一种轮履复合式森林巡防机器人  

A Wheel-tracked Compound Robot for forestry Patrol

作　　者：孙鹏[1] 陆怀民[1] 郭秀丽[1] 

机构地区：[1]东北林业大学,哈尔滨150040

出　　处：《森林工程》2010年第1期29-32,共4页Forest Engineering

基　　金：国家"863"计划资助项目(2009AA04Z217)

摘　　要：研制一种适合林区崎岖路面行驶的小型轮履复合式机器人。机器人主要由移动底盘、竖直升降机构、导航定位模块、无线通信模块和监控设备等部分组成。机械系统采用轻量化设计,确保机器人机动性;电气系统采用模块化设计,以利于快速装配和维修。样机试验表明,机器人具有良好的机动性,可攀爬100 mm垂直高度障碍,跨越300 mm宽度沟壑,在崎岖路面上可达到1 m/s的直线行进速度。升降机构上搭载的外围传感设备可将现场温度、湿度、风速和场景等信息通过无线通信实时回传至上位机,同时通过导航定位模块确定自身地理位置辅助监控人员进行决策,从而大大提高森林火灾救援和盗砍盗伐监控的作业效率。A wheel-tracked compound robot for forest rough terrain was developed, which consisted of mobile chassis, vertical lifting system, navigation and positioning module, wireless communication module, monitoring equipment, etc. The mechanical systems adopted lightweight design to ensure the robot mobility, while the electrical system adopted modular design to achieve quick assembly and maintenance. The prototype test showed that the robot had good mobility, which could climb the barrier with 100mm vertical height, cross the gully with 300mm width and move on the rough road with speed of up to 1 m/s in a straight line. The external sensing equipment installed on elevating platform could transmit such information as site temperature, humidity, wind speed and scenes to the upper computer in real time via wireless communication, at the same time, its own location was determined with the navigation and positioning module to help monitoring operators make decision, which could significantly improve the efficiency of forestry fire rescue and forestry resource protection.

关 键 词：轮履复合 机器人 机动性 模块化 

分 类 号：S776.2[农业科学—森林工程]