隧道环境智能探测六足机器人  

Intelligent Tunnel Environment Detection Six-legged Robot

作　　者：赵瑶瑶 马坤 乔俊福[1] 裴加宝 ZHAO Yaoyao;MA Kun;QIAO Junfu;PEI Jiabao(Taiyuan Institute of Technology,Taiyuan 030013,China)

机构地区：[1]太原工业学院,山西太原030013

出　　处：《机械工程与自动化》2025年第2期154-155,158,共3页Mechanical Engineering & Automation

基　　金：国家级大学生创新创业训练计划项目(202314101052)。

摘　　要：为了在隧道中对周围环境进行实时传输并躲避障碍物,设计了隧道环境智能探测六足机器人。先利用树莓派在Linux系统下进行视觉处理分析并回传给客户端,依靠STM32F103对机器人的下位机进行控制;然后利用PA895舵机控制板对六足的18个舵机进行驱动,机器人的每个足部拥有3个舵机关节,可实现机器人多姿态以适应恶劣环境;机器人利用HC-SR04超声波模块进行障碍物检测。In order to transmit the surrounding environment in real time and avoid obstacles in the tunnel,an intelligent tunnel environment detection six-legged robot is designed.The Raspberry Pi is used for visual processing analysis under the Linux system and returned to the client:The lower computer of the robot is controlled by STM32F103.The PA895 steering gear control board is used to drive the six-foot eighteen steering gears.Each foot has three steering gear joints,which can realize the robot's multiattitude.In order to adapt to the harsh environment,the HC-SR04 ultrasonic module is used for obstacle detection.

关 键 词：六足机器人 环境探测 智能 障碍物检测 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]