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.