成果報告書詳細
管理番号20150000000563
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 複眼式撮像装置を搭載した橋梁近接目視代替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
委託先名富士フイルム株式会社 株式会社イクシスリサーチ
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 Robot System Which Substitutes Close Visual Inspection Incorporated with A Stereo Camera

A bridge inspection robot system which hangs down from bridge girders and moves with multiple tires has been developed. A stereo camera system with a lifting apparatus is mounted on the robot to take high resolution photos and at the same time to measure dimensions of the damages such as cracks in the photos.
In the first attempt at Shin-Asakawa-bashi bridge the drive unit (ver.0.1) could not move smoothly and the tires were stuck at a vertical stiffener. We redesigned the mechanism of the drive unit (ver.0.2, 0.3) and succeeded in moving over vertical stiffeners in the latest experiment at Metropolitan Expressway Bayshore Route (Urayasu) in March.
The lifting apparatus with φ40[mm] and could be extended to 2.0[m] vertically was developed (ver.0.1), and it has been improved to have more stiffness by enlarging the diameter to φ80[mm] and can be extended to 2.5[m] vertically (ver.0.2).
A stereo camera system is made by modifying mirrorless cameras with interchangeable lenses to verify the necessary specifications of the system for bridge inspection and successfully got high resolution still images and VGA live view images. Live view resolution will be improved to HD resolution next year. Also developed is a camera controlling middleware to realize remote shooting. Basic functions are verified in experiments through a remote controlling unit and also several problems to be solved have been found such as customization of auto focusing control algorithm or integration of suitable lighting system.
For image processing unit a basic algorithm to find plural planes in the stereo images is developed and verified. Other image processing methods, for example, a method for removing obstacles in the images are studied and source images to be used in the development of these methods are collected. Specifications of an assisting software for completing inspection reports are also studied and determined.
The robot system has been periodically tested at Metropolitan Expressway Bayshore Route (Urayasu). Summarizing the status of the system: Each driving unit can move over stiffeners, but the total robot system cannot move smoothly yet. The cameras can be moved closely to the points to be inspected and high resolution photos can be taken. Continuous verification will be necessary for capability of the camera whether it can be used to take photos with satisfactory resolution to detect and measure the width of the fatigue cracks on steel members or that of concrete cracks.
ダウンロード成果報告書データベース(ユーザ登録必須)から、ダウンロードしてください。

▲トップに戻る