成果報告書詳細
管理番号20160000000478
タイトル*平成27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 橋梁の打音検査ならびに近接目視を代替する飛行ロボットシステムの研究開発
公開日2016/7/22
報告書年度2015 - 2015
委託先名国立大学法人東北大学 株式会社リコー 株式会社千代田コンサルタント 一般財団法人航空宇宙技術振興財団
プロジェクト番号P14031
部署名ロボット・AI部
和文要約
英文要約Title: Development of Unmanned Aerial Vehicles for Observing and Hammering Aged Bridges at Short Range (FY2014-FY2016) FY2015 Annual Report

(1) Development of Unmanned Aerial Vehicles (UAVs) Equipped with a Passive Rotational Spherical Shell for Aged Bridge Inspection
UAVs equipped with a passive rotational spherical shell are one solution to survey the surface of bridges and the narrow spaces beneath them. New passive rotational spherical shell UAVs (PRSS UAVs) were built to improve its uptime and payload. The capability of PRSS UAV was evaluated in real bridges. The new PRSS UAVs flight time was over 360s while carrying 200g in equipment.

(2) Development of Small and Lightweight Hammering Inspection Devices
A Hammering method was chosen for finding damages in concrete bridges (cracks and floats). A Prototype of the hammering device used a spring and a hammer to hit the surface. The hammering device was evaluated in concrete bridge models. Damages located at several centimeters of depth were detected by humans from the recorded sounds in spite of the UAV's hovering noise.

(3) Development of Small and Lightweight Camera Modules for UAVs
A new camera system is used to detect cracks in concrete bridges and to combine the images into panoramic views. The requirements for the camera system were determined by the features of the cracks, UAV’s flying motion, and the reconstruction of the panoramic images. A technique of flashing LEDs for the on-camera light system was transferred to members of this consortium. Viewer software was developed to display the live video captured with an omnidirectional camera.

(4) Development of UAV Equipped with Adhesion Mechanism for Communication Relay
A UAV equipped with an adhesion mechanism was developed for communication relay. The use of the adhesion mechanism helps reducing the UAV power consumption because the propelling motors can be stopped while the mechanism is active. The adhesion mechanism consists of magnets that adhere to iron structures of aged bridges. The new adhesion mechanism extended inspection times to 60mins.

(5) Support System for Making Reports of Bridge Inspection
Panoramic images are one solution to visualize the location of damaged sections on the surface of a bridge. The algorithm to construct panoramic views was improved. Software to visualize the panoramic images was developed, and it was evaluated by professional bridge inspectors.

(6) Evaluation and Field Test for Practice Use
PRSS UAV was tested on real bridges located in Yamagata and Gunma prefectures, and it was also used in a bridge inspection exercise conducted by the Ministry of Land, Infrastructure, Transport and Tourism of JAPAN. An experimental analysis of the aerodynamic characteristics and wind load of UAVs was performed in low speed wind tunnels. This study’s primary objective was to present the effect of wind on the aerodynamic performances and stability of the UAVs in near hovering flight.
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