Research On Control System Of The Self-adaptive Pipeline Cleaning Robot

People pay more and more attention to their health, along with the development of eocnomy. At the same time, contaminative central air-conditioning is becoming a threat against people health. The inspection and cleaning of the central air-conditioning is emphasized more and more by the society, especially for the air-duct. As the main equipment of cleaning the central air-conditioning ductwork, central air-conditioning robot can move to hermetical and narrow air-conditioning pipeline to fulfill clean task, which has highly practical value and commercial value.First, this paper describes the importance of central air-conditioning duct cleaning task, comprehensive and detailed discusses the central air-conditioning cleaning robot status of current development and application at home and abroad, consequently finding the subject of research, also introduced the feasibility issues, innovations and the main content。The robot consists of mechanical system and control system. The mechanical system consists of mobile carrier, cleaning plant and tail location and navigation device. The control system includes car-carried and control box. The main structure of the robot uses modular design, the main dimensions of robot is 350mm x260mm x160mm. The robot body use double-tracked robot mobile body, the track wheel motor and the parameters of track and wheels are determined. Cleaning plant and location of the structure-oriented devices are described, their work principle are analyzed.Then analysis the system hardware structure according to the control requirements, the robot's hardware structure use upper and lower computer. Use AVR microcontroller (ATmega64) as the upper and lower machine main chip. Upper control system hardware design including:4×4 matrix keyboard, joystick,12864LCD circuits, Lower computer hardware design including:motor drive module, RS485 communication module and the cleaning brush, the signal acquisition module and so on, then the anti-jamming measurea which must be concerned in hardware design have been summarized. After describe control system software design method. Taking Wheel tracks for motor control PID algorithm as importance, introduce the overall software control strategy and control structure; then describes the various module procedures including the PWM generation process module, serial communication program, A/D conversion procedures and so on.Finally, the paper summarizes the major work and research, and prospects the research directions in the future.