成果報告書詳細
管理番号20150000000516
タイトル*平成26年度中間年報 インフラ維持管理・更新等の社会課題対応システム開発プロジェクト インフラ維持管理用ロボット技術・非破壊検査装置開発 インフラ診断ロボットシステム(ALP)の研究開発
公開日2015/7/18
報告書年度2014 - 2014
委託先名株式会社開発設計コンサルタント 学校法人法政大学  国立大学法人岡山大学
プロジェクト番号P14011
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 project on system corresponding to societies problems such as maintenance and renewal of infrastructure / Development of technology and nondestructive inspection devices on robot for maintenance of infrastructure / Development of infrastructure diagnosis robot system (ALP)

Infrastructure diagnosis robot system (ALP) is a mobile robot for the wall or the main girder underside such as material of concrete or steel using vacuum suction pads. And, ALP is equipped with measuring equipment, CCD camera, hammering equipment and electromagnetic wave radar. The achievements of the development first year are as follows.
1) Research and development of wall movement mechanism of ALP: This year was the research and development for the items shown below, operation system, concept design of output information, wireless communication device of robot and measuring equipment, safety equipment for anti-drop, robot moving mechanism. As the results, ALP was successful in two experiments with self-weight 30kg. The First experiment is suction self-propelled concrete vertical wall of the building. The second experiment is suction concrete of ceiling underside in the building.
2) Image analysis system using CCD camera: The image data processing technique for making one continuous image from individual still image taken were developed. By using the technique which was developed, it was possible to produce one stereoscopic vision image in a way of horizontally arranging the image data on the basis of the overlap areas extracted by the developed image processing. In the development first year, the digital images of actual structures were taken and the verification test of the developed software was conducted to evaluate the performance for making one continuous image from the overlapped images at arbitrary camera positions. For example, when images of the size of 40 × 30cm at 60% of lap rates were taken, by using this technique it is easy to form one continuous image by combining images of individual divided regions.
3) Hammering diagnose system: In this year, in order to comprehend the measuring limit in concrete, to comprehend the effect on the measurement by the difference of roughness of concrete surface and to develop the program on the analysis of waveforms of hammering, the investigation for establishment of the quality judging method was carried out, while the laboratory tests using concrete specimens were carried out.
As the results, it was confirmed that it is possible to obtain the detection of void and the depth of void on effects and evaluations to the position of inside void using this method and the detection limit of the inside void was within the 50mm depth.
4) Nondestructive diagnostics using electromagnetic wave radar: In this year, comprehend of the effect factors on the estimation of chloride ions and the output items to the diagnosis display system are investigated so that display system of diagnostics results may be made to apply the position of reinforcing bar, cover concrete, content of chloride ions. In the laboratory tests, investigation was carried out on temperature, humidity, roughness of concrete surface and kinds of cement which affect the estimation of content of chloride ions.
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