仿蛇形巡检机器人控制系统设计  

作　　者：王甦 薛超 李雅琳 佘彦杰 曾雪婷 王永县 

机构地区：[1]国网河南省电力公司洛阳供电公司,河南洛阳471000 [2]河南科技大学农业装备工程学院,河南洛阳471000

出　　处：《科技创新与应用》2020年第36期37-38,共2页Technology Innovation and Application

摘　　要：现有地下农业电缆中已出现相当数量的老化线路,为保证其稳定性需要对电缆进行巡检和常规维护。但由于通道狭窄且人工操作时电缆带电运行,极易发生事故。仿蛇形机器人具有其独特的形态结构,以树莓派作为远程控制端,搭载具有识别功能的红外摄像头及高敏度传感器,可在复杂地形中实现避障,翻越等自由活动。该成果可应用于地下农业电缆定点检测和维修项目,减少农业生产成本、提高工作效率。In order to ensure the stability of the existing underground agricultural cables,it is necessary to inspect and maintain the cables routinely.However,due to the narrow channel and manual operation when the cable is running live,accidents are very easy to occur.Snake-like robot has its unique morphological structure.With raspberry PI as the remote control terminal,it is equipped with infrared camera with recognition function and high sensitivity sensor,and it can achieve free activities such as obstacle avoidance and jumping in complex terrain.The results can be applied to the fixed-point inspection and maintenance project of underground agricultural cable to reduce the cost of agricultural production and improve work efficiency.

关 键 词：仿蛇形巡检机器人 地下电缆维护 Raspberry Pi 红外识别 避障翻越 控制系统 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]