A New Style of the Central Air-Conditioning Pipe Aseptic Sampling Inspection Robotic System with PID Controller

The indoor air pollution produced by the ventilating system of the central air-conditioning draws many people´s attention. In this paper, a new style of the central air-conditioning pipe aseptic sampling inspection robotic system is developed. The entire system comprises three parts: the caterpillar robot, computer and control box. Through real-time video transferred from cameras on robot, operators can remote control the robot in pipe to move flexibly, sample and high-pressure dust absorption effectively. The integral separation PID improved algorithm applied in the control system makes the robot in pipe travel straight accurately, ensuring the actual speed fluctuation deviation ratio range is in±5%..