【作者】 王琪忠；

【导师】 王安敏；

【作者基本信息】 青岛科技大学 ， 机械制造及自动化， 2007， 硕士

【摘要】 随着社会经济的发展，人们的身心健康也越来越受到重视。而污染的中央空调日益成为危及人们身心的根源。因此，中央空调尤其是中央空调风管的检测与清洗越来越受到社会的重视。在国外，中央空调风管清洗机器人的研究与应用已经发展了相当长的一段时间，而且技术日趋成熟，然而国内则刚刚起步。本论文对中央空调风管清洗机器人的关键技术进行研究，就是为其早日实现批量化、国产化生产和应用做出一定贡献。论文所研究的风管清洗机器人正是应用于中央空调风管的检测和清洗。风管清洗机器人从结构上可分为机械系统和控制系统两大部分。机械系统主要包括移动小车、清洗装置和视觉及超声波避障系统；而控制系统主要包括车载控制系统和控制箱两部分。论文重点对以下方面进行了研究和探讨：1．清洗机器人系统的总体规划，系统的具体参数要求、系统组成、主要功能、清洗方案以及清洗的要求和清洗质量的评价标准等；2．移动小车车体的移动方案、驱动方式、驱动装置及移动小车的越障能力、移动小车在风管内转弯时的通过性和最小转弯半径等；3．清洗装置中清洗臂举升机构和清洗刷的优化设计，清洗臂作业空间和清洗力分析等；4．清洗机器人视觉系统的设计，图象处理、特征提取原理及算法，超声波避障系统的设计等；5．清洗机器人车载控制系统的硬件选用和软件设计，驱动电机和CCD摄像头控制电机的调速、位置伺服控制等；6．机器人控制箱的整体设计，控制箱硬件的选用，控制任务的划分与实现、通讯协议的指定和通讯模块等问题；最后对本课题研究存在的不足以及将来的改进方向进行了分析说明。更多还原

【Abstract】 People pay more and more attention to their health, along with the developmentof economy. At the same time, contaminative central air-conditioning is becoming athreat against people’s health. The importance of inspecting and cleaning the centralair-conditioning is emphasized more than ever by the society, especially for theair-duct. The research and application of air-duct robot of central air-conditioninghas been undertaken in other countries for quite a long time, and the technique isgetting well-developed gradually. However, it is still on the start in our country. Thispaper studies the key tcchnology for the central air-conditioning dust cleaning robotin order to make some contribution to the mass and dometic prodution andapplication of it.The air-duct cleaning robot we developed is applicable in the inspection andcleaning for the air-duct. The air-duct cleaning robot includes two parts: mechanicalsystem and control system. The mechanical system mainly contains a movingvehicle, cleaning equipment, vision monitor system and ultrasonic avoiding barriersystem while the control system contains the car-counted control system and thecontrol cabinet. This paper mainly explores and discusses the aspects as following:1. Systematic scheme, detailed parameter demand, composition, main function,plan and demand for cleaning and cleaning quality standard of the cleaning robotsystem;2. Moving scheme, driving style, driving equipments, obstacle capability of themoving vehicle and the capability of turning in the curved duct and minimumturning radius of the moving vehicle;3. Optimal design for the cleaning arm’s lifting mechanism and the cleaningbrush equipment, analysis about working space of the cleaning arm and cleaning force of the cleaning brush;4. Vision system design for the cleaning robot, picture handling, theorem andalgorithm of feature and design of the ultrasonic avoiding barrier system;5. Selection of hardware and design of software of the cleaning robotcar-counted control system, adjusting speed and position servo control of the drivingmotor and CCD camera controlling motor;6. Overall structure design of the cleaning robot control cabinet and the selectionof control cabinet’s hardware, division and realization of the control task, designatedof the communication protocol and communication module;Finally, this thesis summarizes the deficiencies of this topic and extracts someconstructive advices for the further improvement.更多还原