덕트 청소로봇의 제어

초록

Underground facility and modern high storage buildings are equiped with a HVAC (Heating, Ventilating, and Air Conditioning) system that supplies fresh and clean air from outdoor environment. The air duct system consists of various components such as turning ducts, diverging ducts, air dampers and filters. These complicated structure of the duct system makes the infiltrated particles and pollutants accumulated at inner surface of duct without being exhausted. A new type of duct cleaning robot has been developed in this research and its control methods are suggested and simulated.