成果報告書詳細
管理番号20150000000471
タイトル*平成26年度中間年報 SIP(戦略的イノベーション創造プログラム) インフラ維持管理・更新・マネジメント技術 維持管理ロボット・災害対応ロボットの開発 橋梁の打音検査ならびに近接目視を代替する飛行ロボットシステムの研究開発
公開日2015/7/25
報告書年度2014 - 2014
委託先名国立大学法人東北大学 株式会社リコー 株式会社千代田コンサルタント 一般財団法人航空宇宙技術振興財団
プロジェクト番号P14031
部署名ロボット・機械システム部
和文要約
英文要約Title: Development of Micro Aerial Vehicles for Observing and Hammering Aged Bridges at Short Range (FY2014-FY2016) FY2014 Annual Report

(1) Development of MAVs Equipped with a Passive Spherical Shell for Aged Bridge Inspection
MAVs equipped with a passive spherical shell are one solution to survey the surface of bridges and the inside narrow structure under them. A new prototype of MAV with a passive spherical shell was built for bridge inspection. The prototype was used to survey the Shinasakawa Bridge on 17 Dec. 2014. The results show that the prototype satisfied the target specification of 2014 (flight time 5 minutes, payload 100g), and reports can be made from the images captured by the camera of the MAV.

(2) Development of Small and Lightweight Camera Modules for MAVs
Camera images are used to record and detect damaged parts of aged bridges. A small and lightweight camera with LED flashlight is developed in this project. The specification of the camera was decided on the basis of size and payload of our MAVs.
An omnidirectional camera is used to observe the MAV during the inspection. The omnidirectional camera was modified to take not only still images but also movies. The camera functions were evaluated at the Shinasakawa Bridge. A hyper spectrum camera was also evaluated for recording damages of concrete structures.

(3) Development of MAV Equipped with Adhesion Mechanism for Communication Relay
A MAV equipped with adhesion mechanism is developed for communication relay. Small and lightweight MAV can fly about 10 minutes. However, 10 minutes is not sufficient time for data transfer. Propelling motion consumes battery power during the data transfer. Reducing the propelling motion can decrease energy consumption. Adhesion to bridge structure is one solution for reducing the propelling motion. The use of adhesion and winch mechanism enables the MAV to hover without propelling motion. A magnet was selected as adhesion force. A prototype of the adhesion and winch mechanism was designed, and was evaluated indoor environment. The results show that the MAV with an adhesion mechanism can hover over 30 minutes by using the adhesion and winch mechanism.

(4) Support System for Making Reports of Bridge Inspection
Panoramic image is one solution to visualize the location of the damaged parts. A method of the panoramic image was built as prototype. Discussion with practical users was held to study the specification of support system.

(5) Evaluation and Field Test for Practice Use
For evaluations, test field and camera image data set were prepared. A mock-up of the aged bridge was designed and was built in an artificial weather room. Images of damaged part were collected by using cameras devices at aged bridges in JAPAN.
Flight stability of the MAV with a spherical shell was evaluated by using a wind tunnel. The influence of the wind was analyzed from the recorded data.
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