成果報告書詳細
管理番号20150000000491
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 二輪型マルチコプタを用いたジオタグ付近接画像を取得可能な橋梁点検支援ロボットシステムの研究開発
公開日2015/7/18
報告書年度2014 - 2014
委託先名富士通株式会社 国立大学法人名古屋工業大学 国立大学法人東京大学 国立大学法人北海道大学
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: SIP (Cross-ministerial Strategic Innovation Promotion Program) Technologies for maintenance, upgrading and management of infrastructure/development of a bridge inspection support robot system that uses proximity-images with Geotag and a two-wheeled flying robot (FY2014-FY2016) FY2014 Annual Report

(1) Research into the structure of a two-wheeled multi-copter system that can move while in contact with a bridge (Nagoya Institute of Technology) We investigated the structure required for a two-wheeled multi-copter system for bridge inspection purposes. (2) Research into a robust flight control algorithm to counteract wind disturbance for a two-wheeled multi-copter system (Nagoya Institute of Technology) We studied robust hovering and flight control methods for a two-wheeled multi-copter to counteract wind disturbance. (3) Development of Multi-copter System (Fujitsu Ltd.) We developed a prototype of a small two-wheeled multi-copter. We developed a large multi-copter to play the role of a radio relay station for a small two-wheeled multi-copter. (4) Study on Localization Methods for a Multi-copter System (The University of Tokyo) We carried out a study on the selection of wide FOV cameras and investigated the self-localization method of the multi-copter system. (6) Study into the remote-control method of multi-copters (Fujitsu Ltd.) We developed a prototype of an intuitive user interface for the remote-control of a multi-copter. We examined an inspection method for narrow sections of a bridge using cooperative control of two multi-copters. (7) Research on cooperative control of two multi-copters for inspection of narrow and small spots on a bridge (Nagoya Institute of Technology) We examined use-cases of the cooperative control based on a field work investigation for bridge inspection. (8) Study of SFM-based 3D Modeling Method Using Wide FOV Camera Images (The University of Tokyo) We tackled the concept design of image-based 3D modeling methods. (9) Development of a method of geotagging (Fujitsu Ltd.) We created a conceptual design for an automatic geotagging method. (10) Continuous generation and update of as-built bridge models by combining scanned models and CAD models (Hokkaido University) We clarified requirements of automatic creation of bridge CAD models. We investigated properties of scanned models acquired from different sensors and clarified the requirements for the registration algorithm. (11) Developing a data model for maintenance of an infrastructure construction based on International Standards (Hokkaido University) We analyzed the maintenance procedures of a bridge and designed a data model for the maintenance. We prototyped a web system to view the bridge model. (12) Development of a prototype of a 3D IT carte of infrastructure construction (Fujitsu Ltd.) We examined use-cases of a 3D carte system for infrastructure construction. We developed a prototype of the 3D carte system.
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