中文摘要：

为了减小地下管道作业人员伤亡,降低城市地下管道维护的成本,研制开发了一种面向地下管道的四向行走智能机器人系统,详细描述了机器人的硬件设计和控制软件设计。机器人控制系统采用ARM—CORTEX芯片作为主控芯片,由于地下管道的特殊性采用有线通信方式,上位机控制软件简洁易操作。测试结果表明：机器人工作性能良好,能够适应不同管径的地下管道,同时具有防水防尘等特性,研究具有一定参考价值。

英文摘要：

In order to reduce the casualties in underground pipe operations and lower the cost of urban underground pipeline maintenance,develop an intelligent robot system which can replace human to accomplish underground pipe operations. design of hardware and control software of the robot is described. The robot control system uses an ARM-CORTEX chip as the master control chip. The robot adopts wired communications due to the particularity of the underground pipeline environment,software of upper PC control is simple and easy for operation. All the experimental results suggest that the robot performs well in real environment; it adapts to different underground pipes with different diameter and meets the standards of the waterproof and dustproof. It has certain reference value for study of in-pipe robot.