成果報告書詳細
管理番号20150000000467
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 自在適応桁で支えられる橋梁点検ロボットシステムの研究開発
公開日2016/1/27
報告書年度2014 - 2014
委託先名株式会社ハイボット 株式会社建設技術研究所 国立大学法人東京工業大学
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In this project HiBot Corp, CTI Engineering Co., Ltd. and Tokyo
Institute of Technology co-propose an unconventional bridge inspection
robot that can automatically construct a horizontal rod suspended by
wires under the bridge, and then use mobile platforms to make the
inspection of the bridge by moving along the rod. This bridge inspection
robot consists of 4 parts: 1) upper bridge supporting units; 2) a pair
of horizontal rods; 3) string transporting unit under the bridge; and 4)
expandable sensor arm with sliding mobility on the horizontal rods. This
year we investigated all of these items and constructed an indoor bridge
for the experiment.

As for part 1), upper bridge supporting units, we designed the basic
mechanism. One of the main features of the supporting unit is that it
can be fixed on the edge of the bridge with minimum projection on the
road side, allowing automobiles to run normally while the inspection
task is done. On the other hand, conventional bridge inspection systems
employ large and heavy vehicles to support the inspection device, and
always have to stop the traffic on the bridge. To realize this important
feature, we investigate the possibility to stabilize the supporting unit
by cramping it to the rim of the bridge with a special vise.

As for part 2), a pair of horizontal rods, we studied the basic concept
of the rod, rod connecting mechanism, and stabilizing fan mechanism.

Regarding part 3), string transporting unit under the bridge, we studied
the possibility to use a quadrotor to carry the end of the string from
one side of the bridge to the other side, by passing under it. The
flying quadrotor is caught by the worker waiting at the other side of
the bridge, and the end of the wire is connected to the end of the
horizontal rod. Then, the horizontal rods are lowered from both sides of
the bridge, and by shortening the length of the string the pair of
horizontal rods come together and are connected.

As for part 4), expandable sensor arm with sliding mobility on the
horizontal rod, we designed the actuation mechanism to slide the unit
along the horizontal rod, swing the arm freely by using the motion of a
2-dof arm with weight attached at its end, and an expandable arm driven
by compressed air and controlling wire.

The bridge built indoors for the experiment is 20m in length and 10m in
width. It is made of both steel plates and RCT, and allows us to do test
our system in different conditions.
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