Performance Analysis of a Mobile Duct Cleaning Robot

Inside air ventilation ducts of the confined space such as subway stations become contaminated by various contaminants and particular matters after long time operation. The accumulated various pollutants at inner duct surface easily transport and cause secondary air contamination and injure subway passengers’ respiratory system and health. In fact, only periodic duct cleaning works can improve indoor air quality, but cleaning entire ventilation system takes high cost and manpower. This study proposes an effective duct cleaning method 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 suggested. The mobile robot has been tested with air ventilation duct system in selected subway station. KeywordsMobile Robot, Service Robot, Duct Cleaning, Air Quality, Air Ventilation