Publications / 2018 Proceedings of the 35th ISARC, Berlin, Germany

Automatic Traveling Method for the Self-Propelled Tunnel Inspection System

Nobukazu Kamimura and Satoru Nakamura
Pages 194-198 (2018 Proceedings of the 35th ISARC, Berlin, Germany, ISBN 978-3-00-060855-1, ISSN 2413-5844)
Abstract:

In recent years, road tunnels in Japan with severe aging are obliged to check periodically. But there are problems such as lack of engineers and inspection cost. In order to solve these problems, we are developing a tunnel full-section inspection system. In this system, inspection devices are arranged at the upper and both side parts. The lower part is protective frame vehicle with portal frame shape secured space through which the vehicle can pass. Although this system travels in a limited space, the position of the inspection device in the tunnel transverse direction is particularly important. Moreover, tunnel is a special environment that the GPS cannot be used, and feature points are few. Therefore, we examined the automatic traveling control method suitable for this system and carried out driving tests. As a result, it is confirmed the automatic travel control method using the magnetic sensor and guide are effective for this system.

Keywords: Automatic operation, Magnetic sensor, Road tunnel