本論文主要研究目的是設計一部可用於小型風管內之履帶式清潔機器人，機構可分成底盤及車身兩部分，並利用毛刷來達到風管清潔的目的。 研究項目包含整體結構設計、清潔系統設計以及影像擷取系統，整體結構設計包含底盤車身設計、結構材料選擇以及輕量化設計；清潔系統是以馬達驅動雙毛刷來達到清潔的目的；影像擷取系統則是設計攝影鏡頭(WebCam)之夾持裝置及固定於車身之機構。 經由實驗測試結果得知，目前風管清潔機器人確實具備遠端控制之能力、原地旋轉、穿越障礙物以及影像傳輸等功能，達成風管清潔的目的。 The object of this thesis is to design a track robot that can be used to clean the small air duct. The mechanism of this robot can be divided into two parts. They are chassis and body. The cleaning device is two brushes. The research work includes the design of overall structure, cleaning system, and the mechanism of image acquisition. The design of overall structure contains optimal design, choice of structure material and chassis body design. Two motor-driven brushes are used in this cleaning system. The mechanism of image acquisition is a design of clamping device with camera (WebCame). The mechanism of image acquisition is fixed on the body. The experimental results show that the air duct cleaning robot has the ability of remote control, rotation in place, going through the obstacles, image transmission.
