Study Of Key Technology On Central Air-Conditioning Duct Cleaning Robot

People pay more and more attention to their health, along with the developmentof economy. At the same time, contaminative central air-conditioning is becoming athreat against people's health. The importance of inspecting and cleaning the centralair-conditioning is emphasized more than ever by the society, especially for theair-duct. The research and application of air-duct robot of central air-conditioninghas been undertaken in other countries for quite a long time, and the technique isgetting well-developed gradually. However, it is still on the start in our country. Thispaper studies the key tcchnology for the central air-conditioning dust cleaning robotin order to make some contribution to the mass and dometic prodution andapplication of it.The air-duct cleaning robot we developed is applicable in the inspection andcleaning for the air-duct. The air-duct cleaning robot includes two parts: mechanicalsystem and control system. The mechanical system mainly contains a movingvehicle, cleaning equipment, vision monitor system and ultrasonic avoiding barriersystem while the control system contains the car-counted control system and thecontrol cabinet. This paper mainly explores and discusses the aspects as following:1. Systematic scheme, detailed parameter demand, composition, main function,plan and demand for cleaning and cleaning quality standard of the cleaning robotsystem;2. Moving scheme, driving style, driving equipments, obstacle capability of themoving vehicle and the capability of turning in the curved duct and minimumturning radius of the moving vehicle;3. Optimal design for the cleaning arm's lifting mechanism and the cleaningbrush equipment, analysis about working space of the cleaning arm and cleaning force of the cleaning brush;4. Vision system design for the cleaning robot, picture handling, theorem andalgorithm of feature and design of the ultrasonic avoiding barrier system;5. Selection of hardware and design of software of the cleaning robotcar-counted control system, adjusting speed and position servo control of the drivingmotor and CCD camera controlling motor;6. Overall structure design of the cleaning robot control cabinet and the selectionof control cabinet's hardware, division and realization of the control task, designatedof the communication protocol and communication module;Finally, this thesis summarizes the deficiencies of this topic and extracts someconstructive advices for the further improvement.