2016 年 82 巻 835 号 p. 15-00422
Many structures such as bridges, buildings, tunnels and dams had been constructed during the high economic growth period in Japan. The deterioration of these structures has become a big social problem. The maintenance method which finds the minor damages on the structures is important for the life extension of many structures before the progress of deterioration advances. When the inspections become frequent, the huge cost is needed. Robots are said to be useful for the management and maintenance of many old structures because the conventional method will intensify the strains on economy. In this study, we have created a flying robot HORNET with tilt-rotors and two wheels. HORNET can move on a vertical wall keeping a constant distance between the robot and a wall. Then, it is very easy and safe to control the robot manually. In addition, the electric power consumption of HORNET can be smaller than hovering robot like drones because HORNET can hang on wall with claws of the wheels. We have examined the effects of the state of wall surface and the tilt angle of rotor surface on the electric power consumption of HORNET. According to the experimental results, it has been confirmed that the electric power consumption is reduced when the state of wall surface is rougher and the tilt angle of rotors is more parallel to the ground. It is possible to become a practicable wall inspection robot by adding the improvement to HORNET.
