成果報告書詳細
管理番号20150000000552
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 引火性ガス雰囲気内探査ロボットの研究開発
公開日2015/8/13
報告書年度2014 - 2014
委託先名三菱重工業株式会社
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: Research and development of an investigation robot in the flammable gas atmosphere (FY2014-FY2015) FY2014 Annual Report

The purpose of this research is to develop the equipment which can acquire information about flammable gas and high-definition picture to grasp the state and the scale of an accident, instead of a person, when a collapse of a tunnel which is one of the existent infrastructures has happened.
Now, there is a mobile robot “Sakura II” which has been developed based on “Quince” which has a good record of performance in investigation activity of a nuclear power plant accident. Addition of the explosion-proof performance and the investigation function and weight saving will be performed based on this robot. And finally, we will develop the crawler type robot which prospects for a presence of flammable gas and the state of the accident by remote control operation in a tunnel which collapsed.
The following items are put into effect as the first step in the current year.

1. Inspection of a system of simple explosion-proof construction
It has been confirmed that the seal structure is able to prevent infiltration of flammable gas in the body. Through hearing of needs from the user and conference with Technology Institution of Industrial Safety, the static pressurization was required. The static pressurization is the structure which loads all electrical equipment which can be a source of explosion in the robot body, seals up the whole robot body to isolate electrical equipment.

2. Experimental production of a weight saving robot aiming for improvement of handling
“Sakura II” is equipped with the high road ability, the load capacity and environmental resistance (protection against dust and water). But the handling of transfer and installation is not good because there is 47.5 kilogram of body mass (the cart part). To improve handling at a disaster site, a robot with the sealing up structure which has reduced the weight of the body mass in 30kg (the cart part) has been made, maintaining the above performances.

3. Inspection of the road ability and gas detectability by using “Sakura II” with a gas detector
A gas detector and a 3D laser range finder have been loaded into “Sakura II” and the environmental information acquisition has been confirmed. It has been experimented with the environment that a tunnel accident was imitated. And it inspected that this robot was equipped with the enough road ability and visual recognition investigation performance and it's possible to confirm the flammable gas and oxygen density through the robotic system.
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