リフトオフに頑強な埋設物位置センサの設計

―定形条物体のリアルタイム位置検出と追従―

抄録

The dismantling robot with water jet nozzle was developed. This robot needs accurate position sensing of the light gauge steel as called LGS for the water jet nozzle to follow the center of the LGS under lift-off fluctuation on real time. Solving the problem, the mechanism with two magnets was designed which can be rotated by magnet force. Here, vertical and horizontal magnet forces are also used. Vertical force applied to sense accurately the center of the LGS at starting point on off line. Horizontal force applied to sense roughly it on real time using displacement of two magnets. The test was done to find the sensing parameters and clear the application boundary. It showed two sensing processes are useful for accurate sensing and the proposed method was also useful for the robot scanning under lift-off change.