簡易檢索 / 詳目顯示

研究生: 鄭鈺騰
Cheng, Yu-Teng
論文名稱: 搭載機械手臂的自動化清洗裝置導入帷幕牆清洗作業之研究
A Research on the Implementation of an Automated Cleaning Device with a Robotic Arm for Curtain Wall Cleaning Operations
指導教授: 陳震宇
Chen, Chen-Yu
學位類別: 碩士
Master
系所名稱: 規劃與設計學院 - 建築學系
Department of Architecture
論文出版年: 2025
畢業學年度: 113
語文別: 中文
論文頁數: 349
中文關鍵詞: 外牆清洗高空清洗作業帷幕牆機械清洗裝置機械清洗外牆設計
外文關鍵詞: facade cleaning, high-altitude cleaning operations, curtain wall, mechanical cleaning device, mechanical facade design
相關次數: 點閱:55下載:0
分享至:
查詢本校圖書館目錄 查詢臺灣博碩士論文知識加值系統 勘誤回報
  • 隨著營建技術進步,近年來中高層建築興建不斷,採用帷幕牆作為外牆批覆佔多數,又建築外牆清洗主要依靠人工執行,然而,高空作業環境存在著諸多危險因子,成為一般人最不願意從事的行業,高缺工市場狀況無法對應龐大的外牆清洗需求,透過導入機械清洗裝置,具備解決市場困境的潛力。
    目前國內對於機械清洗外牆的應用尚缺乏完整參考資料。本研究透過技術調查,統整人工進行外牆清洗正面臨低泛用性、效率不足及高風險等缺陷,於是嘗試藉由機械加以克服;同時針對實務應用機械清洗裝置之組成元件進行操作策略與適用場域分析比較,發展一組推測能與各類帷幕外牆系統配對的機械清洗裝置,並導入帷幕牆試體執行實務試驗。
    透過觀測與記錄機械運行和清洗之結果,進行數據分析,統整環境要素、帷幕外牆性質、機械裝置本身及綜合領域等影響清洗流程運作的各項因素,歸納此試驗方案的對應範圍與使用限制,並進一步歸納出最符合搭配機械清洗裝置使用的帷幕外牆構造、尺寸與設計細節,提供未來大規模採用機械清洗帷幕外牆時之外牆設計建議參考,降低外牆清洗門檻並提升經濟效益,尋求一種安全且高效的帷幕牆清洗方案。

    With the rise of mid- to high-rise buildings, curtain walls have become the dominant exterior cladding system. However, facade cleaning remains heavily reliant on manual labor, posing safety risks and facing labor shortages. Mechanical cleaning devices offer a potential solution to these challenges. This study addresses the lack of reference materials in Taiwan regarding mechanical facade cleaning by investigating the limitations of manual methods and exploring mechanical alternatives. It analyzes the operational strategies and application scenarios of key components, and conducts practical testing using a curtain wall specimen. Based on observations and data analysis, the study identifies key factors affecting cleaning performance—such as environmental conditions, facade characteristics, and device efficiency. It defines the system’s applicability and limitations, and provides design recommendations for integrating mechanical cleaning into various curtain wall systems, aiming to improve safety, reduce costs, and support large-scale adoption.

    中文摘要 I 英文摘要 II 誌謝 V 目錄 VI 圖目錄 VIII 表目錄 XIX 第一章 緒論 1 1-1 研究背景與動機 1 1-2 研究目的 3 1-3 研究對象與範圍 4 1-4 研究限制 4 1-5 研究方法與流程 5 第二章 文獻回顧 9 2-1 外牆立面發展 9 2-2 帷幕外牆分類方式 11 2-3 帷幕外牆清洗重要性與頻率 15 2-4 帷幕外牆清洗維護方式 17 2-5 帷幕外牆清洗作業執行要點 19 第三章 人工清洗外牆調查 21 3-1 人工清洗之外牆接近設備佈設要點 21 3-2 永久性外牆接近設備 23 3-3 臨時性外牆接近設備 30 3-4 普遍使用外牆接近設備對比市場現況分析 46 第四章 機械清洗外牆調查 57 4-1 機械清洗裝置組成元件 57 4-2 機械清洗裝置優勢 74 4-3 實務應用之機械清洗裝置綜合評比 78 第五章 機械清洗外牆實驗方法建構 115 5-1 機械清洗裝置組成 115 5-2 實驗設定 126 第六章 實驗結果與分析 133 6-1 數據記錄與分次結果分析 133 6-2 整合結果分析 208 第七章 結論與後續建議 233 7-1 機械清洗效益驗證結論 233 7-2 後續研究建議 240 參考資料 246 附錄1 252 附錄2 255 附錄3 263 附錄4 284

    英文參考資料
    1. AAMA. (2005). Curtain Wall Design Guide Manual(AAMA CW-DG-1-96). Retrieved from https://zh.scribd.com/doc/238476700/Curtain-Wall-Design-Guide-Manual
    2. Daniel Schmidt, & Karsten Berns. (2013). Climbing robots for maintenance and inspections of vertical structures—A survey of design aspects and technologies. Robotics and Autonomous Systems, 61, 1288-1305. doi:10.1016/j.robot.2013.09.002
    3. David Arditi, & Manop Nawakorawit. (1999). Issues in Building Maintenance_Property Managers' Perspective. Journal of Architectural Engineering, 5(4), 117-132.
    4. Dong-Jun Yeom, Ju-Hak Kim, Jun-Sang Kim, & Young Suk Kim. (2022). Life cycle cost analysis of a built-in guide-type robot for cleaning the facade of high-rise buildings. Journal of Asian Architecture and Building Engineering, 21(5), 1736-1753.
    5. Ecovacs. (2023). Ecovacs Products Information. Retrieved from https://www.ecovacs.com
    6. Guisheng Fang, & Jinfeng Cheng. (2023). Advances in Climbing Robots for Vertical Structures in the Past Decade: A Review. Biomimetics, 8. Retrieved from https://www.ncbi.nlm.nih.gov/pubmed/36810378
    7. H. Zhang, W. Wang, R. Liu, J. Zhang, & G. Zong. (2007). Locomotion Realization of an Autonomous Climbing Robot for Elliptic Half-shell Cleaning. 2nd IEEE Conference on Industrial Electronics and Applications.
    8. Hobyeong Chae, Yecheol Moon, KyungUk Lee, SungJun Park, Hwa Soo Kim, & TaeWon Seo. (2022). A Tethered Facade Cleaning Robot Based on a Dual Rope Windlass Climbing Mechanism: Design and Experiments. IEEE/ASME Transactions on Mechatronics, 27(4), 1982-1989. doi:10.1109/tmech.2022.3172689
    9. Houxiang Zhang, & Jianwei Zhang. (2004). Requirements of glass cleaning and development of climbing robot systems. International Conference on Intelligent Mechatronics and Automation.
    10. Houxiang Zhang, Jianwei Zhang, Guanghua Zong, Wei Wang, & Rong Liu. (2006). Sky Cleaner 3_A Real Pneumatic Climbing Robot for Glass-Wall Cleaning. IEEE Robotics & Automation Magazine.
    11. Hussein Fawzy, Hisham El Sherif, & Alaa Khamis. (2019). Robotic Facade Cleaning System for High-Rise Building. IEEE.  
    12. Ines Flores-Colen, Jorge de Brito, & Vasco P. de Freitas. (2008). Stains in facades’ rendering – Diagnosis and maintenance techniques’ classification. Construction and Building Materials, 22(3), 211-221. doi:10.1016/j.conbuildmat.2006.08.023
    13. Inho Joo, Jooyoung Hong, Sungkeun Yoo, Jongwon Kim, Hwa Soo Kim, & TaeWon Seo. (2019). Parallel 2-DoF manipulator for wall-cleaning applications. Automation in Construction, 101, 209-217. doi:10.1016/j.autcon.2019.02.002
    14. IPC Eagle. (2023). HighRise products information.
    15. Iveta Puķīte, & Ineta Geipele. (2017). Different Approaches to Building Management and Maintenance Meaning Explanation. Procedia Engineering, 172, 905-912.
    16. J. A. Clarke, C. Johnstone, N. Kelly, & P. A. Strachan. (1997). The simulation of photovoltaic-integrated building facades. Int. Building Performance Simulation Association Conf, 2.
    17. Jian Zhu, Dong Sun, & Shiu-Kit Tso. (2002). Development of a Tracked Climbing Robot. Journal of Intelligent and Robotic Systems, 35.
    18. Jian Zhu, Dong Sun, & Shiu‐Kit Tso. (2003). Application of a Service Climbing Robot with Motion Planning and Visual Sensing. Journal of Robotic Systems, 20(4).
    19. Jihong Liu, Hongxia Jiang, Zhengxin Li, & Hangjun Hu. (2009). A Small Window-Cleaning Robot for Domestic Use. Paper presented at the International Conference on Artificial Intelligence and Computational Intelligence.
    20. Jing Zhao. (2022). Research and Discussion on Machine Cleaning Method on Glass Wall Curtain. Academic Journal of Science and Technology.
    21. Jizhong Xiao, Bing Li, Kenshin Ushiroda, & Qiang Song. (2015). Rise-Rover_A wall-climbing robot with high reliability and load-carrying capacity. IEEE International Conference on Robotics and Biomimetics.
    22. K. Zelenay, M. Perepelitza, & D. Lehrer. (2011). High-performance facades: Design strategies and applications in North America and Northern Europe. repared for California Energy Commission. Berkeley, CA: Center for the Built Environment, Univ. of California.
    23. Kunchan Seo, Sunme Cho, Taegyun Kim, Hwa Soo Kim, & Jongwon Kim. (2013). Design and stability analysis of a novel wall-climbing robotic platform (ROPE RIDE). Mechanism and Machine Theory, 70, 189-208.
    24. Kyoon-Tai Kim. (2019). Study on the Potential Demand of Windows Cleaning by Survey. International Journal of Innovation, 10. doi:10.18178/ijimt.2019.10.3.850
    25. M. Vega-Heredia, I. Muhammad, S. Ghanta, V. Ayyalusami, S. Aisyah, & M. R. Elara. (2020). Multi-Sensor Orientation Tracking for a Facade-Cleaning Robot. Sensors, 20(5). Retrieved from https://www.ncbi.nlm.nih.gov/pubmed/32182699 
    26. M. Vega-Heredia, R. Elara Mohan, Tan Yeh Wen, J. Siti Aisyah, A. Vengadesh, S. Ghanta, & S. Vinu. (2019). Design and modelling of a modular window cleaning robot. Automation in Construction, 103, 268-278.
    27. Maryam Kouzehgar, Yokhesh Krishnasamy Tamilselvam, Manuel Vega Heredia, & Mohan Rajesh Elara. (2019). Self-reconfigurable façade-cleaning robot equipped with deep-learning-based crack detection based on convolutional neural networks. Automation in Construction, 108.
    28. Michael Chew Yit Lin. (2010). Maintainability of Facilities_For Building Professionals: World Scientific.
    29. N. Elkmann, D. Kunst, T. Krueger, M. Lucke, T. Bohme, T. Felsch, & T. Sturze. (2005). SIRIUSc – Facade Cleaning Robot for a High-Rise Building in Munich, Germany. Springer.
    30. Norbert Elhann, Torsten Felsch, Mario Sack, Jose Saenz, & Justus Hortig. (2002). Innovative service robot systems for facade cleaning of difficult-to-access areas. IEEE/RSJ Intl. Conference on Intelligent Robots and Systems.
    31. Noriaki Imaoka, Se-gon Roh, Nishida Yusuke, & Shigeo Hirose. (2010). SkyScraper-I_Tethered whole windows cleaning robot. International Conference on Intelligent Robots and Systems.
    32. Peng Liang, Xueshan Gao, Qingfang Zhang, Mingkang Li, Rui Gao, & Yuxin Xu. (2021). Analysis and experimental research on motion stability of wall-climbing robot with double propellers. Advances in Mechanical Engineering, 13(9). doi:10.1177/16878140211047726
    33. Poirazis, H. (2004). Double skin facades for office buildings: Literature review. Sweden: Dept. of Construction and Architecture.
    34. Q. Nguyen, T. Ngo, P. Mendis, & P. Tran. (2013). Composite materials for next generation building façade systems. Civil Eng. Archit.
    35. Q. Zhou, & X. Li. (2016). Experimental Comparison of Drag-Wiper and Roller-Wiper Glass-Cleaning Robots. Industrial Robot: An International Journal, 43(4).
    36. Qichao Zhao, Xin Wang, Jun Wang, Huafeng Wen, Jingwei Jiang, & Qingpei Zhang. (2017). Design And Realization Of A Glass-Curtain Wall-Cleaning Robot. Advances in Computer Science Research, 62.
    37. Ravindra Singh Bisht, Pushparaj Mani Pathak, & Soraj Kumar Panigrahi. (2022). Design and development of a glass façade cleaning robot. Mechanism and Machine Theory, 168.
    38. Richard P. Kadlubowski, & Coleman H. Bynum. (2001). Facade cleaning_For more than appearance’s sake. Journal of architectural technology published by Hoffmann Architects, specialists in the rehabilitation of building exteriors, 19(1).
    39. Saviz Moghtadernejad, M. Saeed Mirza, & Chouinard, L. E. (2019). Façade Design Stages: Issues and Considerations. Journal of Architectural Engineering, 25(1). doi:10.1061/(asce)ae.1943-5568.0000335
    40. Shunsuke Nansai, Keichi Onodera, Prabakaran Veerajagadheswar, Mohan Rajesh Elara, & Masami Iwase. (2018). Design and Experiment of a Novel Façade Cleaning Robot with a Biped Mechanism. Applied Sciences, 8(12).
    41. Singapore Government. (2019). Facade Access Design Guide. Building and Construction Authority, ver 1.1.
    42. Sky Pro. (2023). Sky Pro Products Information. Retrieved from https://www.skypro.com
    43. Skyline Robotics. (2023). Meet Ozmo. Retrieved from https://www.skylinerobotics.com
    44. Sung Min Moon, Chang Yeob Shin, Jaemyung Huh, Kyeong Won Oh, & Daehie Hong. (2015). Window Cleaning System with Water Circulation for Building Facade Maintenance Robot and Its Efficiency Analysis. INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING-GREEN TECHNOLOGY.
    45. Sungkeun Yoo, Inho Joo, Jooyoung Hong, Changmin Park, Jongwon Kim, Hwa Soo Kim, & Taewon Seo. (2019). Unmanned High-Rise Facade Cleaning Robot Implemented on a Gondola: Field Test on 000-Building in Korea. IEEE Access, 30174-30184. doi:10.1109/access.2019.2902386
    46. Taegyun Kim, Youngjae Jeon, Sungkeun Yoo, Keonwoo Kim, Hwa Soo Kim, & Jongwon Kim. (2017). Development of a wall-climbing platform with modularized wall-cleaning units. Automation in Construction, 83.
    47. Tahfizur Rahman, Md. Istiak Ahamed, Md. Zahidul Islam, Golam Hakkani Alam, & Bishwajit Banik Pathik. (2019). A Novel Design of Radio Frequency Signal Controlled Glass/Wall Cleaner Drone. Signal Processing and Integrated Networks.
    48. Teodor Akinfiev, Kenneth J. Waldron, Manuel Armada, & Samir Nabulsi. (2009). Climbing cleaning robot for vertical surfaces. Industrial Robot: An International Journal, 36(4), 352-357.
    49. Thomas Bock, & Thomas Linner. (2016). Construction Robots-Elementary Technologies and Single-Task Construction Robots. In (Vol. 3).
    50. Tohru Miyake, Hidenori Ishihara, Ryu Shoji, & Shunichi Yoshida. (2006). Development of Small-Size Window Cleaning Robot. International Conference on Mechatronics and Automation.
    51. Wei Wang, Boyan Tang, Houxiang Zhang, & Guanghua Zong. (2010). Robotic cleaning system for glass facade of high‐rise airport control tower. Industrial Robot: An International Journal. doi:10.1108/01439911011063290
    52. Young-Ho Choi, & Kwang-Mok Jung. (2011). Windoro_The world's First Commercialized Window Cleaning Robot for Domestic Use. International Conference on Ubiquitous Robots and Ambient Intelligence.
    53. Youngjoo Lee, Daesung Kwon, Changmin Park, Myoungjae Seo, & TaeWon Seo. (2020). Automated technique for high-pressure water-based window cleaning and accompanying parametric study. PLoS One, 15(12). doi:10.1371/journal.pone.0242413
    54. Youngjoo Lee, Myoungjae Seo, Sijun Ryu, Hwa Soo Kim, & Taewon Seo. (2021). Novel Mobile Mechanism Design for an Obstacle-Overcoming Robot Using Rotating Spokes. IEEE Access, 122766-122773. doi:10.1109/access.2021.3109871
    55. Zhenjing Li, Qingsong Xu, & Lap Mou Tam. (2016). A Survey on Techniques and Applications of Window-Cleaning Robots. IEEE Access, 4. doi:10.1109/access.2021.3103757
    56. Zhi-Yuan Qian, Yan-Zheng Zhao, Zhuang Fu, & Qi-Xin Cao. (2006). Design and realization of a glass-curtain wall-cleaning robot wall-cleaning robot prototype with dual suction cups. The International Journal of Advanced Manufacturing Technology.
    57. Zhufeng Shao, Guangqiang Xie, Zhaokun Zhang, & Liping Wang. (2021). Design and analysis of the cable-driven parallel robot for cleaning exterior wall of buildings. International Journal of Advanced Robotic Systems, 18(1). doi:10.1177/1729881421990313

    中文參考資料
    1. 1111人力銀行. (2013). 十大冷門工作排行榜. 產經新聞網。
    2. 內政部營建署. (2016). 建築技術規則建築設計施工編. 內政部營建署. Retrieved from https://law.moj.gov.tw。
    3. 李明祥. (2011). 複式帷幕牆之節能應用研究—以土地銀行高雄博愛大樓為例—. (碩士). 國立高雄應用科技大學。
    4. 洪仲儀. (2023). 可平衡飛控式大樓外牆清洗裝置及其操作系統。
    5. 紀志旻, & 曾俊達. (2005). 臺灣帷幕牆物理性能試驗施行成效之探討. 建築學會第九屆營建工程與管理研究成果聯合發表會,國立臺北科技大學。
    6. 郭炳宏. (1996). 帷幕牆系統設計概念. 帷幕牆會刊。
    7. 郭炳宏. (2009). 帷幕牆簡介. 品贊有限公司. Retrieved from http://curtainwall-blog.blogspot.tw/2009/04/blog-post.html。
    8. 陳文祈, & 黃清毅. (2003). 風雨實驗與大樓外牆品質診斷實驗研究. 內政部建築研究所委託研究報告。
    9. 陳震宇. (2000). 帷幕牆安裝鐵件接合機制之探究. (碩士). 國立成功大學。
    10. 黃振庭. (2022). 建築外牆清洗作業工法之研究. (碩士). 國立臺灣科技大學。
    11. 臺北市政府勞工局勞動檢查處. (2004). 建築物清潔作業安全手冊。

    無法下載圖示 校內:2028-08-19公開
    校外:2028-08-19公開
    電子論文尚未授權公開,紙本請查館藏目錄
    QR CODE