永電磁石を用いた点検移動ロボットの車輪機構の検討

抄録

Many Bridges in Japan will be aging and need to be inspected regularly, so more efficient and safe inspection of Bridges is an important task. Robots for bridge inspection have been extensively studied, some of which use permanent magnets as wheels for robot movement. However, permanent magnets have the risk of damaging the bridge. In order to enable the robot to walk on Bridges of different materials, the combination of propeller and EPM (Electro Permanent Magnet) wheel is used in this study. In concrete and other parts, the robot is driven by propeller. When the bridge material is detected as magnet, the EPM wheel is turned ON and the propeller is shut down for inspection.