Study Of Key Technology For Pipeline Cleaning Robot

The material living standards continue to improve with the social economic development. At the same time, people pay more attention to their self health and the safety of the food. However, the smoke pipe emissions lots of smoke and brought tremendous pollution to the environment of the city, which become a serious hazard for the health of urban residents living. Smoke pipe cleaning has become a major problem to the food and beverage industry, the traditional manual cleaning practices can no longer meet the needs of the industry. Smoke pipe cleaning robot, as a smoke pipe cleaning equipment, is able to enter the confined narrow pipe grease cleanup, has a high practical and commercial value.This paper will take smoke pipe cleaning robot’s key technology research for clues, first expound the development of pipeline cleaning robot status and advanced application technology both in domestic and international, combined with existing domestic cleaning industry and advanced pipeline robot application technology to seek out the research directions and programs, develop design standards and technical specifications of the smoke pipe cleaning robot, complete the design program.According to the overall design, we complete the external mechanical means and the control system design. The external mechanical part of the design includes a three-dimensional modeling of the main structure of the body, determines the size of the body of the corresponding materials and mechanical parts, such as housing, crawler, lighting, camera, etc, and has the corresponding design and selection. Basing on the analysis of the corresponding equipment functions and principles, we have the simple introduction of the smoke pipe cleaning robot works.According to the needs of the control system, completes the design of the control system of the body, bases on the embedded systems ARM9to select the main chip, drive module, the ultrasonic module required chip and so on, and explain the function and structure of the chip, complete the corresponding circuit design of each functional module. Take C language as the basic for program draw, including the PMW governor, image acquisition, motor drivers, ultrasonic barrier, also drawn on the main indicting procedure and each control module.Finally, we have the experiments and testing of the smoke pipe cleaning robot prototype, the main experiment includes the main drive control system, the ultrasonic barrier modules experiment and camera and image processing experiments. Through experiment, we get that the body’s work performance is stable, and the ultrasonic barrier modules can meet the requirements of the work of the body. Using the MATLAB to have mathematical modeling, and take the camera image acquisition to have image processing, complete the detection of the smoke pipe.