成果報告書詳細
管理番号20150000000492
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・トンネル点検用打音検査飛行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
委託先名日本電気株式会社 株式会社自律制御システム研究所 独立行政法人産業技術総合研究所 一般財団法人首都高速道路技術センター
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Development of the Hammering-test System for a Bridge/Tunnel Using the Flying Robot.

NEC Corporation
Autonomous Control System Laboratory, LTD.
National Institute of Advanced Industrial Science and Technology
Highway Technology Research Center

The specifications and functional designs of the hammering test system by a flying robot has been completed. In addition, data generated from each module, such as an optical sensor and cameras has collected during fiscal year 2014.
Traditionally, precision location data is obtained via a GPS receiver. In the environment in which the robot operates such as inside tunnels and under bridges, however, GPS is unreliable due to reflection or blockage of the signal. Fortunately, simultaneous localization and mapping (SLAM), which utilizes lasers and other sensors to extract feature points of the environment, can be applied to provide precise positioning in relation to structures such as walls and fixtures. In some situations, SLAM is not sufficient on its own for precision localization due to smoothness of the walls. In this case, an additional stationary survey site is required, to provide a known fixed point of reference. Therefore, the system utilizes the laser based range and angle surveyor instrument, a total station.
Two flying robots have been designed to meet the two specific tasks of the project: one as a visual inspection and the other as a hammering equipment. One robot has four motors according to the weight of the optical sensor, which captures and transmits image data to a ground station to check the condition of walls. Another robot has twelve motors to evaluate the hammering test system and to compensate forces as the robot presses and hammers the walls.
The prototyped hammering test equipment has a hammer which hits the walls driven by solenoid and a microphone which collects impact acoustics. By mounting this test equipment on the flying robot with a dedicated gimbal, it is able to perform the test and marking procedure at multiple angles. In addition, an electro-optical camera mounts on the robot, in order to take detailed pictures of the position where the hammer hits. This camera can take a minimum resolution of 0.1 millimeter, which is required to evaluate whether the concrete is damaged under a prestressed concrete bridge.
According to the official notice, “The construction work public accident prevention countermeasure outline earthwork volume”, the inspection with the flying robots needs to take some measures for safety because inspectors operate on the roads. Thus, the specification and evaluation for the flying robots in terms of the collision safety have been performed.
The test procedure and required specifications have been affirmed to evaluate using the flying robots for how the walls among concrete bridges have been damaged based on “A bridge regular inspection point, June, 2014, The Ministry of Land, Infrastructure and Transport, road bureau national highway and disaster prevention department" and "A third person damage prevention measure point (plan), March, 2004 in a bridge, the Ministry of Land, Infrastructure and Transport, road bureau national highway and disaster prevention department.”
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