Design And Study On Teleoperation System Of Intelligent Cleaning Robot

The intelligent cleaning robot for condenser fouling cleaning can solve thehalting problem of power plant cleaning when conducting the condenser tube cleaningtasks. It is important to achieve the aim of saving energy and reducing the emissionfor large-scale power plants, nuclear power plants and chemical plants. The paperstudied serial questions of teleoperation system for intelligent cleaning robot to tacklethe problems of high complex environment and low autonomy when in the condenserroom.Firstly, the force feedback structure of the teleoperation sys tem for the intelligentcleaning robot is designed by using joystick. The main modules of the physical andsoftware system are also addressed. The teleoperation site communicates with theintelligent cleaning robot via wireless LAN in this structure. The software structure ofthe teleoperation system adopts client/server mode and in which the teleoperation siteis client and the intelligent cleaning robot is server. In order to balance the computingpower and communication load, the main tasks have been allocated to the cleaningrobot and teleoperation site.Secondly, the physical structure and software of the teleoperation site aredesigned together with the human-robot interface and force-feedback joystickcontroller. The physical structure and electromechanical control system of thecleaning robot are analyzed and designed together with the communication and imageprocessing software. The control system can collect the environmental data andprocess these data and then control the motion of the motors.Then, the sliding mode control and impedance control have been applied into theintelligent cleaning robot to tackle the transmission delay and system delay. Thestability and transparency of this teleoperation system are also analyzed. Thesimulation experiments had shown the decrease impacts for the stability andtransparency of the intelligent cleaning robot under the vary time delay.Lastly, the moving ability of cleaning robot and arm rotating ability togetherwith the condenser tube locating are verified through the experiments. Theexperiments had shown the accuracy of the system. This paper effectively solved theproblems of teleoperation system control mode and the physical design, in additionwith the platform software development. The teleoperation system had achieved the aim of high-pressure water cleaning and the efficient performance of the large-scalepower plants.