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In the past few years,along with the sustained,rapid development of China’s economy,central air-conditioning usage is getting wider and wider,but we pay more attention on the cleaning technology,equipment,and process of vent duct.Central air-conditioning duct system in buildings has resulted in serious health problems.Using the Pro-e design on machines,calculate its speel high-point and its stablity applying to the theorical mechanics to identify that this design is feasible and rational.Plus, attribute some improvemnets on some assistant devices,including consummating the cleaning brush,cleaning branch,webcam and sensor,so that the robot can not only get used to the bad road conditions but also make the cleaning efficiency and speed improved highly.By analysizing aspects of the change of center of mass during stairs-climbing,and stability of motion,a series of kinematics simulation experiments of stair-climbing motion to optimize parameters.The characteristics of the unstructured environment is analyzed,and a new track leg mobile robot is put forward.The structure of the mobile robot is compact,and practical, and is adaptable to the unstructured environment.The performance of themobile robot under unstructured environment,including walking on slope and steps, surmounting obstacles,striding ditchs,selfrecovery is analyzed.At the aspect of control,DSPTMSC2812,which is much higher capability and more efficiency,is being adopted to control complex electronic machines and receive the speed of electronic machines from outside and current massages.Using this to operate and output PWM signals to control the machines,which realize the application of issues manager, inosculation with sensor and the design of A/D transferring to D/A.At the other aspect of protection,interrupted protection,separated module and undisturbed system are being applied to achieve the purpose successfully and accomplish the cleaning task more efficiency,which act as a significant role in the process.Finally,the method of software design will be summarized.In order to enhance the course speed of the system program,the thought of illegible controller being adducted in the dominated system exert itself that the fussy program will be planned to simple functions.The purpose of the whole idea is to make the research code more efficiency and simple to program.
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