Imitation gecko ventilation duct cleaning robot

Abstract

The invention relates to a gecko imitation ventilation pipe cleaning robot, which includes a quadruped walking unit and an adsorption unit, a cleaning device adapted to circular and square pipes, and a main unit as a gecko torso. The walking unit adopts a symmetrical structure, and the adsorption unit mainly includes A micro pump and an electromagnetic reversing valve; the main body unit includes a torso; the cleaning device includes a telescopic rod, a cleaning brush and a rotating sleeve. In order to realize the autonomous movement and obstacle avoidance of the cleaning robot in the closed pipeline, the designed cleaning robot is also equipped with a ranging sensor and a monocular vision camera to obtain the internal environment information of the pipeline. The information obtained by processing is combined with the ranging information to realize the autonomous obstacle avoidance of the cleaning robot, and the cleaning method of the robot is determined according to the image detection results. The present invention can also complete the cleaning of the vertical ventilation ducts in addition to cleaning the horizontal ventilation ducts.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a gecko imitation ventilation pipe cleaning robot used in petrochemical, power engineering, civil construction and other industries. Background technique [0002] The ventilation ducts used in the petrochemical industry, power engineering and other fields are more and more concentrated. It is well known that after a long period of use, a large amount of dust, dirt, etc. will accumulate inside the ventilation ducts, and a large number of bacteria will be derived, which will greatly Affect the ventilation performance of ventilation ducts, and what is more serious is that bacteria are blown into the room with the air supply system, polluting the air in the room, spreading diseases, and seriously affecting people's physical and mental health. People who stay in such an environment for a long time are prone to respiratory diseases, dizziness, fatigue, decreased immunity and other condi...

AI Technical Summary

Problems solved by technology

[0004] In the field of ventilation duct robot cleaning, there have been many studies on mobile robots, but the research on designing a gecko-like ventilation duct cleaning robot that can realize the autonomous movement of horizontal and vertical ventilation ducts and complex ventilation ducts combined with bionics research has not yet been reported. The gecko has the characteristics of strong flexibility and the ability to adapt to the three-dimensional movement of various rough walls, and also has the important characteristics of being able to adapt to the complex and changeable air duct environment

Images