Development of Wall Inspection Robot which Inspects by Remote Control

2017 Fiscal Year Final Research Report

• 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
• 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

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.

Free Research Field

ロボット工学