Automatic control system and control method for intelligent high-altitude operation and maintenance equipment

Abstract

The invention discloses an automatic control system and control method for intelligent high-altitude operation and maintenance equipment, the automatic control system comprises a control module, an analysis module, a cleaning module, an action module and a recognition module.The analysis module analyzes a building model and forms an optimal cleaning path, the control module controls the action module to act, and the recognition module recognizes the optimal cleaning path. The action module drives the cleaning module and the action module to move, water leakage detection and recognition are conducted on the sealing strip through the recognition module while cleaning operation is conducted through the cleaning module, and the analysis module marks recognized water leakage points and plans the optimal water leakage point repairing path for repairing. By means of the steps, automatic control over the intelligent operation and maintenance equipment is achieved, and therefore high-efficiency and high-quality automatic operation and maintenance work is achieved.

Description

Technical Field

[0001] This invention relates to the field of window cleaning machine control technology, specifically to an automatic control system and control method for intelligent high-altitude maintenance equipment. Background Technology

[0002] The cleaning and maintenance of high-rise building facades is generally done manually. The conventional approach is to use suspended platforms as work platforms for manual cleaning and maintenance. However, manual labor presents significant safety hazards and low efficiency. Therefore, various automated and intelligent window cleaning machines have emerged to automate the maintenance of building facades. However, conventional window cleaning machines typically only perform cleaning and cannot simultaneously detect potential leaks in glass curtain walls. Furthermore, they lack corresponding control systems to link automatic cleaning and automatic detection for efficient and high-quality maintenance. This invention provides an automated control system and method for intelligent high-altitude maintenance equipment to solve the above problems. Summary of the Invention

[0003] This invention provides an automatic control system and control method for intelligent high-altitude operation and maintenance equipment, which realizes automated operation and maintenance while taking into account both operation and maintenance efficiency and quality.

[0004] The technical solution adopted by the present invention to solve the above-mentioned technical problems is as follows: An automatic control system for intelligent high-altitude maintenance equipment. Includes a control module, used to set equipment operating parameters, set operating modes, control module operation, and start / stop the system; The analysis module, connected to the control module, is used to receive and analyze building model data, output cleaning data to the control module, and receive and record leak point data and output repair data to the control module. The cleaning module, connected to the control module, is used for cleaning operations on the exterior glass curtain walls of buildings. The action module is connected to the control module and performs actions under the control of the control module. The identification module, connected to the analysis module and the control module, is used to identify obstacles on the building facade and to identify leaks in the glass curtain wall, and outputs the leak data to the analysis module.

[0005] Furthermore, the control module's operating modes include a cleaning mode and a repair mode. The cleaning mode is that the control action module performs actions according to the cleaning data; The repair mode is that the control action module performs actions according to the repair data.

[0006] Furthermore, the cleaning data output by the analysis module includes cleaning area data, cleaning path data, and movement path data. The cleaning area data refers to the glass curtain wall area of ​​the building facade, and the spatial parameters of the cleaning area for a single cleaning cycle are determined based on the battery life of the cleaning module. The cleaning path data is the trajectory of the cleaning module within a single cleaning area under the action of the action module; The movement path data is the movement path of the cleaning module between various cleaning areas under the action of the action module.

[0007] Furthermore, the repair data refers to the continuous action trajectory of the action module under the control of the control module when repairing all leak points.

[0008] Furthermore, the motion module includes a track-translation motion mode, a telescopic motion mode, a swing arm motion mode, and a lifting motion mode.

[0009] Furthermore, when identifying water leakage points in the glass curtain wall, the identification module first identifies the water leakage and integrity of the glass curtain wall seal, then performs water spray leak detection, and finally identifies the water leakage.

[0010] A control method for an automatic control system of intelligent high-altitude maintenance equipment includes the following steps. S1, Data Input and Analysis: After the data of the building model to be cleaned is input into the analysis module, the analysis module analyzes the building model data and outputs the cleaning data to the control module; S2, Cleaning mode operation: After the cleaning module is connected to the action module, the control module controls the action module to perform actions according to the cleaning mode, and controls the cleaning module to perform cleaning operations synchronously and controls the recognition module to perform recognition operations synchronously. S3, Identify Leak Points: When the identification module detects a potential leak, it pauses the action module's operation and identifies the potential leak point. Once identified as a leak point, the leak point data is output to the analysis module, which then marks the leak point data in the building model data. S4, generating repair data: After the cleaning operation is completed according to the cleaning mode, the analysis module combines and calculates all the leak data to generate repair data, and outputs the repair data to the control module; S5, Repair Mode Operation: After the repair basket is connected to the action module, the control module controls the action module to perform actions according to the repair mode.

[0011] The beneficial effects of this invention are as follows: The system analyzes the building model and forms the optimal cleaning path. During the cleaning operation, it detects and identifies leaks in the sealing strips, marks the identified leak points, and finally plans the best path for repairing the leaks. Through these steps, it achieves automatic control of intelligent operation and maintenance equipment, thereby realizing high-efficiency and high-quality automated operation and maintenance. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the control system flow of the present invention; Figure 2 This is a schematic diagram of the control method steps of the present invention.

[0013] Reference numerals: 100, Control module; 200, Analysis module; 300, Cleaning module; 400, Action module; 500, Recognition module. Detailed Implementation

[0014] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0015] In the description of this invention, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0016] like Figure 1 As shown, an automatic control system for an intelligent high-altitude maintenance equipment. It includes a control module 100, which is used to set equipment operating parameters, set operating modes, and control the operation and start / stop system of the cleaning module 300, action module 400, and identification module 500; The analysis module 200 is connected to the control module 100 and is used to receive and analyze building model data, output cleaning data to the control module 100, and receive and record leakage point data and output repair data to the control module 100. The cleaning module 300 is connected to the control module 100 and is used for cleaning operations on the exterior glass curtain wall of a building. The action module 400 is connected to the control module 100 and performs actions under the control of the control module 100. The identification module 500, connected to the analysis module 200 and the control module 100, is used to identify obstacles on the building facade and to identify leaks in the glass curtain wall, and outputs the leak data to the analysis module 200.

[0017] This invention analyzes and generates cleaning data through the analysis module 200, outputs the cleaning data to the control module 100, and the control module 100 enters the cleaning mode based on the input cleaning data. Then, it controls the action module 400 to perform actions according to the cleaning data, and simultaneously controls the cleaning module 300 to clean the exterior glass curtain wall of the building. At the same time, it controls the identification module 500 to identify and verify the sealing strips of the glass curtain wall during the cleaning operation. When water leakage is detected in the sealing strips of the glass curtain wall, the leakage information is transmitted to the analysis module 200, which marks the points. After the cleaning operation is completed, the analysis module 200 combines and calculates all the leakage points to generate repair data. When the repair operation is performed, the analysis module 200 outputs the repair data to the control module 100, and the control module 100 enters the repair mode based on the input repair data, and then controls the action module 400 to perform actions according to the repair data. This invention enables automated and intelligent cleaning of building exterior glass curtain walls, as well as automated identification and detection of leaks in sealing strips. Finally, the leak information is combined and the optimal repair path is calculated for repair, achieving comprehensive and efficient automated operation and maintenance.

[0018] Furthermore, the control module 100 has two operating modes: a cleaning mode and a repair mode. The cleaning mode is described in which the analysis module 200 analyzes and calculates the cleaning data of the cleaning module 300, outputs the cleaning data to the control module 100, and the control module 100 controls the action module 400 to perform actions according to the cleaning data, thereby driving the cleaning module 300 to move according to the cleaning data. The repair mode is that after the analysis module 200 analyzes the leakage point information, it calculates the repair path and outputs the repair data to the control module 100. The control module 100 controls the action module 400 to perform actions according to the repair data, thereby driving the repair basket to move according to the repair data.

[0019] Furthermore, the control module 100 and the analysis module 200 are the central control system of the high-altitude operation and maintenance equipment. The analysis module 200 is used for data analysis and path planning, and the control module 100 is used to control the various mechanisms of the high-altitude operation and maintenance equipment to perform actions in different modes to complete the operation and maintenance work.

[0020] Furthermore, the cleaning data output by the analysis module 200 includes cleaning area data, cleaning path data, and movement path data. The cleaning area data refers to the glass curtain wall area of ​​the building facade, and the spatial parameters of the single cleaning area are determined based on the operating time of the cleaning module 300. The analysis module 200 analyzes the input building model data, automatically identifies various parameters in the data model, and then identifies the area of ​​the glass curtain wall that needs to be cleaned. Then, based on the operating time parameters of the cleaning module 300 or the parameters of the single cleaning area, the area of ​​the glass curtain wall is divided into unit blocks. The cleaning module 300 cleans one unit block at a time. The specific parameters of the unit block include size, shape and specific location.

[0021] The cleaning path data is the trajectory of the cleaning module 300 within a single cleaning area driven by the action module 400. Specifically, the cleaning module 300 adopts a Z-shaped cyclic trajectory, that is, it first moves horizontally to clean the top row of the unit block, then moves down by a cleaning width and then moves horizontally in the opposite direction to clean, forming a continuous cyclic trajectory.

[0022] The movement path data refers to the movement path of the cleaning module 300 between various cleaning areas under the action of the action module 400.

[0023] Furthermore, the repair data refers to the continuous movement trajectory of the action module 400 under the control of the control module 100 when repairing all leak points. After the analysis module 200 marks all leak points, it connects all leak points and calculates the shortest repair path. The control module 100 then controls the action module 400 to perform actions, thereby causing the repair basket to move along the shortest repair path.

[0024] Furthermore, the motion module 400 is equipped with a track-aligned translational motion mode, a telescopic motion mode, a swing-arm motion mode, and a lifting motion mode. The translational motion mode is used to move the cleaning module 300 horizontally, the telescopic motion mode is used to move the cleaning module 300 away from or towards the building facade, the lifting motion mode is used to move the cleaning module 300 up and down, and the swing-arm motion mode is used to rotate the cleaning module 300 around an axis, which is suitable for movement on curved surfaces and makes the trajectory smoother.

[0025] Furthermore, the action module 400 is a window cleaning machine main unit installed on the roof, including a track, a moving chassis, a rotating frame, a telescopic arm, and a rotating swing arm. The moving chassis moves on the track to achieve translational movement, the telescopic arm achieves telescopic movement, the rotating frame and the rotating swing arm achieve swing arm movement, and the hoisting rope achieves lifting and lowering movement.

[0026] Furthermore, the cleaning module 300 is a window cleaning machine, which includes a negative pressure housing, cleaning wheels, and a water tank. The cleaning wheels are located inside the negative pressure housing, and the water tank is located on the rear side of the negative pressure housing. The negative pressure housing is used to provide negative pressure to adsorb the window cleaning machine onto the glass curtain wall. The cleaning wheels are used for cleaning, and the water tank is used for water supply and wastewater circulation.

[0027] Furthermore, the identification module 500 is a monitoring and identification device, installed on the negative pressure housing of the window cleaning machine, including an identification component and a water spraying component. The identification component is a temperature and humidity sensor and a camera. The temperature and humidity sensor is used to detect the temperature and humidity inside the glass curtain wall seal, and the camera is used to identify the surface features of the glass curtain wall, including the integrity of the seal and obstacles on the surface of the glass curtain wall. The water spraying component is a sprayer that is supplied with water through the water tank of the window cleaning machine.

[0028] Furthermore, when identifying leak points in the glass curtain wall, the identification module 500 first identifies the leak and integrity of the glass curtain wall seal. If it finds that the glass curtain wall seal is damaged, there is a large difference in color before and after cleaning, or there is a large difference in temperature and humidity after cleaning compared to the surrounding area, it is considered that there is a potential leak in the glass curtain wall seal at that location. Then, water is sprayed to detect leaks in the glass curtain wall seal at that location, and then leak identification is performed. If there is a large difference in temperature and humidity inside the glass curtain wall compared to the surrounding area, or if the sealing strip is significantly deformed, it is determined to be a leak point, and the leak information is transmitted to the analysis module 200. The analysis module 200 records and marks the coordinate information, and after all data is collected, repair data is generated.

[0029] like Figure 2 As shown, a control method for an automatic control system of an intelligent high-altitude maintenance equipment includes the following steps: S1, Data Input and Analysis: After the data of the building model to be cleaned is input into the analysis module 200, the analysis module 200 analyzes the building model data and outputs the cleaning data to the control module 100. S2, Cleaning mode operation: After the cleaning module 300 is connected to the action module 400, the control module 100 controls the action module 400 to perform actions according to the cleaning mode. The action module 400 drives the cleaning module 300 to move according to the cleaning data. At the same time, the control module 100 controls the cleaning module 300 to perform cleaning operations and controls the identification module 500 to perform identification operations simultaneously. S3, Identify Leak Points: During the cleaning operation, when the identification module 500 identifies a potential leak, it pauses the action module 400 and identifies the potential leak point through the identification module 500. After the leak point is identified, the leak point data is output to the analysis module 200. The analysis module 200 marks the leak point data in the building model data and then continues the cleaning operation. S4, generating repair data: After completing all cleaning operations according to the cleaning mode, the analysis module 200 combines and calculates all the leak data to generate repair data, and outputs the repair data to the control module 100. S5, Repair Mode Operation: When performing repairs, a repair basket is required. After the repair basket is connected to the action module 400, the control module 100 controls the action module 400 to perform actions according to the repair mode, repairing the leak points one by one.

[0030] It will be apparent to those skilled in the art that the present 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 its spirit or essential characteristics. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention, and no reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. An automatic control system for intelligent high-altitude operation and maintenance equipment, characterized in that, Includes a control module (100) for setting equipment operating parameters, setting operating modes, controlling module operation, and starting and stopping the system; The analysis module (200) is connected to the control module (100) and is used to receive and analyze building model data, output cleaning data to the control module (100), and receive and record leakage point data and output repair data to the control module (100). The cleaning module (300), connected to the control module (100), is used for cleaning operations on the exterior glass curtain wall of a building; The action module (400) is connected to the control module (100) and performs actions under the control of the control module (100); The identification module (500), connected to the analysis module (200) and the control module (100), is used to identify obstacles on the building facade and to identify water leakage points in the glass curtain wall, and outputs the water leakage point data to the analysis module (200).

2. The automatic control system for an intelligent high-altitude maintenance equipment according to claim 1, characterized in that, The control module (100) has two operating modes: a cleaning mode and a repair mode. The cleaning mode is that the control action module (400) performs actions according to the cleaning data; The repair mode is that the control action module (400) performs actions according to the repair data.

3. The automatic control system for an intelligent high-altitude maintenance equipment according to claim 1, characterized in that: The cleaning data output by the analysis module (200) includes cleaning area data, cleaning path data, and movement path data. The cleaning area data refers to the glass curtain wall area of ​​the building facade, and the spatial parameters of the cleaning area for a single cleaning cycle are determined based on the battery life of the cleaning module (300). The cleaning path data is the trajectory of the cleaning module (300) within a single cleaning area under the action of the action module (400); The movement path data is the movement path of the cleaning module (300) between various cleaning areas under the action of the action module (400).

4. The automatic control system for an intelligent high-altitude maintenance equipment according to claim 2, characterized in that: The repair data is the continuous movement trajectory of the action module (400) under the control of the control module (100) when repairing all leak points.

5. The automatic control system for an intelligent high-altitude maintenance equipment according to claim 1, characterized in that: The motion module (400) is equipped with a track translation motion mode, a telescopic motion mode, a swing arm motion mode, and a lifting motion mode.

6. The automatic control system for an intelligent high-altitude maintenance equipment according to claim 1, characterized in that: When identifying water leakage points in the glass curtain wall, the identification module (500) first identifies the water leakage and integrity of the glass curtain wall seal, then performs water spray leak detection, and finally identifies the water leakage.

7. A control method for an automatic control system of intelligent high-altitude maintenance equipment, characterized in that, Includes the following steps, S1, Data Input and Analysis: After the data of the building model to be cleaned is input into the analysis module (200), the analysis module (200) analyzes the building model data and outputs the cleaning data to the control module (100). S2, Cleaning mode operation: After the cleaning module (300) is connected to the action module (400), the control module (100) controls the action module (400) to perform actions according to the cleaning mode, and controls the cleaning module (300) to perform cleaning operations synchronously and controls the identification module (500) to perform identification operations synchronously through the control module (100); S3, Identify Leak Points: When the identification module (500) identifies a potential leak, it pauses the action module (400) and identifies the potential leak point through the identification module (500). After the leak point is identified, the leak point data is output to the analysis module (200), and the analysis module (200) marks the leak point data in the building model data. S4, forming repair data: After the cleaning operation is completed according to the cleaning mode, the analysis module (200) combines and calculates all the leakage point data to form repair data, and outputs the repair data to the control module (100). S5, Repair mode operation: After the repair basket is connected to the action module (400), the control module (100) controls the action module (400) to perform actions according to the repair mode.

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