Title :
Research and Development of a Small Wheel-Pedrail Patrol Robot in Forest
Author :
Guo, Xiuli ; Lu, Huaimin ; Sun, Peng
Author_Institution :
Coll. of Mech. & Electr. Eng., Northeast Forestry Univ., Harbin, China
Abstract :
A small robot of combining wheel with pedrail forth rugged forest terrain is researched and developed in this paper. The robot consists of a walking mechanism, an elevating mechanism, a navigation positioning module, a wireless communication module, and some peripheral sensors. The principles of the light weight and the modularity are adopted to realize the high traffic ability and quick assembly. The test shows that the robot has high traffic ability and it can crossover the vertical obstacle of 100 mm height or the horizontal ditch of 300 mm width, and the maximum running speed is 1m/s. Furthermore, the environmental information including the temperature, the humidity, the wind speed, the surroundings, and the real position can be transmitted to an upper computer by the wireless communication for operator to judge and make decision, which can highly improve the efficiency of the forest fire prevention and the forestry resource protection.
Keywords :
collision avoidance; forestry; mobile robots; motion control; elevating mechanism; forest terrain; horizontal ditch; navigation positioning module; peripheral sensors; small wheel-pedrail patrol robot; vertical obstacle; walking mechanism; wireless communication module; Legged locomotion; Mobile robots; Navigation; Research and development; Robot sensing systems; Robotic assembly; Temperature; Testing; Wheels; Wireless communication; modulization; patrol robot; trafficability; wheel-pedrail;
Conference_Titel :
Intelligent Computation Technology and Automation (ICICTA), 2010 International Conference on
Conference_Location :
Changsha
Print_ISBN :
978-1-4244-7279-6
Electronic_ISBN :
978-1-4244-7280-2
DOI :
10.1109/ICICTA.2010.856