成果報告書詳細
管理番号20150000000551
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 土石流予測を目的としたセンシング技術とリアルタイム災害データベースの開発
公開日2015/8/13
報告書年度2014 - 2014
委託先名国立大学法人東北大学 株式会社エンルート 国際航業株式会社
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 sensing technology and real-time database for debris flow prediction (FY2014-2017) FY2014 Annual Report

In this research, we aim at developing observation technologies of debris flow after volcano eruption using multiple units of multi-rotor MUAVs (Micro Unmanned Aerial Vehicles), and developing a real-time database system to predict the disaster. In particular, the following three are our research and development topics: a) obtaining visual information about terrain by using some multi-rotor MUAVs, b) sediment sampling technology development, and c) remote permeability evaluation in order to develop a real-time database for debris flow prediction. Experiments for the two topics, a) and b), were mainly conducted in 2014.

The first topic is to obtain visual information by a flying robot in restricted areas. Our flying robot is a quad-rotor MUAV, called Zion QC730, that mounts lithium polymer battery (490Wh) and four 18-inch propellers. The robot has a capability to follow pre-determined waypoints described by GPS coordinates autonomously. It mounts a high-resolution camera with gimbal mechanisms to obtain visual information. On Dec.8-9, 2014, verification tests of volcanic observation were conducted in Sakurajima-Island. One of the test missions was to observe the active volcano crater. Our MUAV flew to the Showa crater (4km away from the departure point) based on the pre-determined path and returned within 20 minutes. During the flight, the robot obtained visual data, including a direct view of the Showa crater. The test proved that our system worked in real observation missions.

The second topic is to obtain 3D terrain information by flying robots in restricted areas. The paths of the robots are back-and-forth to fill the target area to obtain overlapped photos. Then 3D terrain map can be generated using multiple 2D high-resolution photos based on Structure From Motion (SFM) technique. In this research, we used some commercially available software to generate 3D terrain map and finally selected most appropriate one. To validate the method, on Dec.8-9, 2014, verification tests were conducted in Sakurajima-Island. The target area was set around Sabo-dam in Kurokami-river, 2km away from the departure point. The flight altitude was set at 150m, and 290 photos were taken to generate a 3D terrain map. The test proved that our system worked in real observation missions.

The third topic is to conduct ash sampling in a restricted area in order to predict debris flow after volcanic eruptions. Therefore, we developed a sample-return device that was carried by a multi-rotor Micro Unmanned Aerial Vehicle (MUAV). The size of the device is 180x190x130mm, and the weight is 830g. Our multi-rotor MUAV can carry the device with a tether. When the device touches down to the ground, it gathers volcanic materials by rotating two rollers. The distance between the rollers is variable according to the size of volcanic materials, so the device can gather rocks up to 6cm in size. When the device touches down to the ground, the rollers start rotating for 10 s. It has a potential to gather 50g sands, or 30g gravels. The validity of the device was confirmed by some verification tests at Mt. Asama, Mt. Mihara, and Sakurajima in 2014. In all tests, the device obtained sands and gravels successfully. However, in the Sakurajima field, the device sometimes tipped over when it touched down to the ground. The reason was that the target ground was hard because of rainfall.
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