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中文摘要：
设计了一款无线遥控的四轮驱动小型管涵探察机器人STIR（smart tunnel inspection robot）.采用并行处理的双CPU体系,实现了STIR的遥测、遥控及运行姿态调整;融合多个传感器群的信息,实现了管涵内部和STIR本身的信息、数据采集和远程运动控制,通过操作站的上位机监控软件,完成管涵内探察画面的回传和参数监测.STIR所配备的动态电源监控及里程量度机构,能确保其能源充足并安全进出管涵及对所发现的管涵内异常点进行有效定位.实验证明：STIR设计合理,机械结构紧凑,功能完备,四轮驱动动力强劲,跨障碍能力强,遥控操作及监控方式灵活、透明.其转弯半径小,仅20cm,最大行走速度为10m/min,可探查管涵的直径为30∽100cm,可克服的垂直障碍高度7cm,吃水深度30cm,探测时间120min,无线遥控半径在400m以内.STIR可以实现水利输水涵管、输油管道、地下电缆管道等内部状态的清晰、立体勘测,完成管涵的隐患和质量评估工作,运行稳定可靠,为小型管涵的高效探查提供了有力手段.
英文摘要：
A four-wheel-drive detecting robot STIR（smart tunnel inspection robot）was designed and implemented.Through remote wireless control technique,STIR could be used to complete the observation of details in a pipe by adjustment of running posture.Information from embedded multi-sensors was collected and fused with the dual CPU system.The real time data including video images of the inner pipe and the status information of STIR could be achieved and displayed by manipulating the control software on host computer in operation station.The dynamic power source status was monitored to secure the return of the robot,while the distance measurement function was helpful in positioning the abnormal points found by the STIR in the tunnel.It is proved by experiments that with the reasonable design,STIR has compact mechanical structure,perfect function and strong drive power and ability to cross obstacles.According to flexible and transparent way of remote control and monitoring,the STIR is easy to manipulate.With the small turning radius which is only 20 cm,the STIR can detect the tunnels whose diameter is from 30 to 100cm.The highest vertical obstacle that STIR can overcome is 7cm.Besides,its maximum walking speed is 10m/min and the depth of draft is 30 cm.Within a radius of 400 m,the STIR can be controlled wirelessly and effectively.After the charge,STIR can detection continuously for 120 min at a time.In a word,the clear and three-dimensional surveying for the internal state of water culvert,pipeline and underground cable pipe can be completed bySTIR.It is able to carry out the jobs such as hidden trouble detection and quality evaluation.STIR is a stable and reliable probing equipment,which provides powerful means for effective detection of the small pipe culvert.
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