Abstract
In this paper, the modular design idea and MVC design pattern are used to study a control system of a wall-climbing robot applied to detecting the surface of large-scale tanks. The design mainly has two parts:hardware system and software system. The hardware system consists of power modules, sensor modules, control modules, and communication modules. The software system is composed of the robot control software, the robot remote control App based on Android devices, and the upper computer application program which can run in both Windows system and Linux system. Finally, the feasibility and robustness of the system are verified by experiments.
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