摘要
电缆隧道检测机器人是一种工作于电缆隧道环境,采集图像、气体浓度、温度等信息的特种机器人。目前电缆隧道检测采用人工方法进行,尚无相关机器人产品投入使用。论述机器人的系统指标,提出了电缆隧道检测机器人的履带关节式行走方式,进而从整体角度介绍了隧道检测机器人的结构与控制系统。实验证明,该机器人具有结构紧凑,体积小,重量轻,便于携带的特点,并有较强的越障能力和环境适应能力。
Cable tunnel inspecting robot is a kind of special robot used for collecting information such as image data, gas concentration and temperature in cable tunnels. Today only manual methods are used for cable tunnel inspection, and there is almost no report on robotic application in this area. In this paper, the system requirements of the cable tunnel inspecting robot were given, and a kind of track-joint robotic structure was presented. Finally, the mechanical system and the control system were described. Experiments prove that the easy-to-take robot not only has the characteristics of compact structure, small size, and light weight, but also has strong adaptability for bad working conditions.
出处
《华东电力》
北大核心
2009年第1期95-97,共3页
East China Electric Power
基金
国家电网公司基金项目资助
关键词
电缆隧道
隧道检测
履带机器人
cable tunnel
tunnel inspection
track mobile robot
