吸着機能を有する飛行ロボットによる構造物の振動計測

抄録

This paper proposes an aerial robot that can land on a steel structure using electro-permanent magnets to behave as a vibration sensor probe for use in vibration-based structural health monitoring. In the last decade, structural health monitoring techniques have been studied intensively to tackle with a serious problem that most of the infrastructures in advanced countries are being deteriorated. In the typical concept of the structural health monitoring, vibration sensors like accelerometers are installed in the structure to continuously collect the dynamical response of the operating structure to find a symptom of the structural damage. It is unreasonable, however, to permanently deploy the sensors to numerous infrastructures because most of the infrastructures except for those of primary importance do not need continuous measurement and evaluation. In this case, they should be checked rather periodically, say, annually, by using mobile detachable sensor units. In this study, the aerial robot plays a role in deploying and retreating the accelerometer that is mounted on the robot body. Experiments to evaluate the frequency response function of the acceleration measured by the robot with respect to the acceleration at the point where the robot adheres are carried out. And the experimental results show that the prototype robot can measure the acceleration of the host structure accurately up to 50 Hz.