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首页> 外文会议>European-African Regional Conference of the Internatinal Society for Terrain Vehicle Systems >BASIC RESEARCH ON VEHICLE TRAFFICABILITY IN UNDERWATER GROUND
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BASIC RESEARCH ON VEHICLE TRAFFICABILITY IN UNDERWATER GROUND

机译：水下地面车辆交通性的基础研究

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摘要

In recent years, water disasters have increased in Japan. New unmanned construction technology research association has developed a remotely controlled semi-underwater heavy carrier robot that can travel up to 2 m water depth. Since the underwater ground is likely to be soft, traveling on the underwater ground has a risk of stuck. If a heavy carrier robot get stuck, rescue work at dangerous disaster sites is very difficult. In order to construct a method for judging whether to drive or not, it is necessary to quantitatively clarify the relationship between the trafficability of the vehicle and the strength, bearing capacity, etc. of the underwater ground. In this study, we investigated the strength and bearing capacity of the underwater ground. In addition, the relationship between the trafficability of the vehicle and the strength, bearing capacity, etc. of the underwater ground was investigated by experiment to obtain basic knowledge. First, the cone index was measured and evaluated about the strength and bearing capacity of the underwater ground in a laboratory. In addition, the cone index of the ground and the traction force of a small tracked carrier were measured in a test field. From the results, we examined the relationship between the trafficability of the vehicle and the strength, bearing capacity, etc. of the underwater ground. The results were as follows. Water penetrates the surface layer of the underwater ground, and a fragile layer with an extremely small cone index value is formed on the surface layer. In underwater ground, the maximum traction force of the vehicle is lower than on the ground. After slip occurs, the traction force of the vehicle decreases in the underwater ground compared to the ground.
机译：近年来，日本的水灾害增加了。新的无人建筑技术研究协会开发了一种远程控制的半水下重载机器人，可以达到2米的水深。由于水下地面可能是柔软的，因此在水下地面行驶具有卡住的风险。如果一个沉重的运营机器人被卡住，危险灾害网站的救援工作非常困难。为了构建一种用于判断是否驱动的方法，有必要定量阐明车辆的交汇处与水下地的力量，承载力等之间的关系。在这项研究中，我们研究了水下地面的强度和承载力。此外，通过实验研究了车辆的交汇处与水下地的强度，承载力等之间的关系，以获得基本知识。首先，测量锥形指数并评估水下地在实验室中的强度和承载力。另外，在测试场中测量地面的锥形和小型履带载体的牵引力。从结果中，我们检查了车辆交汇处与水下地面的强度，承载力等之间的关系。结果如下。水穿透水下地的表面层，在表面层上形成具有极小锥形指数值的易碎层。在水下地面，车辆的最大牵引力低于地面。发生滑动后，与地面相比，车辆的牵引力减小了水下地面。

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