水平移動機構を有する壁面検査用ジンバル雲台の開発

抄録

Wall inspection climbers have been studied in our laboratory. But those climbers do not have a sufficient inspection range. And the on-board camera is affected by wind and vibration. To solve this problem, we have developed a 3-axis gimbal head that controls the camera attitude. In addition, the horizontal movement system will be manufactured to expand the inspection range. A ToF sensor is used to detect the position of the horizontal movement system. The gimbal head and the horizontal movement system is controlled by optimal position velocity control. We perform an experiment about inspection system. And we verify that the on-board camera keep level and horizontal movement system expands range.