2020 Fiscal Year Final Research Report
Development of underground drone for tailings dam investigation
| Project/Area Number |
18K18872
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| Research Category |
Grant-in-Aid for Challenging Research (Exploratory)
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| Allocation Type | Multi-year Fund |
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| Review Section |
Medium-sized Section 22:Civil engineering and related fields
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| Research Institution | Akita University |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
伊達 央 筑波大学, システム情報系, 准教授 (50531985)
澁谷 長史 筑波大学, システム情報系, 助教 (90582776)
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| Project Period (FY) |
2018-06-29 – 2021-03-31
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| Keywords | DigBot / 地中ドローン / 2重反転ドリル / テーリングダム / 汚染物質 / へび型推進機構 / 機械学習 |
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| Outline of Final Research Achievements |
The aim of this research is to develop underground drone which can investigate the inside of tailing-dam in mine site. This research project had 4-stages.The 1st one was "Development of contra-rotating drill". The 2nd one was "Designing 3-D Snake locomotion thrust mechanism". The 3rd one was "Motor torque optimization by machine learning". The last one was "Validation test with the prototype". The validation test in real sand tank with all implemented prototype has been conducted. As a result, partial optimization of both drilling and trusting were achieved, overall optimization has not been achieved, though. However, it was confirmed that the snake locomotion thrust mechanism had a big potential for free movement in slurry tank.
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| Free Research Field |
鉱山工学・計測工学
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| Academic Significance and Societal Importance of the Research Achievements |
最終的には開発した機構を地中ドローンのプロトタイプに実装し、実砂槽・スラリー槽にて自由に移動が可能であるか検証実験を行った。結果として本助成期間中では掘削部分と推進部分の相互作用の最適化が実現できず、双方の部分最適に止まった。しかしながら、へび型推進機構によるスラリー内の自由な移動を実現し、掘削部分の小型化により本構想の完全な実現が可能である見通しを得た。また、テーリングダムでの調査を視野に入れた自己位置推定とRGB-Dカメラを用いた遠隔操作のための第三者視点提示を開発するに至った。ここで得られた要素技術および実験結果は、今後の実テーリングダムでの実用のために活用される。
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