成果報告書詳細
管理番号20160000000476
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 自在適応桁で支えられる橋梁点検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P14031
部署名ロボット・AI部
和文要約
英文要約Title: SIP (Cross-ministerial Strategic Innovation Promotion Program) Technologies for maintenance, upgrading and management of infrastructure/Development of Bridge Inspection Robot System Supported by the Provisional and Flexible Scaffolding Structure (FY2014-FY2016) FY2015 Annual Report

At the beginning of fiscal year 2015, we had been developing a bridge inspection robot system which we proposed in the first application. It automatically constructs wire suspended scaffold made of horizontally supported rods connected together under the bridge and sensor unit which moves along the connected rods to approach the inspection target. After the detailed design of this mechanical system, however, we found that the suspended mechanism tends to be heavier than we expected. So we reconsidered the basic configuration and came to the final mechanical concept consists of 4 supporting wires instead of connecting rods, coined as “Bridgeview”.
Bridgeview is to bring the bridge inspection sensors under the bridge with 4 wires each of them are supported by 4 poles with wire reel on top of them and fixed to the edge of
both sides of the bridge by special clamping device. These supporting poles together with clamping devices, control unit and power generator are carried from the truck parked nearby parking lot of the target bridge by special carrying carts. Width of the carring carts are designed to be less than 0.5m to be placed inside the shoulder of the road of the bridge, to make the bridge inspection without the traffic regulation. To strech the 4 wires to support the senosr unit automatically, we need to pass a string from one side A of the bridge to the other side B. For this purpose, we developed both a sling shot device and a drone unit to compare the feasibility later. Two wires of side B are connected to one side of the string and the string is pulled to side A, and all four wires are connected to the sensor unit. The sensor unit is lowered below the bridge and drive the sensor unit to the designated position by changing the length of the 4 wires. As the camera or the sensor unit has pneumatically expandable arm which can expand from 1.5m to 3m, it can make detailed sensing of the surface of the bridge.
We also had constructed a model bridge consists of steel plates and RCT inside large warehouse to make intensive study of the Bridgeview operation. The model bridge is 20m in length and 10m in width.
Until now, we made detailed investigation of the needed conditions of the bridge inspection task, and clarified the target tasks for the Bridgeview. We finished the construction and assemble of all the mechanical parts of the Bridgeview. We are just now making a series of basic control experiments of the constructed Bridgeview at the model bridge site.
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