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成果報告書詳細
管理番号20170000000671
タイトル*平成28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2017/7/25
報告書年度2016 - 2016
委託先名国立大学法人東北大学大学院情報科学研究科 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-FY2018) FY2016 Annual Report

(1) Unmanned Aerial Vehicle (UAV) for Aged Bridge Inspection
The final prototype of the UAV with passive rotating spherical shell was developed. The diameter of the shell of the final prototype is 0.95m, which was determined through statistical analysis of the domestic bridges and is optimized for domestic bridge inspection. The final prototype is equipped with an improved propulsion system whose maximum thrust is over twice the previous prototype. The final prototype was evaluated as part of the Next Generation Robots for Social Infrastructure program by the Japanese Ministry of Land, Infrastructure, Transport and Tourism. The performance of the final prototype was evaluated that it satisfied our intermediate goal of the UAV development.

(2) Compact and Lightweight Hammering Device for UAV
The 2nd prototype of the hammering device for UAVs was developed. The weight of the 2nd prototype is as light as 150g and can be mounted on the UAV. A microphone was installed in the 2nd prototype to record the impact sound. Furthermore, the 2nd prototype includes a piezoelectric impact sensor in the head of the hammering device. During hammering bridge inspections, damages are detected by using both impact sound measured by the microphone and displacement measured by the impact sensor. The damage detection by the 2nd prototype was demonstrated on July 2017. The demonstration showed that the 2nd prototype satisfied our intermediate goal of the hammering device development.

(3) Compact and Lightweight Camera Module for UAV
The first prototype of the compact and lightweight camera module was developed. The camera module consists of a wide-view angle lens, HD resolution image sensor, and lighting devices. To reduce the motion blur, the lighting device and shutter speed control were improved. The lighting device was designed to uniformly illuminate wide area of the bridge’s surface. Firmware of the camera module was also developed to increase camera shutter speed. The first prototype of the camera module was evaluated using two methods: a 1-axis sliding actuator and a UAV. In both cases, results showed that the prototype camera module can reduce the motion blur and take more clear images than the current commercial camera.

(4) Support Software for Making Reports of Bridge Inspection
Panoramic image is used for identifying location of the damages (cracks etc.). Speed and robustness of the panoramic image construction algorithm were improved by using GPU and parallel computing techniques. The algorithm became faster and more robust than the previous one used in the field test in 2015. Crack trace and crack’s width estimation functions were also implemented to the panoramic image browser. The software, which supports making reports of the bridge inspection, was developed. It automatically outputs inspection reports such as defected map and defected images.

(5) Field Test of Aged Bridge Inspection by Using UAV and Panoramic image
The above UAV and support software were examined in 6 actual aged bridges (Oide-bashi in Miyagi, Sakiku-bashi in Ibaraki etc.). Through these examinations, it was confirmed that panoramic images were correctly constructed from images taken by the UAV in actual bridges, and reports of the bridge inspection were made as expected by using the support software.
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