災害用建物外壁検査ロボットシステムの開発

摘要

災害時でも使用できる検査ロボットの開発を目 的とし，ダクトファンを使用した拠点ロボットおよ び検査ロボットの設計詳細と実験結果について報告 した。今後はダクトフアンの可変調整に基づく制御 手法の確立および検査技術の精度向上を行い、当初 の目的を達成するロボット開発を目指して行く。%In the seismic hazard of earthquake generated in Japan some time ago, the inspection robot was expected of the information gathering to the distresses region where nobody was able to enter. However, because the robot technology to the disaster correspondence was not continuously prepared, the work performance by the robot was not achieved enough. In our aim of study, a new robot inspecting the building wall and the estimated method of deterioration that can be used even due to the normal work and the disaster are developed. This robot system is composed of two robots, a base robot and an inspection robot. The base robot can be flew on unleveled land and to stick on the wall and climb by the vertical wall thought reaction force by several duct fan. The power of fan is much largest, so the robot can be hung and assisted the inspection robot. In the inspection robot, the state of deterioration of the wall surface is judged by hammering test and image analysis. In this paper, we report the outline of two robot systems, robot outline and experimental results.