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With the advancement of science and technology , the mobile robot is a wide range of applications in the field of aerospace , military , adventure , rescue , industrial manufacturing , service and entertainment . Widely involved in the field of mobile robot , the face of the complex environment , in many respects, there is a need to carry out more in-depth research . This paper focuses on a wheeled robot walk the line line patrol in the indoor environment depth discussions , the main research content and results include: ( 1 ) analysis of the functional requirements of a robot in order to walk the line of wheeled robots , in the foundation of the demand on the design of the mechanical structure of the wheeled robot , select the appropriate drive motor and the drive circuit for the motor design and production . (2 ) In order to solve the robot line patrol , the key technologies in -depth study of the motion characteristics of indoor mobile robots , sensor technology , navigation and positioning . Selected based on traveling light tube line inspection and code disk program and design the corresponding circuit . ( 3) In order to meet the requirements of the robot's walking the line , the line inspection program of research, combined with the special circumstances of the robot , select ARM7 as the control chip , multi-sensor information fusion line patrol robot running . (4 ) using a combination of infrared distance sensors and contact switches , the robot obstacle avoidance ability .
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