Shape Control of Variable Guide Frame for Tunnel Wall Inspection to Avoid Obstacles by Laser Range Finder

摘要

To progress the automated inspection and maintenance of inner wall of tunnel, the advanced inspection system with restricting the traffic regulation was developed. In this inspection system, the guide frame along tunnel wall was installed on the protection unit stepped over the road like gantry crane. The inspection device moved with stability by adopting the guide frame, and the inspection accuracy could be improved. However, when this unit moved along the tunnel, this guide frame should avoid the convex obstacles such as duct fan, lamp and several road traffic sign in the tunnel. Therefore, by composing the entire frame of VGT (Variable geometry Truss), the shape of guide frame was changed flexibly and it could be passed in the tunnel. As a shape control of the guide frame, the inverse analysis method and mathematical interpolation method were applied. The angle of each frame was reversely analysed according to the shape of the obstacle measured with the LMS (Laser Range Finder), and the actuator of the frame was controlled simultaneously. We investigated the construction of a system that can perform a series of tasks such as searching for obstacles and positioning, frame shape simulation, frame shape change, inspection device movement. In this paper, the outline of tunnel wall inspection applied variable guide frame, the structure principle of the guide frame, basic method of shape analysis, the finding of convex obstacles by LMS and the whole inspection system are explained in detail.