Development of an air duct cleaning robot based on peristaltic crawling motion

2017 ◽  
Vol 2017 (0) ◽  
pp. 2P1-L05
Author(s):  
Yuki TANISE ◽  
Kosuke TANIGUCHI ◽  
Shota YAMAZAKI ◽  
Masashi KAMATA ◽  
Yasuyuki YAMADA ◽  
...  
Keyword(s):  
Cleaning Robot ◽  
Duct Cleaning Robot ◽  
Duct Cleaning

scholarly journals Control system design of duct cleaning robot capable of overcoming L and T-shaped ducts

2020 ◽  
Vol 9 (2) ◽  
pp. 123
Author(s):  
Myeong In Seo ◽  
Woo Jin Jang ◽  
Junhwan Ha ◽  
Kyongtae Park ◽  
Dong Hwan Kim
Keyword(s):  
Control Method ◽  
Estimation Algorithm ◽  
Location Estimation ◽  
Positional Error ◽  
Cleaning Robot ◽  
Communication Module ◽  
Duct Cleaning Robot ◽  
Robot Position ◽  
Uwb Communication ◽  
Duct Cleaning

This study introduces the control method of duct cleaning robot that enables real-time position tracking and self-driving over L-shaped and T-shaped duct sections. The developed robot has three legs and is designed to flexibly respond to duct sizes. The position of the robot inside the duct is identified using the UWB communication module and the location estimation algorithm. Although UWB communication has relatively large distance error within the metal, the positional error was reduced by introducing appropriate filters to estimate the robot position accurately. TCP/IP communication allows commands to be sent between the PC and the robot and to receive live images of the camera attached to the robot. Using Haar-like and classifiers, the robot can recognize the type of duct that is difficult to overcome, such as L-shaped and T-shaped duct, and it moves successfully inside the duct according to the corresponding moving algorithms.

Development of a Peristaltic-Movement Duct-Cleaning Robot for Application to Actual Environment - Examination of Brush Type and Installation Method to Improve Cleaning Efficiency –

2019 ◽  
Vol 31 (6) ◽  
pp. 781-793
Author(s):  
Fumio Ito ◽  
Takahiko Kawaguchi ◽  
Yasuyuki Yamada ◽  
Taro Nakamura ◽  
◽  
...  
Keyword(s):  
Human Health ◽  
Cross Sectional Area ◽  
Sectional Area ◽  
Cleaning Efficiency ◽  
Cross Sectional ◽  
Cleaning Robot ◽  
Actual Environment ◽  
Peristaltic Movement ◽  
Duct Cleaning Robot ◽  
Duct Cleaning

This paper describes a method to increase both the cleaning performance and speed of a peristaltic duct-cleaning robot, besides the cleaning of a real house duct. Duct piping ventilation is an important component for safeguarding indoor human health. However, dust accumulates inside such ducts during long-term use of ventilation systems. This dust leads to the generation of bacteria, dispersal of which can cause serious human health problems. Therefore, it is necessary to clean such ducts. The ducts used in factories, for example, have a large cross-sectional area and so are easy to clean by conventional duct-cleaning methods. However, as housing ducts have a small cross-sectional area and many curves, they are difficult to clean via the passive method of inserting a cleaning tool through the duct ports. For this reason, the authors attempted to develop a method of duct cleaning using a robot that imitates the peristaltic movement of earthworms. Herein, the authors examine the type and mounting position of the cleaning brush that produces the optimum cleaning efficiency. From this, we confirmed the duct cleanability of the peristaltic robot.

Experimental study on both cleaning effect and motion performance of the duct-cleaning robot

2015 ◽  
Vol 14 ◽  
pp. 64-69 ◽  
Author(s):  
Chong Meng ◽  
Qingqin Wang ◽  
Yehui Song ◽  
Yong Cao ◽  
Naini Zhao ◽  
...  
Keyword(s):  
Experimental Study ◽  
Cleaning Robot ◽  
Motion Performance ◽  
Duct Cleaning Robot ◽  
Duct Cleaning

PID Parameter Optimization in Joint Control of Air Duct Cleaning Robot

2012 ◽  
Vol 241-244 ◽  
pp. 1904-1907
Author(s):  
Zhi Wei Zhou ◽  
Wei Sun ◽  
Cong Wang ◽  
Qian Zhu
Keyword(s):  
Brushless Dc Motor ◽  
Joint Control ◽  
The Novel ◽  
Well Control ◽  
Brushless Dc ◽  
Pid Algorithm ◽  
Cleaning Robot ◽  
Advanced Control ◽  
Duct Cleaning Robot ◽  
Duct Cleaning

To improve the joint control of the air-duct cleaning robot, an advanced control strategy of the brushless DC motor has been proposed to substitute the traditional PID control. The novel optimization algorithm based on the improved particle swarm optimization (PSO) is used to modify the normal incomplete derivative PID algorithm and globally optimize its parameters. Simulation results show that the proposed algorithm achieves a well control performance and can effectively satisfy the high accuracy and real-time requirement of the air-duct cleaning robot.

Design of Teleoperation System of Duct Cleaning Robot

2012 ◽  
Vol 220-223 ◽  
pp. 1236-1239
Author(s):  
Jiu Ying Peng ◽  
Wei Sun ◽  
Ming Hua Ouyang ◽  
Zhi Wei Zhou
Keyword(s):  
Video Monitor ◽  
Control Software ◽  
Object A ◽  
Cleaning Robot ◽  
Teleoperation System ◽  
Central Air Conditioning ◽  
Remote Video Monitor System ◽  
And Function ◽  
Duct Cleaning Robot ◽  
Duct Cleaning

With central air-conditioning ventilation pipe cleaning as the research object,a teleoperation system of duct cleaning robot is designed and realized. The framework and function structure of the system are given and a remote control software of duct cleaning robot is developed based on VC.With the help of this system, operators can observate and remote operate the robot in real time and dynamically by making use of 3-D virtual environment and remote video monitor system.

Path Planning for the Chassis of Duct-Cleaning Robot Based on Ant Colony Algorithm

2012 ◽  
Vol 190-191 ◽  
pp. 715-718
Author(s):  
Qian Zhu ◽  
Wei Sun ◽  
Zhi Wei Zhou ◽  
Su Wei Zhang
Keyword(s):  
Path Planning ◽  
Ant Colony Algorithm ◽  
Optimal Path ◽  
Grid Method ◽  
Ant Colony ◽  
Simulation Experiments ◽  
Environment Model ◽  
Cleaning Robot ◽  
Duct Cleaning Robot ◽  
Duct Cleaning

For the path planning for the chassis of duct cleaning robot in an obstacle environment, ant colony algorithm and grid method are adopted to achieve an optimal path between two different arbitrary points and establish the environment model. The results of computer simulation experiments demonstrate the effectiveness of ant colony algorithm applied in path planning for the chassis of duct cleaning robot.

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