Implementation and Feedback Controller of Mobile Platform for Hammering Inspection Robot

抄録

Today, Japan's infrastructure is more than half a century past its construction and is deteriorating. The goal is to improve the efficiency and automation of infrastructure inspections with the aim of preventing accidents such as the Sasago Tunnel collapse. We decompose infrastructure inspection into four elements: "movement," "signal input," "signal acquisition," and "analysis". In this paper, we focus on movement and develop a mobile robot to transport equipment necessary for inspections. The robot to be developed employs a skid steer, eliminating a complex steering mechanism, and is designed to be compact and simple while maintaining the rigidity of the vehicle body. In addition, to achieve automation of the entire inspection process, we aimed to develop a mobile robot to be used for the inspection robot and its feedback control, and based on the data of the designed robot, we conducted a simulation using MATLAB and showed that PD control was possible. Experiments were conducted to verify whether the created robot could actually be used for inspection in tunnels. We conducted a turning test, a hill climbing test, a battery durability test, and a wall-following test on the university's premises. The performance was sufficient as a mobile foundation for a tunnel inspection robot.