杆状物攀爬机器人关键技术综述

摘要

人工高空作业具有一定危险性,且工作效率低、工作难度大,采用攀爬机器人代替人工作业在安全性、稳定性及精确性等方面具有明显优势;杆状物攀爬机器人作为一个新兴的研究领域,国内外虽有较多研究,但仍处于试验阶段,未达到大规模推广使用的条件;因此,有必要总结现有成果,更好地完善攀爬机器人系统的研发与应用;文章通过分析国内外杆状物攀爬机器人技术和应用现状,从运动机构分析、自主行为控制与导航、远程通信、监测与遥操作4个方面,详细阐述了现存爬树爬杆类机器人的关键性技术问题,旨为杆状物攀爬机器人下一阶段的研究提供新的想法和方向.%High-altitude operations have certain risks for workers,and except for the operating difficulty,the working efficiency is low.Climbing robots can substitute manual work,and they have obvious advantages in terms of safety,stability and accuracy,etc.Although researchers have done a lot of studies on the climbing robot,as an emerging research area,it is still in the experimental stage and has not reached the conditions for wide application.Thus,it is necessary to review current achievements,in order to improve the development and application of climbing robot system.Based on the analysis of technology and application status of climbing robot,in this paper,key technologies of climbing robot are discussed in detail from four aspects,including motion mechanism design,autonomous behavior control and navigation,remote communication.The objective of this paper is to provide a new suggestion and direction for the robot research in the next stage.