A curtain wall robot cleaning sealing dynamic adjustment device and method

Abstract

The application provides a curtain wall robot cleaning sealing dynamic adjustment device and method, and belongs to the technical field of aerial work robots. The application obtains the support force of each force measuring point and the tension of the suspension point to perform force field decoupling analysis, determines the sealing failure risk and locks the abnormal area; the rotational speed difference for posture correction is calculated according to the offset direction of the abnormal area, the flow field feedforward feature is extracted based on the rotational speed difference to predict the disturbance positive pressure that the abnormal area will bear in advance; while the posture is corrected according to the rotational speed difference, the negative pressure compensation instruction is synchronously outputted, so that the suction negative pressure increment of the abnormal area is greater than the disturbance positive pressure.

Description

Technical Field

[0001] This invention belongs to the field of high-altitude operation robot technology, specifically relating to a dynamic adjustment device and method for cleaning and sealing of curtain wall robots. Background Technology

[0002] In automated cleaning operations of commercial building exteriors and glass curtain walls, existing curtain wall cleaning robots mostly adopt a combination of suspension devices and fan thrust. They mainly generate normal thrust by using the high-speed exhaust of the fan of the adsorption device to make the scraper at the bottom of the machine stick tightly to the surface of the building curtain wall, and create a negative pressure environment in the recycling chamber enclosed by the scraper to recycle wastewater.

[0003] However, in actual operation, when the machine body passes over protruding obstacles such as window frames or encounters high-altitude lateral wind shear, mechanical gaps often form between the scraper and the curtain wall surface, causing outside air to enter the recovery chamber. To correct the tilted attitude of the machine body, the fan on the corresponding side is usually accelerated to generate bias thrust. However, the moment the fan accelerates, it washes out a strong airflow downward and impacts the gap. Due to the mechanical inertia of the suction pump rotor, it is not possible to instantly increase the suction power to counteract the sudden positive pressure of the airflow. Often, wastewater in the recovery chamber, along with air, is blown out of the clean boundary through the gap by the strong wind. Summary of the Invention

[0004] This invention overcomes the shortcomings of the prior art and provides a dynamic adjustment device and method for cleaning and sealing curtain walls by a robot.

[0005] To achieve the above objectives, the technical solution adopted by this invention is as follows: a dynamic adjustment method for cleaning and sealing of a curtain wall robot, applied to a curtain wall operation robot including a body, a suspension device, an adsorption device, and a cleaning device; an elastic support base is installed at the bottom of the body, the steel wire rope of the suspension device is hinged to the mechanical suspension point at the top of the body, the adsorption device includes a first fan and a second fan, and the cleaning device includes a recovery chamber formed by a scraper and a connected suction pump and internal fluid pipeline; the method includes:

[0006] S1: Obtain the supporting force at each force measuring point and the tensile force at the suspension point;

[0007] S2: Based on the support force and tensile force, perform force field decoupling analysis to determine whether there is a risk of seal failure, and lock the abnormal area when there is a risk;

[0008] S3: Calculate the rotational speed difference used for attitude correction based on the offset orientation of the abnormal area;

[0009] S4: Extract flow field feedforward features based on rotational speed difference to predict the disturbance positive pressure that the abnormal region will experience due to rotational speed change;

[0010] S5: Based on the positive pressure of the disturbance, while correcting the attitude according to the speed difference, a negative pressure compensation command is output simultaneously to make the increase of the negative pressure of the suction in the abnormal area greater than the positive pressure of the disturbance.

[0011] Preferably, obtaining the support force at each force measuring point and the tension at the suspension point includes:

[0012] Discrete electrical signals are collected from the force sensor abutting inside the elastic support and the tension sensor sleeved at the mechanical lifting point connecting shaft;

[0013] The discrete electrical signals are converted into initial sampled values ​​of the support force at the corresponding force measurement point and the initial sampled values ​​of the tension at the corresponding suspension point, respectively. These values ​​are then input into a weighted moving average filtering algorithm for smoothing, and the output values ​​of the support force at each force measurement point and the tension at each suspension point are then output.

[0014] Preferably, force field decoupling analysis is performed based on support force and tension force, including:

[0015] For the support force value corresponding to each force measuring point and the tension value corresponding to the suspension point, the first derivative is obtained by using the discrete first-order backward difference method to obtain the rate of change of the support force at the corresponding force measuring point and the rate of change of the tension at the corresponding suspension point.

[0016] Preferably, determining whether there is a risk of seal failure and locking down the abnormal area when a risk exists includes:

[0017] When the support force value corresponding to any force measurement point is less than the preset physical closure threshold, and the rate of change of the support force at the corresponding force measurement point is less than the preset negative rate of change threshold, the force field decoupling judgment logic is executed.

[0018] When the absolute value of the rate of change of tension corresponding to the suspension point is less than the preset steady-state change threshold, or when the rate of change of tension corresponding to the suspension point is less than 0 and its absolute value is greater than or equal to the preset sudden change threshold, it is determined that there is a risk of sealing failure.

[0019] Extract the fuselage coordinates of force measurement points where the support force value is less than the physical closure threshold, and assign them as abnormal regions.

[0020] Preferably, the rotational speed difference used for attitude correction is calculated based on the offset orientation of the abnormal region, including:

[0021] The difference between the preset standard operating preload and the support force value at the corresponding force measurement point in the abnormal area is calculated to obtain the amount of support force loss.

[0022] Based on the modulus of the lever arm vector of the force measuring point corresponding to the abnormal area relative to the preset fuselage center of gravity coordinates, the amount of missing support force is converted into thrust compensation torque.

[0023] Based on the modulus of the lever arm vector of the installation centers of the first and second wind turbines relative to the center of gravity coordinates, the thrust compensation torque distribution is converted into the corresponding increase in normal thrust required by the wind turbine.

[0024] Preferably, after obtaining the required increase in normal thrust for the corresponding wind turbine, the method further includes:

[0025] Based on the preset speed-thrust mathematical mapping fitting curve, the current operating speed of the corresponding wind turbine is converted into the basic thrust, and the basic thrust is added to the normal thrust increment to obtain the target thrust;

[0026] The target speed is obtained by substituting the target thrust into the speed-thrust mathematical mapping fitting curve and solving in reverse. The difference between the target speed and the current operating speed is converted into the PWM duty cycle adjustment difference and assigned as the speed difference.

[0027] Preferably, based on the rotational speed difference, the flow field feedforward features are extracted to predict the disturbance barotropic pressure that the abnormal region will experience due to the rotational speed change, including:

[0028] According to Hooke's Law, the vertical physical displacement is calculated using the missing support force and the known stiffness coefficient of the spring inside the elastic support seat, and assigned as the gap height parameter.

[0029] Based on the preset fan speed-exhaust airflow velocity mapping relationship, the exhaust airflow velocity and exhaust kinetic energy increment after the fan speed is increased are calculated according to the speed difference.

[0030] Preferably, predicting the disturbance positive pressure that the abnormal region will experience due to the change in rotational speed further includes:

[0031] The gap height parameter and the exhaust air velocity after the fan speed is increased are substituted into a fluid dynamics throttling polynomial calculation model that includes ambient air density parameters and pre-calibrated coefficients to calculate the peak wind pressure and assign it as the disturbance positive pressure.

[0032] Preferably, the synchronous output of negative pressure compensation commands includes:

[0033] Within the same hardware interrupt execution cycle that sends a speed regulation electrical signal containing the speed difference to the adsorption device, a negative pressure compensation command is sent to the cleaning device.

[0034] The electronically controlled proportional valve of the sub-chamber corresponding to the abnormal connection area instantly reaches the full load opening, and the opening of the electronically controlled proportional valve of the sub-chamber corresponding to the non-abnormal area is reduced according to the preset attenuation ratio.

[0035] The minimum target value of the suction negative pressure increment is determined based on the disturbance positive pressure. Combined with the fluid resistance change caused by the change in the opening degree of the electronically controlled proportional valve, the target operating frequency of the suction pump main motor is calculated and increased based on the similarity law of the pump.

[0036] Another technical solution provided by the present invention: a dynamic adjustment device for cleaning and sealing of a curtain wall robot, used to implement the above method, comprising:

[0037] The physical quantity acquisition module is connected to the force sensor installed in the elastic support seat of the fuselage and the tension sensor installed at the mechanical suspension point connection shaft of the fuselage, respectively, to acquire the support force at each force measuring point and the tension at the suspension point;

[0038] The force field decoupling analysis module communicates with the physical quantity acquisition module to determine the risk of seal failure and locate abnormal areas;

[0039] The attitude correction calculation module is connected in communication with the force field decoupling analysis module and is used to calculate the rotational speed difference used for attitude correction.

[0040] The flow field feedforward prediction module is connected to the force field decoupling analysis module and the deviation correction calculation module respectively, and is used to predict the disturbance barotropic pressure that the abnormal region will be subjected to.

[0041] The collaborative compensation module is connected to the flow field feedforward prediction module and the deviation correction calculation module, and is also connected to the adsorption device and cleaning device of the curtain wall operation robot, respectively, to synchronously send speed regulation electrical signals and negative pressure compensation commands.

[0042] This invention addresses the deficiencies in the prior art and has the following beneficial effects:

[0043] This invention acquires the support force at each measuring point and the tension at the suspension point for force field decoupling analysis to determine the existence of seal failure risk and, if such risk exists, to pinpoint the abnormal area. The force field decoupling analysis introduces the rate of change of tension at the suspension point as a reference system, and combines the characteristics of the support force change at the measuring points for cross-comparison of static and dynamic forces, quantifying and isolating minute changes in the distribution of fuselage weight load. Acquiring the support force at each measuring point and the tension at the suspension point for force field decoupling analysis accurately eliminates physical pressure loss caused by obstacles rigidly lifting the aircraft, and provides early warning of actual airflow leakage risks caused by crosswinds or thrust loss. Compared to existing technologies that rely solely on a sudden drop in chassis support force or simply monitor internal air pressure for passive judgment, leading to misjudgments, this invention achieves decoupling identification of fault causes, effectively avoiding unexpected conflict commands and improving the accuracy of response judgments.

[0044] This invention extracts flow field feedforward features based on the calculated rotational speed difference used for attitude correction to predict disturbance positive pressure, and simultaneously outputs negative pressure compensation commands while performing attitude correction according to the rotational speed difference. The synchronous output of negative pressure compensation commands ensures that the incremental negative pressure of the suction is greater than the disturbance positive pressure, converting the energy of the impending flow field disruption into a digitally quantified intervention target. By changing the impedance ratio of the internal pipeline and directionally concentrating suction power in abnormal areas, a local high negative pressure defense line is constructed. Before the downwash airflow reaches the mechanical gap of the scraper, a suction pull force exceeding the absolute value of the external airflow pushing pressure is actively applied inside the gap. Compared to existing technologies that wait for water mist to fly out and the internal negative pressure to be destroyed before commanding the suction pump to accelerate, resulting in control lag and severe water leakage, this invention forcibly reverses the outward diffusion of liquid and airflow motion vectors and entrains them into the internal fluid pipeline, achieving a reliable pneumatic water seal in gaps without physical obstruction.

[0045] This invention combines the abnormal region locked by force field decoupling analysis, the disturbance positive pressure predicted by flow field feedforward characteristics, and the synchronously output negative pressure compensation command in a coordinated manner. The locking on the spatial coordinates provides a target point for the directional accumulation of suction negative pressure, while the advanced wind pressure calculation based on the rotational speed difference eliminates the response delay of the mechanical rotor of the suction pump on the time axis, achieving matching in the spatiotemporal dimension. This allows the curtain wall operation robot to immediately construct a dynamic air pressure dam at the dynamically changing mechanical gaps at the moment of attitude instability, producing a transient flow field stabilization effect that cannot be achieved by simply relying on physical scraper deformation or single post-event negative pressure compensation, thus preventing sewage splashing during high-altitude operations. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 This is a flowchart of a dynamic adjustment method for cleaning and sealing curtain walls using a robot.

[0048] Figure 2 This is a flowchart of the logic for force field decoupling analysis and seal failure risk assessment;

[0049] Figure 3 This is a data flow diagram of feedforward prediction and negative pressure compensation;

[0050] Figure 4 This is an architectural diagram of a curtain wall robot cleaning and sealing dynamic adjustment device. Detailed Implementation

[0051] The technical solutions of 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.

[0052] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein. Therefore, the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0053] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this application 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, and therefore should not be construed as limiting the scope of protection of this application. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0054] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art will understand the specific meaning of the above terms in this application based on the specific circumstances.

[0055] Application Overview:

[0056] The root cause of wastewater splashing and recycling failure lies in the interference and lag between the positive pressure of airflow disturbance accompanying the thrust generated by the adsorption device and the negative pressure of suction required by the cleaning device to maintain recycling, both in terms of time response and space. Based on this analysis, this invention constructs a local negative pressure barrier sufficient to resist the intrusion of strong external winds before the airflow impact is generated by the fan's acceleration correction; at the same time, it accurately distinguishes the true cause of the bottom of the machine detachment to avoid outputting incorrect correction and speed regulation actions.

[0057] A curtain wall operation robot includes a body, a suspension device, an adsorption device, and a cleaning device.

[0058] The fuselage serves as the load-bearing foundation, providing mounting positions for components. The plane on which the fuselage lies is defined as the reference plane, and the axis perpendicular to the reference plane and pointing towards the building's curtain wall is defined as the normal axis.

[0059] The suspension device is a fixed working platform installed on the roof of the building, including a winch and a wire rope. One end of the wire rope is wound around the drum of the winch, and the other end of the wire rope extends downward and is hinged to a mechanical lifting point at the top of the machine.

[0060] The adsorption device includes a first fan and a second fan. The first fan is fixedly installed on the left half of the device body, away from the building curtain wall, and the second fan is fixedly installed on the right half of the device body, also away from the building curtain wall. The exhaust surface of both the first and second fans faces away from the building curtain wall. The rotation axis of the first fan is parallel to the normal axis of the device body, and the rotation axis of both the first and second fans is parallel to the normal axis of the device body.

[0061] The cleaning unit, including a roller brush, scraper, suction pump, and internal fluid piping, is installed on the side of the machine body facing the building curtain wall. The roller brush is rotatably mounted within a frame on the curtain wall side of the machine body. The scraper is arranged continuously along the outermost edge of the curtain wall side of the machine body. A recovery chamber is formed at the bottom of the machine body, enclosed by the scraper. The suction pump is fixedly installed inside the machine body. One end of the internal fluid piping is connected to the air inlet of the suction pump, and the other end is connected to the recovery chamber. Flexible support seats are installed at each of the four corners of the machine chassis.

[0062] During operation, the winch winds up and unwinds the steel wire rope, providing vertical traction for the machine to move up and down along the surface of the building curtain wall. The first and second fans of the adsorption unit exhaust air at high speed, generating a reverse thrust along the normal axis of the machine against the building curtain wall. This thrust overcomes the normal component of the machine's weight, compressing the four elastic support seats and ensuring the scraper edges are firmly attached to the glass surface of the building curtain wall. The suction pump of the cleaning unit continuously draws air, creating a negative pressure environment below atmospheric pressure within the recovery chamber enclosed by the scraper. Wastewater from the roller brush cleaning, along with air, is drawn into the suction pump through internal fluid pipes. When uneven stress on the elastic support seats causes the scraper to separate from the glass surface of the building curtain wall, outside air enters the recovery chamber through the gap at the separation point.

[0063] Exemplary method:

[0064] like Figures 1 to 3 As shown, a method for dynamic adjustment of curtain wall robot cleaning and sealing includes the following steps:

[0065] S1: Obtain the supporting force at each force measuring point and the tensile force at the suspension point;

[0066] S2: Based on the support force and tensile force, perform force field decoupling analysis to determine whether there is a risk of seal failure, and lock the abnormal area when there is a risk;

[0067] S3: Calculate the rotational speed difference used for attitude correction based on the offset orientation of the abnormal area;

[0068] S4: Extract flow field feedforward features based on rotational speed difference to predict the disturbance positive pressure that the abnormal region will experience due to rotational speed change;

[0069] S5: Based on the positive pressure of the disturbance, while correcting the attitude according to the speed difference, a negative pressure compensation command is output simultaneously to make the increase of the negative pressure of the suction in the abnormal area greater than the positive pressure of the disturbance.

[0070] Below, each step will be explained in detail based on the design principles.

[0071] In step S1, the force measuring point refers to the position where the four corners of the fuselage chassis elastically contact the curtain wall surface, and the supporting force refers to the pressure perpendicular to the curtain wall surface that the fuselage bears at each force measuring point. The suspension point refers to the position where the mechanical suspension point at the top of the fuselage is mechanically hinged to the wire rope, and the tension refers to the traction force along the vertical direction that the fuselage bears at the suspension point.

[0072] In this step, the supporting force at each force measuring point is obtained, which represents the contact state between the position of the corresponding force measuring point on the fuselage and the surface of the building curtain wall; the tension at the suspension point is obtained, which represents the distribution of gravity load on the fuselage.

[0073] Specifically, discrete electrical signals output by force sensors abutting within the elastic support are simultaneously acquired. The number of force sensors installed within the elastic support corresponds to the number of force measuring points, with each force sensor corresponding to a force measuring point. Simultaneously, discrete electrical signals output by tension sensors mounted on the mechanical suspension point connecting shaft are also acquired. These tension sensors correspond to the suspension point positions.

[0074] The discrete electrical signals from the force sensor, which are collected and abut against the elastic support, are converted into initial sampled values ​​of the support force at the corresponding force measurement point. The physical quantity unit of the initial sampled value of the support force is N. The discrete electrical signals from the tension sensor, which are collected and fitted onto the mechanical suspension point connecting shaft, are converted into initial sampled values ​​of the tension force at the corresponding suspension point. The physical quantity unit of the initial sampled value of the tension force is N. Here, discrete electrical signals refer to the discontinuous voltage or current value sequence output by the sensor that varies with time, and the physical quantity unit is mV or mA.

[0075] The initial sampled values ​​of the support force corresponding to all force measurement points and the initial sampled values ​​of the tension corresponding to the suspension points are input into a weighted moving average filtering algorithm (a digital filtering algorithm that assigns different weight coefficients to discrete data points in a time series and then performs a summation operation) for smoothing. The calculation formula of the weighted moving average filtering algorithm is as follows: In the formula, For the first The output value after filtering at each sampling time, the physical quantity is in N; The sequence number at the current sampling time is a dimensionless positive integer; is the offset of the historical sampling time within the sliding window, which is a dimensionless non-negative integer; is the total length of the sliding window, and is a dimensionless positive integer; For the first in the sliding window Each offset corresponds to a weight coefficient of the sampled data, which is a dimensionless positive real number, and the sum of all weight coefficients is 1. For the first The initial sampled values ​​corresponding to each sampling time point, with the physical quantity unit being N, are used when processing the initial sampled values ​​of the support force. For the initial sampled values ​​of the support force at the corresponding force measurement point, when processing the initial sampled values ​​of the tensile force, This represents the initial sampled value of the tension at the corresponding suspension point.

[0076] By defining a linear superposition rule for weighted historical and current sampled data within a sliding window, and based on the moving average filtering principle in digital signal processing, the contribution ratio of sampled data at different times is allocated and adjusted to smooth the initial sampled values ​​of support force and tension force, reducing fluctuation components in the sampled data. After completing the weighted moving average filtering algorithm, the support force value corresponding to each force measurement point and the tension value corresponding to the suspension point are output.

[0077] During operation, the high-speed rotation of the adsorption device and the rotation of the cleaning device's brush generate mechanical resonance. This resonance is transmitted to the force sensor abutting against the elastic support and the tension sensor sleeved at the mechanical suspension point connecting shaft, causing the collected discrete electrical signals to be mixed with high-frequency noise, white noise, and abrupt interference components related to mechanical vibration. The weighted moving average filtering algorithm assigns different weight coefficients to the discrete sampling data points within the sliding window over time, assigning higher weight coefficients to the current sampling data and progressively decreasing weight coefficients to historical sampling data. Through linear superposition, it filters out the high-frequency fluctuation components caused by mechanical vibration in the sampled data.

[0078] It should be noted that, in the initial state, the force sensor abutting within the elastic support and the tension sensor sleeved at the mechanical suspension point connecting shaft output raw discrete electrical signals characterizing changes in physical quantities. These discrete electrical signals undergo analog-to-digital conversion and physical quantity conversion to be converted into initial sampled values ​​of the support force and tension, which contain interference components. These initial sampled values ​​of the support force and tension are then smoothed using a weighted moving average filtering algorithm, converting them into digital quantities characterizing the steady-state of the fuselage, forming support force values ​​corresponding to four force measurement points and a tension value corresponding to one suspension point.

[0079] This step processes the support and tension force values ​​using a weighted moving average filtering algorithm to remove high-frequency noise components caused by mechanical vibration. The processed support and tension force values ​​match the actual physical fit between the fuselage and the curtain wall surface. This processing prevents unexpected logical judgments in subsequent force field decoupling analysis steps from being triggered by abrupt changes in sampling data. Finally, the processed support and tension force values ​​maintain the stability of the input parameters for subsequent force field decoupling analysis steps.

[0080] In step S2, the force field decoupling analysis involves a logical calculation process to trace the cause of fuselage instability by comparing the gradient changes of mechanical data in different dimensions. In this step, the first derivative of the support force and tension values ​​obtained in step S1 is calculated to obtain the rate of change of support force and the rate of change of tension; the support force values ​​are compared with the physical closure threshold, and the force field decoupling analysis is performed in combination with the rate of change of support force and the rate of change of tension; the risk of seal failure is determined, and when the risk of seal failure is determined, the abnormal area at the corresponding location is locked.

[0081] Among them, the physical closure threshold refers to the minimum force required to maintain the elastic deformation of the scraper and its adherence to the curtain wall, with the physical quantity unit being N. The support force change rate refers to the change in the support force value per unit sampling time, with the physical quantity unit being N / s. The tension change rate refers to the change in the tension value per unit sampling time, with the physical quantity unit being N / s. The risk of seal failure refers to the state where the scraper detaches from the curtain wall surface, causing external air to enter the recovery chamber. The abnormal area refers to the three-dimensional spatial area within the recovery chamber of the cleaning device where there is a risk of airflow leakage due to physical gaps.

[0082] Specifically, it receives the support force value corresponding to each force measuring point and the tension value corresponding to the suspension point, which are output from step S1.

[0083] For each force measurement point, the first derivative is calculated on the time axis to obtain the rate of change of the support force at that point. The rate of change of the support force is calculated using the discrete first-order backward difference method. The formula for calculating the rate of change of the support force is as follows: In the formula, For the first At the sampling time, the first The rate of change of support force corresponding to each force measuring point, the physical quantity unit is N / s; The sequence number at the current sampling time is a dimensionless positive integer; The sequence number of the previous sampling time is the current sampling time, which is a dimensionless positive integer; is the number of the force measuring point, which is a dimensionless positive integer, and its value range covers all force measuring points; For the first At the sampling time, the first The supporting force value corresponding to each force measuring point is in N; For the first At the sampling time, the first The supporting force value corresponding to each force measuring point is in N; The time interval between two adjacent sampling times is expressed in seconds (s).

[0084] By defining the calculation rule for the ratio of the change in support force value between two adjacent sampling times in a discrete time series to the sampling time interval, the rate and direction of change of support force value over time are characterized. The static support force value is transformed into the support force change rate, which represents the dynamic trend of support force change, and provides calculation parameters for subsequent mutation determination.

[0085] For the tension value corresponding to the suspension point, the first derivative is obtained on the time axis to obtain the rate of change of tension at the suspension point. The rate of change of tension is calculated using the discrete first-order backward difference method, and the formula for calculating the rate of change of tension is: In the formula, is the first... The rate of change of tension at the suspension point at each sampling time, with the physical quantity unit being N / s; For the first The tensile force value at the suspension point at each sampling time, with the physical quantity unit being N; For the first The tensile force value at the suspension point at each sampling time, with the physical quantity unit being N; The time interval between two adjacent sampling times is expressed in seconds (s).

[0086] By defining the calculation rule for the ratio of the change in tensile force value between two adjacent sampling times in a discrete time series to the sampling time interval, the rate and direction of change of tensile force value over time are characterized. The static tensile force value is converted into the tensile force change rate, which represents the dynamic trend of tensile force change, and provides calculation parameters for subsequent force field decoupling determination.

[0087] In this step, after calculating the rate of change of support force for all force measuring points and the rate of change of tension for all suspension points, the support force value for each force measuring point is compared with the preset physical closure threshold.

[0088] When the supporting force value corresponding to any force measurement point is less than the physical closure threshold, and the rate of change of the supporting force at the corresponding force measurement point meets the negative abrupt change judgment condition, the force field decoupling judgment logic is executed. The negative abrupt change judgment condition is that the rate of change of the supporting force at the corresponding force measurement point is less than a preset negative rate of change threshold. Here, a negative abrupt change refers to a change state where the rate of change value at the sampling time is less than the preset negative rate of change threshold, and the value is negative. The negative rate of change threshold is a pre-set critical value characterizing a rapid decrease in supporting force, with the physical quantity unit being N / s and the value being a negative real number.

[0089] When executing the force field decoupling judgment logic, two judgment branches are executed simultaneously. If the condition of either judgment branch is met, it is determined that there is a risk of sealing failure.

[0090] The condition for the first decision branch is that the absolute value of the rate of change of tension at the suspension point is less than a preset steady-state change threshold. The steady-state change threshold is a pre-set critical change that characterizes the stability of the tension value; the physical quantity is measured in N / s and is a positive real number.

[0091] The second condition for the decision branch is that the rate of change of tension at the suspension point is less than 0, and the absolute value of the rate of change of tension at the suspension point is greater than or equal to a preset abrupt change threshold. The abrupt change threshold is a pre-set critical change that characterizes a rapid decrease in tension value; the physical quantity is in N / s, and the value is a positive real number.

[0092] After the risk of seal failure is determined, the force measurement points with support force values ​​less than the physical closure threshold are extracted, the fuselage coordinates of the corresponding force measurement points are obtained, and the fuselage coordinates are assigned to the abnormal area.

[0093] After completing the above operations, output the seal failure risk assessment result. If the seal failure risk assessment result is valid, output the corresponding abnormal area simultaneously.

[0094] In this step, the fuselage acts as a rigid body, and the forces acting on it along the vertical direction during operation satisfy the static equilibrium equations of a rigid body. The total weight of the fuselage is borne by the tension of the steel wire ropes at the suspension points and the supporting reaction force of the curtain wall surface on the fuselage.

[0095] When some of the fuselage's load-bearing points are rigidly supported by window frame-like obstacles, the obstacles bear part of the fuselage's weight, and the tension in the steel cables at the suspension points decreases simultaneously, resulting in a negative abrupt change in the rate of change of tension at the corresponding suspension points. When some of the fuselage's load-bearing points detach from the curtain wall surface due to crosswinds or the thrust of the adsorption device, the total weight distribution of the fuselage does not change significantly, the tension in the steel cables at the suspension points remains stable, and the absolute value of the rate of change of tension at the corresponding suspension points remains close to 0.

[0096] By comparing the synchronous change characteristics of the support force change rate and the tension change rate, different causes of the decrease in the support force value at the fuselage force measurement point are distinguished, and a multi-dimensional force decoupling analysis is completed.

[0097] It should be noted that, initially, the support force and tension values, representing the physical steady state of the fuselage, are obtained from step S1. Both support force and tension values ​​are static scalar physical quantities. After a first-order backward difference operation, these static scalar physical quantities are converted into the rates of change of support force and tension, representing the dynamic trends of the mechanical parameters. After threshold comparison and condition judgment, the discrete mechanical parameters are converted into Boolean-type judgment results for seal failure risk. When the seal failure risk judgment result is true, the abnormal state of the mechanical parameters is mapped to an abnormal region with spatial coordinate information, based on the installation spatial location of the force measuring point. Finally, the seal failure risk judgment result and the corresponding abnormal region when the seal failure risk judgment result is true are output.

[0098] This step distinguishes different causes of the decrease in support force value by simultaneously calculating and comparing the rate of change of support force and the rate of change of tension. The output seal failure risk assessment results cover scenarios such as crosswind effects, thrust loss of the adsorption device, and rigid lifting of the fuselage when overcoming obstacles. The output abnormal areas clearly identify the spatial locations where there is a risk of airflow leakage, providing spatial coordinate parameters for subsequent attitude correction calculations and flow field feedforward predictions.

[0099] In step S3, the offset orientation refers to the spatial geometric deviation vector of the abnormal area relative to the fuselage's center of gravity. Attitude correction refers to the dynamic adjustment process of breaking the fuselage's tilt state and forcing the fuselage to re-align and conform to the curtain wall. Rotational speed difference refers to the difference in rotational angular velocity adjustment required between the first and second fans in the adsorption device to break the original force balance and generate offset thrust; the physical quantity is measured in r / min.

[0100] In this step, the amount of support force missing at the force measuring point corresponding to the abnormal area is calculated, and the amount of support force missing is converted into the thrust compensation torque required to maintain the normal attitude balance of the fuselage. The thrust compensation torque is then converted into the speed adjustment difference between the first fan and the second fan.

[0101] Specifically, the abnormal area output from step S2 is received, and the corresponding force measurement point number is extracted. The support force value corresponding to each force measurement point at the current sampling time is received from step S1. The preset standard operating preload is extracted, and the support force loss at the force measurement point corresponding to the abnormal area is calculated. Here, the standard operating preload refers to the preset support force value at the force measurement point when the machine body is in a steady-state operation state of normal adhesion to the curtain wall, with the physical quantity unit being N; the support force loss refers to the difference between the standard operating preload at the force measurement point corresponding to the abnormal area and the support force value at the current sampling time, with the physical quantity unit being N.

[0102] The formula for calculating the amount of missing support is: In the formula, is the first... The missing support force corresponding to each force measuring point is expressed in N (unit: N). The preload is the preset standard operating force, and the physical quantity is in N; For the first At the sampling time, the first The supporting force value corresponding to each force measuring point is in N; The sequence number at the current sampling time is a dimensionless positive integer; is the number of the force measuring point corresponding to the abnormal area, which is a dimensionless positive integer.

[0103] By defining the calculation rules for the difference between the standard operating preload and the current support force, the degree of missing fit between the fuselage and the curtain wall at the corresponding location of the abnormal area is quantified, and the target value for mechanical compensation is obtained.

[0104] Extract the preset center-of-gravity coordinates of the fuselage, extract the installation coordinates of the force measuring points corresponding to the abnormal areas in the fuselage reference plane, extract the installation center coordinates of the first fan in the fuselage reference plane, and extract the installation center coordinates of the second fan in the fuselage reference plane. Calculate the lever arm vector of the force measuring points corresponding to the abnormal areas relative to the center-of-gravity coordinates, calculate the lever arm vector of the installation center of the first fan relative to the center-of-gravity coordinates, and calculate the lever arm vector of the installation center of the second fan relative to the center-of-gravity coordinates.

[0105] Among them, the center of gravity coordinates refer to the projected coordinates of the overall center of gravity of the fuselage in the reference plane of the coordinate system established with the fuselage chassis plane as the reference plane, and the physical quantity unit is mm. The lever arm vector refers to the position vector of the point of application of the force relative to the center of gravity coordinates, a two-dimensional vector in the fuselage reference plane, and the physical quantity unit is mm. The thrust compensation torque refers to the compensation torque generated by the wind turbine thrust required to counteract the unbalanced moment of the fuselage and maintain the normal attitude balance of the fuselage, and the physical quantity unit is N·m.

[0106] The formula for calculating thrust compensation torque is: In the formula, The torque required to compensate for thrust is expressed in N·m. For the first The missing support force corresponding to each force measuring point is expressed in N (unit: N). The modulus of the lever arm vector corresponding to the force measuring point in the abnormal area is given in meters (the lever arm vector coordinates in mm units need to be converted to meters units before calculating the modulus).

[0107] By defining the conversion rules between the amount of missing support force and the corresponding unbalanced torque, the linear amount of missing support force is converted into a torque compensation target value for fuselage attitude balance.

[0108] Based on the direction and magnitude of the thrust compensation torque, the required thrust increments for the first and second fans are allocated. Based on the lever arm vectors of the first and second fans, the compensation torque that each fan can provide per unit thrust is calculated, and the required increase in normal thrust for that fan is calculated in reverse.

[0109] The formula for calculating the increase in wind turbine thrust is: In the formula, For the first The increase in normal thrust required for each wind turbine, expressed in N; The torque required to compensate for thrust is expressed in N·m. For the first The modulus of the lever arm vector at the installation center of a wind turbine, with the physical quantity unit being meters; For the first The lever arm vector of the installation center of the wind turbine relative to the coordinates of the center of gravity, with the physical quantity in meters; This is the lever arm vector of the force measuring point in the abnormal region relative to the coordinates of the center of gravity. The unit of the physical quantity is meters (m). This is a sign function, with an output value of 1 or -1, used to determine the compensation direction of the thrust increment; This is the fan number, and the value corresponds to either the first fan or the second fan.

[0110] By defining the conversion rule for thrust compensation torque to thrust increment of a single wind turbine, the overall torque compensation target value is allocated as the normal thrust increment target value of the corresponding wind turbine.

[0111] The system calls upon a pre-defined speed-thrust mathematical mapping fitting curve to calculate the additional speed that the corresponding wind turbine needs to increase. The speed-thrust mathematical mapping fitting curve refers to the mathematical fitting relationship curve between the wind turbine's rotational speed and the absolute normal thrust output by the wind turbine, obtained beforehand through calibration tests.

[0112] The expression for the speed-thrust mathematical mapping fitting curve is: In the formula, For the first The absolute thrust output by a fan along its normal axis, expressed in N. For the first The rotational speed of a fan, expressed in r / min. , , For the first The fitting coefficients of each wind turbine were obtained in advance through calibration tests. The unit of the physical quantity is N / (r / min). 2 , The physical quantity is expressed in N / (r / min). The physical quantity is in N; j is the fan number, and the value corresponds to the first fan or the second fan.

[0113] Based on the speed-thrust mathematical mapping fitting curve, substitute the current operating speed of the corresponding wind turbine. The base thrust of the current output is calculated. The base thrust and the incremental normal thrust required by the wind turbine. Add them together to get the target thrust of the corresponding wind turbine. .

[0114] Target thrust Substituting the values ​​into the above expression and solving in reverse, we can obtain the target rotational speed that the corresponding wind turbine needs to achieve. .

[0115] Subtracting the current operating speed from the target speed yields the additional speed that the corresponding fan needs to increase (i.e., the speed adjustment difference). ).

[0116] By defining the nonlinear correspondence between the turbine's rotational speed and its output normal thrust, a quantitative conversion relationship between turbine thrust and rotational speed is established, providing a mathematical basis for the conversion of thrust increments into rotational speed increments.

[0117] Based on the static torque balance equation, the mechanical support force missing in the fuselage normal direction is compensated by the additional aerodynamic thrust of the fan multiplied by the spatial lever arm, realizing the conversion of geometric orientation and mechanical deficiencies into electrical actuator level signals. Since the thrust and speed of the axial flow fan have a nonlinear quadratic relationship, it is necessary to use the method of adding the current absolute thrust to the incremental thrust and then solving for the absolute speed in reverse to eliminate the amplified error caused by nonlinear fitting.

[0118] Adjust the speed difference between the first fan and the second fan. This is converted into the corresponding PWM duty cycle adjustment difference for the fan motor. The fan motor speed and PWM duty cycle have a preset linear relationship. The speed adjustment difference is converted into the PWM duty cycle adjustment difference, and this PWM duty cycle adjustment difference is assigned as the speed difference. Here, the PWM duty cycle refers to the ratio of the high-level duration to the pulse period in the pulse width modulation signal, expressed as a percentage (%), and is used to control the output speed of the fan motor.

[0119] After completing the above calculations, the output speed difference is generated, which includes the PWM duty cycle adjustment parameters corresponding to the first and second fans respectively.

[0120] In this step, the fuselage, acting as a rigid body, satisfies the static moment balance equation in the plane along the normal axis. When the net external moment of the rigid body about its center of gravity is zero, the fuselage maintains a stable attitude. When the support force is missing at the corresponding force measurement point in the abnormal area, an unbalanced moment is generated around the center of gravity, causing the fuselage to tilt and creating a physical gap between the scraper and the curtain wall surface. By adjusting the output thrust of the first and second fans, a compensating moment equal in magnitude and opposite in direction to the unbalanced moment is generated, which can counteract the effect of the unbalanced moment and allow the fuselage to return to a flush and fitted posture with the curtain wall. The output aerodynamic thrust of the axial flow fan has a non-linear correlation with the fan's rotational speed. Through the speed-thrust mathematical mapping fitting curve obtained from pre-calibrated experiments, a quantitative bidirectional conversion between fan thrust and speed can be achieved. The fan drive motor uses pulse width modulation (PWM) for speed regulation. The motor's output speed has a linear correlation with the PWM duty cycle. By adjusting the PWM duty cycle, the fan's rotational speed can be controlled to achieve the desired thrust output adjustment.

[0121] It should be noted that, initially, the spatial coordinates of the abnormal area output in step S2 and the support force value at the current sampling moment output in step S1 are obtained. Through interpolation, the spatial location information and static support force value are converted into a support force deficiency amount representing the degree of fit loss. Through vector calculation and torque conversion, the support force deficiency amount is converted into a thrust compensation torque representing the degree of fuselage attitude imbalance. Through torque distribution calculation, the overall thrust compensation torque is converted into the thrust increment required by a single wind turbine. Through the inverse solution of the speed-thrust fitting curve, the wind turbine thrust increment is converted into the wind turbine speed adjustment parameter. Through linear conversion between speed and PWM duty cycle, the speed adjustment parameter is converted into a speed difference that can directly drive hardware execution. The final output includes the speed difference containing the wind turbine motor PWM duty cycle adjustment parameter.

[0122] This step quantifies the degree of fuselage fit deficiency corresponding to the abnormal area by calculating the amount of missing support force. Through torque balance calculations, the spatial location and mechanical deficiencies of the abnormal area are converted into torque compensation targets required for fuselage attitude balance. By performing inverse calculations on the speed-thrust fitting curve, the torque compensation targets are converted into fan speed adjustment parameters. The output speed difference provides direct control parameters for adjusting the fan speed of the adsorption device and provides input parameters for fan speed changes in subsequent flow field feedforward prediction steps.

[0123] In step S4, the flow field feedforward features refer to the extracted dynamic source parameters that determine the evolution of the airflow motion. The disturbance positive pressure refers to the dynamic wind pressure amplitude accumulated at the outer opening of the gap when the downwash airflow generated by the fan speeding up the exhaust of the adsorption device impacts the physical gap; the physical quantity is measured in Pa.

[0124] In this step, the gap height parameter at the corresponding location in the abnormal area is calculated, and the change in exhaust airflow velocity and the increase in exhaust kinetic energy represented by the speed difference are extracted. Combining the gap height parameter and the increase in exhaust kinetic energy, the disturbance positive pressure that the abnormal area will soon experience is calculated. Here, the gap height parameter refers to the normal height of the physical gap between the scraper and the curtain wall surface caused by the lifting of the fan body, with the unit being meters (m). The exhaust airflow velocity refers to the flow velocity of the airflow at the exhaust outlet along the direction perpendicular to the fan's rotation axis after the fan speed is increased, with the unit being m / s. The increase in exhaust kinetic energy refers to the increase in the kinetic energy per unit volume of the exhaust airflow caused by the increase in fan speed, with the unit being J / m³. 3 .

[0125] Specifically, the receiver receives the amount of support force missing at the force measuring point corresponding to the abnormal area output in step S3, receives the speed difference between the first and second fans output in step S3, and receives the abnormal area output in step S2.

[0126] According to Hooke's Law, the vertical physical displacement corresponding to the abnormal area is calculated and converted into a gap height parameter. The vertical physical displacement refers to the normal distance by which the fuselage chassis at the abnormal area is lifted relative to the curtain wall surface, and the unit of measurement is mm.

[0127] The formula for calculating vertical physical displacement is: In the formula, For the first The vertical physical displacement of each force measuring point, with the physical quantity in meters; The output of step S3 The missing support force corresponding to each force measuring point is expressed in N (unit: N). The preset stiffness coefficient of the spring built into the elastic support seat is expressed in N / m. is the number of the force measuring point corresponding to the abnormal area, which is a dimensionless positive integer.

[0128] By defining a linear conversion rule between the missing support force and the shape variable of the elastic support seat, the mechanical scalar missing support force is converted into a geometric parameter characterizing the size of the physical gap, providing gap size input for subsequent flow field calculations.

[0129] After completing the vertical physical displacement calculation, the value of the vertical physical displacement is assigned as the gap height parameter.

[0130] Extract the target fan speed corresponding to the speed difference. Based on the preset fan speed-exhaust airflow velocity mapping relationship, calculate the exhaust airflow velocity after the fan speed increase, and the increase in exhaust kinetic energy caused by the change in exhaust airflow velocity. The fan speed-exhaust airflow velocity mapping formula is: In the formula, For the first The exhaust air velocity after the fan speed is increased is a physical quantity in m / s; For the first The rotational speed to airflow velocity conversion coefficient of each fan is obtained in advance through calibration tests. The physical quantity unit is (m / s) / (r / min). For the first The steady-state operating speed of a fan before speed increase is expressed in r / min. The output of step S3 The speed adjustment difference corresponding to each fan is expressed in r / min. This is the fan number, and the value corresponds to either the first fan or the second fan.

[0131] By defining a linear conversion rule between the fan rotation speed and the exhaust outlet airflow velocity, the speed difference of the electrical control parameter is converted into the airflow velocity parameter required for aerodynamic calculation.

[0132] The increase in exhaust kinetic energy is calculated based on the exhaust airflow velocity. The formula for calculating the increase in exhaust kinetic energy is as follows: In the formula, For the first The increase in exhaust kinetic energy per unit volume generated after the fan speed is increased is a physical quantity measured in J / m³. 3 ; The ambient air density is preset to a constant value of 1.205 kg / m³. 3 The unit of physical quantity is kg / m³ 3 ; For the first The exhaust air velocity after the fan speed is increased is a physical quantity in m / s; For the first The steady-state exhaust airflow velocity of a fan before speed increase is expressed in m / s. This is the fan number, and the value corresponds to either the first fan or the second fan.

[0133] By defining the conversion rules between changes in airflow velocity and changes in kinetic energy per unit volume, the changes in airflow energy brought about by the fan speed increase are quantified, providing aerodynamic energy input parameters for subsequent calculations of perturbation positive pressure.

[0134] By combining the gap height parameter and the exhaust airflow velocity after the fan speed is increased, and substituting them into the fluid dynamics throttling polynomial calculation model, the peak wind pressure is calculated and assigned as the disturbance positive pressure that the abnormal area will experience. The fluid dynamics throttling polynomial calculation model refers to a mathematical calculation model pre-calibrated through fluid simulation and wind tunnel tests, used to calculate the stagnant wind pressure generated when high-speed airflow passes through the gap. The peak wind pressure refers to the maximum dynamic wind pressure value generated at the gap inlet when the downwash airflow impacts the gap, with the physical quantity unit being Pa.

[0135] The expression for the fluid dynamics throttling polynomial calculation model is as follows: In the formula, The calculated peak wind pressure is expressed in Pa. The ambient air density is preset to a constant value of 1.205 kg / m³. 3 The unit of physical quantity is kg / m³ 3 ; The exhaust airflow velocity is the speed of the fan on the side corresponding to the abnormal area after the fan is accelerated. The physical quantity unit is m / s. . represents the gap height parameter, with the physical quantity in meters (m). , , , The polynomial coefficients are pre-calibrated through fluid simulation and wind tunnel testing. . is a dimensionless coefficient. The unit of the physical quantity is N·s / m 3 , The physical quantity of is expressed in Pa / m. The unit of the physical quantity is Pa; This is the fan number corresponding to the abnormal area, and the value corresponds to either the first fan or the second fan.

[0136] By defining quantitative conversion rules between airflow velocity, gap height, and stagnant pressure, and combining geometric and aerodynamic parameters, the amplitude of the disturbance positive pressure generated by the downwash airflow at the gap after the fan speed is increased is quantitatively calculated. After completing the above calculations, the quantitative value of the disturbance positive pressure corresponding to the abnormal area is output.

[0137] It should be noted that the springs built into the elastic support base are linear elastic elements, following Hooke's Law in solid mechanics. The axial deformation of the spring is strictly linearly proportional to the change in the axial force acting on it. When a lack of support force occurs at the force measuring point corresponding to an abnormal area, the compression of the spring built into the elastic support base decreases. The deformation caused by the spring rebound is equal to the vertical physical displacement of the chassis relative to the curtain wall surface, which is the normal height of the physical gap between the scraper and the curtain wall.

[0138] The exhaust air velocity of an axial flow fan is positively correlated with its rotational speed. As the fan speed increases, the axial velocity of the exhaust airflow increases synchronously, and the kinetic energy carried by the airflow increases quadratically. Based on Bernoulli's equation for incompressible fluids, the total pressure of an ideal fluid in steady flow remains constant along the streamline. The total pressure is the sum of the fluid static pressure and the fluid dynamic pressure, which is proportional to the fluid density and half the square of the velocity. When the high-speed downwash airflow generated by the fan speed increase encounters the narrow gap between the scraper and the curtain wall, the flow cross-section of the airflow changes abruptly. The airflow experiences a stagnation effect at the gap inlet, and a large amount of the dynamic pressure carried by the airflow is converted into static pressure, forming a disturbance positive pressure higher than the ambient atmospheric pressure at the outer opening of the gap. A fluid dynamics throttling polynomial calculation model, based on Bernoulli's principle and the stagnation effect of the gap, is experimentally calibrated to correct for the influence of actual fluid effects such as airflow viscosity, wall friction, and flow separation. This model can quantitatively calculate the peak stagnation pressure at different airflow velocities and gap heights.

[0139] In this step, initially, the missing support force and speed difference output from step S3, as well as the spatial information of the abnormal region output from step S2, are acquired. Through linear conversion using Hooke's Law, the mechanical scalar missing support force is converted into the geometric scalar gap height parameter. Through mapping conversion between fan speed and exhaust airflow velocity, the electrical control parameter speed difference is converted into the aerodynamic parameter exhaust airflow velocity. Through calculation using the kinetic energy formula, the exhaust airflow velocity is converted into the exhaust kinetic energy increment characterizing the change in airflow energy. Through calculation using the fluid dynamics throttling polynomial calculation model, the geometric parameter gap height and the aerodynamic parameter exhaust airflow velocity are converted into the aerodynamic scalar disturbance positive pressure characterizing the change in flow field pressure. Finally, the quantified value of the disturbance positive pressure corresponding to the abnormal region is output.

[0140] This step obtains the geometric dimensions of the physical gaps corresponding to the abnormal region through a linear conversion between the missing support force and the stiffness coefficient. Using the rotational speed-airflow velocity mapping relationship, the fan speed adjustment parameters are converted into aerodynamic velocity parameters required for flow field calculation. Through calculation using a fluid dynamics throttling polynomial model, a quantified disturbance positive pressure value is output before the downwash airflow caused by the fan's mechanical rotor acceleration reaches the scraper position. The output disturbance positive pressure value provides quantified pressure target parameters for the subsequent negative pressure compensation command calculation.

[0141] In step S5, the negative pressure compensation command refers to the electrical signal used to control the cleaning device to change the impedance ratio of each branch pipeline and the total output of the suction power source, and to directionally increase the suction power in abnormal areas.

[0142] In this step, within the same hardware interrupt execution cycle, a speed regulation electrical signal is sent to the adsorption device and a negative pressure compensation command is sent to the cleaning device in parallel. The opening ratio of the electronically controlled proportional valve of the cleaning device and the operating frequency of the main motor of the suction pump are adjusted so that the increase in suction negative pressure in the corresponding sub-chamber of the abnormal area is greater than the disturbance positive pressure. The corresponding control commands are output to the execution components of the adsorption device and the cleaning device.

[0143] Among them, the hardware interrupt execution cycle refers to the minimum time unit for instruction execution with a fixed duration preset by the controller's underlying hardware, and the physical quantity unit is ms. A sub-chamber refers to an independent, sealed cavity unit inside the recovery chamber of the cleaning device, divided according to the physical quadrant coordinates of the chassis. Each sub-chamber corresponds to a quadrant region of the chassis where a force measuring point is located. An electrically controlled proportional valve refers to an electrically controlled valve installed on the branch pipelines connecting each sub-chamber, with an adjustable opening range of 0% to 100%. Suction negative pressure refers to the pressure difference between the inside of the recovery chamber and the external atmospheric pressure. The suction negative pressure value is negative; the larger the absolute value, the stronger the suction capacity, and the physical quantity unit is Pa. Suction negative pressure increment refers to the increase in the absolute value of the suction negative pressure of the sub-chamber corresponding to the abnormal area compared to the absolute value of the suction negative pressure under steady-state operation, and the physical quantity unit is Pa.

[0144] Specifically, the abnormal region output in step S2 is received, the speed difference including the PWM duty cycle adjustment parameters of the first fan and the second fan is received in step S3, and the disturbance positive pressure corresponding to the abnormal region output in step S4 is received.

[0145] Within the same underlying hardware interrupt execution cycle, two communication bus actions are triggered in parallel.

[0146] The first communication bus activates, sending a speed control electrical signal containing the rotational speed difference to the adsorption device. This signal includes the PWM duty cycle adjustment parameters for the first and second fans, causing them to increase their rotational speed according to the adjustment parameters corresponding to the speed difference, thus performing a machine attitude correction action.

[0147] The second communication bus activates, synchronously sending a negative pressure compensation command to the cleaning device. The negative pressure compensation command is broken down into two sub-actions, which are synchronously sent to the corresponding execution components within the same communication frame.

[0148] The first sub-action involves adjusting the opening of the electronically controlled proportional valves on the branch pipes configured to connect each sub-chamber. The physical quadrant coordinates of the fuselage chassis corresponding to the abnormal area are extracted, and the corresponding sub-chambers are matched. The electronically controlled proportional valves on the branch pipes connecting to the corresponding sub-chambers are then matched. An opening adjustment command is issued to the electronically controlled proportional valves connected to the sub-chambers corresponding to the abnormal area, causing these valves to instantly reach their full-load opening. Simultaneously, the sub-chambers corresponding to the non-abnormal areas are extracted, and the electronically controlled proportional valves connected to these sub-chambers are extracted. An opening adjustment command is issued to the electronically controlled proportional valves connected to these sub-chambers, adjusting their opening to the original steady-state opening multiplied by a preset attenuation ratio.

[0149] Among them, full-load opening degree refers to the fully open state of the electro-hydraulic proportional valve, reaching 100%. Preset attenuation ratio refers to a pre-set reduction ratio coefficient for the opening degree of the electro-hydraulic proportional valve in non-abnormal areas; it is a dimensionless positive real number, ranging from 0 to 1. Original steady-state opening degree refers to the preset opening degree value of the electro-hydraulic proportional valve when the machine body is in a normal, steady-state operating state of fitting the curtain wall; the physical quantity unit is %.

[0150] The second action involves increasing the operating frequency of the main motor of the suction pump. Based on the disturbance positive pressure output in step S4, the minimum target value of the suction negative pressure increment is determined. The minimum target value of the suction negative pressure increment satisfies the following constraints: In the formula, The minimum target value for the increase in negative pressure during suction is given, and the physical quantity is measured in Pa. The disturbance positive pressure corresponding to the abnormal area output in step S4 is expressed in Pa. This is the preset safety margin pressure difference value, with the physical quantity unit being Pa, and the value being a positive real number.

[0151] By defining the calculation rules for the minimum suction negative pressure increment required in abnormal areas, the minimum target boundary for adjusting the operating frequency of the main motor of the suction pump is set.

[0152] Based on the minimum target value of the suction negative pressure increment, and considering the change in fluid resistance caused by the adjustment of the opening degree of the electronically controlled proportional valve, the target operating frequency of the main motor of the suction pump is calculated. The total suction head of the suction pump and the operating frequency of the main motor follow the similarity law of pumps; the conversion formula between the total suction head and the operating frequency of the main motor is as follows: In the formula, The total suction head required for a suction pump to achieve its target suction capacity is a physical quantity measured in Pa. The total suction head of the suction pump under steady-state operation is expressed in Pa. The target operating frequency of the main motor of the suction pump is expressed in Hz. The operating frequency of the main motor of the suction pump under steady-state operation is expressed in Hz.

[0153] By defining a nonlinear conversion rule between the operating frequency of the main motor of the suction pump and the total suction head, the required target value of the total suction head is converted into the operating frequency control parameter of the main motor of the suction pump.

[0154] By combining the fluid resistance changes in the corresponding sub-chambers of the abnormal region, the required total suction head target value is determined, and the target operating frequency of the suction pump main motor is obtained by reverse calculation. A frequency adjustment command is issued to the main motor driver of the suction pump to raise the operating frequency of the main motor to the calculated target operating frequency. The branch pipeline fluid resistance refers to the resistance encountered by the fluid when flowing through the electronically controlled proportional valve and the corresponding branch pipeline; the physical quantity is measured in Pa·s / m. 3 .

[0155] Through the synergistic effect of the first and second sub-actions, the increase in suction negative pressure in the sub-chamber corresponding to the abnormal region is made greater than the disturbance positive pressure output in step S4.

[0156] It should be noted that the internal fluid piping of the cleaning device and each sub-chamber form a parallel fluid network, which follows the principle of fluid network impedance distribution. The flow distribution of the parallel piping is inversely proportional to the fluid resistance of each branch; the lower the fluid resistance of a branch, the larger the proportion of suction flow and suction head it receives. By adjusting the electronically controlled proportional valve connecting the sub-chamber corresponding to the abnormal area to its full-load opening, the fluid resistance of the branch corresponding to the abnormal area can be minimized. By reducing the opening of the electronically controlled proportional valve corresponding to the non-abnormal area, the fluid resistance of the branch corresponding to the non-abnormal area can be increased, forcing the total suction head and suction flow output by the suction pump to concentrate towards the branch corresponding to the abnormal area, creating a local high negative pressure environment in the sub-chamber corresponding to the abnormal area.

[0157] The suction pump is a centrifugal vane pump. Following the similarity law of vane pumps, under the condition that the pump's structural parameters are fixed, the pump's total output head is directly proportional to the square of the pump's operating speed. By increasing the operating frequency of the main motor of the suction pump, the total suction head of the suction pump can be increased, providing a higher absolute value of suction negative pressure for abnormal areas.

[0158] When the increase in negative suction pressure in the sub-chamber corresponding to the abnormal area exceeds the positive disturbance pressure, at the physical gap between the scraper and the curtain wall, the absolute value of the inward suction airflow pull is greater than the positive pressure value of the external airflow pushing inward. The fluid flow vector at the gap points inward towards the inside of the recovery chamber. The invading external airflow and the water mist attempting to escape are reversed in flow vector under the action of the inward suction airflow and are drawn into the internal fluid pipeline together, forming a pneumatic water seal effect at the gap without physical obstruction.

[0159] In this step, initially, the spatial coordinates of the abnormal region output in step S2, the speed difference output in step S3, and the quantified value of the disturbance positive pressure output in step S4 are acquired. Within the same hardware interrupt execution cycle, two control commands are generated in parallel: one is the fan speed control electrical signal of the adsorption device, and the other is the negative pressure compensation command of the cleaning device. The fan speed control electrical signal is sent to the first and second fans of the adsorption device, increasing their speed and generating the offset thrust required for attitude correction. The negative pressure compensation command is simultaneously sent to the electronically controlled proportional valve and the main motor driver of the suction pump of the cleaning device, causing the electronically controlled proportional valve corresponding to the abnormal region to reach full-load opening and the electronically controlled proportional valve corresponding to the non-abnormal region to decrease its opening, while the operating frequency of the main motor of the suction pump is increased. The impedance ratio of the fluid network changes, the total suction head increases, and the absolute value of the suction negative pressure in the sub-chamber corresponding to the abnormal region increases rapidly, making the increase in suction negative pressure in the abnormal region greater than the disturbance positive pressure. The fluid flow state at the physical gap changes, and the flow vectors of the outward escaping water mist and the external intruding airflow reverse, causing the water mist to be drawn into the internal fluid pipeline. This ultimately achieves the simultaneous execution of fuselage attitude correction and aerodynamic sealing in abnormal areas.

[0160] This step eliminates the timing difference between fan speed regulation and negative pressure compensation regulation by issuing parallel instructions within the same hardware interrupt execution cycle, preventing negative pressure regulation from lagging behind airflow disturbances. By adjusting the opening ratio of the electronically controlled proportional valve, the impedance distribution of the parallel fluid network inside the cleaning device is altered, causing the suction capacity of the suction pump to be directed towards the abnormal area, creating a localized high negative pressure environment. By increasing the operating frequency of the suction pump's main motor, the total suction head of the suction pump is increased, providing the abnormal area with a suction negative pressure increment sufficient to meet the pressure differential countermeasure requirements. Through pressure differential control where the suction negative pressure increment exceeds the disturbance positive pressure, an inward absolute pressure differential advantage is formed at the physical gap, altering the flow vector of the outwardly diffusing water mist and intruding airflow, drawing the water mist and external air into the internal fluid pipeline, achieving a pneumatic water seal at the physical gap.

[0161] Exemplary device:

[0162] A curtain wall operation robot has force sensors installed inside the four elastic support seats of its chassis to collect the resistance force generated between the chassis and the curtain wall surface in different quadrants in real time; a tension sensor is installed at the mechanical suspension point connecting shaft at the top of the chassis to collect the overall vertical tension borne by the chassis in the suspended state in real time; the inside of the recovery chamber of the cleaning device is divided into multiple independent sub-chambers corresponding to the physical quadrants of the chassis by a sealed partition plate; and an electronically controlled proportional valve is installed in series on the branch fluid pipeline connecting each of the independent sub-chambers to the main air inlet of the suction pump to independently adjust the suction pneumatic resistance and flow distribution of the corresponding sub-chamber.

[0163] like Figure 4As shown, a curtain wall robot cleaning and sealing dynamic adjustment device is used to implement all the steps of the above method, including:

[0164] The physical quantity acquisition module is connected to the force sensor installed in the elastic support seat of the fuselage and the tension sensor installed at the mechanical suspension point connection shaft of the fuselage, respectively, to acquire the support force at each force measuring point and the tension at the suspension point.

[0165] The force field decoupling analysis module communicates with the physical quantity acquisition module to determine the risk of seal failure and locate abnormal areas.

[0166] The attitude correction calculation module communicates with the force field decoupling analysis module and is used to calculate the rotational speed difference used for attitude correction.

[0167] The flow field feedforward prediction module is connected to the force field decoupling analysis module and the deviation calculation module to predict the disturbance barotropic pressure that the abnormal region will soon experience.

[0168] The collaborative compensation module is connected to the flow field feedforward prediction module and the deviation correction calculation module, and is also connected to the adsorption device and cleaning device of the curtain wall operation robot, respectively, to synchronously send speed regulation electrical signals and negative pressure compensation commands.

[0169] Based on the preferred embodiments of the present invention described above, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A dynamic adjustment method for cleaning and sealing of a curtain wall robot, applied to a curtain wall operation robot including a body, a suspension device, an adsorption device, and a cleaning device; wherein an elastic support base is installed at the bottom of the body, the steel wire rope of the suspension device is hinged to a mechanical suspension point at the top of the body, the adsorption device includes a first fan and a second fan, and the cleaning device includes a recovery chamber formed by a scraper and a connected suction pump and internal fluid pipeline; characterized in that, The method includes: S1: Obtain the supporting force at each force measuring point and the tensile force at the suspension point; S2: Perform force field decoupling analysis based on the supporting force and the tensile force to determine whether there is a risk of sealing failure, and lock the abnormal area when the risk exists; S3: Calculate the rotational speed difference used for attitude correction based on the offset orientation of the abnormal region; S4: Based on the speed difference, extract the flow field feedforward features and predict the disturbance positive pressure that the abnormal region will experience due to the speed change; S5: Based on the disturbance positive pressure, while performing the attitude correction according to the speed difference, a negative pressure compensation command is output simultaneously to make the suction negative pressure increment in the abnormal area greater than the disturbance positive pressure.

2. The method according to claim 1, characterized in that, The process of obtaining the support force at each force measuring point and the tension at the suspension point includes: Collect discrete electrical signals output by a force sensor abutting inside the elastic support and a tension sensor sleeved at the mechanical lifting point connecting shaft; The discrete electrical signals are converted into initial sampled values ​​of the support force at the corresponding force measurement point and the initial sampled values ​​of the tension at the corresponding suspension point, respectively. The values ​​are then input into a weighted moving average filtering algorithm for smoothing, and the support force value at each force measurement point and the tension value at each suspension point are output.

3. The method according to claim 2, characterized in that, The force field decoupling analysis based on the supporting force and the tensile force includes: For the support force value corresponding to each force measuring point and the tension value corresponding to the suspension point, the first derivative is obtained by using the discrete first-order backward difference method to obtain the rate of change of the support force at the corresponding force measuring point and the rate of change of the tension at the corresponding suspension point.

4. The method according to claim 3, characterized in that, The determination of whether there is a risk of seal failure, and the identification of the abnormal area when the risk exists, includes: When the value of the support force corresponding to any force measuring point is less than the preset physical closure threshold, and the rate of change of the support force at the corresponding force measuring point is less than the preset negative rate of change threshold, the force field decoupling judgment logic is executed. When the absolute value of the rate of change of tension corresponding to the suspension point is less than the preset steady-state change threshold, or when the rate of change of tension corresponding to the suspension point is less than 0 and its absolute value is greater than or equal to the preset sudden change threshold, it is determined that there is a risk of seal failure. Extract the fuselage coordinates of the force measurement points where the support force value is less than the physical closure threshold, and assign them as the abnormal area.

5. The method according to claim 1, characterized in that, The step of calculating the rotational speed difference for attitude correction based on the offset orientation of the abnormal region includes: The difference between the preset standard operating preload and the support force value at the corresponding force measuring point in the abnormal area is calculated to obtain the amount of support force loss. Based on the modulus of the lever arm vector of the force measuring point corresponding to the abnormal area relative to the preset fuselage center of gravity coordinates, the amount of missing support force is converted into thrust compensation torque. Based on the modulus of the lever arm vector of the installation centers of the first and second wind turbines relative to the center of gravity coordinates, the thrust compensation torque distribution is converted into the corresponding increase in normal thrust required by the wind turbine.

6. The method according to claim 5, characterized in that, After obtaining the required increase in normal thrust for the corresponding wind turbine, the following is also included: Based on the preset speed-thrust mathematical mapping fitting curve, the current operating speed of the corresponding wind turbine is converted into the basic thrust, and the basic thrust is added to the normal thrust increment to obtain the target thrust; The target speed is obtained by substituting the target thrust into the speed-thrust mathematical mapping fitting curve and solving in reverse. The difference between the target speed and the current operating speed is converted into the PWM duty cycle adjustment difference and assigned as the speed difference.

7. The method according to claim 5, characterized in that, The step of extracting flow field feedforward features based on the speed difference and predicting the disturbance positive pressure that the abnormal region will experience due to the speed change includes: According to Hooke's Law, the vertical physical displacement is calculated using the missing support force and the known stiffness coefficient of the spring inside the elastic support seat, and assigned as the gap height parameter. Based on the preset fan speed-exhaust airflow velocity mapping relationship, the exhaust airflow velocity and exhaust kinetic energy increment after the fan speed is increased are calculated corresponding to the speed difference.

8. The method according to claim 7, characterized in that, The prediction of the abnormal region's impending disturbance positive pressure due to rotational speed changes also includes: The gap height parameter and the exhaust airflow velocity after the fan speed is increased are substituted into a fluid dynamics throttling polynomial calculation model that includes ambient air density parameters and pre-calibrated coefficients to calculate the wind pressure peak value and assign it as the disturbance positive pressure.

9. The method according to claim 1, characterized in that, The synchronous output negative pressure compensation command includes: During the same hardware interrupt execution cycle that sends a speed regulation electrical signal containing the speed difference to the adsorption device, a negative pressure compensation command is sent to the cleaning device. The electronically controlled proportional valve connecting the abnormal area to the corresponding sub-chamber instantly reaches full load opening, and the electronically controlled proportional valve opening of the non-abnormal area corresponding to the sub-chamber is reduced according to a preset attenuation ratio. Based on the disturbance positive pressure, the minimum target value of the suction negative pressure increment is determined. Combined with the fluid resistance change caused by the change in the opening degree of the electronically controlled proportional valve, the target operating frequency of the suction pump main motor is calculated and increased based on the pump similarity law.

10. A dynamic adjustment device for cleaning and sealing of a curtain wall robot, characterized in that, The apparatus for implementing the method as described in any one of claims 1 to 9, comprising: The physical quantity acquisition module is connected to the force sensor installed in the elastic support seat of the fuselage and the tension sensor installed at the mechanical suspension point connection shaft of the fuselage, respectively, to acquire the support force at each force measuring point and the tension at the suspension point; The force field decoupling analysis module is communicatively connected to the physical quantity acquisition module and is used to determine the risk of sealing failure and locate abnormal areas. The attitude correction calculation module is communicatively connected to the force field decoupling analysis module and is used to calculate the rotational speed difference used for attitude correction. The flow field feedforward prediction module is communicatively connected to the force field decoupling analysis module and the deviation correction calculation module, respectively, and is used to predict the disturbance positive pressure that the abnormal region will be subjected to. The collaborative compensation module is communicatively connected to the flow field feedforward prediction module and the deviation correction calculation module, and is also communicatively connected to the adsorption device and cleaning device of the curtain wall operation robot, for synchronously issuing speed regulation electrical signals and negative pressure compensation commands.

Images