In recent years，with the widely application of the central air condition the air
conditioning duct cleaning is increasingly concerned．Duct cleaning robot gradually
got people’S attention，as the key part of pip cleaning equipment．In the light of the
present situation that the duct cleaning robot work with low level of automation and
operation efficiency,witch is not competent for the cleaning task，for the purpose of
enhancing the working efficiency of the robot，the design and implementation of
interactive teleoperation system for duct cleaning robot is discussed in this paper，and
the following research work ware launched：
Firstly,the working task，working environment and working principle of robot
were introduced，based on which the analyses of the function requirement and key
problem in technology for duct cleaning robot teleoperation system were carried out．
And the hardware platform design for the control system，movement actuator and
sensor
system of robot body were described．
Secondly,Design and implementation of function modules for the teleoperation
system robot body were carried out．DirectShow video solution was used to build up
the robot video monitored control server，microcontr011er and sensors were used to set
up sensor module and development library of motion control card was used to design
the joint motion function，based on which the research on task-level teleoperation of
robot was launched with the beginning of robot kinematics analysis．What’S more，the
robot communication with microcontroller and console were separately implemented
over serial port and socket．
Thirdly,teleoperation control station was designed．DirectShow technology was
used to complete the video monitored control system．And the OpenGL technology
was used to implement robot virtual reality simulation，the robot teleoperation handle
was designed with joystick based on the interface driver under Windows system．
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