成果報告書詳細
管理番号20150000000555
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 遠隔搭乗操作によるマルチクローラ型無人調査ロボットの研究開発
公開日2015/8/13
報告書年度2014 - 2014
委託先名株式会社大林組
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 Unmanned Multi Track Robot controlled by Remote Operation System (FY2014 - FY2015) FY2015 Annual Report

Our mission is to develop a robot probe which can remotely survey geological features at places inaccessible to humans due to landslides and similar natural disasters. We researched and designed specifications to meet anticipated land conditions and developed some of them in fiscal year of 2014.We used Ursinia (developed by Mobile Robot Research Co., Ltd.), which has sub tracks on either side of its main tracks, for our initial tests. The sub-track system demonstrated its functions through step climbing tests. We then added a traversing mechanism to allow Ursinia to cross slopes and tested it at the MILT field tests. The machine demonstrated that it was able to negotiate soft ground with a cone index of less than 200 kN, a 50-centimeter-high step and a 30-degree slope. Although the dimensions of this test machine are much smaller than those of a future machine, the test results of mud adhering to the tracks indicated the improvements that are necessary for a future model. The relationship between step height and sub-track length was confirmed with the climbing test. Without the traversing function, the machine slipped while crossing the slope but did not slip when the traversing system was engaged.A Spatial Cognition System test was implemented using TORSO, a space perception device developed by Keio University, set in a backhoe. The test proved that the Spatial Cognition System was able to provide enough information to operate a heavy machine by remote control. While the operators obtained valuable information, some of them experienced motion sickness during the test, and this side effect needs to be reduced. For the radio communication device, we designed specifications for a base station, a relay station and a mobile station for a heavy machine. These were manufactured and then demonstrated in communication tests. The base station was equipped with a high-gain patch antenna pole up to 10 meters in height to communicate with a station set at a distance. The height of the antenna pole of the relay station was decided at 4 meters to secure a first Fresnel Zone radius for the targeted communication distance of 0.5 kilometers. In order to keep the antenna of the relay station within the range of the Fresnel Zone, a function was added to track the base station. In order to receive radio waves from all directions, the mobile station antenna used two collinear antennas with a diversity switching system. The extension and automatic zenith mechanism of the antenna pole were confirmed in the radio communication tests and a continuous transmission was achieved as the mobile station moved.We plan to develop a penetrometer using a fully automated Swedish sounding test device. To avoid collisions with the antenna and obstacles such as tree branches, a rod retracting system will be added.
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