CURVED SURFACE TRAVEL DEVICE

PROBLEM TO BE SOLVED: To obtain a desired stable travel in an in-tube travel device constituted by connecting vehicle bodies which can be steered independently to freely travel so that they can freely and relatively rotate on a connection shaft in the front- rear direction of the travel device. SOLUTION: This device is equipped with a twist angle detecting means 22 which finds a twist angle as the opposition angle between vehicle bodies around the connection shaft and a travel attribute maintaining means 24 which controls the steering angle or driving rotation angle of some of wheels 5 that the vehicle bodies 4 have or both the steering angle and driving rotation speed according to the difference between the twist angle detected by the twist angle detecting means 22 and a previously set initial set twist angle so that the twist angle reaches the initial set twist angle.