Development of underwater inspection system for dam inspection: Results of field tests
Development of underwater inspection system for dam inspection: Results of field tests
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DOI：
10.1109/oceans.2016.7761224
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发表时间：
2016-09
期刊：
影响因子：
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通讯作者：
S. Shimono;S. Toyama;Uichi Nishizawa
中科院分区：
文献类型：
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作者：
S. Shimono;S. Toyama;Uichi Nishizawa
日本的社会基础设施正在老化，需要机器人基础设施检查工具来检查维护条件。作者一直致力于水下基础设施水下检测系统的研究。它由一个无人驾驶的水面飞行器和一个悬挂在水面飞行器上的遥控飞行器组成。该系统不需要使用任何成本较高的设备就可以获得被测点的位置。本文介绍了所研制的试验模型的功能以及水池和实坝试验的结果。水池试验验证了自动检测功能，只需少量人工操作即可获得靶墙的宽图像，在实际大坝中，试验模型获得了靶墙和导管闸门的图像。由于采用了这种悬挂式传感器，系统具有很高的稳定性，因此可以轻松地进行检查。另一方面，风对模型的机动性有一定的影响，在坝墙附近，MEMS GNSS/INS传感器的定位精度变差。
Social infrastructures in Japan are becoming aged and robotic infrastructure inspection tools are required in order to inspect the conditions for maintenance. Authors have been developing the new underwater inspection system for underwater infrastructures. It consists of an unmanned surface vehicle and a remotely operated vehicle (ROV) suspended from the surface vehicle. The system can obtain position of the inspected point without using any higher cost device. This paper explains functions of the developed experimental model and results of experiment at the pool and actual dam. In the pool experiment, the auto inspection function was verified that it can obtain the wide images of target wall with slight manual operation, and in the actual dam, the experimental model obtained the images of target wall and conduit gate. The system has high stability due to such pendant type ROV, thus the inspection was carried out with easy operations. On the other hand, the maneuverability of the experimental model was influenced by the wind, and the position accuracy from the MEMS GNSS/INS sensor became worse near the dam wall.