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1、Contents lists available at ScienceDirect内容列表可查数据库Sustainable Cities and Society可持续城市和社会journal h om epage: study on both cleaning effect and motion performanceOf the duct-cleaning robot对通风管道清扫机器人的清洗效果和运动性能的实验研究Chong Meng a, , Qingqin Wang b , Yehui Song b , Yong Cao b , Naini Zhao b , Ying Shi b 孟
2、重 ， 王庆钦 ， 宋叶辉 ， 曹勇 ， 赵乃妮， 石莹a Chongqing University, Chongqing 400044, China重庆大学，重庆400044，中国b China Academy of Building Research, Beijing 100013, China中国建筑科学研究院，北京100013，中国article i n f o 文章信息Article history: 文章历史Available online 27 July 2014 在线文档 2014年7月27日Keywords:关键词Duct-cleaning robot 通风管道清扫机器人Cl
3、eaning effect 清洗效果Moving performance 移动性能a b s t r a c t 摘要With increasing consideration on public health, the cleaning industry for central air-conditioning systems has been flourished in China with the rapidly developed of both duct-cleaning technology and cleaning robots. By testing the performan
4、ce on the experimental platform, this paper presents the cleaning effect and motion performance of the duct-cleaning robot designed by our expert group. The result indicates that the cleaning effect is not satisfied at corners and elbows, where the pollution is relatively serious. At the end of this
5、 paper, it points out the development direction for Chinas duct-cleaning robot and its experimental platform, which can provide an important basis to standardize the test platform, tools and methods for the evaluation of robots performance. 2014 Published by Elsevier Ltd.随着对公共卫生、中央空调系统清洗行业在中国盛行与通风管道
6、清扫技术的迅速发展和清洁机器人越来越多的考虑。通过测试实验平台上的性能,这篇论文呈现了由我们的专家小组设计的通风管道清扫机器人的清洗效果和运动性能。结果表明,其清洗效果不能满足在污染相对严重的角落和肘部的清洗。在本轮文的最后,指出了中国通风管道清扫机器人的发展方向及其实验平台, 为评价机器人的性能提供了一个重要的基本标准化测试平台、工具和方法。爱思唯尔有限公司2014年出版1. Introduction 介绍With the rapid development of economy, the central air- conditioning and ventilation system ha
7、s been widely used to improve the indoor air quality. The pollution of ventilation system in public buildings with different functions in both south and north regions was investigated (Song et al., 2010; Zhao et al., 2011), and the conclusion was that the amount of dust, bacteria and fungi onthe inn
8、er surfaces of duct had reached to 288.48 g/m 2 , 1575 cfu/cm 2 and 1440 cfu/cm 2 respectively. Researchers pointed out that the contaminated ventilation system not only fails to dilute the pollutant concentration by air supplying, but also diffuses the spread of contamination (Chen, Zhao, & Yang, 2
9、009). The cleaning of duct systems and equipments is an effective way to reduce pollution and improve indoor environment quality. With its automatic con-trol system and visual function, the duct-cleaning robot performs well in cleaning work, which brings a great convenience to the cleaning of centra
10、l air-conditioning and ventilation systems (Li,Zhang, & Li, 2009). The duct cleaning equipment was first devel-oped in US in 1950s, and the technique was introduced to China in 2000s. The duct-cleaning robot is newly appeared in the mar-ket, and with using advanced control systems, it has advantages
11、 of intelligent and humanized. However, in China, there is no relevant technical standard to evaluate the performance of the cleaning robot to make the domestic industry of duct-cleaning robot extensive widely (Luo,Cao, & Song, 2009; Yang, 2004). This may threaten the robots quality and performance.
12、 In this situation, our group has developed the robot-integrated system and set up an experimental platform for the robots performance test. Based on the tests for robots cleaning effect and motion performance, this paper presents the standardization of the test platform, tools and methods applied i
13、n the evaluation of robots performance. The systematic study on key problems revealed in cleaning work is also included in this paper.Corresponding author at: China Academy of Building Research, No. 30 BeiSan-Huan East Road, Beijing 100013, China. Tel.: +86 01064517036; fax:+86 01084271879.E-mail ad
14、dress: (C. Meng). 随着经济的快速发展,中央空调及通风系统被广泛用于提高室内空气质量。对南部地区和北部地区不同功能的公共建筑通风系统的污染调查(宋et al .,2010;赵et al .,2011),结论是,大量的灰尘、细菌和真菌 在管道的内表面分别达到288.48克/平方米, 2,1575 cfu /平方厘米及1440 cfu /平方厘米。研究人员指出,受污染的通风系统不仅不能通过空气供应稀释污染物浓度,而且还扩散污染的传播(赵,陈&杨,2009)。 清洗管道系统和设备是一种减少污染,提高室内环境质量的有效的方法来。 因为自动控制系统和视觉功能,通风管道清扫机器人得以良好
15、的执行清洁工作,为清洗中央空调和通风系统带来了极大的方便的(李、张&李,2009)。通风管道清洗设备首次被使用是在20世纪50年代的美国坝镇，该技术在2000年代被引入中国。通风管道清扫机器人最早出现在超市,具备先进的控制系统,它具有智能化和人性化。 然而,在中国,没有相关的技术标准来评估清洁机器人的性能,以使国业的通风管道清扫机器人被广泛使用(罗、曹&宋,2009;杨,2004)。这可能威胁到机器人的质量和性能。在这种情况下,我们小组开发了机器人综合系统,建立机器人的性能测试的实验平台。根据测试机器人的清洗效果和运动性能,介绍了标准化的测试平台、工具和方法应用于评价机器人的性能。对于相关的清
16、洁工作的关键问题的研究也系统的包括在本论文中。通讯作者:中国建筑科学研究院,30号BeiSan-Huan东路,100013北京,中国。电话:+ 86 01064517036; 传真:+86 01084271879.。电子邮件地址:(c . Meng)。2. Design scheme of the experimental platform of the duct-cleaning robot performance 对于通风管道清扫机器人的性能测试平台的设计方案。 The test platform consists of rectangular and round ducts in var
17、ious dimensions and elbows to better simulate different kinds of complicated conditions of the robot working process. Sorts of experiments such as tests for robots adaptability in ducts, cleaning effect, turning and climbing performance can be operated on this platform (Luo, 2009; Yong, Yunyou, Dan,
18、 & Lisi.,2009).The principle layout and size of the experimental platform is shown in Fig. 1 and the real picture is shown in Fig. 2. In the installation, one side of the rectangular duct and a quarter of the round duct were replaced by transparent boards which is made by plexiglass and the ducts we
19、re set 0.8 m high to the ground so that the working process of the robot can be observed outside. Square holes were opened as an access for the robot and samp-ling. HEPA filters were installed on the ends of branch pipes and 4 exhaust vents. When the experimental dust is emitted, the other exhaust v
20、ents are turned off and the air flows out from the filers only so that the dust can uniformly be deposited on the inside surface, and the pollution outside ducts can be avoided at the same time.测试平台在各种尺寸和肘部地方由矩形和圆形管道组成以便更好地模拟各种复杂条件下的机器人工作过程。各种实验测试如管道机器人的适应性,清洗效果,旋转和攀爬性能可以在这个平台上操作(罗,2009;勇、韵尤，丹,Lisi
21、&,2009)。原理实验平台的布局和尺寸如图1所示,实际情况如图2所示。在安装过程中,一方矩形管和圆管的四分之一取而代之的是透明板,是由有机玻璃和导管组成高0.8米到地面,这样机器人的工作过程可以在外面观察到。方孔打开作为机器人的一个访问和抽样。HEPA过滤器被安装在末端的分支管道和4排气孔。实验粉尘排放时,其他排气孔关闭,空气只从锉刀流动所以内表面上的灰尘可以均匀沉积,和外面的管道可以避免在同一时间受污染。3. Experiment scheme of cleaning effect of the duct-cleaning robot 通风管道清扫机器人清洗效果的实验方案The pollu
22、tion inside ducts was distributed by artificial approach.By using the dust generator and microbial aerosol generator, the pollution was generated, and the fan blew the pollution into the ducts then the robot was sent to clean. The robot consists of 4 parts,including the moving body, the cleaning bru
23、sh, the control system and the monitoring system. The moving body of cleaning robot is shown in Fig. 3. The moving body carries the cleaning brush and moves in the ducts, the brush cleans the inner surface of the ducts.The working scene is shown in Fig. 4. Wiping method was adopted in the dust sampl
24、ing, and the microbial sampling uses the swabwiping method. After that, the microbe was generated and analyzed after collected. The TSI DUSTTRAK 8520 smart dust detector and the six-level sieve air-percussive samplers were respectively utilized in the sampling of inhalable particulates and microbe f
25、rom air distributors. The technical indexes of the equipment are shown in Table 1.人工方法分类导管内的污染。通过使用尘埃生成器和微生物气溶胶发生器,污染产生,风扇将污染物吹入管道然后机器人被派去清洁污染物。机器人由4部分组成,包括移动机体,清洁刷,控制系统和监控系统。清洁机器人的移动机体如图3所示。移动机体带动管道的清洁刷在管道内移动,刷子清洗管道的内表面。工作场景如图4所示。擦拭方法采用粉末取样,微生物采样使用涂抹采样方法。之后,收集后的微生物被生成和分析。TSI DUSTTRAK 8520智能尘埃探测器和六级
26、筛空气冲击抽样的样本分别利用空气分配器分配空气可吸入颗粒物和微生物。设备的技术指标如表1所示。3.1. Experiment 1: test for robots general cleaning effect实验1:测试机器人的一般清洁效果 According to the standards (Ministry of Health, 2006a; Ministry of Health, 2006b), 8 sampling points on the inner surface were selected to investigate and compare the amount of d
27、ust and microbe before and after cleaning.根据标准(卫生部,2006年,卫生部,2006 b),8个采样点,内表面被选定的调查和比较之前和之后的灰尘和微生物量清洗。3.2. Experiment 2: test for robots cleaning effect in ducts with different shapes and diameters 实验2:测试机器人清洗不同形状和直径管道的清洗效果In both rectangular and circular ducts, 3 points were selected in ducts of d
28、ifferent diameters, and the amount of dust was measured before and after cleaning. The test and sampling were taken repeatedly to obtain the average value of the ducts which the analysis of the cleaning effect was tested.在矩形和圆形管道这两者中,有3点被选择在不同直径的管道,尘埃测量之前和之后的清洗。反复测试和取样获得的平均价值的管道的清洗效果进行了测试分析。3.3. Exp
29、eriment 3: test for robots cleaning effect in the special position 实验3:测试机器人在特殊位置的清洗效果 Special positions such as round elbow, rectangular and round reducer were selected in this experiment. The test and sampling were taken repeatedly to obtain the average value of the ducts which the analysis of the
30、 cleaning effect was tested.一些特殊位置例如圆弯头、矩形和圆形减速器被选在这个实验中。反复测试和取样获得的平均价值的管道的清洗效果进行了测试分析。3.4. Experiment 4: test for the concentration of inhalable particulates after cleaning 实验4:清洗后测试可吸入颗粒物的浓度In this experiment, 5 outlets were chosen and the concentration of inhalable particulates was detected every
31、 half-hour. Then the change of the concentration after 5 h cleaning can be investigated.在这个实验中,选择了5个排气口对可吸入颗粒物的浓度每半小时检测一次。然后浓度的变化可以在5个小时后清洗调查。4. Experiment scheme of the moving performance of the duct-cleaning robot 关于通风管道清扫机器人的性能实验方案4.1. Experiment 5: climbing test 实验5：攀登测试The robot, which was no-l
32、oad and towing less than 2 m, was put on a slope with adjustable angle. The slope angle was gradually increased until the robot stopped moving upward.机器人,空载和拖不到2米,摆上一个斜坡角度可调。边坡角逐渐增加,直到机器人停止上行。4.2. Experiment 6: speed test 实验6:速度测试In this experiment, the robot was with no-load and its speed was maxim
33、ized when it moves for 2 m in a horizontal pipe. Then we calculated the robots speed and repeated this test.在这个实验中,机器人与空载移动时，在水平管内其速度最大化为2 米。然后我们计算机器人的速度和重复这个测试。5. The result and analysis of cleaning effect 对清洗效果的结果的分析The result of Experiment 1: Table 2 indicates that the pollution was serious befor
34、e cleaning, but after cleaning, 87.5% area of inner surface satisfied the dust standard, and it was 100% for fungi and bacteria. It shows that the cleaning effect was good. Fig. 5 shows Fig. 9. Test for robots maximum creep angle. Fig. 10. Test for robots maximum speed.two pictures of inner surface
35、which were taken before and after cleaning respectively.The result of Experiment 2 was shown in Fig. 6, and it indicates that the rectangular duct was more difficult to be cleaned than the round duct, and the bigger duct could be cleaned easier. Theremaining dust was under 0.53 g/m 3 in the round du
36、cts and above 97.4% of the dust were removed, while more than 0.69 g/m 3 in the rectangular ducts, and under 97.2% were removed.The result of Experiment 3 was shown in Fig. 7, and it indicates that the cleaning effect was not so good in special positions such as elbows and reducers. 78.993.2% of the
37、 dust were removed inspecial positions. Compared to the round reducer, the rectangular reducer was the more difficult to clean, and the percentage of removed dust is lower. The result of Experiment 4 was shown in Fig. 8, and it indicates that the concentration of inhalable particulates was still bey
38、ond the standard requirement even after cleaning for long time. The concentration was about 0.1 mg/m 3 and stayed stably after cleaning for 3 h and satisfied the requirement at the same time”.实验1的结果:如表2表明,在清洗之前污染严重,但在清洗之后,87.5%的内表面区域满足粉尘标准,具备100%,真菌和细菌。这表明清洁效果很好。图5显示了图9。测试机器人的最大蠕变角。图10。测试机器人的最大速度。两个
39、内表面的照片拍摄之前和之后分别清洗。实验2的结果如图6所示,这表明,矩形风管是比圆管更加难清洗,而较大的管道比较容易清洗。剩余的尘埃在0.53 克 / 立方米的圆管和97.4%以上的尘土被移除,而超过0.69 克 / 立方米的矩形导管,和97.2%以下被移除。实验3的结果显示在图7中,这表明,在弯头和减径管这些特殊位置的清洗效果不是很好。78.9 -93.2%的灰尘从特殊的位置被移除。就减速器相比,矩形减速器是很难清洁的,移除灰尘的比例较低。实验4的结果如图8所示,它表明可吸入颗粒物的浓度甚至还超出标准要求的长时间清洗后。浓度为0.1毫克/立方米，清洁后3小时稳定,同时满足需求”6. The
40、result and analysis of moving performance of duct-cleaning robot 对通风管道清扫机器人性能的分析和结论The analysis of Experiments 5 and 6: As is shown in Figs. 9 and 10, the average value of robots maximum creep angle is 44.6 . The maximum moving speed is 0.257 m/s in average, and the maximum astern speed is 0.245 m/s
41、 in average. In the 5 experiments, the parameters stayed relatively stable, indicating the excellent moving performance of the robot.对实验5和6的分析:如图9和图10所示,机器人的最大蠕变角的平均值是44.6。移动的最大平均速度为0.257米/秒，最大倒车平均水平速度是0.245米/秒。在实验5中，参数保持相对稳定,说明了机器人优秀的移动性能。7. Conclusions结论(1) The general performance of the robot des
42、igned by our group is good, while some common problems do exist. For instance, the robot is inefficient to clean the elbows and corners, and its performance in the rectangular duct needs to be improved.我们组设计的机器人的一般性能很好,虽然一些常见的问题确实存在。例如,机器人在清洁弯头和角落时效率较低及其矩形管的性能需要改善。(2) Dust and bacteria are much easi
43、er to accumulate at some positions like elbows, corners and reducers, and also hard to be cleaned. While those special positions, where the pollution is more serious, are currently neglected by relevant specifications. Therefore, this issue is very necessary to be taken into consideration in the des
44、ign of robot, and in the preparation or amendment of the specification.灰尘和细菌更容易沉积在弯头,角落和减径管等位置,很难清理。而这些特殊位置,是污染更加严重的地方,也是目前相关规范所忽视的地方。因此，这个问题是在机器人的设计考虑中非常必要的,并且在准备或修改的规范中也是非常必要的。(3) In China, most robots design follows the step of foreign countries, where round ducts are dominant in ventilation syst
45、em. That is the reason our robot performed better in round ducts than others. However the irregular rectangular duct is more widely used in China, the design of robots cleaning component should be improved to adjust this kind of duct.在中国,大多数机器人的设计追随国外的步伐,在圆形管道通风系统中占主导地位。这是我们比其他人在圆形管道机器人表现更好的方面的原因。然而
46、不规则矩形管在中国被广泛应用,机器人的清洁组件的设计应该对这种管进行改进调整。(4) Because of the dust raised by cleaning, the concentration of PM10 increases apparently. The concentration of PM10 reaches to the peak after 30 min cleaning and decreased to a low level after 3 h. So a prerun for 34 h or even half a day is necessary before t
47、he system put to use.因为清理时扬起的灰尘,PM10的浓度明显增加。PM10的浓度达到峰值，30分钟后清洁且在3小时后低降水平。因此使系统提前运行3 到 4 小时或者是半天，再投入使用之前是必要的。(5) In the installation of the current test-platform, factors like duct shape and size were already taken into consideration. Different materials for ducts would be considered in the further
48、improvement to make the test-platform work better.在当前安装的测试平台，管道的形状和大小等因素已经考虑。不同材料的管道将被认为是进一步改善测试平台而能够使其更好地工作。Acknowledgements 感谢The authors would acknowledge the financial support from the National Key Technology R&D Program (Project number:2012BAJ02B02). 作者感谢来自国家关键技术研发项目的金融支持(项目编号:2012 baj02b02)。References 引用Chen, F., Zhao, B., & Yang, X. (2009). Analysis and summarization of the microbial contamination survey in air-condi