Mobile robot for monitoring park trees: Design and modeling

One of the modern problems in the field of ecology is the creation of environmentally friendly equipment for monitoring and maintaining trees in parks and forests. The traditional use of forest machines and self-propelled tractors with internal combustion engines has a negative impact on the environment as a result of pollutant emissions, i.e., combustion products and fuel residues. An alternative to this tradition can be the use of mobile robots with remote control of their electric drives when performing such technological operations as pruning bacterial growths of trees and diagnosing the state of tree massifs. The article proposes a fundamentally new mobile robot design for monitoring park trees. The main differences between the robot are the new designs of the body and the walking mechanisms of the mobile robot. These design differences provide the robot with high maneuverability when choosing the path of movement along the tree trunk and reliable holding of the robot body on the tree at a sufficient movement speed to perform diagnostics of the state of tree massifs. The article also describes the dynamic models of the movement of a mobile robot along a tree trunk. It presents the simulation results in the form of graph-analytical dependencies of the robot parameters, which constitutes the scientific aspect of the problem. The main motivation of the conducted research is the creation of environmentally friendly equipment in the form of a mobile robot with a reliable system of retention on the surface moving and sufficient performance to perform park tree monitoring operations.