Development of a Magnetic Climbing System in Ventilation Ducts for Internal Cleaning Purposes

Aquiño H.; Chunga F.; Nieves A.; Carrizales J.; Sampen L.; Klusmann M. · Proceedings of the 2025 IEEE 32nd International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2025 (2025) · DOI: 10.1109/intercon67304.2025.11244631

Resumen

This paper presents the design and implementation of an autonomous climbing robot aimed at the internal cleaning and inspection of rectangular ventilation ducts in healthcare facilities (like HVAC system). These ducts, often neglected due to inaccessibility and operational constraints, accumulate particulate matter and biological contaminants that can compromise indoor air quality and increase the risk of hospital-acquired infections (nosocomial infections). Existing cleaning methods are labor-intensive, costly and require system shutdowns. The proposed robot integrates a magnetic adhesion system optimized for vertical surfaces guided by a LiDaR sensor for autonomous travel. A comparative analysis of various magnetic adhesion mechanisms informed the development of a hybrid design capable of adapting to duct curvature and irregularities. Preliminary tests demonstrated that each magnet exerts a magnetic force of 2.52N, and that a force of 29.43N is required to properly attach the system to the duct. This requires 12 magnets in constant contact for the system to function properly. This work offers a cost-effective, scalable, and minimally disruptive solution for duct sanitation in critical infrastructure, contributing to better air hygiene in high-risk healthcare environments.

Instituciones: Universidad Peruana de Ciencias Aplicadas