DESIGN OF LEAKAGE DETECTION AND NAVIGATION ON HVAC MAINTENANCE ROBOT SYSTEM

• Main Author: Adiprawira, Yusuf
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/46124
• Institution: Institut Teknologi Bandung

HVAC systems have two main problems, namely the dust and leakage problem. The solution currently available is being done manually by human power, so it can’t be cleaned thoroughly to the middle of the systems, even though according to research, thecenter ofthe HVAC channel contains the mostdust. The location of theleakage is hiddenbytheceiling,soithadtobedismantledandbeingcheckedmanually. The solution we are offering is the Maintenance Robots of HVAC system. The robot has several main functions such as self-movement on HVAC channels, dust cleaning, leakage detection, mapping, displaying the map and leakage position on the application. To carry out its functions, the robot requires a leak detection subsystem that uses an infrared sensor with a median filter, and a navigation subsystem that uses therightwallfollowermethodtonavigateandtheleftwallfollowermethodtoreturn. The test results shows that theminimum leakage width that can be read at 10 mm, the robot has been able to distinguish walls, leak gaps, and lanes, and the robots are able to explore HVAC systems in a floor with the right wall follower method and the left wallfollower.