Building curtain wall cleaning system and cleaning method thereof

Abstract

The invention discloses a building curtain wall cleaning system and a cleaning method thereof, and relates to the technical field of curtain wall cleaning, the building curtain wall cleaning system comprises a curtain wall cleaning module, and the curtain wall cleaning module is used for determining a to-be-cleaned area of a building curtain wall and intelligently selecting cleaning equipment according to cleaning requirements; the curtain wall cleaning module comprises an unmanned aerial vehicle scanning unit, a region division unit and an equipment dispatching unit. By designing the curtain wall cleaning module, intelligent scheduling of the cleaning equipment is achieved, the cleaning equipment works in a proper area by dividing the cleaning area and matching the cleaning equipment with the cleaning area, the cleaning efficiency and the cleaning quality of the cleaning operation are improved, and the resource utilization rate is increased.

Description

Technical Field

[0001] The invention relates to the technical field of curtain wall cleaning, in particular to a building curtain wall cleaning system and a cleaning method thereof. Background Art

[0002] With the acceleration of urbanization, high-rise buildings, large commercial complexes, hotels and other buildings are constantly emerging. As the exterior wall decoration material of the building, the cleanliness of the curtain wall directly affects the overall image of the building, making curtain wall cleaning work particularly important.

[0003] Traditional curtain wall cleaning methods mainly rely on manual operation, which is inefficient and has great safety hazards. The building curtain wall cleaning system uses automated cleaning equipment, which can automatically complete the cleaning task, reduce the risk of manual operation, and improve the safety of the cleaning process. However, the traditional building curtain wall cleaning system cannot select appropriate cleaning equipment according to actual needs. When cleaning curtain walls with complex structures, it is easy to have problems such as poor cleaning effect and low cleaning efficiency.

[0004] Patent document CN110025249B discloses an intelligent curtain wall cleaning system. The above patent realizes intelligent cleaning of curtain walls, improves cleaning efficiency, saves labor costs, replaces manual cleaning in high-altitude operations or in bad weather, avoids casualties, and keeps the curtain wall beautiful at all times.

[0005] In summary, the above patent uses a cleaning machine to clean the curtain wall on a large scale, solving the problem that manual cleaning is prone to accidents, but there is still room for improvement in the scheduling of cleaning equipment in the building curtain wall cleaning system. The present application selects appropriate cleaning equipment according to the curtain wall and the type of stains, and intelligently schedules different cleaning equipment for cleaning operations, solving problems such as poor cleaning effects caused by improper selection of cleaning equipment; To this end, the present application proposes a building curtain wall cleaning system and a cleaning method thereof that realizes intelligent scheduling of cleaning equipment. Summary of the invention

[0006] The object of the present invention is to provide a building curtain wall cleaning system and a cleaning method thereof, so as to solve the technical problem of poor cleaning effect caused by improper selection of cleaning equipment proposed in the above background technology.

[0007] To achieve the above object, the present invention provides the following technical solutions: a building curtain wall cleaning system, comprising a curtain wall cleaning module, the curtain wall cleaning module is used to determine the area of ​​the building curtain wall that needs to be cleaned, and intelligently select cleaning equipment according to the cleaning requirements; The curtain wall cleaning module includes: a drone scanning unit, a region division unit and an equipment scheduling unit, wherein the drone scanning unit is connected to the region division unit via Bluetooth, and the region division unit is connected to the equipment scheduling unit via Bluetooth; The drone scanning unit uses a patrol drone equipped with a high-definition camera to obtain an overall image of the building curtain wall before cleaning, and obtains environmental parameters through built-in sensors; The area division unit analyzes the image of the building curtain wall before cleaning, identifies the curtain wall and the type of stains, determines the distribution location of the stains, divides the area to be cleaned, establishes a three-dimensional model of the building curtain wall, and maps the required cleaning area to the three-dimensional model; The equipment scheduling unit selects required cleaning equipment, including cleaning drones and cleaning robots, according to characteristic information and environmental parameters of the cleaning area, generates a cleaning plan, and schedules the cleaning equipment to perform cleaning operations.

[0008] Preferably, the equipment scheduling unit is connected to an equipment self-checking module via Bluetooth, and the equipment self-checking module is used to monitor the power and water usage of the cleaning drone and the cleaning robot in real time; The equipment self-check module includes: a status evaluation unit, a return planning unit and a data recording unit. The status evaluation unit is connected to the return planning unit via Bluetooth, the return planning unit is connected to the data recording unit via Bluetooth, and the return planning unit is connected to the equipment scheduling unit via Bluetooth; The status evaluation unit registers and manages the cleaning equipment, monitors the remaining power, water tank remaining and operating status of the cleaning equipment in real time through sensors, monitors the location information and task progress, sets thresholds for the cleaning equipment status and cleaning operation progress, and determines the current status of the cleaning equipment; The return planning unit plans the return route based on the cleaning equipment status information and current location. It uses the high-definition camera on the cleaning equipment to monitor the surrounding environment changes in real time, identify potential obstacles, and dynamically adjust the return route. After the cleaning equipment returns, the data recording unit collects and stores various data of the cleaning equipment, including power consumption, changes in water tank balance, and equipment status, and conducts historical trend analysis on the data to identify potential faults.

[0009] Preferably, the drone scanning unit is connected to a curtain wall evaluation module via Bluetooth, and the curtain wall evaluation module is used to evaluate the cleanliness of the building curtain wall after cleaning; The curtain wall evaluation module includes: a condition unification unit, an effect evaluation unit, and a report generation unit. The effect evaluation unit is connected to the report generation unit via Bluetooth, and the effect evaluation unit is connected to the drone scanning unit via Bluetooth. The condition unification unit analyzes the image of the building curtain wall before cleaning, identifies the shooting angle, position and light conditions of the inspection drone, generates a flight plan for the inspection drone, and obtains the image of the building curtain wall after cleaning through the inspection drone; The effect evaluation unit compares the image of the building curtain wall after cleaning with the image before cleaning, compares the stain area before and after cleaning, analyzes the removal of stains, and identifies the smoothness and gloss restoration of the curtain wall surface; The report generation unit quantitatively scores the cleaning effect according to the degree of stain removal, compiles the comparison images before and after cleaning, the stain removal status, and the cleaning effect score into an evaluation report, and generates improvement suggestions for the cleaning operation based on the evaluation results.

[0010] Preferably, the area division unit is connected to a cleaning control module via Bluetooth, and the cleaning control module is used to adjust the working parameters of the cleaning device; The cleaning control module includes: a stain recognition unit, a parameter setting unit, and a feedback adjustment unit. The stain recognition unit is connected to the parameter setting unit and the area division unit via Bluetooth. The parameter setting unit is connected to the feedback adjustment unit and the report generation unit via Bluetooth. The stain recognition unit determines the material characteristics of the curtain wall according to the type of building curtain wall, and evaluates the stubbornness of the stain based on the type of stain and the curtain wall material; The parameter setting unit formulates cleaning strategies, selects cleaning agents, and sets cleaning equipment parameters based on the sensitivity of curtain wall materials to cleaning agents and the difficulty of removing stains, combined with suggestions for improving cleaning operations; The feedback adjustment unit monitors the cleaning effect in real time through the high-definition camera on the cleaning equipment, identifies the damage to the building curtain wall material, and adjusts the cleaning strategy.

[0011] Preferably, a collaborative operation module is designed in the equipment scheduling unit, and the collaborative operation module is connected to the feedback adjustment unit and the state evaluation unit via Bluetooth, and the collaborative operation module is used to optimize the regional handover process when multiple cleaning equipments are operating simultaneously; The collaborative operation module includes: a task allocation unit, a collaborative management unit and a regional handover unit. The task allocation unit is connected to the collaborative management unit and the feedback adjustment unit via Bluetooth, and the regional handover unit is connected to the collaborative management unit via Bluetooth. The task allocation unit divides the cleaning plan into multiple sub-plans, allocates the sub-plans to the corresponding cleaning equipment, transmits the cleaning strategy to the cleaning equipment in real time, and generates a specific cleaning plan and a cleaning area division diagram for the cleaning equipment; The collaborative management unit establishes communication links between cleaning equipment, manages task handover, information sharing and collaborative processing in emergency situations between cleaning equipment; The area handover unit sends a handover instruction according to the task progress of the cleaning equipment to hand over the cleaning equipment in the cleaning area.

[0012] Preferably, the equipment self-check module is connected to an emergency return module via Bluetooth, and the emergency return module responds quickly when an emergency occurs in the cleaning equipment; The emergency return module includes: an emergency trigger unit and an emergency response unit. The emergency trigger unit is connected to the emergency response unit and the return planning unit via Bluetooth. The emergency trigger unit analyzes the vibration sensor detection data of the cleaning equipment in real time, identifies abnormal vibration conditions, and triggers emergency instructions; After receiving the emergency command, the emergency response unit controls the cleaning equipment to automatically perform emergency processing and send an early warning signal to the ground control station.

[0013] Preferably, the flight plan of the inspection drone includes: Flight angle and position: record the inspection drone’s flight height, distance from the curtain wall, and shooting angle parameters before curtain wall cleaning. After curtain wall cleaning, the inspection drone takes photos with the same parameters. Lighting adjustment: record the lighting conditions when shooting before curtain wall cleaning. After curtain wall cleaning, simulate the same lighting environment through the searchlight carried by the inspection drone.

[0014] Preferably, the cleaning equipment parameters include: Spraying interval time: according to the penetration speed of the cleaning agent and the stubbornness of the stains, set the interval time for the cleaning equipment to spray water and cleaning agent; Spray pressure: Set the spray pressure of the cleaning equipment according to the characteristics of the curtain wall material; Cleaning time and amount of cleaning agent used: Set the cleaning time and amount of cleaning agent used according to the degree of contamination of the curtain wall and the decontamination ability of the cleaning agent.

[0015] Preferably, the cleaning method comprises the following steps: S1. The curtain wall cleaning module uses inspection drones to obtain the overall image of the building curtain wall before cleaning, identify the curtain wall type, curtain wall structure and stain distribution location, and dispatch appropriate cleaning drones and cleaning robots to the target area; S2, the cleaning control module determines the material characteristics of the curtain wall and the difficulty of stain removal, selects a cleaning agent and sets cleaning equipment parameters, and the cleaning equipment cleans the target area according to the set parameters; S3. During the curtain wall cleaning process, the equipment self-checking module monitors the status data of the cleaning equipment in real time. When the cleaning equipment is low on power and the water in the water tank is about to run out, the equipment self-checking module plans a return route, and the cleaning equipment returns to the starting position according to the return route to charge and add water to the water tank.

[0016] Preferably, the cleaning method further comprises the following steps: Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention realizes intelligent scheduling of cleaning equipment by designing a curtain wall cleaning module. By dividing the cleaning area and matching the cleaning equipment with the cleaning area, the cleaning equipment can operate in a suitable area, thereby improving the cleaning efficiency and cleaning quality of the cleaning operation and improving resource utilization; 2. The present invention realizes the evaluation and management of the cleaning equipment status by designing an equipment self-check module. The remaining power, water tank remaining and task progress of the cleaning equipment are monitored in real time by sensors to judge whether the cleaning equipment meets the return requirements, thereby improving the operating efficiency of the cleaning equipment and reducing the time wasted due to the interruption of the cleaning equipment operation. 3. The present invention implements the evaluation of curtain wall cleaning effect by designing a curtain wall evaluation module, so that customers can intuitively understand the cleaning effect, improve customer satisfaction and trust, and generate improvement suggestions for cleaning operations based on the stain removal and cleaning effect scores, providing support for the formulation of cleaning strategies for subsequent cleaning equipment; 4. The present invention realizes intelligent management of the cleaning process by designing a cleaning control module. Through stain identification and cleaning agent selection, the safety of the curtain wall material is effectively protected and the efficiency of stain removal is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of a curtain wall cleaning module of the present invention; Figure 2 It is a schematic diagram of the equipment self-check module of the present invention; Figure 3 It is a schematic diagram of a curtain wall evaluation module of the present invention; Figure 4 This is a schematic diagram of a cleaning control module of the present invention; Figure 5 It is a schematic diagram of the collaborative operation module of the present invention; Figure 6 This is a schematic diagram of the emergency return module of the present invention; Figure 7 It is a schematic diagram of the system working process of the present invention; Figure 8 It is a schematic diagram of the cleaning process of the present invention. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] See also Figure 1 , Figure 7and Figure 8 , an embodiment provided by the present invention: a building curtain wall cleaning system, comprising a curtain wall cleaning module, the curtain wall cleaning module is used to determine the area of ​​the building curtain wall that needs to be cleaned, and intelligently select cleaning equipment according to the cleaning requirements; the curtain wall cleaning module comprises: a drone scanning unit, a region division unit and an equipment scheduling unit, the drone scanning unit is connected to the region division unit via Bluetooth, and the region division unit is connected to the equipment scheduling unit via Bluetooth; the drone scanning unit uses a patrol drone equipped with a high-definition camera to obtain an overall image of the building curtain wall before cleaning, and obtains environmental parameters through a built-in sensor; the region division unit analyzes the image of the building curtain wall before cleaning, identifies the curtain wall and the type of stains, determines the distribution position of the stains, divides the area that needs to be cleaned, establishes a three-dimensional model of the building curtain wall, and maps the required cleaning area to the three-dimensional model; the equipment scheduling unit selects the required cleaning equipment, including a cleaning drone and a cleaning robot, according to the characteristic information and environmental parameters of the cleaning area, generates a cleaning plan, and schedules the cleaning equipment to perform the cleaning operation.

[0020] Furthermore, the drone scanning unit controls the inspection drone to take off near the building curtain wall, and uses the high-definition camera carried by the inspection drone to capture the overall image of the building curtain wall before cleaning, and obtains the current environmental parameters through built-in sensors such as temperature sensors, humidity sensors, wind speed sensors, etc.; the area division unit receives the curtain wall image and environmental parameters transmitted by the drone scanning unit, and uses image processing technology and robot learning algorithms to analyze the image, identify the curtain wall type, such as stone, glass, and metal, determine the type of stains, such as dust, grease, weathering, rust, bird droppings, etc., and judge the distribution location and severity of the stains, so that the area division unit accurately divides the area that needs to be cleaned. The area division unit establishes a three-dimensional model based on the curtain wall image to reflect the overall structure of the curtain wall, and maps the required cleaning area to the three-dimensional model, making the cleaning operation more intuitive, easy to understand and monitor, and intuitively displaying the cleaning area and progress; The equipment scheduling unit receives the cleaning area information and environmental parameters transmitted by the area division unit, extracts the characteristic information of the cleaning area, such as the type of stain, area size, location height, etc., and selects the most suitable cleaning equipment in combination with the environmental parameters, so that the corresponding cleaning area is matched with the cleaning equipment suitable for cleaning this area. For example, a cleaning drone is selected for a high-altitude and regularly shaped curtain wall area, and a cleaning robot is selected for a low and complex-shaped area, so that the cleaning drone can quickly clean most of the easily accessible areas, and the cleaning robot can clean the local areas that are difficult to reach. In addition, according to the type of stain, the tool suitable for cleaning the corresponding stain is analyzed, such as a water gun can clean most non-stubborn stains, and a soft brush and sponge are suitable for cleaning. The cleaning equipment equipped with the tool is selected based on the environmental parameters, including wind force, height limit and other factors, to analyze whether the cleaning drone can stably fly in the target area, evaluate the stability and accuracy of the cleaning drone during movement, and determine whether to use a cleaning drone or a cleaning robot, and then generate a cleaning plan. The cleaning plan includes the matching of the cleaning area and the cleaning equipment, the cleaning order of the cleaning area, etc. After receiving the cleaning plan, the cleaning equipment moves to the cleaning position next to the target area in sequence, first sprays the cleaning agent evenly on the target through the cleaning equipment equipped with the cleaning agent, and then flushes the target area through the cleaning equipment equipped with a water tank to wash away the cleaning agent and stains on the surface of the target area; According to the characteristics and needs of the cleaning area, such as stain type, curtain wall material, location height, etc., the appropriate cleaning equipment is intelligently selected to improve cleaning efficiency and quality. Cleaning equipment can be used to replace manual high-altitude operations. At the same time, the efficiency and accuracy of the cleaning operation can be ensured. Reasonable scheduling based on the needs of the cleaning area and the characteristics of the cleaning equipment can avoid idleness and waste of cleaning equipment, reduce the cost of cleaning operations, improve resource utilization efficiency, and avoid problems such as poor curtain wall cleaning effects or damage to cleaning equipment due to improper selection of cleaning equipment.

[0021] See also Figure 1 , Figure 2 , Figure 7 and Figure 8An embodiment of the present invention is: a building curtain wall cleaning system, wherein the equipment scheduling unit selects required cleaning equipment, including a cleaning drone and a cleaning robot, according to characteristic information and environmental parameters of the cleaning area, generates a cleaning plan, and schedules the cleaning equipment to perform cleaning operations; the equipment scheduling unit is connected to an equipment self-checking module via Bluetooth, and the equipment self-checking module is used to monitor the power and water usage of the cleaning drone and the cleaning robot in real time; the equipment self-checking module includes: a state evaluation unit, a return planning unit and a data recording unit, the state evaluation unit is connected to the return planning unit via Bluetooth, the return planning unit is connected to the data recording unit via Bluetooth, and the return planning unit is connected to the equipment scheduling via Bluetooth Unit; the status assessment unit registers and manages the cleaning equipment, monitors the remaining power, water tank balance and operating status of the cleaning equipment in real time through sensors, monitors location information and task progress, sets thresholds for the cleaning equipment status and cleaning operation progress, and determines the current status of the cleaning equipment; the return planning unit plans the return route based on the cleaning equipment status information and current location, monitors the surrounding environmental changes in real time through the high-definition camera on the cleaning equipment, identifies potential obstacles, and dynamically adjusts the return route; after the cleaning equipment returns, the data recording unit collects and stores various data of the cleaning equipment, including power consumption, water tank balance changes, and equipment status, performs historical trend analysis on the data, and identifies potential faults.

[0022] Furthermore, before the cleaning device works, the status evaluation unit registers the cleaning device, initializes the working status and location information of the cleaning device, and after the equipment scheduling unit schedules the cleaning device to perform the cleaning task, after the status evaluation unit receives the cleaning device working signal transmitted by the status evaluation unit, the status evaluation unit receives the real-time monitoring data of the sensor on the cleaning device in real time, thereby monitoring the remaining power, water tank remaining amount and operating status of the cleaning device in real time, determining the location information and task progress, and the status evaluation unit compares the remaining power, water tank remaining amount and cleaning operation progress of the cleaning device with preset thresholds respectively; when the status evaluation unit determines that the remaining power or water tank remaining amount of the cleaning device is lower than the threshold, the status evaluation unit determines that the cleaning device is short of power or the water in the water tank is about to run out, and when the status evaluation unit determines that the cleaning operation progress of the cleaning device exceeds the threshold, the status evaluation unit determines that the cleaning device has completed the cleaning task; After the return planning unit receives the information transmitted by the status evaluation unit that the equipment is low on power, the water in the water tank is about to run out, or the cleaning task has been completed, the return planning unit plans the shortest return route for the cleaning equipment based on the real-time location information transmitted by the status evaluation unit. The return planning unit transmits the return route to the cleaning equipment in real time, and the cleaning equipment returns to the initial position according to the return route. During the return process, the return planning unit monitors the surrounding environmental changes in real time through the high-definition camera on the cleaning equipment, identifies potential obstacles in time and adjusts the return route to avoid collisions of the cleaning equipment during operation. After the cleaning equipment returns to its initial position, the data recording unit records and stores data such as the power consumption of the cleaning equipment, changes in the water tank balance, and equipment status, identifies potential failures or performance degradation problems, thereby ensuring the normal operation and long-term stability of the cleaning equipment, and charging the cleaning equipment or replenishing water to the water tank.

[0023] See also Figure 1 , Figure 3 and Figure 8 , an embodiment provided by the present invention: a building curtain wall cleaning system, the drone scanning unit uses a patrol drone equipped with a high-definition camera to obtain an overall image of the building curtain wall before cleaning, and obtains environmental parameters through a built-in sensor; the drone scanning unit is connected to a curtain wall evaluation module via Bluetooth, and the curtain wall evaluation module is used to evaluate the cleanliness of the building curtain wall after cleaning; the curtain wall evaluation module includes: a condition unification unit, an effect evaluation unit, and a report generation unit, the effect evaluation unit is connected to the report generation unit via Bluetooth, and the effect evaluation unit is connected to the drone scanning unit via Bluetooth; the condition unification unit analyzes the cleaning of the building curtain wall The cleaning unit can identify the image before and after cleaning, identify the shooting angle, position and light conditions of the inspection drone, generate the flight plan of the inspection drone, and obtain the image of the building curtain wall after cleaning through the inspection drone; the effect evaluation unit compares the image of the building curtain wall after cleaning with the image before cleaning, compares the stain area before and after cleaning, analyzes the stain removal, and identifies the flatness and gloss restoration of the curtain wall surface; the report generation unit quantifies the cleaning effect according to the degree of stain removal, organizes the comparative images before and after cleaning, the stain removal, and the cleaning effect score into an evaluation report, and generates improvement suggestions for the cleaning operation based on the evaluation results.

[0024] Furthermore, the condition unification unit receives the image of the building curtain wall before cleaning transmitted by the drone scanning unit, records the key parameters such as the flight height, distance from the curtain wall and shooting angle of the inspection drone before the curtain wall cleaning, determines the shooting angle, position and light conditions of the image, and generates a flight plan for the inspection drone after the building curtain wall cleaning is completed, including the flight path, height and shooting parameters, etc. After the cleaning is completed, the inspection drone takes a second shot, and simulates the lighting environment through the searchlight carried by the drone, so as to obtain an image with the same shooting angle, position and light conditions as before cleaning, thereby improving the accuracy of the effect evaluation; the effect evaluation unit receives The drone scanning unit transmits images of the building curtain wall before and after cleaning, compares the two images, identifies the stain area before and after cleaning through an algorithm, analyzes the stain removal, including the reduction of stain area and lightening of color, etc., evaluates the flatness and gloss restoration of the curtain wall surface, and judges the improvement effect of the cleaning operation on the appearance of the curtain wall; the report generation unit quantifies the cleaning effect based on the evaluation results of the effect evaluation unit, generates an evaluation report and improvement suggestions for the cleaning operation, and based on the evaluation report and improvement suggestions, can continuously optimize the cleaning plan, improve the cleaning quality and customer satisfaction, and intuitively display the curtain wall cleaning effect to customers.

[0025] See also Figure 1 , Figure 4 and Figure 8 The present invention provides an embodiment: a building curtain wall cleaning system, wherein the area division unit analyzes the image of the building curtain wall before cleaning, identifies the curtain wall and the type of stains, determines the distribution position of the stains, divides the area to be cleaned, establishes a three-dimensional model of the building curtain wall, and maps the required cleaning area to the three-dimensional model; the area division unit is connected to a cleaning control module via Bluetooth, and the cleaning control module is used to adjust the working parameters of the cleaning equipment; the cleaning control module includes: a stain recognition unit, a parameter setting unit, and a feedback adjustment unit, the stain recognition unit is connected to the parameter setting unit and the area division unit via Bluetooth, and the parameter setting unit is connected to the feedback adjustment unit and the report generation unit via Bluetooth; the stain recognition unit judges the material characteristics of the curtain wall according to the type of the building curtain wall, and evaluates the stubbornness of the stain in combination with the stain type and the curtain wall material; the parameter setting unit formulates a cleaning strategy, selects a cleaning agent, and sets the parameters of the cleaning equipment according to the sensitivity of the curtain wall material to the cleaning agent and the difficulty of removing the stains, combined with the improvement suggestions for the cleaning operation; the feedback adjustment unit monitors the cleaning effect in real time through the high-definition camera on the cleaning equipment, identifies the damage to the building curtain wall material, and adjusts the cleaning strategy.

[0026] Furthermore, before the cleaning device performs the cleaning task, the stain recognition unit receives the building curtain wall type and stain type information recognized by the area division unit, and judges the material characteristics of the curtain wall according to the type of the curtain wall, such as stone, glass, metal, etc., and extracts the color, shape, distribution and other characteristics of the stain in combination with the stain type and curtain wall material information, and judges the difficulty of removing the stain, such as the glass surface is relatively smooth, and the stain is usually easier to clean; the stain is widely distributed and difficult to reach or has solidified, making it more difficult to remove, etc.; The parameter setting unit formulates a cleaning strategy based on the information provided by the stain recognition unit, the difficulty of stain removal and the sensitivity of the curtain wall material to the cleaning agent, and the improvement suggestions for the cleaning operation transmitted by the report generation unit, including selecting a suitable cleaning agent and setting the cleaning equipment such as the spraying interval, spraying pressure, cleaning time and the amount of cleaning agent used. For example, for stains that are difficult to remove, increase the water pressure to enhance the cleaning effect; for curtain walls with lower hardness, reduce the water pressure to avoid damage; select a cleaning agent that will not corrode the curtain wall according to the type of curtain wall, so as to ensure the cleaning effect while protecting the curtain wall material from damage; for curtain walls with smooth surfaces, the cleaning agent stays on the curtain wall surface for a short time, and the spraying interval between the cleaning agent and water is reduced. The parameter setting unit transmits the cleaning strategy to the cleaning equipment, and the cleaning equipment adjusts the spraying water pressure, spraying interval, etc. according to the cleaning strategy during the cleaning process; During the operation of the cleaning equipment, the feedback adjustment unit receives images captured by the high-definition camera on the cleaning equipment, monitors the cleaning effect of stains on the curtain wall in real time, identifies whether the curtain wall material is damaged and whether the cleaning is uniform. When abnormal conditions are found, such as damaged material, uneven cleaning, etc., the feedback adjustment unit immediately adjusts the cleaning strategy; through intelligent parameter setting, the system can quickly formulate cleaning strategies, reduce manual intervention, improve the efficiency of cleaning operations, avoid damage to the curtain wall caused by improper cleaning of the cleaning equipment, and improve the cleaning quality.

[0027] See also Figure 5 and Figure 8 An embodiment of the present invention is: a building curtain wall cleaning system, wherein the equipment self-check module is connected to an emergency return module via Bluetooth, and the emergency return module responds quickly when an emergency occurs in the cleaning equipment; the emergency return module includes: an emergency trigger unit and an emergency response unit, and the emergency trigger unit is connected to the emergency response unit and the return planning unit via Bluetooth; the emergency trigger unit analyzes the detection data of the vibration sensor carried by the cleaning equipment in real time, identifies abnormal vibration conditions, and triggers emergency instructions; after receiving the emergency instruction, the emergency response unit controls the cleaning equipment to automatically perform emergency processing and sends an early warning signal to the ground control station.

[0028] Furthermore, the emergency trigger unit receives and analyzes the data detected by the vibration sensor on the cleaning equipment in real time. When the emergency trigger unit detects abnormal fluctuations in the data, the emergency trigger unit will immediately identify these abnormal conditions and immediately trigger the emergency command; after the emergency processing execution receives the emergency command transmitted by the emergency trigger unit, the emergency response unit will quickly control the cleaning equipment and take emergency processing measures, including stopping the current operation, reducing the speed, adjusting the posture, etc. At the same time, the emergency response unit sends an early warning signal to the ground control station to notify the ground staff that the cleaning equipment has entered an emergency state. The staff understands the status of the cleaning equipment through the equipment self-test module and the emergency return module, and controls whether the cleaning equipment returns to the initial position according to actual needs through the equipment self-test module.

[0029] See also Figure 6 and Figure 8 , an embodiment provided by the present invention: a building curtain wall cleaning system, wherein a collaborative operation module is designed in the equipment scheduling unit, the collaborative operation module is connected to a feedback adjustment unit and a status evaluation unit via Bluetooth, and the collaborative operation module is used to optimize the regional handover process when multiple cleaning devices are working simultaneously; the collaborative operation module includes: a task allocation unit, a collaborative management unit and a regional handover unit, the task allocation unit is connected to the collaborative management unit and the feedback adjustment unit via Bluetooth, and the regional handover unit is connected to the collaborative management unit via Bluetooth; the task allocation unit divides the cleaning plan into multiple sub-plans, allocates the sub-plans to corresponding cleaning devices, transmits the cleaning strategy to the cleaning device in real time, and generates a specific cleaning plan and a cleaning area division map for the cleaning device; the collaborative management unit establishes a communication link between cleaning devices, manages task handover, information sharing and collaborative processing in emergency situations between cleaning devices; the regional handover unit sends a handover instruction according to the task progress of the cleaning equipment, and hands over the cleaning equipment in the cleaning area.

[0030] Further, the task allocation unit receives the overall cleaning plan transmitted by the equipment scheduling unit, and the cleaning plan includes the cleaning equipment required for the cleaning area, the cleaning order of the cleaning area, etc. The task allocation unit divides the cleaning plan into multiple sub-plans and allocates the sub-plans to the corresponding cleaning equipment. At the same time, the cleaning strategy formulated by the feedback adjustment unit is transmitted to the corresponding cleaning equipment in real time. Based on the above information, the task allocation unit generates a specific cleaning plan and a cleaning equipment cleaning area division map to clarify the cleaning task, path and time schedule of each device; the collaborative management unit is responsible for establishing a communication link between cleaning equipment to ensure that the cleaning equipment can exchange information in real time, realize the collaborative work between the cleaning equipment, and improve the coordination and efficiency of the overall operation; the regional handover unit sends a handover instruction to the next cleaning equipment according to the task progress of the cleaning equipment and the cleaning area division map when a cleaning equipment is about to complete the cleaning of the area it is responsible for. The cleaning equipment that receives the handover instruction adjusts its position and cleaning strategy according to the instruction to ensure seamless takeover of the cleaning task. At the same time, the regional handover unit is responsible for recording key information in the handover process, such as handover time, handover status, etc., to ensure the continuity and consistency of the cleaning work and avoid repeated cleaning or missed cleaning.

[0031] Working principle: The curtain wall cleaning module obtains the overall image of the building curtain wall before cleaning, analyzes the curtain wall and stain information, matches the cleaning equipment with the cleaning area, and generates a cleaning plan. The cleaning control module formulates a cleaning strategy based on the material characteristics of the curtain wall and the difficulty of stain removal. The collaborative operation module transmits the cleaning plan and cleaning strategy to the cleaning equipment in real time. During the process of cleaning the curtain wall, the equipment self-check module monitors the cleaning equipment status data and operation progress data in real time, and the emergency return module analyzes the abnormal status of the cleaning equipment in real time. When the status data is lower than the threshold or the operation progress data reaches the threshold, the equipment self-check module plans the return route of the cleaning equipment and transmits the return route to the cleaning equipment; After the curtain wall cleaning is completed, the curtain wall evaluation module obtains the overall image of the building curtain wall after cleaning, and compares the images before and after the building curtain wall cleaning, analyzes the degree of stain removal, and generates targeted improvement suggestions, providing a data theoretical basis for the subsequent cleaning control module to formulate cleaning strategies.

[0032] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A building curtain wall cleaning system, characterized in that: It includes a curtain wall cleaning module, which is used to determine the area of ​​the building curtain wall that needs to be cleaned and intelligently select cleaning equipment according to the cleaning requirements; The curtain wall cleaning module includes: a drone scanning unit, a region division unit and an equipment scheduling unit, wherein the drone scanning unit is connected to the region division unit via Bluetooth, and the region division unit is connected to the equipment scheduling unit via Bluetooth; The drone scanning unit uses a patrol drone equipped with a high-definition camera to obtain an overall image of the building curtain wall before cleaning, and obtains environmental parameters through built-in sensors; The area division unit analyzes the image of the building curtain wall before cleaning, identifies the curtain wall and the type of stains, determines the distribution location of the stains, divides the area to be cleaned, establishes a three-dimensional model of the building curtain wall, and maps the required cleaning area to the three-dimensional model; The equipment scheduling unit selects required cleaning equipment, including cleaning drones and cleaning robots, according to characteristic information and environmental parameters of the cleaning area, generates a cleaning plan, and schedules the cleaning equipment to perform cleaning operations.

2. A building curtain wall cleaning system according to claim 1, characterized in that: The equipment scheduling unit is connected to an equipment self-checking module via Bluetooth, and the equipment self-checking module is used to monitor the power and water usage of the cleaning drone and the cleaning robot in real time; The equipment self-check module includes: a status evaluation unit, a return planning unit and a data recording unit. The status evaluation unit is connected to the return planning unit via Bluetooth, the return planning unit is connected to the data recording unit via Bluetooth, and the return planning unit is connected to the equipment scheduling unit via Bluetooth; The status evaluation unit registers and manages the cleaning equipment, monitors the remaining power, water tank remaining and operating status of the cleaning equipment in real time through sensors, monitors the location information and task progress, sets thresholds for the cleaning equipment status and cleaning operation progress, and determines the current status of the cleaning equipment; The return planning unit plans the return route based on the cleaning equipment status information and current location. It uses the high-definition camera on the cleaning equipment to monitor the surrounding environment changes in real time, identify potential obstacles, and dynamically adjust the return route. After the cleaning equipment returns, the data recording unit collects and stores various data of the cleaning equipment, including power consumption, changes in water tank balance, and equipment status, and conducts historical trend analysis on the data to identify potential faults.

3. A building curtain wall cleaning system according to claim 1, characterized in that: The drone scanning unit is connected to a curtain wall evaluation module via Bluetooth, and the curtain wall evaluation module is used to evaluate the cleanliness of the building curtain wall after cleaning; The curtain wall evaluation module includes: a condition unification unit, an effect evaluation unit, and a report generation unit. The effect evaluation unit is connected to the report generation unit via Bluetooth, and the effect evaluation unit is connected to the drone scanning unit via Bluetooth. The condition unification unit analyzes the image of the building curtain wall before cleaning, identifies the shooting angle, position and light conditions of the inspection drone, generates a flight plan for the inspection drone, and obtains the image of the building curtain wall after cleaning through the inspection drone; The effect evaluation unit compares the image of the building curtain wall after cleaning with the image before cleaning, compares the stain area before and after cleaning, analyzes the removal of stains, and identifies the smoothness and gloss restoration of the curtain wall surface; The report generation unit quantitatively scores the cleaning effect according to the degree of stain removal, compiles the comparison images before and after cleaning, the stain removal status, and the cleaning effect score into an evaluation report, and generates improvement suggestions for the cleaning operation based on the evaluation results.

4. A building curtain wall cleaning system according to claim 1, characterized in that: The area division unit is connected to a cleaning control module via Bluetooth, and the cleaning control module is used to adjust the working parameters of the cleaning equipment; The cleaning control module includes: a stain recognition unit, a parameter setting unit, and a feedback adjustment unit. The stain recognition unit is connected to the parameter setting unit and the area division unit via Bluetooth. The parameter setting unit is connected to the feedback adjustment unit and the report generation unit via Bluetooth. The stain recognition unit determines the material characteristics of the curtain wall according to the type of building curtain wall, and evaluates the stubbornness of the stain based on the type of stain and the curtain wall material; The parameter setting unit formulates cleaning strategies, selects cleaning agents, and sets cleaning equipment parameters based on the sensitivity of curtain wall materials to cleaning agents and the difficulty of removing stains, combined with suggestions for improving cleaning operations; The feedback adjustment unit monitors the cleaning effect in real time through the high-definition camera on the cleaning equipment, identifies the damage to the building curtain wall material, and adjusts the cleaning strategy.

5. A building curtain wall cleaning system according to claim 1, characterized in that: The equipment scheduling unit is designed with a collaborative operation module, which is connected to a feedback adjustment unit and a status evaluation unit via Bluetooth. The collaborative operation module is used to optimize the regional handover process when multiple cleaning equipment are operating simultaneously. The collaborative operation module includes: a task allocation unit, a collaborative management unit and a regional handover unit. The task allocation unit is connected to the collaborative management unit and the feedback adjustment unit via Bluetooth, and the regional handover unit is connected to the collaborative management unit via Bluetooth. The task allocation unit divides the cleaning plan into multiple sub-plans, allocates the sub-plans to the corresponding cleaning equipment, transmits the cleaning strategy to the cleaning equipment in real time, and generates a specific cleaning plan and a cleaning area division diagram for the cleaning equipment; The collaborative management unit establishes communication links between cleaning equipment, manages task handover, information sharing and collaborative processing in emergency situations between cleaning equipment; The area handover unit sends a handover instruction according to the task progress of the cleaning equipment to hand over the cleaning equipment in the cleaning area.

6. A building curtain wall cleaning system according to claim 2, characterized in that: The equipment self-check module is connected to the emergency return module via Bluetooth, and the emergency return module responds quickly when an emergency occurs in the cleaning equipment; The emergency return module includes: an emergency trigger unit and an emergency response unit. The emergency trigger unit is connected to the emergency response unit and the return planning unit via Bluetooth. The emergency trigger unit analyzes the vibration sensor detection data of the cleaning equipment in real time, identifies abnormal vibration conditions, and triggers emergency instructions; After receiving the emergency command, the emergency response unit controls the cleaning equipment to automatically perform emergency processing and send an early warning signal to the ground control station.

7. A building curtain wall cleaning system according to claim 3, characterized in that: The flight plan of the inspection drone includes: Flight angle and position: record the inspection drone’s flight height, distance from the curtain wall, and shooting angle parameters before curtain wall cleaning. After curtain wall cleaning, the inspection drone takes photos with the same parameters. Lighting adjustment: record the lighting conditions when shooting before curtain wall cleaning. After curtain wall cleaning, simulate the same lighting environment through the searchlight carried by the inspection drone.

8. A building curtain wall cleaning system according to claim 4, characterized in that: The cleaning equipment parameters include: Spraying interval time: according to the penetration speed of the cleaning agent and the stubbornness of the stains, set the interval time for the cleaning equipment to spray water and cleaning agent; Spray pressure: Set the spray pressure of the cleaning equipment according to the characteristics of the curtain wall material; Cleaning time and amount of cleaning agent used: Set the cleaning time and amount of cleaning agent used according to the degree of contamination of the curtain wall and the decontamination ability of the cleaning agent.

9. A cleaning method for a building curtain wall cleaning system, applicable to a building curtain wall cleaning system according to any one of claims 1 to 8, characterized in that: The cleaning method comprises the following steps: S1. The curtain wall cleaning module uses inspection drones to obtain the overall image of the building curtain wall before cleaning, identify the curtain wall type, curtain wall structure and stain distribution location, and dispatch appropriate cleaning drones and cleaning robots to the target area; S2, the cleaning control module determines the material characteristics of the curtain wall and the difficulty of stain removal, selects a cleaning agent and sets cleaning equipment parameters, and the cleaning equipment cleans the target area according to the set parameters; S3. During the curtain wall cleaning process, the equipment self-checking module monitors the cleaning equipment status data in real time. When the cleaning equipment is low on power and the water in the water tank is about to run out, the equipment self-checking module plans a return route, and the cleaning equipment returns to the starting position according to the return route to charge and add water to the water tank.

10. The cleaning method of a building curtain wall cleaning system according to claim 9, characterized in that: The cleaning method further comprises the following steps: S31, the collaborative operation module divides the cleaning plan into multiple sub-plans, and assigns the sub-plans to different cleaning devices. When a cleaning device completes the cleaning task of the target area, the collaborative operation module hands over the target area to the next cleaning device until the cleaning plan is completed.

Images