An automatic control system and control method of intelligent high-altitude operation and maintenance equipment

Abstract

The application discloses an automatic control system and method of intelligent high-altitude operation and maintenance equipment, and the automatic control system comprises a control module, an analysis module, a cleaning module, a moving module and an identification module. The analysis module is used for analyzing a building model and forming an optimal cleaning path, the control module is used for controlling the moving module to move, the moving module drives the cleaning module and the moving module to move, the cleaning module is used for cleaning, and the identification module is used for detecting and identifying water leakage of the sealing strip. The analysis module marks the identified water leakage points and plans an optimal path for repairing the water leakage points for repair. Through the above steps, the automatic control of the intelligent operation and maintenance equipment is realized, and efficient and high-quality automatic operation and maintenance are realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of window cleaning machine control, and particularly relates to an automatic control system and control method of intelligent high-altitude operation and maintenance equipment. BACKGROUND

[0002] High-rise building facade cleaning and maintenance is generally completed by manual work, and the conventional method is to use a high-altitude basket as a platform for the operator, and then the operator completes the cleaning and maintenance work. However, manual work has the problems of great safety hazards and low work efficiency, so various types of automated and intelligent window cleaning machines are used to realize automatic operation and maintenance of building facades, but conventional window cleaning machines can only realize cleaning and cannot simultaneously detect whether there is a water leakage hidden danger in the glass curtain wall, and there is no corresponding control system to realize the linkage of automatic cleaning and automatic identification to achieve efficient and high-quality operation and maintenance. The present application provides an automatic control system and control method of intelligent high-altitude operation and maintenance equipment to solve the above problems. SUMMARY

[0003] The present application provides an automatic control system and control method of intelligent high-altitude operation and maintenance equipment, which realizes automatic operation and maintenance, and takes into account the operation and maintenance efficiency and quality.

[0004] The technical scheme adopted by the present application to solve the above technical problems is:

[0005] An automatic control system of intelligent high-altitude operation and maintenance equipment,

[0006] The control module is used to set the equipment operation parameters, set the operation mode, control the module operation and start and stop the system.

[0007] The analysis module is connected with the control module, and is used to receive and analyze the building model data, output the cleaning data to the control module, and output the repair data to the control module after receiving the water leakage point data.

[0008] The cleaning module is connected with the control module, and is used for cleaning operation of the building external glass curtain wall.

[0009] The action module is connected with the control module and performs actions under the control of the control module.

[0010] The identification module is connected with the analysis module and the control module, and is used to identify the obstacles on the building facade and identify the water leakage points of the glass curtain wall, and output the water leakage point data to the analysis module.

[0011] Further, the operation mode of the control module includes a cleaning mode and a repair mode,

[0012] The cleaning mode is to control the action module to act according to the cleaning data.

[0013] The repair mode is that the action module acts according to the repair data.

[0014] Further, the cleaning data output by the analysis module includes cleaning area data, cleaning path data and movement path data,

[0015] The cleaning area data is the glass curtain wall area of the building facade, and the spatial parameters of the single cleaning area are determined according to the endurance of the cleaning module;

[0016] The cleaning path data is the trajectory of the cleaning module in the single cleaning area under the action of the action module;

[0017] The movement path data is the movement path of the cleaning module between each cleaning area under the action of the action module.

[0018] Further, the repair data is the continuous action trajectory of the action module under the control of the control module when repairing all water leakage points.

[0019] Further, the action module is provided with a track translation movement mode, an extension movement mode, an arm swing movement mode and a lifting movement mode.

[0020] Further, when identifying the water leakage point of the glass curtain wall, the identification module first identifies the water leakage and integrity of the glass curtain wall sealing, then performs water spray leak detection, and finally performs water leakage identification.

[0021] A control method of an automatic control system of an intelligent high-altitude operation and maintenance equipment, comprising the following steps,

[0022] S1, data input analysis: after the building model data is input into the analysis module, the analysis module analyzes the building model data, and outputs the cleaning data to the control module;

[0023] S2, cleaning mode operation: after the cleaning module is connected with the action module, the control module controls the action module to act according to the cleaning mode, and controls the cleaning module to synchronously perform cleaning operation and controls the identification module to synchronously perform identification operation through the control module;

[0024] S3, identifying water leakage point: when the identification module identifies a water leakage hidden danger, the action module is paused, the identification module identifies the water leakage hidden danger point, and after identifying the water leakage point, the water leakage point data is output to the analysis module, and the analysis module marks the water leakage point data in the building model data;

[0025] S4, forming repair data: after completing the cleaning operation according to the cleaning mode, the analysis module combines and calculates all the water leakage point data to form repair data, and outputs the repair data to the control module;

[0026] S5, repair mode operation: after the repair basket is connected with the action module, the control module controls the action module to act according to the repair mode.

[0027] The present application has the following advantages:

[0028] The building model is analyzed, the optimal cleaning path is formed, the water leakage detection and identification of the sealing strip are performed during the cleaning operation, the identified water leakage points are marked, and finally the optimal path for repairing the water leakage points is planned for repair. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 It is a control system flowchart of the present application;

[0030] Figure 2 It is a control method step schematic diagram of the present application.

[0031] Reference signs: 100, control module; 200, analysis module; 300, cleaning module; 400, action module; 500, identification module. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings of the specification. Obviously, the described embodiments are only some of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0033] In the description of the present application, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation to the present application.

[0034] As shown in Figure 1 , an automatic control system of intelligent high-altitude operation and maintenance equipment,

[0035] comprises a control module 100 for setting equipment operation parameters, setting operation modes, controlling the operation of a cleaning module 300, an action module 400 and an identification module 500, and starting and stopping the system;

[0036] The analysis module 200 is connected with the control module 100, and is used for receiving and analyzing the building model data, outputting the cleaning data to the control module 100, and outputting the repair data to the control module 100 after receiving the record of the water leakage point data;

[0037] The cleaning module 300 is connected with the control module 100, and is used for cleaning operation of the glass curtain wall outside the building;

[0038] The action module 400 is connected with the control module 100, and is used for performing actions under the control of the control module 100;

[0039] The identification module 500 is connected with the analysis module 200 and the control module 100, and is used for identifying the obstacles on the facade of the building and identifying the water leakage point of the glass curtain wall, and outputting the water leakage point data to the analysis module 200.

[0040] The analysis module 200 analyzes and forms the cleaning data, and outputs the cleaning data to the control module 100, the control module 100 enters the cleaning mode according to the input cleaning data, then controls the action module 400 to act according to the cleaning data, and controls the cleaning module 300 to operate at the same time, and the glass curtain wall outside the building is cleaned, and the identification module 500 is controlled to operate at the same time, and the sealing strip of the glass curtain wall is identified and verified at the same time of the cleaning operation, when the sealing strip of the glass curtain wall is identified to have water leakage, the water leakage information is transmitted to the analysis module 200, the analysis module 200 marks the point, after the cleaning operation is completed, the analysis module 200 combines and calculates all the water leakage points to form the repair data, and then outputs the repair data to the control module 100 when the repair operation is performed, the control module 100 enters the repair mode according to the input repair data, and then controls the action module 400 to act according to the repair data. The automatic and intelligent cleaning operation of the glass curtain wall outside the building is realized, and the automatic identification and detection of the sealing strip water leakage are simultaneously performed, finally the water leakage point information is combined and calculated to obtain the best repair path for the repair operation, and the comprehensive and efficient automatic operation and maintenance operation is realized.

[0041] Further, the operation mode of the control module 100 includes a cleaning mode and a repair mode,

[0042] The cleaning mode is that after the analysis module 200 analyzes and calculates the cleaning data of the cleaning module 300, the cleaning data is output to the control module 100, the control module 100 controls the action module 400 to act according to the cleaning data, and then drives the cleaning module 300 to move according to the cleaning data;

[0043] The repair mode is that after the analysis module 200 analyzes the water leakage point information, a repair path is calculated and repair data is output to the control module 100, the control module 100 controls the action module 400 to act according to the repair data, and then drives the repair basket to move according to the repair data.

[0044] Further, 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 for controlling each mechanism of the high-altitude operation and maintenance equipment to act in different modes to complete the operation and maintenance work.

[0045] Further, the cleaning data output by the analysis module 200 includes cleaning area data, cleaning path data and moving path data,

[0046] The cleaning area data is the glass curtain wall area of the building facade, and the space parameters of the single cleaning area are determined according to the endurance 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, and then divides the area of the glass curtain wall into unit blocks according to the endurance parameters of the cleaning module 300 or the parameters of the single cleaning area. The cleaning module 300 cleans one unit block at a time, and the specific parameters of the unit block include size, shape and specific position.

[0047] The cleaning path data is the trajectory of the cleaning module 300 in the single cleaning area under the action of the action module 400; the cleaning module 300 specifically adopts a zigzag circulating trajectory, that is, first transversely translate to clean the top horizontal row of the unit block, then move down a cleaning width and reverse transversely to clean, forming a continuous circulating trajectory.

[0048] The moving path data is the moving path of the cleaning module 300 between each cleaning area under the action of the action module 400.

[0049] Further, the repair data is the continuous action trajectory of the action module 400 under the control of the control module 100 when repairing all water leakage points. After the analysis module 200 marks all the water leakage points, the control module 100 controls the action module 400 to act, and then drives the repair basket to move according to the shortest repair path.

[0050] Further, the action module 400 is provided with a track translation movement mode, a telescopic movement mode, a swing arm movement mode and a lifting movement mode. The translation movement mode is used to drive the cleaning module 300 to move horizontally, the telescopic movement mode is used to drive the cleaning module 300 to move away from or approach the building facade, the lifting movement mode is used to drive the cleaning module 300 to move up and down, and the swing arm movement mode is used to drive the cleaning module 300 to rotate around the shaft, which is suitable for moving in curved surface positions, making the trajectory more smooth.

[0051] Further, the action module 400 is a window cleaning machine host provided on the roof, including a track, a movement chassis, a rotary frame, a telescopic arm and a rotary swing arm. The movement chassis moves on the track to realize translation movement, the telescopic arm realizes telescopic movement, the rotary frame and the rotary swing arm realize swing arm movement, and the lifting movement is realized by the winding and unwinding of the hanging rope.

[0052] Further, the cleaning module 300 is a window cleaning machine, which includes a negative pressure shell, a cleaning wheel and a water tank. The cleaning wheel is arranged in the negative pressure shell, and the water tank is arranged at the rear side of the negative pressure shell. The negative pressure shell is used to provide negative pressure to adsorb the window cleaning machine on the glass curtain wall. The cleaning wheel is used for cleaning, and the water tank is used for water supply and sewage circulation.

[0053] Further, the identification module 500 is a monitoring and identification device arranged on the negative pressure shell of the window cleaning machine, which includes 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. The camera is used to identify the surface features of the glass curtain wall, including the integrity of the seal and the obstacles on the surface of the glass curtain wall. The water spraying component is a sprayer, which is supplied with water by the water tank of the window cleaning machine.

[0054] Further, when identifying the water leakage point of the glass curtain wall, the identification module 500 first identifies the water leakage and the integrity of the glass curtain wall seal. When it is found that the glass curtain wall seal is damaged, the color difference before and after cleaning is large, and the temperature and humidity after cleaning are significantly different from the surrounding, it is considered that the glass curtain wall seal has a water leakage risk. Then, the glass curtain wall seal is sprayed for leakage detection, and then the water leakage is identified. When the temperature and humidity inside the glass curtain wall are significantly different from the surrounding or the seal strip is deformed significantly, it is determined that there is a water leakage point. The water leakage information is transmitted to the analysis module 200. The analysis module 200 records and marks the coordinate information, and forms the repair data after all the collection is completed.

[0055] As shown in Figure 2 , a control method of an automatic control system of an intelligent high-altitude operation and maintenance equipment, comprising the following steps,

[0056] S1, data input analysis: after the building model data 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;

[0057] 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 operate according to the cleaning mode, drives the cleaning module 300 to move according to the cleaning data through the action module 400, and controls the cleaning module 300 to perform synchronous cleaning operation and controls the identification module 500 to perform synchronous identification operation at the same time;

[0058] S3, identifying the water leakage point: during the cleaning operation, when the identification module 500 identifies a water leakage hazard, the action module 400 is paused, the identification module 500 identifies the water leakage hazard point, and after identifying the water leakage point, the water leakage point data is output to the analysis module 200, the analysis module 200 marks the water leakage point data in the building model data, and then the cleaning operation is continued;

[0059] S4, forming repair data: after completing all cleaning operations according to the cleaning mode, the analysis module 200 combines and calculates all water leakage point data to form repair data, and outputs the repair data to the control module 100;

[0060] S5, repair mode operation: when repairing, a repair basket is needed, after the repair basket is connected to the action module 400, the control module 100 controls the action module 400 to operate according to the repair mode, and each water leakage point is repaired.

[0061] It is apparent to those skilled in the art that the present application is not limited to the details of the foregoing exemplary embodiments, but can be implemented in other particular forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be considered in all respects as illustrative and not restrictive, the scope of the present application being defined by the appended claims rather than the foregoing description, and it is intended that all changes which come within the meaning and range of equivalency of the claims are embraced therein, and no limitation is placed on the scope of the claims by the supporting description or drawings which are set forth merely to illustrate a preferred embodiment of the application.

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) is connected to the analysis module (200) and the control module (100) to identify obstacles on the building facade and identify water leakage points in the glass curtain wall, and output the water leakage point data to the analysis module (200). The analysis module (200) combines all the water leakage points and calculates them to form repair data. 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; The repair data is the continuous action trajectory of the action module (400) under the control of the control module (100) when repairing all leak points; 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.

2. 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).

3. 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.

4. 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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