测控技术2024，Vol.43Issue(6)：1-7,7.DOI:10.19708/j.ckjs.2024.01.204
一种小型履带式管道机器人的研究与设计
Research and Design of a Small Crawler Pipeline Robot
摘要
Abstract
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.关键词
管道机器人/树莓派/STM32/软硬件设计/定位Key words
pipeline robot/Raspberry Pi/STM32/software and hardware design/localization分类
计算机与自动化引用本文复制引用
钱佳旺,李会军,宋爱国..一种小型履带式管道机器人的研究与设计[J].测控技术,2024,43(6):1-7,7.基金项目
工信部基础科研项目(JCKY2022110C040) （JCKY2022110C040）
