一种具有识别功能的爬杆清洁机器人设计

Design of a Climbing Pole Cleaning Robot with Recognition Function

阐述爬杆机器人采用自主设计的双层式结构,通过STM32单片机控制多个舵机和步进电机完成攀爬电线杆动作,当攀爬到电线杆顶部,再通过训练好的Yolov5模型检测绝缘子的位置,帮助机器人找到绝缘子,最后通过六关节机械臂完成清洁动作。

This paper describes that the pole climbing robot adopts a self-designed doublelayer structure,which controls multiple servos and stepper motors through the Stm32 microcontroller to complete the climbing action of the pole.When climbing to the top of the pole,the position of the insulator is detected through the trained Yolov5 model to help the robot find the insulator.Finally,the cleaning action is completed through a six joint robotic arm.