成果報告書詳細
管理番号20150000000518
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 可変構成型水中調査用ロボットの研究開発
公開日2016/1/27
報告書年度2014 - 2014
委託先名株式会社キュー・アイ 独立行政法人産業技術総合研究所  株式会社日立製作所
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 underwater inspection robot system with variable configuration. (FY2014-FY2015) FY2014 Annual Report

1. Purpose of research and development
The deterioration of social infrastructure such as a dam or river facilities is currently in progress, and it is expected that their performance will degrade rapidly. To prevent a casualty with great loss or sacrifice caused by collapse of the infrastructure, it is necessary to investigate their state precisely and widely. At present, the inspection into dams is mainly carried out by viewing with divers. However this method costs a great deal with many risks. In order to solve this problem, we propose to develop the robot system with variable configuration for a wide range of inspection.
The variable configuration robot system is capable
1) To replace a visual inspection by diver into the gate equipment or concrete body.
2) To obtain a perspective image of sediments in the reservoir, effectively.
3) To obtain a perspective image of a riverbed-scour or a bridge-scour in running water, effectively.

2. Contents and result of research and development
(1) Development of a robot platform and an operation interface.
The robot platform consists of a surface-robot and an underwater-robot. The surface-robot consists of a main body, control units and sensors. The main body includes a frame assembly, thrusters, floats and control containers. The control units include a telemetry and robot control PCBs. The sensors include GPS, IMU, TV camera, laser & acoustic range finders, a depth sensor, etc.
In this period,
- Specification of the robot platform has been determined.
- Mechanical, electrical and software design have been completed
- Manufacturing and purchasing of component parts have been completed.

(2) Development of the position recognition technology between the robot and target, and the navigation control technology in autonomous / semi-autonomous mode.
The surface-robot and the underwater-robot are connected with a 50m cable. It is necessary to recognize an accurate position of each robots and inspection target at any moment. And also, it is necessary to navigate both the surface-robot and the underwater-robot side by side in autonomous / semi-autonomous mode.
In this period,
- Evaluation test of the laser range finder for the surface-robot, and the acoustic range finder for the underwater-robot were finished, and expected results were obtained.
- At the experiment the location of robots were acquired and displayed on a PC screen using GPS, wireless LAN and PC.
- Using the surface-robot with radio-control, the navigation test was performed. The robot arrived stably to the target point in running water.

(3) Development of underwater sensors and an environmental mapping technology.

Underwater sensors including a high resolution camera are needed to recognize a crack of the dam, while an imaging sonar mounted on a pan & tilt unit is needed to grasp a bottom geography of a dam lake or a river.
In this period,
- Specification of the underwater imaging sensor has been determined.
- Purchasing of the electric components and the display device for imaging sonar has finished.
- Field test using the sonar owned by HDS has been done in the pool, and useful information that can improve its performance was obtained.
- Production of the viewer that can display a 3D image and its cross section has been outsourced to the outside order.

(4) Development of optional attachments for running water environment.

The surface-robot may not be recovered from a fast-running river when it drifts or sinks due to power saturation or trouble of its thruster/controller. To solve this problem, we develop optional attachments such as draft, thrust unit, and mooring device that can support the motion of the surface-robot from river bank.
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