磁石組み込み型ホイールを用いた街灯検査ロボットの開発

抄録

In this paper, we present an inspection robot specialized for street lamps. Initially, we propose the concept of a climbing robot using wheels with magnets to inspect street lamps. We confirmed that the robot was able to climb up and down smoothly. The experimental results show that the robot has potential for practical use in the future. Next, we propose a method to enable the robot to climb the pole in a spiral trajectory. This makes it possible to inspect the entire street lamp. In order to realize spiral climbing, we design a robot with different positions for the magnet and the roller. Then, we verified the climbing performance of the developed robot for a spiral trajectory. The robot ’s climbing route was measured using a motion capture system and we confirmed the angle during the actual motion climbing up and down. Finally, practical applications of the spiral climbing are discussed.