Surface Cleaning Force Control of Rotating Brushes for an Air Duct Cleaning Robot

摘要

Due to the complexity of the air duct and ventilation system, removing accumulated dusts and particular matters at inner surface of air duct system becomes key issue for improving indoor air quality and maintaining the green environment of underground facilities. Although various tools and technologies for air duct cleaning have been developed, mechanical brushing method is evaluated as the most effective method in cleaning duct and ventilation system. Therefore, automotive duct cleaning robot with rolling brushes has been developed in this study. In particular, by adding compliant force feedback sensors to the rolling brushes, the developed cleaning robot can control the cleaning force consistantly between brush and duct surface. Force feedback control algorithm has been also developed and evaluated through control simulation tools.