Suspension type building curtain wall inspection system and inspection method

Abstract

The invention relates to a suspension type building curtain wall inspection system and method, the suspension type building curtain wall inspection system comprises a suspension platform, an inspection unit and a mooring unit, the suspension platform can suspend in the air, the suspension platform can rotate relative to a building curtain wall, the inspection unit is installed below the suspension platform, and the mooring unit is installed below the suspension platform. The suspension platform can rotate relative to the inspection unit, the image acquisition end of the inspection unit is arranged towards the building curtain wall, and the mooring unit is connected with the suspension platform and used for controlling the suspension platform to make contact with the outer surface of the building curtain wall. According to the suspension type building curtain wall inspection system, the inspection efficiency can be improved.

Description

Technical Field

[0001] This application relates to the field of building equipment technology, and in particular to a suspended building curtain wall inspection system and inspection method. Background Technology

[0002] As the service life of glass curtain wall structures in high-rise and super high-rise buildings gradually increases, more and more urban high-rise building glass curtain walls are facing the approaching end of their design life, making high-rise curtain wall inspection an important part of ensuring public safety.

[0003] The relevant technology uses manual suspended platform inspection, but this method not only requires personnel to work at height, posing safety hazards, but is also limited by the speed of the suspended platform's movement, resulting in low inspection efficiency. Summary of the Invention

[0004] The purpose of this application is to provide a suspended building curtain wall inspection system that can improve inspection efficiency.

[0005] To achieve the above objectives, this application provides the following technical solution: This application provides a suspended building curtain wall inspection system, including: A suspended platform, which can be suspended in the air and can rotate relative to the building curtain wall; An inspection unit is installed below the suspended platform, which is rotatable relative to the inspection unit, and the image acquisition end of the inspection unit is arranged facing the building curtain wall. A mooring unit is connected to the suspended platform and is used to control the contact between the suspended platform and the outer surface of the building curtain wall.

[0006] In some embodiments, the suspension platform includes a suspension airbag and a buffer layer. The suspension airbag is hollow to store light gas, and the buffer layer covers the outside of the suspension airbag. The suspension airbag has connecting seats on both sides along its length, and the connecting seats are connected to the tethering unit.

[0007] In some embodiments, the inspection unit includes a connecting frame, a pan-tilt unit, and an image acquisition component. The connecting frame extends along the length of the suspended airbag and is arranged parallel to the suspended airbag. The connecting frame is connected to the suspended airbag at both ends along its length, and the suspended airbag is rotatable relative to the connecting frame. The upper end of the pan-tilt unit is connected to the connecting frame, and the image acquisition component is connected to the pan-tilt unit.

[0008] In some embodiments, the inspection unit further includes a first fine-tuning component and a second fine-tuning component, the first fine-tuning component and the second fine-tuning component being used to inject high-pressure gas, the first fine-tuning component and the second fine-tuning component being respectively installed at the bottom of the suspension airbag, and the injection ends of the first fine-tuning component and the second fine-tuning component being respectively directed toward both sides in the length direction of the suspension airbag.

[0009] In some embodiments, the first fine-tuning component and the second fine-tuning component are arranged symmetrically along the length direction of the suspended airbag with the gimbal as the center of symmetry.

[0010] In some embodiments, the mooring unit includes a first mooring component and a second mooring component, the first mooring component and the second mooring component are located on opposite sides of the building, the first mooring component and the second mooring component are connected to the suspended platform, and the first mooring component and the second mooring component are arranged symmetrically along the length of the suspended platform.

[0011] In some embodiments, both the first and second mooring components include a winch and a mooring cable. One end of the mooring cable is connected to the suspended platform, and the other end of the mooring cable is wound around the winch. The winch is used to reel in and unwind the mooring cable, and the winch is movable in a direction orthogonal to the building height and orthogonal to the length of the suspended platform. The winch is equipped with a tension monitor and a length monitor. The tension monitor is used to monitor the tension of the mooring cable, and the length monitor is used to monitor the winding and unwinding length of the mooring cable.

[0012] This invention also proposes a suspended inspection method, comprising the following steps: Responding to inspection parameters and calibrating the initial positions of the first and second tethering components in the tethering unit; The initial position of the suspended platform is calibrated based on the inspection parameters; Controlling the hoists in the first and second mooring components to extend and retract the mooring cables controls the suspended platform to move along a preset path for inspection of the curtain wall.

[0013] In some embodiments, controlling the hoist's winding and unwinding includes: Obtain the length information of the take-up and release mooring cables for each winch; In response to inspection parameters and the length of the mooring cable for each winch, the system controls the winding and unwinding of different winches to pull the suspended platform along a preset path.

[0014] Beneficial effects: This application provides a suspended building curtain wall inspection system. The system can be suspended in the air via a suspension platform. By installing the inspection unit below the suspension platform with the image acquisition end facing the building curtain wall, the system ensures accurate positioning of the image acquisition direction. At the same time, the rotatable suspension platform relative to the inspection unit effectively isolates the impact of platform sway on the image quality. The system is connected to the suspension platform by a tethering unit and controls its contact with the outer surface of the building curtain wall to prevent the device from flying away from the work area. Furthermore, the flexible contact characteristics eliminate the risk of rigid collisions.

[0015] The suspension platform utilizes lightweight gas to sustainably levitate in the air. Compared to drones and other flying equipment that require continuous power supply, it reduces power consumption and extends operating time. It effectively solves the technical dilemmas of existing technologies, such as the difficulty in maintaining a stable hovering state and the lack of physical constraints on the range of movement, thus enabling efficient, comprehensive, and safe inspection of high-rise building curtain walls. Attached Figure Description

[0016] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. Wherein: Figure 1 This is a structural schematic diagram of a suspended building curtain wall inspection system provided according to some embodiments of this application; Figure 2 This is a schematic diagram of the structure of a suspension platform provided according to some embodiments of this application; Figure 3 This is a flowchart illustrating a suspended inspection method provided according to some embodiments of this application.

[0017] Explanation of reference numerals in the attached figures: 100 suspended platforms, 200 inspection units, 300 mooring units, and 400 buildings; Suspension airbag 1, buffer layer 2, connecting seat 3, connecting frame 4, gimbal 5, image acquisition component 6, first fine-tuning component 7, second fine-tuning component 8, first tethering component 9; Second mooring component 10, winch 101, mooring cable 102, guide rail 103; Airborne control module 11, ground control module 12. Detailed Implementation

[0018] The present application will now be described in detail with reference to the accompanying drawings and embodiments. Various examples are provided by way of explanation and not by way of limitation. In fact, those skilled in the art will understand that modifications and variations can be made to the present application without departing from the scope or spirit of the present application. For example, a feature shown or described as part of one embodiment may be used in another embodiment to produce yet another embodiment. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention should fall within the scope of protection of the embodiments of the present invention.

[0019] This invention provides a suspended building curtain wall inspection system, including a suspended platform 100, an inspection unit 200, and a tethering unit 300. The suspended platform 100 can be suspended in the air and can rotate relative to the building curtain wall 400. The inspection unit 200 is installed below the suspended platform 100 and can rotate relative to the inspection unit 200. The image acquisition end of the inspection unit 200 is arranged facing the building curtain wall 400. The tethering unit 300 is connected to the suspended platform 100 and is used to control the contact between the suspended platform 100 and the outer surface of the building curtain wall 400.

[0020] See Figure 1 As shown, the suspension platform 100 is a flexible cylindrical structure. The suspension platform 100 includes a suspension airbag 1 and a buffer layer 2. The suspension airbag 1 is hollow inside to store light gas. The buffer layer 2 covers the outside of the suspension airbag 1. The suspension airbag 1 is provided with connecting seats 3 on both sides along its length direction. The connecting seats 3 are connected to the mooring unit 300.

[0021] For example, the lightweight gas can be helium, whose buoyancy is greater than the total weight of the system, thus achieving natural ascent and stable suspension in the air. The outer surface of the suspension platform 100 is covered with a flexible buffer layer 2 made of wear-resistant polyurethane nylon cloth. When the suspension airbag 1 comes into contact with the outer surface of the curtain wall of the building 400, the buffer layer 2 can absorb the impact energy through elastic deformation, avoiding damage to the curtain wall or airbag caused by rigid collision. The suspension platform 100 has cable connection points on both sides along its length for detachable connection with the mooring unit 300. The suspension platform 100 is rotatable relative to the curtain wall of the building 400, which means that under the action of double cable traction, by adjusting the length difference of the two mooring cables 102, the platform deflects about the axis of rotation, that is, the suspension airbag 1 can roll on the curtain wall to adapt to the curved surface or corner area of ​​the curtain wall in different directions.

[0022] For example, see... Figure 1As shown, the length direction of the suspended airbag 1 is consistent with the horizontal extension direction of the curtain wall of the building 400. The suspended airbag 1 is hollow inside and is filled with a light gas, such as helium or hot air. Helium can be selected because it is chemically stable, has a density much lower than air, and has no risk of combustion or explosion. The buoyancy of the suspended airbag 1 can be set according to the actual load requirements to ensure that the buoyancy of the suspended airbag 1 is greater than the total weight of the connecting parts of the suspended platform 100, the inspection unit 200, and the mooring unit 300, thereby ensuring that the system has a natural upward trend and maintains a suspended state in the air. The material of the suspended airbag 1 is, for example, polyurethane coated nylon cloth, neoprene composite film, or ethylene-tetrafluoroethylene copolymer (ETFE) film to take into account airtightness, tear resistance, and flexibility. In this embodiment, the specific size, volume, and inflation pressure of the suspended airbag 1 are not specifically limited. It can be adapted to the height of the building 400, the area of ​​the curtain wall, and the inspection load.

[0023] The buffer layer 2 covers the outside of the suspended airbag 1 and is used to absorb impact energy when the suspended platform 100 comes into contact with the curtain wall of the building 400, preventing the curtain wall glass from breaking or the equipment from being damaged by rigid collisions. The material of the buffer layer 2 is, for example, wear-resistant polyurethane foam, silicone foam material or high-elasticity TPU coated fabric. The buffer layer 2 can cover the entire outer surface of the suspended airbag 1, or it can only cover the local area that is easily in contact with the curtain wall (such as the side of the airbag facing the curtain wall and the edges of both ends). The buffer layer 2 and the suspended airbag 1 can be connected by heat pressing, gluing or sewing.

[0024] The connecting seat 3 can be a metal ring, a high-strength engineering plastic insert, or a fabric ear with reinforcing ribs. Its structure can be a through-type riveting, an embedded molding, or an external bolt connection. The installation position of the connecting seat 3 on the suspension airbag 1 can be set according to the arrangement of the tethering unit 300. For example, it can be located at the symmetrical points at both ends of the airbag axis. The connecting seat 3 is connected to the tethering unit 300. Specifically, one end of the tethering cable 102 is fixedly connected to the connecting seat 3 through a quick-release connector, a rotating ring, or a locking clamp.

[0025] The mooring cable 102 can be a Kevlar fiber optic composite cable, which combines mechanical traction, power transmission, and signal return functions. The connection is rigid and detachable, facilitating system assembly, debugging, and maintenance. This configuration utilizes the continuous static buoyancy generated by the lightweight gas filling the suspended airbag 1 to replace the traditional motor-driven lift, reducing energy consumption and extending operating time. Through the external flexible buffer layer 2, when the suspended platform 100 comes into contact with the curtain wall due to wind deviation or control errors, the material deformation absorbs the impact kinetic energy, preventing glass breakage and equipment damage. With the help of the symmetrically arranged connecting seats 3 on both sides of the airbag, the traction force of the mooring unit 300 is accurately guided into the main load-bearing path of the airbag. Combined with the dual-cable coordinated control, the attitude stability and position controllability of the suspended platform 100 under gust wind disturbances are improved.

[0026] The inspection unit 200 is installed below the suspended platform 100, specifically at the belly or side of the suspended platform 100. A rotating joint or flexible hinge structure is provided between the suspended platform 100 and the gimbal 5, allowing the platform to rotate relative to each other under wind load or cable traction disturbance.

[0027] The tethering unit 300 is connected to the suspension platform 100, specifically consisting of two independent and controllable tethering cables 102, which are respectively connected to the cable connection points at both ends of the suspension platform 100 in the length direction. The tethering unit 300 is used to control the contact between the suspension platform 100 and the outer surface of the curtain wall of the building 400. By coordinating and controlling the length and tension of the two tethering cables 102, the height, horizontal position and suspension attitude of the suspension airbag 1 are controlled.

[0028] In some embodiments, the inspection unit 200 includes a connecting frame 4, a gimbal 5, and an image acquisition component 6. The connecting frame 4 extends along the length direction of the suspended airbag 1 and is arranged parallel to the suspended airbag 1. The two ends of the connecting frame 4 are connected to the suspended airbag 1 respectively, and the suspended airbag 1 is rotatable relative to the connecting frame 4. The upper end of the gimbal 5 is connected to the connecting frame 4, and the image acquisition component 6 is connected to the gimbal 5.

[0029] See Figure 2 As shown, the left and right ends of the connecting frame 4 are connected to the connecting seat 3 respectively, and the suspension airbag 1 can rotate relative to the connecting frame 4. That is, there will be relative rotation between the connecting frame 4 and the connecting seat 3. In other words, the connecting frame 4 always remains horizontal, while the suspension airbag 1 can rotate relative to the connecting frame 4. For example, the connecting frame 4 is a rigid rod-shaped or plate-shaped structure, and its length direction is consistent with the axis of the suspension airbag 1. It is used to support the gimbal 5 and the image acquisition component 6 and to transfer the load to the suspension airbag 1. The material of the connecting frame 4 can be aluminum alloy, carbon fiber or engineering plastic, and its cross-sectional shape can be, for example, rectangular, circular or I-shaped. The size can be set according to the actual load and the size of the airbag. The two ends of the connecting frame 4 are connected to the suspension airbag 1 through a rotating hinge or bearing structure, so that the suspension airbag 1 can rotate at a limited angle relative to the connecting frame 4 around the axis of the connection point. This rotation is used to adapt to the platform attitude deflection caused by wind disturbance or changes in the tension of the mooring cable 102, thereby avoiding structural stress concentration or violent shaking of the image acquisition component 6 caused by rigid connection.

[0030] The connecting frame 4 is arranged in parallel with the suspension airbag 1. This parallel relationship is maintained by the installation positions at both ends of the connecting frame 4 and the outline of the suspension airbag 1. The spacing of the parallel arrangement can be set according to the thickness of the buffer layer 2, the adjustment stroke of the gimbal 5 and the anti-interference requirements.

[0031] The gimbal 5 is mounted on the lower surface of the connecting frame 4 or on the lateral support arm by bolts, clips or flanges. For example, the gimbal 5 is a three-axis self-stabilizing gimbal 5, including pitch axis, roll axis and yaw axis. Each axis is equipped with a servo motor and angle encoder to sense and compensate for attitude disturbances of the suspension platform 100 in real time. The control signal of the gimbal 5 is provided by the airborne control module 11, and its power supply is transmitted through the power line in the mooring cable 102.

[0032] The image acquisition component 6 is connected to the gimbal 5, meaning that the image acquisition component 6 is installed on the gimbal 5 tray or the end of the gimbal 5 arm of the gimbal 5 through a standard interface (such as M12, C port or USB-C) or a mechanical quick-release structure. The image acquisition component 6 includes an image sensor, a lens assembly and an image processing module, and supports one or more of visible light imaging, infrared thermal imaging or ultraviolet fluorescence imaging. The power supply and data transmission of the image acquisition component 6 are realized through the internal circuit of the gimbal 5 or the tethering cable 102. The specific model, parameters and communication protocol of the image acquisition component 6 are not specifically limited in this application embodiment.

[0033] With this configuration, when the suspended platform 100 rotates slightly due to wind disturbance or changes in tethering tension, the relative rotation between the connecting frame 4 and the suspended airbag 1 can absorb some low-frequency attitude disturbances. At the same time, the gimbal 5 drives the motors of each axis to perform reverse compensation movements in real time based on IMU feedback, so that the image acquisition component 6 always maintains the predetermined orientation and horizontal attitude, ensuring that the image acquisition component 6 continuously acquires clear and stable curtain wall images during dynamic surface inspection.

[0034] In some embodiments, an airborne control module 11 is provided inside the suspension airbag 1. The airborne control module 11 is communicatively connected to the ground control module 12. The airborne control module 11 is connected to the ground control module 12, the inspection unit 200, the suspension platform 100, and the tethering unit 300, respectively.

[0035] The airborne control module 11 can receive instructions from the ground control module 12, adjust the shooting angle of the image acquisition component 6, control the start / stop and power of the first fine-tuning component 7 and the second fine-tuning component 8, and transmit the acquired image data and the length / tension data of the mooring cable 102 back to the ground control module 12 in real time.

[0036] In some embodiments, the inspection unit 200 further includes a first fine-tuning component 7 and a second fine-tuning component 8, which are used to inject high-pressure gas. The first fine-tuning component 7 and the second fine-tuning component 8 are respectively installed at the bottom of the suspension airbag 1, and the injection end of the first fine-tuning component 7 and the injection end of the second fine-tuning component 8 are respectively directed toward the two sides of the suspension airbag 1 along its length.

[0037] See Figure 2 As shown, the first fine-tuning component 7 and the second fine-tuning component 8 are located on the left and right sides of the gimbal 5, respectively. The injection end of the first fine-tuning component 7 located on the left faces to the left, and the injection end of the first fine-tuning component 7 located on the right faces to the right. The first fine-tuning component 7 and the second fine-tuning component 8 are micro gas injection devices with the same structure and symmetrical arrangement. The main body includes a high-pressure air chamber, a solenoid valve, a nozzle and a connecting flange. The high-pressure air chamber is used to temporarily store compressed gas. The gas source can come from an airborne micro air compressor or a pre-filled high-pressure gas cylinder. The solenoid valve responds to the pulse control signal issued by the airborne control module 11 to achieve millisecond-level opening and closing. The nozzle has a convergent structure with an inner diameter of 0.8–2.5 mm. Different orifice specifications can be selected according to the actual thrust requirements. The connecting flange is fixed to the bottom outer surface of the suspension airbag 1 by bolts. The installation position is located in the middle section of the suspension airbag 1 along the length direction, slightly to both sides, and the line connecting the centers of the two nozzles is perpendicular to the axis of the suspension airbag 1.

[0038] The first fine-tuning component 7 and the second fine-tuning component 8 are used to inject high-pressure gas, which can be compressed air, nitrogen or an inert gas mixture. Without significantly disturbing the position of the overall suspension platform 100, they apply an effective corrective torque to the deflection attitude around the axis of the suspension airbag 1. The injection pressure, flow rate and duration can be dynamically adjusted according to the actual gust intensity, the mass of the suspension platform 100 and the magnitude of the attitude deviation angle.

[0039] The injection directions of the first fine-tuning component 7 and the second fine-tuning component 8 are opposite to each other and are both parallel to the horizontal plane where the axis of the suspension airbag 1 is located. Specifically, the injection direction of the first fine-tuning component 7 points to one side (e.g., the left side) of the length direction of the suspension airbag 1, and the injection direction of the second fine-tuning component 8 points to the other side (e.g., the right side). The two injection directions are mirror-symmetrical about the axis of the suspension airbag 1. This symmetrical arrangement allows a yaw correction torque about the vertical axis to be generated when only one side injection is used, and more precise attitude fine-tuning can be achieved when both sides differential injection is used.

[0040] Optionally, the first fine-tuning component 7 and the second fine-tuning component 8 are arranged symmetrically along the length of the suspension airbag 1 with the gimbal 5 as the center of symmetry.

[0041] It should be noted that, see Figure 2 As shown, the projection position of the geometric center point of the gimbal 5 onto the length direction of the suspension airbag 1 constitutes the symmetrical reference point of the first fine-tuning component 7 and the second fine-tuning component 8 in this direction. The mounting center of the first fine-tuning component 7 and the mounting center of the second fine-tuning component 8 are located on both sides of the projection point, and the distances from the two to the projection point are equal.

[0042] The first fine-tuning component 7 and the second fine-tuning component 8 are arranged in a mirror image along the axial direction of the suspension airbag 1 (i.e., its maximum dimensional extension direction). Their mounting bases are parallel to the cross-section of the suspension airbag 1, and their injection axes are perpendicular to the normal direction of the outer surface of the suspension airbag 1 and extend horizontally to both sides of the length direction of the suspension airbag 1.

[0043] The first fine-tuning component 7 and the second fine-tuning component 8 have the same structure, both including a high-pressure gas tank, a solenoid valve, a nozzle and a mounting bracket. The high-pressure gas tank is filled with compressed air or nitrogen. The solenoid valve responds to the pulse width modulation signal sent by the airborne control module 11 to control the gas flow and flow rate. The mounting bracket is fixed to the outer surface of the buffer layer 2 covering the bottom of the suspension airbag 1 by bolts. The rigidity of the bracket is sufficient to resist the local deformation caused by the jet reaction force.

[0044] The symmetrical arrangement allows the thrust vectors generated by the two fine-tuning components to form a centrally symmetrical force system about the center point of the gimbal 5 when working together. The resultant force passes through the region near the system's center of mass, and the resultant torque approaches zero, thus avoiding the introduction of additional bending moments due to thrust offset. When only one side of the fine-tuning component is used for attitude correction, the other side of the fine-tuning component can remain in standby mode or apply a weak reverse compensation airflow to suppress the rotational coupling effect caused by unilateral thrust. This arrangement is compatible with a variety of control strategies, including open-loop timed injection, closed-loop PID feedback regulation, and feedforward compensation control based on IMU attitude angle deviation.

[0045] In this way, the mechanical balance design of the first fine-tuning component 7 and the second fine-tuning component 8 in spatial layout is achieved. Since the two are symmetrically arranged along the length of the suspension airbag 1 with the gimbal 5 as the center of symmetry, the attitude adjustment force generated by their jet airflow is symmetrically distributed about the main control axis of the system. When performing attitude fine-tuning in pitch, yaw or roll direction, it effectively suppresses unexpected rotation, reduces the control system's need for high-order dynamic compensation, and improves the stability and response accuracy of the suspension platform 100 in maintaining a close hovering attitude under gust disturbance.

[0046] When the system detects that the suspended platform 100 has deflected, the airborne control module 11 independently controls the first fine-tuning component 7 or the second fine-tuning component 8 to inject high-pressure gas based on the direction and amplitude of the deflection. If the deflection is to the left, the second fine-tuning component 8 is activated to inject gas, generating a rightward recoil thrust; if the deflection is to the right, the first fine-tuning component 7 is activated to inject gas, generating a leftward recoil thrust, forming a clockwise torque. When strong gusts cause continuous disturbances, the two fine-tuning components can alternately or superimpose their injections at a set frequency to collaboratively provide a stable correction torque. This mechanism does not rely on the length adjustment of the mooring cable 102 and can undertake the task of dynamic attitude fine-tuning compensation after the main traction system has completed macroscopic positioning, thereby improving the stability and clarity of image acquisition during inspection.

[0047] In some embodiments, the mooring unit 300 includes a first mooring component 9 and a second mooring component 10, the first mooring component 9 and the second mooring component 10 are located on both sides of the building 400, the first mooring component 9 and the second mooring component 10 are connected to the suspended platform 100, and the first mooring component 9 and the second mooring component 10 are arranged symmetrically in the length direction of the suspended platform 100.

[0048] See Figure 1 As shown, the first mooring component 9 is arranged on the ground area on the left side of the front facade of the building 400, and the second mooring component 10 is arranged on the ground area on the right side of the front facade of the building 400. The two are symmetrically distributed along the longitudinal center plane of the building 400. The positional relationship between the two sides does not depend on the specific orientation of the building 400. It only needs to satisfy the requirement of forming a spatial angle within the projection range of the working surface of the suspended platform 100 to provide a resultant constraint force in the horizontal direction. This arrangement can be adaptively adjusted according to the actual size of the building 400, the surrounding site conditions, and the wind environment characteristics. For example, when there is an obstacle on one side of the building, the symmetrical traction effect can be maintained by finely adjusting the lateral spacing or longitudinal offset of the two mooring components.

[0049] Each tethered component is connected to the suspension platform 100 via a tethering cable 102. One end of the tethering cable 102 is fixedly connected to the two end connecting seats 3 along the length of the suspension platform 100, and the other end is connected to the winch 101 of the corresponding tethered component. The connection point is aligned with or on the extension line of the geometric center line of the suspension airbag 1 to ensure a clear force transmission path and no eccentric torque introduction. The connecting seat 3 can be in the form of a metal ring, quick-release pin, or flange, and the material can be stainless steel or aviation aluminum alloy, with strength meeting the maximum design tension requirements.

[0050] Among them, the first mooring component 9 and the second mooring component 10 are symmetrical with respect to the central plane of the length direction of the suspended platform 100. That is, the line connecting the projection points of the two components in the horizontal plane is perpendicular to the length direction of the suspended platform 100, and the midpoint falls in the central plane. The symmetrical arrangement ensures that the resultant force in the horizontal direction exerted by the two mooring cables 102 on the suspended platform 100 always points in the direction of the normal to the curtain wall surface. At the same time, the change in the cable length difference can be linearly mapped to the horizontal displacement of the suspended platform 100 and the rotation angle around the vertical axis.

[0051] This configuration enables precise positioning and attitude control of the suspended platform 100 in the horizontal direction. Since the first mooring component 9 and the second mooring component 10 are located on both sides of the building 400 and symmetrically arranged along the length of the suspended platform 100, they form a double-cable traction structure. During the control process, synchronously adjusting the length of the cables of the two mooring components can drive the suspended platform 100 to rise and fall in a direction perpendicular to the curtain wall, while differentially adjusting the length of the two cables can drive the suspended platform 100 to translate in a direction parallel to the curtain wall, reducing the lateral sway amplitude under gusts of wind, thereby improving the stability of the suspended platform 100 when hovering against the surface and the image acquisition quality.

[0052] In some embodiments, the first mooring component 9 and the second mooring component 10 both include a winch 101 and a mooring cable 102. One end of the mooring cable 102 is connected to the suspended platform 100, and the other end of the mooring cable 102 is wound around the winch 101. The winch 101 is used to reel in and unleash the mooring cable 102, and the winch 101 is movable in a direction orthogonal to the height of the building 400 and orthogonal to the length of the suspended platform 100.

[0053] See Figure 1As shown, for example, the winch 101 is an intelligent winch, which integrates a drive motor, a reduction mechanism, a cable guide wheel, and a braking unit. The drive motor is a servo motor or a stepper motor, and the rated output torque can be set according to the total weight of the suspended platform 100 and the maximum wind load. The reduction mechanism adopts a planetary gear structure, and the transmission ratio can be set according to the accuracy requirements of the winding and unwinding speed, such as 1:100 or 1:200. The cable guide wheel is used to guide the mooring cable 102 to be regularly layered and wound on the drum to prevent jumping or squeezing. The braking unit is an electromagnetic power failure brake type, which automatically locks the drum when the power is off to ensure positional safety in the event of a sudden power failure.

[0054] The mooring cable 102 is a Kevlar optical-electric composite cable. Its mechanical layer is made of high-strength Kevlar fiber braiding, and the optical layer contains a single-mode optical fiber for transmitting image acquisition data and control commands. The power layer contains multiple strands of tinned copper core wire for continuously supplying power to the suspended platform 100. One end of the mooring cable 102 is fixedly connected to the connecting seat 3 on the suspended platform 100 through a metal crimp connector, and the other end is wound around the drum of the winch 101 after passing through the cable guide wheel. The number of winding turns is not less than 3 turns to ensure the reliability of friction self-locking.

[0055] The winch 101 is used to wind up and unwind the mooring cable 102. The wind up and unwind actions are coordinated by the onboard control module 11 and the ground control module 12. It supports multiple working modes, including synchronous wind up and unwind (for vertical adjustment) and differential wind up and unwind (for horizontal distance and attitude adjustment). The drum surface of the winch 101 is provided with an annular groove that matches the shape of the mooring cable 102 to improve winding stability. The axial length of the drum is adapted to the maximum wind up and unwind stroke of the mooring cable 102.

[0056] The winch 101 can move in a direction orthogonal to the height of the building 400 and the length of the suspended platform 100, that is, it can translate in a horizontal direction (denoted as the Y direction) that is parallel to the exterior of the building 400 and perpendicular to the axis of the suspended platform 100.

[0057] For example, a track is laid on the ground, and the winch 101 can move on the track. The track is laid on the ground on the left and right sides of the building's front facade. An electric slide or hydraulic telescopic outrigger is provided between the base of the winch 101 and the track. The slide is driven by a servo motor. The ability to move in the Y direction allows the system to adapt to building facades of different widths and dynamically adjust the traction base point during inspection, improve the geometric constraints of the double cable, and enhance the accuracy of horizontal positioning.

[0058] Optionally, the winch 101 is equipped with a tension monitor and a length monitor. The tension monitor is used to monitor the tension of the mooring cable 102, and the length monitor is used to monitor the winding and unwinding length of the mooring cable 102.

[0059] The tension monitor is installed on the static force measuring component on the cable outlet side of the winch 101. For example, a strain gauge or S-type force sensor can be used. The tension monitor collects the tension signal of the mooring cable 102 in real time and uploads it to the airborne control module 11 or the ground control module 12 via CAN bus or RS485 interface. When the tension exceeds the preset safety threshold, the control module triggers an alarm and automatically reduces the winding and unwinding speed or suspends the action. The tension data participates in the closed-loop control calculation to compensate for the nonlinear tension changes caused by buoyancy fluctuations, wind load disturbances and cable sag.

[0060] The length monitor is a high-precision rotary encoder, installed on the main shaft of the winch 101 or the drum shaft. It is used to calculate the cable winding and unwinding length with the known drum diameter (e.g., 300mm). The encoder signal is connected to the controller to sample the real-time lengths L1 and L2 of the mooring cables 102 on both sides. The length data is used to calculate the current spatial position of the suspended platform 100 and support the execution of the dual-cable layered closed-loop control strategy. The length monitor also has a self-check function for broken wires. When the signal is lost or the jump exceeds the limit, the system enters the safety degradation mode.

[0061] This configuration combines the mobility of the winch 101 in the Y direction with the coordinated deployment and retraction capabilities of the dual cables, expanding the system's adaptability to different building scales. The tension monitor and length monitor together form a physical layer state perception closed loop, upgrading the position control of the suspended platform 100 from open-loop operation to intelligent closed-loop control with real-time feedback, dynamic compensation, and safety protection. Their synergistic effect improves the positioning accuracy, attitude stability, and operational reliability of the suspended platform 100 under curtain wall cladding conditions, while ensuring structural safety. This invention also proposes a suspended inspection method, including the following steps: S100, responding to inspection parameters and calibrating the initial positions of the first and second tethering components in the tethering unit.

[0062] Inspection parameters refer to the set of input conditions set by the ground control module to guide the execution of this inspection task. Inspection parameters may include the vertical height range of the target inspection area, the horizontal proximity distance, the start and end positions, the preset movement speed, and the ambient wind speed threshold. The set of parameters constitutes the benchmark for all subsequent control actions.

[0063] The initial position refers to the physical installation position of the first mooring component and the initial extension state of the cable before it begins to perform the inspection action. This includes the spatial position of the winch on the ground guide rail, the initial release length of the mooring cable, the initial value of the cable tension, and the spatial geometric relationship between the cable and the connection point of the suspended platform.

[0064] Optionally, the calibration method can be that the ground control terminal sends an initialization command to the two winches, drives them to retract the mooring cable to a preset reference length, and triggers the tension monitor to record the current static load tension value. At the same time, the spatial position of the winch base relative to the building reference point is measured by a laser rangefinder or total station to complete the geolocation. Then, the above position data, reference length value, and initial tension value are written into the memory of the control system as the initial state reference for this task.

[0065] Optionally, the calibration method may include using an attitude recognition tag installed at the end of the mooring cable, in conjunction with a ground positioning base station, to calculate in real time the initial pose of the connection point at the lower end of the two cables in three-dimensional space. The control system then uses this pose to infer the current position of the winch and the actual extension length of the cable, compares it with the theoretical design value, and automatically corrects the deviation.

[0066] Furthermore, the calibration method can also adopt a closed-loop calibration method based on image feedback. After the suspension platform is initially launched, the inspection unit collects the reference mark image of the building facade. Combined with the known mark spacing and imaging distortion model, the spatial projection angle and relative length relationship of the two mooring cables are solved inversely, and then the initial position parameters of the winch are iteratively updated.

[0067] S200, calibrate the initial position of the suspended platform based on inspection parameters.

[0068] After completing the tethered component calibration and before entering path tracking, the instantaneous position of the suspended platform in three-dimensional space is (Xc, Yc, Zc) and its attitude angles (pitch angle θ, yaw angle ψ, roll angle φ) relative to the building's outer surface. This position must meet the horizontal position X specified in the inspection parameters. t With vertical height Z t Require.

[0069] It should be noted that X t It is the target horizontal position, and the instantaneous position Xc is the same as X. t The error between them is less than or equal to 10cm, Z t It is the vertical distance to the target, and the instantaneous position Zc is the same as Z. t The error between them is less than or equal to 20cm.

[0070] Optionally, the calibration method can be as follows: the control system calculates the theoretical initial position of the suspended platform through spatial geometric modeling based on the initial positions and initial cable lengths of the two winches calibrated above, combined with the fixed distance L0 between the connecting seats at both ends of the suspended platform. Then, it calls the IMU sensor and barometric altimeter installed on the suspended platform to obtain the measured attitude and height, compares the measured values ​​with the theoretical values, and if the deviation exceeds the tolerance range, fine-tunes the cable winding and unwinding of the two winches until the measured position stably falls into X. t ±10cm, Zt Within ±20cm range.

[0071] In another alternative embodiment, the calibration method includes using the curtain wall baseline image acquired by the inspection unit, extracting the pixel spacing and tilt angle of two parallel vertical line segments in the image through edge detection and homography transformation, combining the angle feedback of the camera's in-camera gimbal, inferring the current horizontal distance and pitch angle θ of the suspended platform, generating a correction command accordingly, driving the winch to adjust the cable length difference to correct the current horizontal distance, and simultaneously adjusting the synchronous winding and unwinding amount to correct the current vertical distance.

[0072] Furthermore, this calibration method can also use a Kalman filter estimation method that integrates multiple sensor sources to incorporate GPS positioning, barometer altitude, IMU angular velocity and acceleration, laser rangefinder horizontal distance, and image visual odometry output into the state vector, construct a nonlinear observation model, and output a high-confidence six-degree-of-freedom initial pose of the suspended platform in real time.

[0073] S300: Control the winches in the first and second mooring components to raise and lower the mooring cables to control the suspended platform to move along a preset path for inspection of the curtain wall.

[0074] It should be noted that the preset path refers to a set of ordered spatial point sequences or parametric curves planned by the ground control module, used to control the trajectory of the target positions that the suspended platform should pass through in sequence during the inspection process. This includes a straight scanning path along the vertical direction of the curtain wall facade, a reciprocating scanning path in the horizontal direction, or a segmented spline curve path covering irregularly shaped areas. The preset path can be in three-dimensional coordinates, and each moment corresponds to a unique target position (X). t Y t Z t ) and target attitude (θ) t , ψ t φ t Controlling the release and retraction of the mooring cables of the winches refers to dynamically changing the release or retraction length of the mooring cables of the two winches by adjusting their motor speeds and directions, thereby traction of the suspended platform to produce controllable displacement and attitude adjustment.

[0075] For example, the control method can adopt a rolling optimization approach based on model predictive control (MPC). In each control cycle, based on the current state and the system dynamics model, the platform trajectory under different winch speed combinations in the next N steps is predicted. The speed sequence that minimizes the weighted sum of trajectory tracking error and control energy consumption is selected, and only the first step instruction is executed, and the process is iteratively updated.

[0076] This application completes two-stage initial calibration of the dual-tethered components and the suspended platform in response to inspection parameters, ensuring that all subsequent control actions have a unified and reproducible spatiotemporal reference. On this basis, through a layered decoupling control strategy—using the synchronous extension and retraction of the dual cables to control the vertical height and the length difference of the dual cables to control the horizontal distance and attitude angle—precise guidance of the six degrees of freedom motion of the suspended platform is achieved. With the help of multi-source sensor fusion feedback and multiple optional closed-loop control mechanisms, the suspended platform can stably track the preset path, overcome the dynamic uncertainties caused by airflow disturbances and structural flexibility, and ultimately achieve the goal of large-area, long-term, and high-precision automated curtain wall inspection.

[0077] In some embodiments, controlling the hoist's winding and unwinding includes: S301. Obtain the length information of the take-up and release mooring cable for each winch.

[0078] For example, the hovering control phase of the suspended platform includes vertical height control, horizontal distance control, and attitude correction control.

[0079] Optionally, vertical height control can be achieved by calculating the synchronous winding and unwinding speed Vs using a PI adjustment algorithm, controlling the two winches to wind and unwind the mooring cable at the same speed Vs, where Vs for winding is positive and for unwinding is negative, so that the real-time vertical position Zc is stabilized at Zt, thus offsetting the height drift caused by the deviation between buoyancy and self-weight.

[0080] Horizontal distance control can be achieved using the formula Xc=(L1²-L2²) / (2D), where L1 and L2 are the lengths of the mooring cables of the two winches, and D is the ground distance between the two winches. The target length difference ΔLt=2D(Xc-Xt) can be calculated using the formula, and the speed difference Δv is calculated using the PD adjustment algorithm. The speed difference (V1=Vs+Δv / 2, V2=Vs-Δv / 2) is added to Vs to achieve precise horizontal distance locking, where V1 and V2 are the winding and unwinding speeds of the two winches, respectively.

[0081] Attitude correction control: When there is an attitude deviation angle γc, the required length difference for correction is calculated according to ΔL=D·sinγc. The fine-tuning speed difference Δvc is calculated through the PID adjustment algorithm and added to the winch speed to keep the device axis horizontal. At the same time, if the attitude fluctuation is too large due to gusts, the airborne control module automatically activates the first and second fine-tuning components to provide additional correction force.

[0082] S302, responding to inspection parameters and the length information of the mooring cable for each winch, controls the winding and unwinding of different winches to traction the suspended platform to move along a preset path.

[0083] For example, by synchronously winding and unwinding the cable, the device can scan up and down in the vertical direction. By adjusting the difference in cable length, the device can move slightly in the horizontal direction. The image acquisition component continuously acquires images of the curtain wall and transmits them back to the ground control module. If the device comes into contact with the curtain wall due to wind, the buffer layer of the suspended airbag will cushion the impact force through deformation, thus preventing damage to the curtain wall and the device.

[0084] After the operation is completed and the system receives instructions from the ground control module, it controls the two winches to synchronously wind up the rope, lower the suspended platform to a safe height, and stop all system operations.

[0085] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to 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.

[0086] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0087] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0088] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0089] In this invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0090] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A suspended building curtain wall inspection system, characterized in that, include: A suspended platform, which can be suspended in the air and can rotate relative to the building curtain wall; An inspection unit is installed below the suspended platform, which is rotatable relative to the inspection unit, and the image acquisition end of the inspection unit is arranged facing the building curtain wall. A mooring unit is connected to the suspended platform and is used to control the contact between the suspended platform and the outer surface of the building curtain wall.

2. The suspended building curtain wall inspection system according to claim 1, characterized in that, The suspension platform includes a suspension airbag and a buffer layer. The suspension airbag is hollow inside to store light gas. The buffer layer covers the outside of the suspension airbag. The suspension airbag has connecting seats on both sides along its length, and the connecting seats are connected to the tethering unit.

3. The suspended building curtain wall inspection system according to claim 2, characterized in that, The inspection unit includes a connecting frame, a gimbal, and an image acquisition component. The connecting frame extends along the length of the suspended airbag and is arranged parallel to the suspended airbag. The connecting frame is connected to the suspended airbag at both ends along its length, and the suspended airbag is rotatable relative to the connecting frame. The upper end of the gimbal is connected to the connecting frame, and the image acquisition component is connected to the gimbal.

4. The suspended building curtain wall inspection system according to claim 3, characterized in that, The inspection unit further includes a first fine-tuning component and a second fine-tuning component. The first fine-tuning component and the second fine-tuning component are used to spray high-pressure gas. The first fine-tuning component and the second fine-tuning component are respectively installed at the bottom of the suspension airbag, and the spraying ends of the first fine-tuning component and the second fine-tuning component are respectively directed towards both sides of the length direction of the suspension airbag.

5. The suspended building curtain wall inspection system according to claim 4, characterized in that, The first and second fine-tuning components are arranged symmetrically along the length of the suspended airbag with the gimbal as the center of symmetry.

6. The suspended building curtain wall inspection system according to claim 1, characterized in that, The mooring unit includes a first mooring component and a second mooring component. The first mooring component and the second mooring component are located on opposite sides of the building. The first mooring component and the second mooring component are connected to the suspended platform and are arranged symmetrically along the length of the suspended platform.

7. The suspended building curtain wall inspection system according to claim 6, characterized in that, Both the first and second mooring components include a winch and a mooring cable. One end of the mooring cable is connected to the suspended platform, and the other end of the mooring cable is wound around the winch. The winch is used to wind up and unwind the mooring cable, and the winch is movable in a direction orthogonal to the height of the building and orthogonal to the length of the suspended platform.

8. The suspended building curtain wall inspection system according to claim 7, characterized in that, The winch is equipped with a tension monitor and a length monitor. The tension monitor is used to monitor the tension of the mooring cable, and the length monitor is used to monitor the winding and unwinding length of the mooring cable.

9. A suspended inspection method, characterized in that, Includes the following steps: Responding to inspection parameters and calibrating the initial positions of the first and second tethering components in the tethering unit; The initial position of the suspended platform is calibrated based on the inspection parameters; Controlling the hoists in the first and second mooring components to extend and retract the mooring cables controls the suspended platform to move along a preset path for inspection of the curtain wall.

10. The suspended photovoltaic cleaning method according to claim 9, characterized in that, The control of the winch's operation includes: Obtain the length information of the take-up and release mooring cables for each winch; In response to inspection parameters and the length of the mooring cable for each winch, the system controls the winding and unwinding of different winches to pull the suspended platform along a preset path.

Images