成果報告書詳細
管理番号20150000000473
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 無人化施工の新展開 -遠隔操作による半水中作業システムの実現-
公開日2015/7/18
報告書年度2014 - 2014
委託先名次世代無人化施工技術研究組合
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: New Development of Unmanned Construction - Realization of Remote Operated Working System in Shallow Water Area -

In the post-disaster restoration works, many remote and unmanned construction technologies have been used. Recently, disasters at river edge or semi-underwater place are increasing, and remote and unmanned construction technologies which are effective in these environments are expected. This project aims to develop a remotely controlled heavy carrier robot and the unmanned construction system using the developed carrier for the reduction of disaster damages and for the facilitation of early restoration at semi-underwater environment.

The following four R&D themes were conducted in this year.
1. Development and investigation of waterproofness, airtightness, and running ability of the proto-type body, for the water resistance design of the full scale crawler carrier.
2. Experiments of the radar system to observe the stratum layer in the water using mock-up
3. R&D and basic experiments of the simple guidance system for remote operation of carrier robot for the case the traveling road is invisible
4. R&D and test-use of semi-automatic driving system simulator for the investigation of the improvement of operation or operator support

The details of the above four R&D themes are as follows:
1. We rebuilt a water resistance crawler carrier proto-type from the usual one without water proof function, for waterproofness test. Moreover, we attached the acceleration pickup, gyroscope sensor, GNSS receiver, pressure sensor, and speed sensor for the measurement of vehicle’s behavior. And, we made a running test on the rough road repeatedly. The analysis of the resultant data will be reflected in the design after next year.
2. We set the simulated stratum layer and poured water in the tank which has 30m3 capacity, as a shallow-water test environment. This mockup environment consists of soil, silt, sand, and ballast. And, we used artificially soiled water. We measured the depth to the stratum surface and its geometrical shape by using two kinds of sensor systems, which use the radar system or the ultrasonic sensor. The analysis of the reflective wave data, which is obtained from the experiment, is now on-going.
3. We carried out the basic experiments for the configuration of guidance system by using the radio controlled crawler carrier on the ground. In the experiments, radio controlled crawler carrier was controlled by the following three kinds of operation method for comparison of operation ability.
(1) Onboard operator operation
(2) Remotely controlled operation by using real camera images
(3) Remotely controlled operation only the guidance system
In the experiments, the crawler carrier is controlled to follow the pre-designed trajectories, which are consisted of straight, curved and U-shaped trajectories. In the guidance system basic experiments, deviation error from the desired trajectory is measured. We are now analyzing the resultant data obtained from the experiments at several conditions of the guidance system and the trajectories.
4. The purpose of the simulator system is for the design of the configuration of semi-automatic driving system, because the set-up of the experimental system of the crawler carrier needs a big cost. Based on the investigations of the commercial simulation software, we decided to customize the selected product which can express the behavior of the crawler carrier and civil engineering environments. We are going to carry out virtual running test of the crawler carrier, simulate its behavior, and develop main algorithms for the semi-automatic driving system of the crawler carrier after next year.

We made four presentations concerning this research and development project in this term.
-2 presentations in November, 2014
-2 presentations in February, 2015.
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