新型轮腿配合式排水管道检测机器人控制系统设计

摘要

This papei designs a new kind of in-pipe robot with legs and wheels, which has some advantages of high moving speed by wheel driving and good environment adaptation by leg driving. Tyiis robot can move stably by the gravity shift system when it moves by leg driving. The whole control system includes microcontroller hardware of main engine, software structure ol mobile carrier and CCD camera.%提出了一种新型轮腿配合式管道机器人的设计思想.机器人通过轮式驱动和腿式驱动二者的相互配合,兼有轮式机器人移动速度快及腿式机器人环境适应能力强等优点.对机器人结构及组成进行了设计,运用重心偏移的方法保证机器人腿式行进时不发生侧翻.对整个机器人的控制系统进行设计,包括主机控制系统的单片机硬件设计、移动载体和CCD摄像头控制系统的软件结构设计.