Design of Bionics Worm Pipe Climbing Robot

• Main Authors: NIAN,WEI-HAO, 粘為昊
• Other Authors: YANG,CHIH-HSIUNG
• Format: Others
• Language: zh-TW
• Published: 2019
• Online Access: http://ndltd.ncl.edu.tw/handle/6566w3

碩士 === 國立高雄科技大學 === 電機工程系 === 107 === Gas explosion of Kaohsiung in 2014 killed 32 and injured 321 people and left citizen nightmare and regrets. It was resulted from that the 4 inch propylene pipe corroded and wall thickness got thinning to be unable to endure pipe pressure. The hidden worry of underground piple is sure result in the developing of exploration robot. The robot can examine the wall thickness variation and fracture path with special mechanism of multi-sectional climbing tube. It ST microprocessor to be main controlling unit and sensors of temperature、humidity and gas and wireless camera system. The data and parameters by buoy-data-checkpoint combined with wireless transmission would be feeder back to end user for remote control. The study uses two sets microcomputer STM 32F103C8. One is applied to control robot move path and the other is used for data computing and transmission and revision of robot action. This exploration robot introduce the special mechanism of multi-sectional climbing tube and is getting superior to commercial wall robot in stability and efficiency.