Development of Wall Inspection Robot which Inspects by Remote Control

• Project/Area Number: 15K05905
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Osaka City University
• Principal Investigator: Takada Yogo 大阪市立大学, 大学院工学研究科, 教授 (70295682)
• Project Period (FY): 2015-04-01 – 2018-03-31
• Project Status: Completed (Fiscal Year 2017)
• Budget Amount: ¥4,940,000 (Direct Cost: ¥3,800,000、Indirect Cost: ¥1,140,000); Fiscal Year 2017: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000); Fiscal Year 2016: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000); Fiscal Year 2015: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000)
• Keywords: 移動ロボット / 壁面走行 / 遠隔操縦 / 操縦安定性 / 消費電力 / 耐横風性能 / 制御系設計 / ローター形状設計 / 社会インフラモニタリング / 数値流体力学 / モデリング / 生物模倣 / 消費電力低減 / 横風耐性 / リモートセンシング

Outline of Final Research Achievements

In this research, we have established a robot structure and a method of motor control with the aim of developing a concrete wall inspection robot that can travel while photographing walls of social infrastructure and buildings. Furthermore, the effect of wall contact and rotor shape on power consumption has been clarified. Moreover, we have designed the control system to ensure the stability based on that model, and proposed simple control system with lateral wind resistance capability in simulation and experiment. The experiments on that control were carried out in outdoor buildings. In order to perform remote control, a camera was attached to HORNET, and the video transfer was sent to the operator. As described above, HORNET can be stabilized and remote control for HORNET has been established.

Research Products

• [Journal Article] Wall Inspection Robot with Maneuvering Assist Control System against Crosswind (2018)
  • Author(s): Yogo Takada, Yuhei Tokura, Yodai Matsumura, Takahiro Tanaka, Tatsuki Kanada
  • Journal Title: Journal of Robotics and Mechatronics Volume: Vol.30, No.3
  • NAID: 130007405794
  • Peer Reviewed / Open Access
• [Journal Article] Practical Applications of HORNET to Inspect Walls of Structures (2016)
  • Author(s): Tokura, Y., Toba, K., Takada, Y.
  • Journal Title: Journal of Robotics and Mechatronics Volume: 28 Issue: 3 Pages: 320-327
  • DOI: 10.20965/jrm.2016.p0320
  • NAID: 130007671049
  • ISSN: 0915-3942, 1883-8049
  • Year and Date: 2016-06-20
  • Peer Reviewed / Open Access / Acknowledgement Compliant
• [Journal Article] Strategy for lowering electric power consumption concerning vertical wall inspection robot HORNET (2016)
  • Author(s): 都倉悠平、高田洋吾
  • Journal Title: Transactions of the JSME (in Japanese) Volume: 82 Issue: 835 Pages: 15-00422-15-00422
  • DOI: 10.1299/transjsme.15-00422
  • NAID: 130005139980
  • ISSN: 2187-9761
  • Peer Reviewed / Acknowledgement Compliant
• [Presentation] 造物壁面検査ロボットHORNET の性能向上に向けた検討 (2018)
  • Author(s): 田中貴大，金田樹，松村洋大，高田洋吾
  • Organizer: 日本機械学会関西支部第93期定時総会講演会
• [Presentation] Investigation of Rotors Imitating Bird Wings for Reducing Electricity Consumption of Structure Inspection Robot HORNET (2018)
  • Author(s): Yogo Takada, Takahiro Tanaka, Tatsuki Kanada, Yodai Matsumura
  • Organizer: The 7th International Symposium on Aero Aqua Bio-Mechanisms
  • Int'l Joint Research
• [Presentation] 構造物壁面検査ロボットHORNET のモデリングと登壁走行制御 (2017)
  • Author(s): 都倉悠平、高田洋吾
  • Organizer: 日本機械学会 関西支部第92期定時総会講演会
  • Place of Presentation: 大阪大学(大阪府吹田市)
  • Year and Date: 2017-03-14
• [Presentation] 構造物壁面検査ロボットに搭載できる打診検査システムの開発 (2017)
  • Author(s): 金田樹，高田洋吾
  • Organizer: ロボティクス・メカトロニクス講演会-2017 in Fukushima
• [Presentation] 膨大な数の橋梁がロボットによって自律的に検査される日を夢見て (2016)
  • Author(s): 高田洋吾
  • Organizer: 日本機械学会関西学生会 第165回講演会
  • Place of Presentation: 大阪市立大学(大阪府大阪市)
  • Year and Date: 2016-07-02
  • Invited
• [Presentation] Wi-Fiによる磁式橋梁検査ロボットの遠隔操縦 (2016)
  • Author(s): 高田洋吾
  • Organizer: 日本機械学会関西支部第92期第1回支部専門部会
  • Place of Presentation: 大阪科学技術センタービル(大阪府大阪市)
  • Year and Date: 2016-04-18
  • Invited
• [Presentation] 構造物壁面検査ロボットHORNET における目視検査実現へ向けた検討 (2016)
  • Author(s): 都倉悠平、高田洋吾、澤村健
  • Organizer: 日本機械学会関西支部 第91 期定時総会講演会
  • Place of Presentation: 大阪電気通信大学 (大阪府寝屋川市)
  • Year and Date: 2016-03-11
• [Presentation] 構造物壁面検査ロボットHORNETの消費電力低減に向けた検討 (2015)
  • Author(s): 都倉悠平、高田洋吾
  • Organizer: 第15回建設ロボットシンポジウム
  • Place of Presentation: 大阪大学 (大阪府豊中市)
  • Year and Date: 2015-09-07
• [Presentation] 構造物壁面検査ロボット HORNET の開発 (2015)
  • Author(s): 都倉悠平、高田洋吾
  • Organizer: ロボティクス・メカトロニクス講演会2015 in Kyoto
  • Place of Presentation: 京都市勧業館「みやこめっせ」 (京都府京都市)
  • Year and Date: 2015-05-17
• [Book] 入門 ロボット工学 (2017)
  • Author(s): 高田洋吾
  • Total Pages: 149
  • Publisher: 森北出版株式会社
  • ISBN: 9784627625211
• [Remarks] HORNET
  • URL: http://www.robotics.mech.eng.osaka-cu.ac.jp/study/HORNET/HORNET.html
• [Remarks] 大阪市立大学研究者要覧 高田洋吾
  • URL: http://rdbsv02.osaka-cu.ac.jp/profile/ja.t.YxDwkcqZofyWrAO2a3Qw==.html