A novel wireless interrogable mobile robot to monitor mixed air temperature in HVAC duct systems for thermal performance analysis

Reliable and timely fault detection is an important issue pertaining to efficient functioning of HVAC duct systems. Temperature measurement, being an important parameter for detecting faults and errors in the working of HVAC systems, is used in various schemes to ascertain potential improvements for increased efficiency. This paper describes the development and working of a low cost mobile robot developed specifically for thermal performance analysis of HVAC ducts by monitoring mixed air temperature in the duct system. The approach is to establish a wireless link between the mobile robot developed on an 8-bit embedded platform capable of autonomous navigation in the HVAC duct system and a remote central command unit using wireless UART, thus allowing real-time monitoring and measurement of temperature in the duct. The wireless link is established with a 2.4GHz Radio-Frequency CC2500 module (Texas Instruments). The robot is hermetically sealed in order to protect it from varying temperature and humid conditions. Test results on the original system are attained by modulating the return air damper angle.