成果報告書詳細
管理番号20150000000514
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 近接目視・打音検査等を用いた飛行ロボットによる点検システムの研究開発
公開日2015/7/18
報告書年度2014 - 2014
委託先名新日本非破壊検査株式会社
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 an inspection system using a flying robot with cameras and hammering test devices(FY2014-FY2016)FY2014Annual Report
 
 In the infrastructures such as a bridge or a tunnel, there are many locations where persons cannot approach and check easily. To address the problem, we will develop a flying robot system with a contact type inspection tool. Using the robot system, we can check locations where human beings cannot get to near easily.
 In this year, the following four parts were carried out.
 1) Moving mechanism
・We developed two types of large and small flying robot with four drive wheels.
 ・ We developed an adaptive attitude controller for the flying robot.
 2) Check system
  ・We developed a simple proximity viewing system using a small camera.
・To develop a hammering test system, we made test specimens with cavities of various shapes.
・For the test specimens, we analyzed the frequency of the hammering sound acceleration, and investigated physical application limitations of the elastic wave method. As a result, it was ascertained that the presence or absence of the cavity (volume:100mm×100mm×10mm) with a depth of 100mm could be determined.
In addition, applying an acoustic time-frequency analysis to the hammering sound, we also observed the damping ratio and frequency distortions.
 3) Development of a special inspection system
・On the premise that the EMAT (Electromagnetic Acoustic Transducer) device is implemented on the flying robot, circuits were produced experimentally. In addition, sensors were examined, and the structure and the shape of the magnets to generate the necessary magnetic field were also examined by carrying out numerical simulations. As a result, we could find the structure and the effective size suitable for downsizing.
 4) On-the-spot inspections / over-all judgement
・For the steel girder bridge belonging to National Institute for Land and Infrastructure Management, verification tests were carried out.
・We carried out examinations for bridges to confirm effectiveness of the developed flying robots. As a result, it could be confirmed that the small flying robot could approach the bridge and move on the inner floor board of the bridge.
・The simple proximity viewing system developed in the part 2) was mounted on the small flying robot. Then, using the viewing system, mages of concrete surface were captured. From the images, it was ascertained that we could detect abnormal locations.
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