Design Of Teleoperation System For Duct Cleaning Robot

In recent years, with the widely application of the central air condit ion the airconditioning duct cleaning is increasingly concerned. Duct cleaning robot graduallygot people’s attention, as the key part of pip cleaning equipment. In the light of thepresent situation that the duct cleaning robot work with low level of automation andoperation efficiency, witch is not competent for the cleaning task, for the purpose ofenhancing the working efficiency of the robot, the design and implementation ofinteractive teleoperation system for duct cleaning robot is di scussed in this paper, andthe following research work ware launched:Firstly, the working task, working environment and working principle of robotwere introduced, based on which the analyses of the function requirement and keyproblem in technology for duct cleaning robot teleoperation system were carried out.And the hardware platform design for the control system, movement actuator andsensor system of robot body were described.Secondly, Design and implementation of function modules for the teleoperationsystem robot body were carried out. DirectShow video solution was used to build upthe robot video monitored control server, microcontroller and sensors were used to setup sensor module and development library of motion control card was used to designthe joint motion function, based on which the research on task-level teleoperation ofrobot was launched with the beginning of robot kinematics analysis. What’s more, therobot communication with microcontroller and console were separately implementedover serial port and socket.Thirdly, teleoperation control station was designed. DirectShow technology wasused to complete the video monitored control system. And the OpenGL technologywas used to implement robot virtual reality simulation, the robot teleoperation handlewas designed with joystick based on the interface driver under Windows system.At last, to verify the validity of designed scheme, experiment were conductedbased on the experiment prototype of air duct cleaning robot and simulation duct,which were developed independently.