School of Mechanical Engineering, Hanyang University, Seoul, Korea.
PLoS One. 2020 Dec 3;15(12):e0242413. doi: 10.1371/journal.pone.0242413. eCollection 2020.
The maintenance of buildings has become an important issue with the construction of many high-rise buildings in recent years. However, the cleaning of the outer walls of buildings is performed in highly hazardous environments over long periods, and many accidents occur each year. Various robots are being studied and developed to reduce these incidents and to relieve workers from hazardous tasks. Herein, we propose a method of spraying high-pressure water using a pump and nozzle, which differs from conventional methods. The cleaning performance parameters, such as water pressure, spray angle, and spray distance, were optimized using the Taguchi method. Cleaning experiments were performed on window specimens that were contaminated artificially. The cleaning performance of the proposed method was evaluated using the image-evaluation method. The optimum condition was determined based on the results of a sensitive analysis performed on the image data. In addition, the reaction force due to high pressure and impact force on the specimens were investigated. These forces were not sufficient to affect the propeller thrust or cause damage to the building's surface. We expect to perform field tests in the near future based on the output of this research.
近年来，随着许多高层建筑的建设，建筑物的维护已成为一个重要问题。然而，建筑物外墙的清洁工作需要在长时间的高危险环境中进行，每年都会发生许多事故。目前正在研究和开发各种机器人，以减少这些事故的发生，并使工人摆脱危险的任务。在这里，我们提出了一种使用泵和喷嘴喷射高压水的方法，与传统方法不同。使用田口方法优化了清洁性能参数，如水压、喷射角度和喷射距离。在人工污染的窗玻璃标本上进行了清洗实验。使用图像评估方法评估了所提出方法的清洁性能。根据对图像数据进行的敏感分析的结果确定了最佳条件。此外，还研究了高压和对标本的冲击力产生的反作用力。这些力不足以影响螺旋桨的推力或对建筑物表面造成损坏。我们期望根据这项研究的结果，在不久的将来进行现场测试。
