Hello robotics community! I’m working on a project and I need help finalizing the specifications for a robot that can clean ventilation ducts. The basic concept is a wheeled robot (6x6 inches) with a 24V system that’s controlled via a long wired joystick. It will also feature a camera and lights for better visibility inside the ducts, as well as a rotating brush to tackle the cleaning tasks. Ideally, the robot would be powered by a direct connection to a 110V/24V power supply.
If anyone has experience with designing or building similar systems, especially in terms of choosing the right motor drivers, wiring everything correctly, and optimizing the control setup, I’d love to hear from you. Any advice, recommended components, or insights on how to refine these specifications would be greatly appreciated. Thanks in advance!
@Davdan11 Welcome to the RobotShop Community. Not sure how much prior robotics experience you have, but that would make for a fairly involved first project. 6 inches square is tiny when considering it will need to pull a long length of tether.
In terms of the motor controller, it should be chosen based on the drive motors. The following might help a bit:
You’ll likely need to send signals from the handheld controller to a microcontroller which then sends the appropriate commands to the motor controller etc. A lightweight and reliable connection is Ethernet, which would require a microcontroller at either end.
Would the main battery be on the robot itself? If so, any plans to know if the battery is drained (making your robot difficult to pull out of the duct)?
Hi Guis!
This is my first time on your forum, I am interested in the ideas of the participants, and I want to present you with a view on the solution, as well as see criticism of my approach to the solutions that I want to share. The idea of robotic ventilation cleaning itself is very interesting to me, for which I am very grateful to the author.
Proposal based on my personal engineering experience and an objective analysis with the participation of AI. I would be very interested to hear the opinions of everyone discussing this topic.
So,
1. Platform Design and Mobility
Base Platform: It is recommended to use either a tracked or four-wheeled platform with rubber treads to ensure reliable traction on the smooth surfaces of ventilation shafts.
Center of Mass: Position the center of mass as close to the center of the platform as possible to enhance stability when overcoming obstacles.
Materials: Use lightweight and durable materials such as aluminum alloy or reinforced plastic (e.g., ABS or PA with carbon fibers) to protect against mechanical damage and dust exposure.
Dimensions and Weight: Limit the platform dimensions to 6×6 inches (approximately 15×15 cm), with the total weight (including the motor, cleaning mechanism, and waste collection system) not exceeding 2 kg.
2. Cable Management and Signal/Power Line Distribution
Trailing Cable: Use a cable with separate power and signal lines to minimize electromagnetic interference:
Power Lines (24V DC): To supply motors, pumps, cleaning mechanisms, and lighting.
Signal Lines (5V/3.3V): For transmitting data from cameras, sensors, and control signals.
Shielding: Utilize shielded cables (e.g., CAT6 or multi-core wires with separate insulation for signal lines) to ensure stable signal transmission.
Cable Fixation: Ensure secure cable attachment and use guides to prevent tangling or damage when operating within a square-section ventilation shaft.
3. Cleaning Mechanism and Waste Disposal
Cleaning Module: Equip the platform with a rotating brush designed to operate at 500–1000 RPM for effective removal of deposits and dust.
Waste Collection: Integrate a suction module (such as a vacuum pump) or a collection system using a filtering bag to efficiently capture and contain the dislodged contaminants.
Integration: The cleaning module should be integrated into the platform in a way that minimizes the spread of dirt and facilitates easy maintenance.
4. System Control Algorithm
Initialization:
Establish connection with the control PC (based on a CISC x86 system running Windows LTSC) via USB/COM port.
Perform auto-calibration of the camera, sensors, and lighting.
Navigation Within the Shaft:
Transmit movement commands via touchscreen (or alternatively, a keyboard) on the PC.
Adjust the speed and direction of the motors using feedback from position and collision sensors.
Cleaning Process:
Activate the rotating brush during forward movement to effectively remove contaminants.
Control the operation of the suction module based on the level of contamination.
Completion and Return:
Monitor the remaining cable length to prevent damage.
Initiate automatic return to the base station when the battery reaches a critical level or upon operator command.
5. Comparative Analysis of Controllers (Arduino, Raspberry Pi, Beeptoolkit)
