新型管道巡检机器人通过铰接结构提升越障能力，实现单线控制姿态调节。
Development of a 3 in Sewer Pipe Inspection Robot with an Articulated Differential Mechanism using X-shaped Linkages
- 采用X型连杆构成的差动机构，单线控制实现姿态自适应变化。
- 通过电机电流波动检测障碍物，动态松线提升越障成功率。
- 实验验证该方法显著增强机器人在管件连接处的通过能力。
本文提出一种改进型三轮式管道巡检机器人，配备应急撤离机制。针对初代产品牵引力弱、越障能力差的问题，通过简单连接驱动单元进行优化。耦合驱动单元具备差动机构，可通过单根缆线实现姿态调整，适应不同管径变化。为跨越如管件接头等障碍，设计了一种基于驱动轮电机电流负载检测障碍接触的控制方法，并通过松线实现越障。该方法在模拟管道实验中得到验证，通过对比驱动轮电流波形分析负载变化，结果表明新构型机器人越障能力显著提升。
原文摘要 · Abstract (English)
This paper proposes, an improved version of the 3 in sewer pipe inspection robot equipped with an emergency evacuation mechanism. The low traction force and poor stepover capability, which were challenges of the first version, have been improved by simply connecting the propulsion units. The coupled propulsion units feature a differential mechanism capable of posture changes via a single wire, enabling adaptation to pipe diameter variations. To traverse obstacles like pipe joints, a control method was devised that detects obstacle contact through current load on the drive wheel motors and slackens the wire. This method was verified through simulated pipe experiments. Load comparisons were made using current waveforms applied to the drive wheels. Our proposed control method significantly improved the step-over capability of the new articulated robots.
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