiment, 15 to 20 kgf, assuming that the weight of the robot body 1 is 290 kgf) so that they always (when energized) wind up the wire 51. The two auto tension winches 50, 50 are installed with an appropriate distance between them, and the robot body 1 is suspended between the two auto tension winches 50, 50. The wires 51 , 51 are guided by pulleys 52 , 52 arranged on the rooftop side, folded back, and their ends are connected to hanging fittings 3 , 3 fixed to the main body 10 . Although the auto tension winches 50, 50 suspend the robot body 1, they do not actively move the robot body 1 along the wall surface W. Rather, their main purpose is to support some or all of the weight of the robot body 1 and reduce the burden of the suction force of the suction ring 3 described below. Therefore, the tension is set to a level that does not cause the wires 51, 51 to sag, but does not actively pull up the robot body 1. Another purpose of the auto tension winches 50, 50 is to prevent the robot body 1 from falling due to insufficient adhesive force to the wall surface W in the unlikely event of a power outage, etc. In this embodiment, as described above, the tension is set to a small value to support the weight of the robot body 1, and is used mainly for this purpose.

[0003] [Patent Document 1] Patent Publication No. 5-8768 DISCLOSURE OF THEINVENTION [Problem to be solved by the invention]

[0004] In the above-mentioned Japanese Patent Publication No. 5-8768, It is stated that "the auto tension winches 50, 50 suspend the robot body 1, but do not actively move the robot body 1 along the wall surface W by the auto tension winches 50, 50. The main purpose is to support part or all of the weight of the robot body 1 and reduce the burden of the suction force of the suction ring 3 described below, so the tension is set to a level that does not cause the wires 51, 51 to sag, but does not actively pull up the robot body 1." The winch system of the present invention is equipped with two load sensors for detecting the tension of each of the two wire ropes, and two angle sensors for detecting the angle between each of the two wire ropes and the line of gravity.The purpose of the winch system of the present invention, which differs from that of Patent Publication No. 5-8768, is to apply an upward force to the wall-suction self-propelled device to complement the so-called upward self-propelling ability of the wall-suction self-propelled device to move independently in a direction parallel to the line of gravity and in an upward direction along the wall surface. In order to achieve the above-mentioned object of the winch system of the present invention, the winch system must not only apply an upward force to the wall-adhered self-propelled device, but also must not hinder the straight-line movement of the wall-adhered self-propelled device in the upward direction. In other words, in order to achieve the above-mentioned object of the winch system of the present invention, calculations are performed by a small computer such as a PLC (programmable controller) based on data obtained from two load sensors and two angle sensors, and the tension of each of the two wire rope traction machines is automatically controlled. [Means for solving the problem]

[0005] Means for achieving the above object will be described below. In order to achieve the above object, according to the present invention, as described in claim 1 of the claims, In a fall prevention winch system equipped on a so-called wall adhesion self-propelled device that can adhere to a wall surface by the action of a negative pressure or a magnet and can self-propel along the wall surface, The winch system is composed of a pair of winch units, Each winch unit is composed of a wire rope and a wire rope traction machine that pulls the wire rope. One end of the wire rope is attached to the wire rope pulling machine arranged on the top of the wall or on the ground, and the other end is connected to the wall suction self-propelled device, Alternatively, one end of the wire rope is attached to the wire rope pulling device provided on the wall surface suction self-propelled device, and the other end is fixed to the upper part of the wall surface, Each winch unit is equipped with a load sensor that measures the tension of the wire rope, an angle sensor that measures the angle between the wire rope and a gravity line, and a calculation system that calculates data measured by the two load sensors and the two angle sensors to automatically control the tension of each wire rope, The tension of each of the two wire ropes acting on the wall-adhering self-propelled device is resolved into a component force in the direction of the gravity line and a horizontal component force, and the calculation system automatically controls the tension of each wire rope so that the values ​​of the two horizontal components whose directions differ by 180 degrees become approximately the same. The present invention provides a winch system for a wall-adhering self-propelled device, comprising:

[0006] Furthermore, as another means for achieving the above object, as described in claim 2 of the present invention, In the winch unit 1 on the left side facing the wall, the tension of the wire rope 1 of the winch unit 1 acting on the wall-adhering self-propelled device is defined as F1, the horizontal component of F1 is defined as f11, the vertical component of F1 is defined as f12, the angle between the wire rope 1 and the line of gravity is defined as θ1, the maximum tension of the wire rope 1, i.e., the rated tension of the wire rope traction machine 1 is defined as F1max, and the weight of the wall-adhering self-propelled device is defined as W; In the winch unit 2 on the right side facing the wall, the tension of the wire rope 2 of the winch unit 2 acting on the wall-adhering self-propelled device is defined as F2, the horizontal component of F2 is defined as f21, the vertical component of F2 is defined as f22, the angle between the wire rope 1 and the line of gravity is defined as θ2, the maximum tension of the wire rope 2, i.e., the rated tension of the wire rope traction machine 2 is defined as F2max, and the weight of the wall-adhering self-propelled device is defined as W; If f11=f21; There is provided a winch system for a wall-surface adhering self-propelled device as described in claim 1, characterized in that the following formulas 1 to 5 are satisfied. (Number 1) (Formula 1) F1*sinθ1=F2*sinθ2 (Formula 2) F1≦F1max (Formula 3) F2≦F2max (Formula 4) f12=F1*cosθ1 (Formula 5) f22=F2*cosθ2

[0007] Furthermore, as another means for achieving the above object, as described in claim 3 of the claims, When θ1≧θ2, set an arbitrary value of f22≦F2max*cosθ2 as the preset value of f22; There is provided a winch system for a wall-adherent self-propelled device as described in claims 1 and 2, characterized in that when θ1<θ2, an arbitrary value of f12≦F1max*cosθ1 is set as the preset value of f12. Effect of the Invention

[0008] The present invention provides the following advantages. In the winch system of the present invention, the straight-line movement of the wall-adhered self-propelled device is not hindered, and the winch system complements the ability of the wall-adhered self-propelled device to self-propel in the upward direction, thereby increasing the self-propelling ability of the wall-adhered self-propelled device in the upward direction.As a result, it becomes possible to increase the mass of the working equipment mounted on the wall-adhered self-propelled device, and therefore working capacity is increased. BEST MODE FOR CARRYING OUT THEINVENTION

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the apparatus constructed according to the present invention will be described with reference to the accompanying drawings. EXAMPLES

[0010] A first preferred embodiment of an apparatus constructed according to the present invention will now be described with reference to the accompanying drawings. Referring to FIG. 1 to FIG. 4, The illustrated device includes a cart frame 11, four wheel drive motors 13 arranged at the four corners of the cart frame 11, wheels 12 attached to the output shafts of the wheel drive motors 13, and a wall adhesion self-propelled device 10 including a means for adhering to a wall surface 1 such as a suction cup or a magnet (not shown); a winch unit 1 arranged on the ground on the left side of the wall 1, the winch unit 1 being composed of a drum-type wire rope traction machine 31 equipped with a wire rope take-up drum and a wire rope 32 to be taken up by the wire rope traction machine 31; a pulley 38 arranged on the upper wall surface on the left side of the wall 1; a sheave 35 arranged on the upper left side of the cart frame 11; a wire rope guide swing arm 36 attached so as to be able to swing freely on the axis of the sheave 35; an angle sensor 37 whose rotating axis is attached to the axis of the sheave 35 and whose housing is attached to the wire rope guide swing arm 36, and which measures the swing angle of the wire rope guide swing arm 36; a load sensor 34 arranged on the lower left side of the cart frame 11 and connected to a hook 33 at the end of the wire rope 32; a winch unit 2 arranged on the ground on the right side of the wall 1, the winch unit 2 being composed of a drum-type wire rope traction machine 41 equipped with a wire rope take-up drum and a wire rope 42 to be wound around the wire rope traction machine 41; a pulley 48 arranged on the upper wall surface on the right side of the wall 1; a sheave 45 arranged on the upper right side of the cart frame 11; a wire rope guide swing arm 46 attached so as to be able to swing freely on the axis of the sheave 45; an angle sensor 47 whose rotating axis is attached to the axis of the sheave 45 and whose housing is attached to the wire rope guide swing arm 46, and which measures the swing angle of the wire rope guide swing arm 46; a load sensor 44 arranged on the lower right side of the cart frame 11 and connected to a hook 43 at the end of the wire rope 42; It is composed of: In Figures 1 to 4, the wall-adhesive self-propelled device 10 is attached to the wall surface 1 with the rotation axis of its wheels 12 perpendicular to the center of gravity line 2, and its adhesive force is sufficient to hold the weight W of the wall-adhesive self-propelled device 10 on the wall surface, and when the wheel drive motor 13 is driven, the wall-adhesive self-propelled device 10 can rise or fall along the wall surface in a direction parallel to the line of gravity. In Figures 1 to 4, in the winch unit 1 on the left side facing the wall surface 1, the tension acting on the wall-adhering self-propelled device 10 of the wire rope 1 is F1, the horizontal component of F1 is f11, the vertical component of F1 is f12, the angle between the wire rope 1 and the line of gravity is θ1, and the maximum tension of the wire rope 1, i.e., the rated tension of the wire rope traction machine 1, is F1max; In the winch unit 2 on the right side of the wall 1, the tension acting on the wall-adhering self-propelled device 10 of the wire rope 2 is F2, the horizontal component of F2 is f21, the vertical component of F2 is f22, the angle between the wire rope 1 and the line of gravity is θ2, and the maximum tension of the wire rope 2, i.e., the rated tension of the wire rope traction machine 2, is F2max; If f11=f21; The following formulas 1 to 4 hold true. (Number 2) (Formula 1) f11=f21 (Formula 2) f11=F1*sinθ1 (Formula 3) f21=F2*sinθ2 Substituting (Equation 2) and (Equation 3) into (Equation 1), we get (Formula 4) F1*sinθ1=F2*sinθ2 In addition, in the winch system of the present invention, the conditions shown in the following formulas 1 and 2 and the following formulas 3 and 4 are satisfied. (Number 3) (Formula 1) F1≦F1max (Formula 2) F2≦F2max (Formula 3) f12=F1*cosθ1 (Formula 4) f22=F2*cosθ2 In addition, in the winch system of the present invention, when θ1 ≧ θ2, an arbitrary value of f22 ≦ F2max * cosθ2 is set as the preset value of f22, When θ1<θ2, an arbitrary value in the range of f12≦F1max*cosθ1 is set as the preset value of f12.

[0011] Before describing the operation of the above-mentioned device, The purpose of the winch system of the present invention and the means for achieving it will now be summarized. That is, the winch system of the present invention is equipped with two load sensors for detecting the tension of each of the two wire ropes, and two angle sensors for detecting the angle between each of the two wire ropes and the line of gravity, and in the winch system of the present invention, an upward force is applied to the wall-suction self-propelled device to complement the so-called upward self-propelling ability of the wall-suction self-propelled device to move independently in a direction parallel to the line of gravity along the wall surface and in an upward direction. In order to achieve the above-mentioned object of the winch system of the present invention, the winch system must not only apply an upward force to the wall-adhered self-propelled device, but also must not hinder the straight-line movement of the wall-adhered self-propelled device in the upward direction. In other words, in order to avoid impeding the straight-line movement, the horizontal components of the tension of each of the two wire ropes acting on the wall-suction self-propelled device are set to the same value, i.e., f11 = f21, so that the horizontal components of the tension of each of the two wire ropes cancel each other out and do not act on the wall-suction self-propelled device. In the winch system of the present invention, calculations are performed by a small computer such as a PLC (programmable controller) based on data obtained from two load sensors and two angle sensors, and the tension of each of the two wire rope traction machines is automatically controlled.

[0012] The operation of the above-mentioned first preferred embodiment of the apparatus constructed according to the present invention will now be described. FIG. 4 illustrates the tension F1 and its component force of the wire rope 32, and the tension F2 and its component force of the wire rope 42, which act on the wall-adhering self-propelled device. The analog value measured by the angle sensor 37 is converted into a digital value by an A / D converter and then input into a small computer for calculation, thereby calculating a target digital value for the tension F1 of the wire rope 32. Meanwhile, the actual digital value of the wire rope 32, which is the analog value of the actual tension of the wire rope 32 measured by the load sensor 34 converted into a digital value by an A / D converter, is input into the computer, and the target digital value of the tension F1 of the wire rope 32 is compared with the actual digital value of the wire rope 32 by the computer. If the actual digital value is smaller than the target digital value, the computer causes the wire rope pulling machine 31 to execute the winding operation of the wire rope 32 until the actual digital value and the target digital value become the same value. If the actual digital value is larger than the target digital value, the computer causes the wire rope pulling machine 31 to execute the rewinding operation of the wire rope 32 until the actual digital value and the target digital value become the same value. Similarly, the analog value measured by the angle sensor 47 is converted into a digital value by an A / D converter and then input into a small computer for calculation, thereby calculating a target digital value for the tension F2 of the wire rope 42. Meanwhile, the actual digital value of the wire rope 42, which is the analog value of the actual tension of the wire rope 42 measured by the load sensor 44 converted into a digital value by an A / D converter, is input into the computer, and the target digital value of the tension F2 of the wire rope 42 is compared with the actual digital value of the wire rope 42 by the computer. If the actual digital value is smaller than the target digital value, the computer causes the wire rope pulling machine 41 to execute the winding operation of the wire rope 42 until the actual digital value and the target digital value become the same value. If the actual digital value is larger than the target digital value, the computer causes the wire rope pulling machine 41 to execute the rewinding operation of the wire rope 42 until the actual digital value and the target digital value become the same value. As described above, in the winch system of the present invention, forces f12 and f22 in the upward direction are applied to the wall-adhering self-propelled device 10.

[0013] Furthermore, when comparing the magnitude of the force f12, whose point of application is at the upper left side of the wall-adhesive self-propelled device 10, with the magnitude of the force f22, whose point of application is at the upper right side of the wall-adhesive self-propelled device 10, there is a possibility that the straight-line movement of the wall-adhesive self-propelled device 10 will be hindered due to the difference in the magnitude of these forces. Therefore, in the second preferred embodiment of the device constructed according to the present invention shown in Figure 5, the points of action of f12 and f22 are close to each other, that is, the sheave 35 and the wire rope guide swing arm 36, and the sheave 45 and the wire rope guide swing arm 46 are close to each other, that is, by arranging two sheaves 35 and two sheaves 45, the distance L between the points of action of f12 and f22 is minimized.

[0014] In the third preferred embodiment of the apparatus constructed according to the present invention shown in FIG. 6, unlike the first preferred embodiment of the apparatus constructed according to the present invention and the second preferred embodiment of the apparatus constructed according to the present invention, an endless wire rope traction machine (1) 31E and an endless wire rope traction machine (2) 41E are provided on the left and right parts, respectively, of the wall-suction self-propelled device 10. In the device of the third preferred embodiment of the present invention, one end of the wire rope 32 is fixed to the upper part 39 of the wall surface 1, and the other end is attached to the endless wire rope pulling machine (1) 31E and then extends downward and hangs down. The load sensor 34 provided on the lower left side of the wall suction self-propelled device 10 is connected to the body of the endless wire rope pulling machine (1) 31E via a hook 33. One end of the wire rope 42 is fixed to the upper part 49 of the wall surface 1, and the other end is attached to the endless wire rope pulling machine (2) 41E and then extends downward and hangs down. A load sensor 44 provided on the lower right side of the wall suction self-propelled device 10 is connected to the body of the endless wire rope pulling machine (2) 41E via a hook 43.

[0015] The effects of the preferred embodiment of the device constructed according to the present invention are as follows: In the winch system of the present invention, the straight-line movement of the wall-adhered self-propelled device is not hindered, and the winch system complements the ability of the wall-adhered self-propelled device to self-propel in the upward direction, thereby increasing the self-propelling ability of the wall-adhered self-propelled device in the upward direction.This makes it possible to increase the mass of the working equipment mounted on the wall-adhered self-propelled device, thereby increasing working capacity. Although the preferred embodiment of the device of the present invention has been described above, various other embodiments of the device of the present invention can be considered in accordance with the scope of the claims in addition to the preferred embodiment. For example, instead of a potentiometer, an angle measurement system using laser light or a position measurement system using an inertial sensor can be used as an angle sensor to measure the angle between the wire rope and the gravity line. [Industrial Applicability]

[0016] As described above, the winch system for the wall-attached self-propelled device is As exemplified in the "Background Art" section, it can be advantageously used as a system that complements the function and enhances the performance of wall-adhering self-propelled devices for cleaning and painting the walls of oil tanks, ship hulls, etc. [Brief description of the drawings]

[0017] [Figure 1] 1 is an overall view showing the configuration of a first preferred embodiment of an apparatus constructed according to the present invention; [Diagram 2] 1 is an enlarged front view of a wall-adhering self-propelled device according to a first preferred embodiment of the present invention; [Diagram 3] FIG. 3 is a right side view of the device shown in FIG. 2 . [Figure 4] A vector diagram showing the state in which each tension of the two wire ropes acts in the device shown in Figure 2. [Diagram 5] FIG. 2 is an overall view showing the configuration of a second preferred embodiment of an apparatus constructed according to the present invention; [Figure 6] FIG. 13 is an overall view showing the configuration of a third preferred embodiment of an apparatus constructed according to the present invention; [Explanation of symbols]

[0018] Wall 1 Gravity Line 2 Wall suction self-propelled device 10 Cart Frame 11 wheels 12 Wheel drive motor 13 Drum type wire rope traction machine(1)31 Wire Rope 32 Hook 33 Load Sensor 34 Sheave 35 Wire rope guide swing arm 36 Angle Sensor 37 Pulley 38 Drum type wire rope traction machine(2)41 Wire Rope 42 Hook 43 Load Sensor 44 Sheave 45 Wire rope guide swing arm 46 Angle Sensor 47 Pulley 48 Tension F1 of wire rope 32 Horizontal component of force F1, f11 Vertical component of force F12 The angle θ1 between the wire rope 32 and the gravity line 2 Tension F2 of wire rope 42 Horizontal component of force F2, f21 Vertical component of force f22 of F2 The angle θ2 between the wire rope 42 and the gravity line 2 Endless wire rope traction machine (1) 31E Endless wire rope traction machine (2) 41E

Claims

1. In a fall prevention winch system equipped on a so-called wall adhesion self-propelled device that can adhere to a wall surface by the action of a negative pressure or a magnet and can self-propel along the wall surface, The winch system is composed of a pair of winch units, Each winch unit is composed of a wire rope and a wire rope traction machine that pulls the wire rope. One end of the wire rope is attached to the wire rope pulling machine arranged on the top of the wall or on the ground, and the other end is connected to the wall suction self-propelled device, Alternatively, one end of the wire rope is attached to the wire rope pulling device provided on the wall surface suction self-propelled device, and the other end is fixed to the upper part of the wall surface, Each winch unit is equipped with a load sensor that measures the tension of the wire rope, an angle sensor that measures the angle between the wire rope and a gravity line, and a calculation system that calculates data measured by the two load sensors and the two angle sensors to automatically control the tension of each wire rope, The tension of each of the two wire ropes acting on the wall-adhering self-propelled device is resolved into a component force in the direction of the gravity line and a horizontal component force, and the tension of each wire rope is automatically controlled by the calculation system so that the values ​​of the two horizontal components whose directions differ by 180 degrees become approximately the same. A winch system for a wall-adhering self-propelled device.

2. In the winch unit 1 on the left side facing the wall, the tension of the wire rope 1 of the winch unit 1 acting on the wall-adhering self-propelled device is defined as F1, the horizontal component of F1 is defined as f11, the vertical component of F1 is defined as f12, the angle between the wire rope 1 and the line of gravity is defined as θ1, the maximum tension of the wire rope 1, i.e., the rated tension of the wire rope traction machine 1 is defined as F1max, and the weight of the wall-adhering self-propelled device is defined as W; In the winch unit 2 on the right side facing the wall, the tension acting on the wall-adhering self-propelled device of the wire rope 2 of the winch unit 2 is F2, the horizontal component of F2 is f21, the vertical component of F2 is f22, the angle between the wire rope 1 and the line of gravity is θ2, the maximum tension of the wire rope 2, i.e., the rated tension of the wire rope traction machine 2, is F2max, and the weight of the wall-adhering self-propelled device is W; If f11 = f21; 2. A winch system for a wall surface adsorption self-propelled device according to claim 1, wherein the following formulas 1 to 5 are satisfied. (Equation 1) (Formula 1) F1*sinθ1=F2*sinθ2 (Formula 2) F1≦F1max (Formula 3) F2≦F2max (Formula 4) f12 = F1 * cosθ1 (Formula 5) f22 = F2 * cosθ2

3. When θ1≧θ2, an arbitrary value of f22≦F2max*cosθ2 is set as the preset value of f22; A winch system for a wall-surface adhering self-propelled device as described in claim 1 or 2, characterized in that when θ1 < θ2, an arbitrary value of f12 ≦ F1max * cos θ1 is set as the preset value of f12.

4. 4. A winch system for a wall-surface adhering self-propelled device according to claim 1, wherein the application point of f12 and the application point of f22 are arranged close to each other.

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