成果報告書詳細
管理番号20150000000562
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 水中構造物の近接目視等を位置計測しつつ安定に実施可能なテザー伸展操舵型ROV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P14011
部署名ロボット・機械システム部
和文要約
英文要約Japan is currently suffering from a problem of ageing infrastructure.
Like its counterparts in North America and Europe, public infrastructure
in Japan is quickly approaching its end of life, and it becomes
imperative to perform inspection of this infrastructure in a more
frequent and detailed manner, in order to better understand what needs
to be repaired, and when.

A clear example of ageing infrastructure is Japan’s vast complex of
dams. Built in remote locations several decades ago, the walls of the
dams are usually inspected by divers. However, divers usually cannot go
deeper than 40m. Underwater robots are expected to fill this gap in
inspection, by going deeper and collecting data of dam walls, water
intakes and other infrastructure underwater.

In this project, HiBot Corp, CTI Engineering Co., Ltd. and Tokyo
Institute of Technology co-developed 2 underwater robots that are
operated in real time from the surface, and send back to the user images
of the dam wall. Anchor Diver 4.1 was modified from a previous robot,
and uses thrusters to move freely underwater while acquiring visual data
and depth information. Anchor Diver 5.0 was an entirely new robot,
making use of a “water loupe” filled with clean water. The water loupe
functions as a layer of clean water between the video camera and the dam
wall, allowing us to obtain clear images of the wall even when the water
of the reservoir is turbid.

Conventional ROVs employ multiple thrusters, are large and heavy, and
often require cranes and other large vehicles to be deployed and
operated. One of the key advantages of Anchor Diver over the
conventional ROVs is that it can be deployed from a relatively small
boat. In addition, while common ROVs have tethers that are loosen and
may get tangled in obstacles, the two versions of Anchor Diver operate
with the tethers always in tension.

Similarly important are the surface boat fixing and control systems. By
keeping the main boat stable, pushing it against the dam wall with a
secondary boat, it is possible to lower the robots vertically and bring
them back following the same trajectory underwater. In addition, the
control interface of Anchor Diver 4.1 allows the operator to steer the
robot underwater while receiving real-time video images of the dam wall.

The video is then enhanced, to make it easier to detect cracks and other
defects. Video images obtained during tests at Miyagase dam in
Kanagawa-ken proved the effectiveness of the water loupe concept.
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