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標題: | 掃地機器人性能評估與方法開發 Performance Evaluation and Testing Method Development of Cleaning Robots |
作者: | 詹翔凱 Siang-Kai Jhan |
指導教授: | 陳志傑 Chih-Chieh Chen |
關鍵字: | 掃地機器人,空氣品質,微粒過濾,過濾品質因子,微粒監測,空氣清淨性能,地面清潔性能,粉塵,CADR值, cleaning robot,air quality,aerosol filtration,filter quality factor,aerosol monitoring,air cleaning,floor cleaning,powder,CADR, |
出版年 : | 2023 |
學位: | 碩士 |
摘要: | 第一部分:
掃地機器人具有省時、省力、方便的特性,是現代人清潔地面的常見設備,但是在清潔地面的同時,也會揚起微粒而造成室內粒狀物濃度的上升,並對人體產生危害。掃地機器人對於地面顆粒物的清除過程,可以分成揚起、捕捉、與過濾三個階段,先利用掃刷把粉塵揚起後,再由風機所產生的吸引氣流能將懸浮的粉塵帶入集塵盒之中,最後經濾材過濾後排出。目前相關的測試標準與過去的研究大多著眼於掃地機器人對於地面的清潔能力,然而,除清潔能力以外,空氣清淨能力也應受重視。因此本研究對市售的掃地機器人進行空氣清淨性能的評估,並提出改善的建議。 本研究使用三個品牌共五架的掃地機器人,分別探討其所使用的濾材對微粒的收集效率,以及不同部位的馬達(風扇、掃刷、輪子)產生微粒的特性,最後評估掃地機器人整機運轉時的空氣清淨的能力。濾材效率測試是分別在10 cm/s,以及實際運轉的風速條件下,比較其微粒穿透率與過濾品質,同時也利用風量與效率來計算有效潔淨空氣輸出率(CADR)作為掃地機器人的空氣清淨的性能指標。馬達產生微粒特性則是在6 L/min的條件下,以凝結核計數器紀錄連續30分鐘的微粒排放率。整機運轉的測試則是將掃地機器人放置於一不鏽鋼圓筒內(高50 cm,直徑50 cm),評估濾材安裝與否、空間開放與密閉,以及地上灰塵數量對掃地機器人的灰塵揚起特性以及空氣清淨性能影響。地上灰塵數量則是藉由放置不同放置點(1點與4點)與數量(0.01 g – 0.1 g)的壓克力粉塵(0.35 μm)來模擬。 結果顯示市售的掃地機器人,馬達排放微粒的CMD介於40 - 50 nm間,GSD介於1.7-2,排放率可達105 #/sec以上。而掃地機器人所使用的濾材最易穿透粒徑介於200-500 nm,過濾效率(ηMPPS)約在10%至60%。根據不同機型的流量(80-232 L/min),將過濾效率與流量相乘計算所得到CADR在17-150 L/min之間。在密閉空間內,當掃地機器人啟動時,因為馬達微粒的排放,造成空間中的濃度不斷地累積上升,在裝上濾材後,CADR較高的掃地機器人可以有效地抑制空間中濃度上升的情形,降低微粒的排放,減低室內空氣污染。在地面上放置粉塵時,掃刷接觸到粉塵會造成揚起,空間中的微粒濃度會急遽的提升,地面粉塵分佈越集中、量越多,揚起的情形則越明顯。 掃地機器人的CADR值越高,越能有效抑制空間中微粒濃度的上升,而目前市售的掃地機器人的大部分的過濾效率約在50%,表示濾材還有進行改良佳化的空間。將馬達替換為無刷馬達,可降低微粒的排放亦可減低室內空氣的污染。由於掃地機器人的清潔作業會造成地面微粒的揚起,建議增加使用的頻率,且使用時人不要待在同一空間內,避免暴露到過多的揚塵,增加呼吸道疾病、健康的風險。 第二部分: 掃地機器人在現代生活中扮演著清潔環境的重要角色,省力且節省時間,解決了人們清潔環境的困擾。其中,良好的地面清潔性能能更有效地清除污垢,為人們提供乾淨的地面環境。然而,研究指出吸塵作業可能導致室內空氣污染,長期暴露於這些室內空氣污染物質可能引發呼吸道症狀等疾病。因此,掃地機器人的空氣清淨能力對於預防室內空氣污染至關重要,與地面清潔性能需要兼顧。本研究旨在優化現有的掃地機器人測試方法,提出改善建議並發展綜合評估地面清潔性能與空氣清淨性能的測試方法,以同時評估掃地機器人的兩種性能。 本研究的方法主要包括地面清潔性能測試和空氣清淨性能測試,並最終進行地面清潔與空氣清淨性能的整合測試。在地面清潔性能測試方面,研究選擇了不同粒徑(10 μm, 30 μm, 2 mm)的微粒進行測試,並考慮了微粒的分佈和重量以及測試室的選擇等因素。測試時間為1、2、5和10分鐘,以評估掃地機器人在短時間和長時間內的地面清潔性能。在空氣清淨性能測試方面,使用0.35 μm PMMA粉塵模擬髒污,以CPC量測室內微粒濃度的高低變化和計算CADR值作為評估指標。最後將兩種性能測試方法同時進行測試。 在地面清潔性能測試,結果顯示使用大粒徑(2 mm)微粒的清潔效率較高,集中與平均散佈的微粒清潔效果差異不大,粉塵重量越重測試得到效率越低。此外,掃刷和吸氣嘴擋板的設計對清潔效果也有影響,吸氣嘴的擋板可以提高清潔效率。空氣清淨性能測試方面,在圓筒測試裡可以看到較好的效果,可以清楚判斷掃地機器人性能的優劣。最後,研究將地面清潔和空氣清淨性能整合進行評估,選擇使用1 g的2 mm的粉塵,以集中一堆的擺放方式,搭配0.01 g 的0.35 μmPMMA粉塵在圓筒測試室內進行測試,結果顯示兩種性能可以同時評估,且不會互相影響,在不同型號的掃地機器人的兩種性能可以發現明顯的差異。 根據實驗的結果,同時使用1 g大粒徑(2 mm)與0.01 g小粒徑(0.35 μm)的兩種粉塵就可以評估地面清潔與空氣清淨性能,大微粒以秤重法評估地面清潔性能,小微粒則是透過空氣微粒濃度的監測,對應CADR值作為評估指標,但要注意排放和壓降效應對CADR值的影響。綜合考慮地面清潔和空氣清淨性能,以大粒徑與小粒徑的粉塵同時使用進行測試,可以評估兩種性能。未來研究可進一步探討其他因素對掃地機器人性能的影響,以改進性能和應用範圍。 Part 1: Cleaning robots are common appliances for cleaning the floor and have the advantages of time-saving, labor-saving, and convenience. However, the particles can be re-suspended during cleaning and cause health problems. The process of cleaning includes resuspension, capture, and filtration. The performance criteria for cleaning robots mostly focus on the ability to clean the floor, but the ability to clean the suction flow should be taken more seriously. This study aims to evaluate the performance of cleaning dust-laden air and the sources of particle generation of a cleaning robot. Five cleaning robots from three brands were employed to evaluate the filtration efficiency of the filters, particle generation of motors, and the performance of air cleaning. The particle penetration and filter quality were used to compare the filter performance at 10 cm/s. The flow rate and collection efficiency under actual operation conditions were used to calculate the CADR as an index of air cleaning ability. Particle emission rate from the motors was tested in a chamber with a clean purging air of 6L/min. The cleaning robot was placed in a drum (50 cm in height and 50 cm in diameter) and to estimate the particle emission rate in the presence/absence of filters and in a closed/open environment. The different numbers (1 and 4) and mass (0.01 – 0.1 mg) of particle heaps were placed on the floor of the drum to simulate the dirty environment. The results show the CMD and GSD generated from motors ranging from 40 to 50 nm and 1.7 to 2 respectively. The emission rate can be up to the concentration of 105 #/sec. The MPPS (Most Penetrating Particle Size) of the filter is between 200 to 500 nm, and the collection efficiency of MPPS is between 10 to 60%. The CADR calculated from collection efficiency and flow rate is ranged from 17 to 150 L/min. In a close environment, the particle accumulates continuously, and the particle concentration increases with the operation time. A cleaning robot can suppress this situation with a higher CADR. When the brush is sweeping, the particle concentration in the test drum increases immediately because of the resuspension of the particles. Then the particle concentration decreases slowly because of the air cleaning ability of the cleaning robots. The smaller number and the higher mass of the dust heap can result in a higher particle concentration. The filter collection of the cleaning robot should be improved to increase the CADR. The motor can generate particles and should be replaced by brushless motors. From the viewpoint of health, people should not be in the same environment as cleaning robots while the cleaning robot is operating. And the air cleaning performance should be included in the performance criteria of the cleaning robot. Part 2: Cleaning robots are essential for maintaining cleanliness in modern life, providing convenience and time savings. Effective floor cleaning performance is crucial for ensuring a clean floor environment. However, vacuuming operations can contribute to indoor air pollution, which can lead to respiratory symptoms and health issues. Therefore, it is important to consider the air cleaning capability of cleaning robots alongside their floor cleaning performance. This study aims to optimize testing methods, propose improvements, and develop a comprehensive assessment that evaluates both floor cleaning and air cleaning performance. The methodology involved testing the floor cleaning and air cleaning performance and conducting integrated testing. Different powder sizes (10 μm, 30 μm, 2 mm) were used to assess floor cleaning performance, considering factors like particle distribution, weight, and testing environment. Testing durations of 1, 2, 5, and 10 minutes were employed to evaluate cleaning efficiency in varying timeframes. For air cleaning performance, 0.35 μm PMMA powder simulated dirt, and a Condensation Particle Counter (CPC) measured indoor particle concentration and calculated the Clean Air Delivery Rate (CADR). Both performance tests were conducted simultaneously. Results revealed that using larger particles (2 mm) resulted in higher floor cleaning efficiency. There was no significant difference between concentrated and evenly distributed particle placement methods. Particle weight affected test results, with heavier particles leading to lower efficiency. The design of brushes and suction nozzles also influenced cleaning performance, with the addition of a blocking plate on the suction nozzle improving efficiency. In air purification performance tests, the cylindrical test chamber outperformed the cuboid chamber, making it more suitable for evaluating cleaning robot performance. Integration of floor cleaning and air cleaning performance testing was conducted using 1 g of 2 mm powder for floor cleaning evaluation through weighing and 0.01 g of 0.35 μm PMMA powder for air cleaning evaluation by monitoring particle concentration. CADR values were used as evaluation indicators. However, particle emissions from the cleaning robot and pressure drop effects influenced CADR values. Based on the experimental results, simultaneous evaluation of floor cleaning and air cleaning performance can be achieved using both larger (2 mm) and smaller (0.35 μm) powder sizes. Floor cleaning performance can be assessed through weighing larger powder, while air cleaning performance can be evaluated by monitoring air particle concentration and CADR values. Integration of these two performance aspects can be accomplished without significant interference. Future research can explore additional factors influencing robotic vacuum cleaner performance to enhance overall effectiveness and application range. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/90300 |
DOI: | 10.6342/NTU202302623 |
全文授權: | 未授權 |
顯示於系所單位: | 環境與職業健康科學研究所 |
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