成果報告書詳細
管理番号20160000000485
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 無人化施工の新展開ー遠隔操作による半水中作業システムの実現ー
公開日2016/12/21
報告書年度2015 - 2015
委託先名次世代無人化施工技術研究組合
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: New Development of Unmanned Construction- Realization of Remote Operated Working System in Shallow Water Area -,This report is a project in 2015.

In the post-disaster restoration works, many remote and unmanned construction technologies have been used. Recently, disasters at river edge or semi-underwater place are increasing, and remote and unmanned construction technologies which are effective in these environments are expected. This project aims to develop a remotely controlled heavy carrier robot and the unmanned construction system using the developed carrier for the reduction of disaster damages and for the facilitation of early restoration at semi-underwater environment.

The following seven R&D themes were conducted in this year.
1.Development of an amphibian heavy carrier robot which can travel in shallow water area at a depth of 1.5 meters (1st prototype), and its remote control system.
2.Development of a recognition technology of traveling course configuration and its soil condition for safe and effective movement and operation in semi-underwater place.
3.Development of GNSS-IMU location and posture measurement system for realizing its required functions and performances under mounted condition on the crawler carrier.
4.Development of semi-automatic drive control algorithm using operating characteristics simulation of heavy carrier robot model.
5.Development of operation support and guidance technology of remote operation type heavy carrier robot to reduce operator’s burden and improve its operationality.
6.Development of soil surveying method to recognize trafficability in soft ground area including under water part.
7.Development of environment sensing, localization and operator supporting technology for heavy carrier robot.

The details of the above R&D themes are as follows:
1.We conducted experiments to obtain design guideline of an amphibian heavy carrier robot (1st prototype). Some different type snorkels were made and their cooling capability tests for carrier engine were executed. And, we conducted driving experiments and got various data for investigating carrier behavior on land and in the water. Then, we completed the development of the amphibian heavy carrier robot (1st prototype) which has the driving ability equivalent to the original vehicle. We also developed a prototype of heavy carrier robot remote operation system which consists of in-vehicle and out-vehicle systems.
2.We measured a shape of the bottom of a lake by using radio wave radar at Teganuma lake in Chiba Prefecture. We also conducted a penetration test to measure the hardness of the bottom by measuring the amount of penetration of the sinker. By comparing these results, we found that the radio wave radar can measure a certain degree of hardness of the bottom of the lake. Next, we measured a shape of the bottom of the sea by using echo sounder and acoustic camera at waterfront of Tomishiro-city in Okinawa Prefecture. From the experimental result, we found that relatively clear image is obtained by the acoustic camera. The shape of the bottom of the lake or sea is recognized by using these sensors. However, the soil condition of the bottom cannot be recognized by these sensors. Then, we concluded that these sensors are not suitable for measuring the traveling course configuration and condition of the carrier robot.
3.We made a special storage box which is easy setting and precise relative positioning of GNSS antenna and IMU measurement center. This box is mounted on the crawler carrier and accuracy verification test of GNSS-IMU location and posture measurement system was conducted. From the experimental results, we confirmed that maximum 20cm error occurs when the crawler carrier rotates or drives in rough terrain. In the next phase, we will improve the accuracy of the measurement during real time processing.
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