智能化农业装备学报（中英文）2026，Vol.7Issue(2)：124-132,9.DOI:10.12398/j.issn.2096-7217.2026.02.011
面向农情监测的轮—翼复合沿缆式巡检机器人设计与分析
Design and analysis of a wheel-wing hybrid cable-travelling inspection robot for agricultural monitoring
摘要
Abstract
Existing agricultural monitoring platforms in open-field environments generally suffer from limited endurance of unmanned aerial vehicles,insufficient viewpoint consistency during low-altitude repeated observations,and high susceptibility of ground robots to surface conditions and crop canopy occlusion,making it difficult to concurrently meet the demands of rapid deployment and highly repeatable observation.To achieve continuous acquisition and comparative analysis of agricultural information at the same location and from the same viewpoint over different periods,a wheel-wing hybrid cable-travelling inspection robot for agricultural monitoring was designed.Using overhead cables above farmland as fixed inspection paths,a dual-mode inspection scheme combining aerial cable docking and cable-travelling locomotion was proposed to meet the demand for repeated observation at fixed locations and viewpoints.On this basis,an integrated configuration composed of a passive trigger gripper,deformable arms,and wheel-wing hybrid end-effectors was developed to realize structural reuse of the aerial execution unit and the cable-travelling execution unit.In addition,key constraint models,including flight hovering,anti-slip on the cable,cable-travelling driving torque,and arm driving with over-center self-locking,were established,and SolidWorks and ADAMS were used to simulate mode switching and cable-travelling operation.The simulation results showed that the two arms of the robot could fold synchronously and the mode-switching process was continuous and stable.The robot could complete the transition from the flight-deployed mode to the cable-travelling working mode within approximately 5 seconds.In the cable-travelling mode,the platform moved continuously with stable wheel-cable contact,and the pitch angle variation of the front and rear wheels ranged from about-0.2 to 0.2 rad,indicating favorable path constraint and observation posture stability.The proposed robot can satisfy both rapid access to field monitoring areas and stable fixed-path inspection requirements,providing a reference for temporal agricultural monitoring,repeated observation data acquisition,and the development of low-cost agricultural inspection equipment.关键词
农情监测/沿缆式巡检机器人/轮—翼复合结构/模态切换Key words
agricultural monitoring/cable-travelling inspection robot/wheel-wing hybrid structure/mode switching分类
农业科技引用本文复制引用
娄登云,雷金,秦新燕,李春昊,李文睿,吴长欢..面向农情监测的轮—翼复合沿缆式巡检机器人设计与分析[J].智能化农业装备学报（中英文）,2026,7(2):124-132,9.基金项目
国家地区科学基金项目(62563034)National Regional Science Foundation of China(62563034) （62563034）
