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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: /locate/scs 杂志主页：/locate/scs Experimental study on both cleaning effect and motion performance Of 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 Cleaning 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 performance 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 paper, it points out the development direction for China’s 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 robot’s 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 has been widely used to improve the indoor air quality. The pollution of ventilation