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成果報告書詳細
管理番号20170000000673
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 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2017/8/3
報告書年度2016 - 2016
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-FY2018) FY2016 Annual Report


he fiscal year of 2016 was marked by the completion of the bridge inspection system, by indoor tests, and by two outdoor tests (Sakiku-bashi, in Ibaraki-ken, and Tozawa-bashi, in Kanagawa-ken).

The system was tested over several months in our indoor facility in Kawasaki, where it was calibrated. It became clear that a cable management system was necessary, not only to measure the cable displacement in a reliable way, but also to make sure the cable is always properly tensioned. Therefore, several different versions of cable encoders and tensioners were designed and tested.

At the same time, much effort was put in developing the control system of the inspection base, in order to reduce the burden on the operator. The model of the cable system was created, and an inverse kinematics software was developed for that purpose.

The inspection camera was also replaced with a model that provided high resolution images and that allowed remote control.

After extensive tests at our indoors facility, the system was tested over a period of 2 weeks at Sakikubashi. It was the first time the system was used outdoors in a real bridge, and from the beginning there were several items that needed to be adjusted or improved. Among them, there were the length of the vertical pipe dampers, the cable tensioning system, and the image acquisition and stitching software. Those 2 weeks of tests were valuable also for developing the standard procedure for lowering the robot from the top of the bridge, and also for retrieving it after the inspection mission.

The next test, at Tozawa-bashi, was the first time the system was used in a real bridge with flowing traffic. It was possible to assemble and operate the system without disrupting the traffic. Valuable lessons were learned about the transportation of the items, the sequence of assembly, and the lowering procedure. Some problems with the reliability of the system were also discovered during the tests, and the results are now being used to improve the entire system.
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