中央空调风管清洁机器人关键技术研究  

Research on Key Technology of Central Air Conditioning Duct Cleaning Robot

作　　者：孙康岭[1] 李洪军 辛太宇 徐遵义[2] SUN Kangling;LI Hongjun;XIN Taiyu;XU Zunyi(Department of Electrical and Mechanical Engineering,Taishan Polytechnic,Taian Shandong 271000,China;School of Computer Science and Technology,Shandong Jianzhu University,Jinan Shandong 250101,China)

机构地区：[1]泰山职业技术学院机电工程系,山东泰安271000 [2]山东建筑大学计算机科学与技术学院,山东济南250101

出　　处：《机床与液压》2018年第15期20-23,共4页Machine Tool & Hydraulics

基　　金：国家自然科学基金资助项目(60972052);山东省自然科学基金资助项目(Y2008G02)

摘　　要：为增强风管清洁机器人的管道适应性,根据国内中央空调风管特点,提出一种风管清洁机器人自适应调节机构。分析了机构的工作原理、力学特性,建立了数学模型,进行了仿真。为增大机器人的最大行走距离,将电源载波技术应用于机器人的通信系统。给出了载波电路图,制定了通信协议,描述了通信流程,实现了线缆内电源线与信号线的复用。研究成果应用于中央空调风管清洁机器人中。结果表明:调节机构对国内风管有极强的适应性,载波技术的应用增大了机器人的最大行走距离。In order to enhance the adaptability of the pipeline of air duct cleaning robot,a new type of adaptive adjust mechanism was presented according to the characteristics of domestic central air conditioning duct,the working theory and mechanical characteristics of the mechanism were analyzed,then the math model was built and the simulation was carried out. In order to increase the maximum walking distance of the robot,the power carrier technology was applied in robot communication system. The carrier circuit diagram was given and the communication protocol was formulated,and the communication process was described,which realized the cable power line and signal line multiplexing. The research results have been applied to the central air duct cleaning robot. The results show that the adjusting mechanism to domestic duct has strong adaptability,and the application of carrier technology increases the robot＇s maximum walking distance.

关 键 词：风管清洁机器人 自适应调节机构 电源载波 通信 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置] TH132.1[自动化与计算机技术—控制科学与工程]