Article(id=1325194166002656107, tenantId=1146029695717560320, journalId=1319690209941618849, issueId=1325194116245619276, articleNumber=null, orderNo=null, doi=10.12398/j.issn.2096-7217.2026.02.011, pmid=null, cstr=null, oa=null, hot=null, price=null, onlineType=0, articleFormat=0, articleType=null, articleTypeStr=null, receivedDate=1773763200000, receivedDateStr=2026-03-18, revisedDate=1777046400000, revisedDateStr=2026-04-25, acceptedDate=null, acceptedDateStr=null, onlineDate=1793880510091, onlineDateStr=2026-11-05, pubDate=1778774400000, pubDateStr=2026-05-15, doiRegisterDate=null, doiRegisterDateStr=null, onlineIssueDate=1793880510091, onlineIssueDateStr=2026-11-05, onlineJustAcceptDate=null, onlineJustAcceptDateStr=null, onlineFirstDate=null, onlineFirstDateStr=null, sourceXml=null, magXml=null, createTime=1793880510091, creator=13701087609, updateTime=1793880510091, updator=13701087609, issue=Issue{id=1325194116245619276, tenantId=1146029695717560320, journalId=1319690209941618849, year='2026', volume='7', issue='2', pageStart='1', pageEnd='200', issueExtLink='null', onlineDate='null', pubDate='1778774400000', pubDateStr='2026-05-15', beforeIssueId=null, nextIssueId=null, price=null, status=1, issueComplete=1, articleOrder=1, issueType=1, specialIssue=null, createTime=1793880498229, creator='13701087609', updateTime=1793943300582, updator='13701087609', preIssue=null, nextIssue=null, articleTotal=null, ext={EN=IssueExt(id=1325457528724795795, tenantId=1146029695717560320, journalId=1319690209941618849, issueId=1325194116245619276, language=EN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=), CN=IssueExt(id=1325457528724795796, tenantId=1146029695717560320, journalId=1319690209941618849, issueId=1325194116245619276, language=CN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=)}, issueFiles=null, downloadFileDto=null}, startPage=124, endPage=132, ext={EN=ArticleExt(id=1325194166254314348, articleId=1325194166002656107, tenantId=1146029695717560320, journalId=1319690209941618849, language=EN, title=Design and analysis of a wheel-wing hybrid cable-travelling inspection robot for agricultural monitoring, columnId=null, journalTitle=Journal of Intelligent Agricultural Mechanization, columnName=null, runingTitle=null, highlight=null, articleAbstract=
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.
, authors=Dengyun Lou, Jin Lei, Xinyan Qin, Chunhao Li, Wenrui Li, Changhuan Wu, authorsList=Dengyun Lou, Jin Lei, Xinyan Qin, Chunhao Li, Wenrui Li, Changhuan Wu, authorCompany=null, correspAuthors=Jin Lei, authorNote=
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现有农情监测平台在开放农田环境下普遍存在无人机续航有限、低空重复观测视角一致性不足，以及地面机器人易受地表状况和作物冠层遮挡影响等问题，难以同时兼顾快速部署能力与高重复性观测需求。为实现农田场景下同地点、同视角、不同时间农情信息的连续获取与对比分析，本研究设计一种面向农情监测的轮—翼复合沿缆式巡检机器人。本研究以农田上方架空缆线为固定巡检路径，提出飞行上下线与沿缆巡检相结合的双模态巡检方案，以满足同地点、同视角重复观测需求；在此基础上，设计由被动触发式夹爪、可变形机臂及轮—翼复合末端执行机构组成的一体化构型，实现飞行执行单元与沿缆执行单元的结构复用；建立飞行悬停、挂线防滑、沿缆驱动转矩以及机臂驱动与过中心自锁等关键约束模型，并运用SolidWorks和ADAMS开展模态切换与沿缆行走工况仿真分析。仿真结果表明，机器人双侧机臂能够实现同步折叠，模态切换过程连续稳定，整机可在约5 s内完成由飞行展开模态向沿缆工作模态的转换；在沿缆行走模态下，平台连续前进，轮组与缆线接触稳定，前后轮俯仰角变化范围约为−0.2～0.2 rad，表现出较好的路径约束性和观测姿态稳定性。所提出机器人能够兼顾农田监测区域快速进入与固定路径稳定巡检需求，可为农情时序监测、重复观测数据采集及低成本农业巡检装备研发提供参考。
, authors=娄登云, 雷金
*, *, 秦新燕, 李春昊, 李文睿, 吴长欢, authorsList=娄登云, 雷金, 秦新燕, 李春昊, 李文睿, 吴长欢, authorCompany=null, correspAuthors=雷金, authorNote=
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Lou Dengyun, E-mail: loudengyun@stu.shzu.edu.cn
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Lou Dengyun, E-mail: loudengyun@stu.shzu.edu.cn
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娄登云，男，2001年生，河南驻马店人，硕士研究生；研究方向为巡检机器人技术。E-mail：loudengyun@stu.shzu.edu.cn
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娄登云，男，2001年生，河南驻马店人，硕士研究生；研究方向为巡检机器人技术。E-mail：loudengyun@stu.shzu.edu.cn
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