一种小型履带式管道机器人的研究与设计OACSTPCD

In view of the inconvenient manual exploration of ventilation ducts,a special small crawler robot is designed.Through reasonable structural design,the robot can realize the function of climbing and barrier cross-ing in the narrow pipeline.The control system based on Raspberry Pi and STM32 is developed,the hardware circuit of the whole robot and the control program of each module is designed,and the upper computer interface for easy use to control and receive data is created with Qt Creator software.The data exchange between the up-per computer and the robot is realized through optical fiber communication.The camera module and wheel ta-chometer can realize the positioning function in a complex pipeline environment.After the experiments and data collection,the result show that the overall function of the robot is perfect,and it runs smoothly in the actual working environment,which can meet the work requirements of the pipeline robot.