【摘要】 由于国内石油管线巡护以传统人工巡检为主，受人为和地理区域因素的影响，导致复杂地理环境以及人力无法达到区域的场所下的管线巡检困难。因此，本文设计了一种六足机器人控制系统，使用STM32F103RCT6作为主控板，连接舵机驱动板，搭配传感器模块，采用三角步态来控制机器人，从而实现石油管道智能巡检。更多还原

【Abstract】 Since the inspection of oil pipelines in China is mainly based on traditional manual inspection, it is affected by human and geographical regional factors, which leads to the difficulty of pipeline inspection in complex geographical environment and places where manpower cannot reach the area. Therefore, this paper designs a hexapod robot control system, using STM32F103RCT6as the main control board, connecting the servo drive board, matching the sensor module, and using a triangular gait to control the robot, so as to realize the intelligent inspection of oil pipelines.更多还原