Empirical Optimization and Evaluation for Multi-Nozzle Cleaning Device

As many high-rise buildings are being built, the problems of managing them are also becoming imperative. For example, safety accidents occurring while cleaning buildings with ropes are increasing every year. Robots for cleaning the outer walls of buildings are being developed and researched as a solution. In this study, we introduce a device that sprays and cleans using water without a brush or squeegees. The robot arm, on which the brushes or squeegees are mounted, often increases the weight and cost. In contrast, the water spraying device can clean the facade without an arm, reducing the load on the robot. The device is equipped with a multi-nozzle to secure a sufficient cleaning area. For maximizing the performance, this research was searching the optimal conditions of multi-nozzle device. However, the performance is hard to be verified because there is no international criterion for wall-cleaning performance. For validating the performance, thus, the cogent criterion is also necessary. This paper presents the criterion of the cleaning quality of the multi-nozzle device using the image processing method. Based on the criterion, design parameters, such as nozzle orifice size, angle of incidence, and nozzles gap are calculated for optimal cleaning. The combination of design parameters used in the experiment adopts Taguchi orthogonal array. Sensitivity analysis gives the optimal design parameters of 1.4 mm nozzle orifice size, 0° angle of incidence, and 180 mm nozzles gap. Based on the results of this study, field tests will be conducted in the future.