自動操舵の実現を目指した受動回転制御可能なプロペラ推進移動機構の提案

抄録

Since many of Japan's infrastructures were constructed during the high-growth period, the current infrastructures are aging and have become a serious social problem. Currently, periodic inspections are basically conducted visually by workers, but the introduction of robotic periodic inspections is being promoted. However, periodic inspections using robots have several problems. Therefore, this study proposes the development of an auto-steerable thrust mechanism with multi-rotor and its control method. We designed a model of the thrust mechanism and showed that the equilibrium point of the posture of the mechanism coincides with the direction of the target net force. It was also found that the equilibrium point deviates from the direction of the target net force when there is a difference in the thrust of each rotor. We developed a thrust mechanism that has a rotation axis at the center of the two rotors and can control the direction of each rotor. Using the developed thrust mechanism, the model was verified through two experiments. In the first experiment, it was shown that the equilibrium point of the mechanism's posture coincides with the direction of the target net force. It was also confirmed that the equilibrium point shifted when the difference in thrust between the left and right rotors occurred. In the second experiment, we confirmed from the step response of the developed mechanism that the response changes when the magnitude of the net force is changed. Although there were some errors from the model, it was shown that the trends of each element were consistent when the magnitude of the net force was varied.