Development of Semi-Submersible Remotely Operated Vehicle for Inspection of Pier Superstructures


The general inspection of pier superstructure concrete is done by visual inspection of the appearance of the beams and superstructure underside by workers on boats. However, such work is often made difficult by sea conditions such as tides and waves, and facility access restrictions due to mooring and cargo handling operations. To enable the safe and efficient inspection of pier superstructures, the authors developed a test model of a semi-submersible remotely operated vehicle (ROV) equipped with upward facing cameras. The ROV is designed for superior usability with operational support features such as an inspection position information management function and tele-operation assistance features that allow vehicle positioning and motion measurement under pier superstructures, where direct use of global positioning system (GPS) signals is not possible. This paper introduces the work done by the authors on this invention.桟橋上部工コンクリートの一般点検診断においては,梁や上部工下面の外観が小船に乗った作業員等によって目視点検されている。しかしながら,その作業の実施は,潮汐や波浪等の海象や係留や荷役作業等の施設の利用状況の影響を受け,容易でない。そこで筆者らは,桟橋上部工の点検診断を安全かつ効率的に実施することを目的として,上方撮影カメラを装備した半没水型ROV(Remotely Operated Vehicle)の実証試験機を開発した。これはGPSを直接利用できない桟橋上部工下での自機位置の測位と運動計測が可能であり,当該装置の利便性を高める点検位置情報の管理機能や遠隔操作の支援機能を含む運用支援機能を有している。本稿では,この筆者らの取組みについて紹介する。


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  • Accession Number: 01608225
  • Record Type: Publication
  • Source Agency: Japan Science and Technology Agency (JST)
  • Files: TRIS, JSTAGE
  • Created Date: Aug 1 2016 3:01PM