청소효율 개선을 위한 덕트 청소로봇 브러쉬의 힘제어 방안

초록

Most of underground facility and modern high storage building requires 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. As the reason of complexity of duct structure, infiltrated particles and pollutants are accumulated at inner surface of duct without being exhausted. Therefore,automated duct cleaning robots and systems are recently under development to eliminate various contaminants inner duct system. In this paper, a force control logics has been applied to the designed duct cleaning robot for constant cleaning force control and proved feasibility of the autonomous duct cleaning robot.