Development of Sensor Network Deployment Method by Dropping and Throwing Sensor Node for Gathering Disaster Area Information in Underground Space

近年来，人们讨论了减灾措施，以减少灾害发生时造成的损失。对于这样的减灾活动的信息收集支持系统，我们提出了一个机器人传感器网络系统，其中一个远程操作的高机动性救援机器人部署了一个无线传感器网络，以收集灾害信息在灾后的地下空间。在这份报告中，原型无线传感器节点投掷部署设备的开发和评估信息收集在一个封闭的空间划分的障碍，是很难为机器人克服。还开发了一种通过有线传感器节点的投掷来控制电缆长度的机制，并对其进行了评估。然后，实验证实了所提出的系统的性能。

In recent years, mitigation measures have been discussed to reduce the damage caused when a disaster strikes. For the information-gathering support system for such mitigation activities, we have proposed a robot sensor network system, in which a teleoperated high-mobility rescue robot deploys a wireless sensor network to gather disaster information in post-disaster underground spaces. In this report, a prototype wireless sensor node throwing deployment device was developed and evaluated for information gathering in a closed space divided by obstacles that are difficult for the robot to overcome. A mechanism controlling a cable length that unreels by throwing of wired sensor node is also developed and evaluated. Then, an experiment confirmed the performance of proposed systems.