Unlike other civil engineering works, water pipe works require digging out before construction because the construction site is buried. The AR application is a system that displays buried objects in the ground in three dimensions when users hold a device such as a smartphone over the ground, using images from the smartphone. The system also registers new buried objects when they are updated. The target of this project is water pipes, which are the most familiar of all buried structures. The system has the following functions: “registration and display of new water pipe information” and “acquisition and display of current location coordinate information.” By applying the plane detection function to data acquired from a camera mounted on a smartphone, the system can easily register and display a water pipe model horizontally to the ground. The system does not require a reference marker because it uses GPS and the plane detection function. In the future, the system will support the visualization and registration of not only water pipes but also other underground infrastructures and will play an active role in the rapid restoration of infrastructure after a large-scale disaster through the realization of a buried-object 3D MAP platform.

In this study, a robot was created to compete in the “7th Decommissioning Creative Robot Contest. The “Decommissioning Creative Robot Contest” is a robot contest in which the fields and tasks are set based on the assumption of decommissioning work at TEPCO’s Fukushima Daiichi Nuclear Power Station. The theme of this year’s competition is 3D decontamination of a highly contaminated area inside a nuclear reactor building. To solve the competition problem, we propose a robot for decommissioning work equipped with “an undercarriage mechanism that can cope with slopes and steps”, “a decontamination mechanism with two types of rotation trajectories”, and “a lifting mechanism with a high deformation rate. The undercarriage mechanism uses a four-wheel drive with infinite orbit to cope with slopes and steps. The decontamination mechanism uses two different types of orbits for decontamination: a circular rotating orbit and a longitudinal rotating orbit for rotation. For the lifting mechanism, three pantograph mechanisms were used. This study realized a control and mechanism to overcome steps and slopes, a deployment mechanism to high places, and a mechanism with two types of orbits to carefully decontaminate a large area.