RaccoonBot可自主爬电线追踪太阳，实现持久环境监测。
RaccoonBot: An Autonomous Wire-Traversing Solar-Tracking Robot for Persistent Environmental Monitoring
- 机械自锁设计确保断电时不坠落，提升安全性。
- 太阳能追踪算法使机器人在电线上找到最佳光照位置，实现能量自给。
- 适合森林等难达区域的长期自动环境监测任务。
环境监测用于刻画生物与其环境之间的健康关系。在森林生态系统中，机器人可作为数据采集平台，尤其在难以到达的区域，基于电线移动的平台具有高效位移优势。本文提出RaccoonBot，一种新型自主式电线爬行机器人，用于持久环境监测。其具备故障安全的机械设计，在断电时可通过自锁机制防止坠落。机器人采用创新的太阳能追踪算法，能自主在电线上寻找最佳位置以获取直接日照，从而提升能量捕获效率。实验验证了RaccoonBot的机电性能，表明其能够应对电线扰动、不同倾角，并实现能量自足。
原文摘要 · Abstract (English)
Environmental monitoring is used to characterize the health and relationship between organisms and their environments. In forest ecosystems, robots can serve as platforms to acquire such data, even in hard-to-reach places where wire-traversing platforms are particularly promising due to their efficient displacement. This paper presents the RaccoonBot, which is a novel autonomous wire-traversing robot for persistent environmental monitoring, featuring a fail-safe mechanical design with a self-locking mechanism in case of electrical shortage. The robot also features energy-aware mobility through a novel Solar tracking algorithm, that allows the robot to find a position on the wire to have direct contact with solar power to increase the energy harvested. Experimental results validate the electro-mechanical features of the RaccoonBot, showing that it is able to handle wire perturbations, different inclinations, and achieving energy autonomy.
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