Quantification of mechanical properties of fresh snow surface on slope and development of mobile robot on snow

2022 Fiscal Year Final Research Report

• Project/Area Number: 20K04342
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Review Section: Basic Section 20010:Mechanics and mechatronics-related
• Research Institution: Yamagata University
• Principal Investigator: Ariga Yuichi 山形大学, 大学院理工学研究科, 助教 (40372338)
• Project Period (FY): 2020-04-01 – 2023-03-31
• Keywords: 雪上ロボティクス / アルキメディアンスクリュー / 移動機構 / 表層雪崩 / GNSS

Outline of Final Research Achievements

The purpose of this research is to develop a snow mobile robot using alkyd media screws. We believe that this technology can be applied to realize a system in which the robot automatically surveys fresh snow slopes where surface avalanches are expected to occur.
The developed machine is equipped with two 200 mm diameter cylinder screws, which improves its propulsive and loading performance compared to previous studies. As a result of experiments on a fresh snow surface, the robot successfully ascended and descended a slope with an average inclination of 30 degrees (maximum 33 degrees). In addition, it was also demonstrated that the machine can move in a straight line by controlling the rotational speed of the screw during forward motion, and that it is equipped with functions necessary for moving on a fresh snow surface, such as forward/backward movement and turning left/right on the spot.

Free Research Field

制御工学

Academic Significance and Societal Importance of the Research Achievements

本研究の学術的な意義として、低密度な新雪面とアルキメディアンスクリューとの力の相互作用を明らかにすることで、新雪上を沈むことなく移動できる機構を開発した点が挙げられる。これにより、推進力や積載量などを設計段階で見積もれるようになった。

社会的な意義としては、本装置を発展させることで、予見が難しい表層雪崩が発生しそうな斜面を人命を危険にさらすことなく調査することが可能になる点が挙げられる。豪雪地帯では、雪崩による災害が毎年さまざまな場所で発生しており、予見が可能になれば雪国におけるQOL（Quality of Life）の向上につながる。