Operational effects of a mobile robot system for cleaning ventilation ducts

摘要

Eliminating various contaminants and particular matters accumulated inside the ventilation system of the confined space such as subway stations becomes key issue for conserving high air quality and green indoor environment. Accumulated various pollutants at inner duct surface can cause secondary air contamination and injure subway passengers' respiratory system and health. In fact, periodic duct cleaning works can improve indoor air quality, but cleaning entire ventilation system takes high cost and manpower. This study addresses the effectiveness of duct cleaning based on the developed autonomous duct cleaning robot. In particular, the new duct cleaning robot equipped with compliance rolling brushes enables to operate robot in a constant cleaning force to the target duct surface. Control method with the compliant device has also been analyzed. The proposed design of autonomous duct cleaning robot is expected to save the operating cost of subway ventilation system and sustain clean indoor air quality by providing easier and faster cleaning tools.