Pipe Robot Is Developed

People pay more and more attention to their health, along with the development of economy. At the same time, contaminative central air-conditioning is becoming a threat against people's health. The inspection and cleaning of the Central air-conditioning is emphasized more and more by the society, especially for the air-duct. The research and application of air-duct robot of central air-conditioning has been undertaken in other countries for quite a long time, and the technique is getting well-developed gradually. However, it is still on the start in our country.The air-duct robot we have developed is just applicable in the inspection, sampling, cleaning and disinfection of the air-duct of central air-conditioning. The air-duct robot consists of mechanical system and control system. The control system consists of car-carried system, control box, and PC video terminal.The robot is based on pedrails, which are drived by two motors. The mechanical system includes locomotors section, turning sections and pitching section. They are responsible for the locomotion of the robot, the turning and pitching of the pan & tilt. Sampling and inspection section, cleaning section and disinfection section are selectable according to different applications.The main tasks of the car-carried system include DC-motors driving, PID control and motor protection, speed and position information acquisition, aberrance revision, camera parameters control, and communication with main controller, and so on.The control box consists of main controller, video server, and operation box. The main controller is responsible for correspondence with the operation box and PC video terminal, indication LED control, communication with the sub-controller, and so on. The function of the video server includes video signal acquisition with digital conversion, video data transmission, and communication with the PC video terminal.Operation box is the main approach for users to control the robot, signal formed by which will be processed by the main controller.PC video terminal controls the video server, processes and stores the video data,offers interface with users, and communicates with the main controller.In this paper, we have introduced the design and realization of the air-duct robot from three perspectives, the whole, hardware and software. In the last chapter, we have analyzed and concluded the advantages and disadvantages of our robot as well as rooms for improvement.