成果報告書詳細
管理番号20160000000465
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 二輪型マルチコプタを用いたジオタグ付近接画像を取得可能な橋梁点検支援ロボットシステムの研究開発
公開日2016/9/7
報告書年度2015 - 2015
委託先名富士通株式会社 国立大学法人名古屋工業大学 国立大学法人東京大学 国立大学法人北海道大学
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: Cross-ministerial Strategic Innovation Promotion Program (SIP), Infrastructure Maintenance, Renovation, and Management / Development of a bridge inspection support robot system that uses proximity-images with Geotag and a two-wheeled flying robot (FY2014-FY2016) FY2015 Annual Report

(1) Research into the structure of a two-wheeled multi-copter system that can move while in contact with a bridge (Nagoya Institute of Technology) We conducted outdoor flight experiments and confirmed that our system can provide stable hovering and flight in winds up to 5 m/s. (2) Research into a robust flight control algorithm to counteract wind disturbance for a two-wheeled multi-copter system (Nagoya Institute of Technology) We curried out robust hovering and flight control algorithms for a two-wheeled multi-copter. (3) Development of Multi-copter System (Fujitsu Ltd.) We developed a large multi-copter for high pier bridges and a small multi-copter to access in narrow sections such as bridge shoes. (4) Study on Localization Methods for a Multi-copter System (The University of Tokyo) We carried out a study on the self-localization method of the multi-copter using fish-eye cameras equipped on the multi-copter. (6) Study into the remote-control method of multi-copters (Fujitsu Ltd.) We extended a prototype of a user interface simulator for the remote-control of a multi-copter. We also investigated required control of the multi-copter in the inspection scenarios. (7) Research on cooperative control of two multi-copters for inspection of narrow and small spots on a bridge (Nagoya Institute of Technology) We developed a cooperative control algorithm of two multi-copters. (8) Study of SFM-based 3D Modeling Method Using Wide FOV Camera Images (The University of Tokyo) We developed a prototype method of image-based 3D modeling using fish-eye cameras. (9) Development of a method of geotagging (Fujitsu Ltd.) We developed a prototype of geotagging software and conducted system design of a geotagging camera system. (10) Continuous generation and update of as-built bridge models by combining scanned models and CAD models (Hokkaido University) We prototyped software where planes are extracted and solid models of piers are generated, and where standardized steel members are recognized. We developed an efficient registration method of 3D point clouds of bridges. We designed an algorithm for detecting the geometric change and updating the partial CAD model. (11) Developing a data model for maintenance of an infrastructure construction based on International Standards (Hokkaido University) We designed the data model for the maintenance and prototyped a web system to view the bridge model, as-is data and degradation information. (12) Development of a prototype of a 3D IT carte of infrastructure construction (Fujitsu Ltd.) We developed and demonstrated a trial database for inspection reports of bridges and a trial application of the 3D carte system.
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