Wind turbine tower intelligent monitoring and detection system

Abstract

The present invention discloses an intelligent monitoring and detection system for a wind turbine tower, which belongs to the technical field of monitoring and detection of wind turbine towers, and comprises: a vehicle main frame, two traveling mechanisms, a detection mechanism, a cleaning mechanism, at least two driving members and two protective mechanisms. The two traveling mechanisms are connected to the vehicle main frame, and can be adsorbed on the tower and move along the extension direction of the tower; the detection mechanism is connected to the vehicle main frame and comprises a detection member and a lighting lamp; the cleaning mechanism comprises a cleaning member and a cleaning nozzle; the driving members are respectively connected to the vehicle main frame and their driving ends are respectively connected to the corresponding traveling mechanisms, and are used to drive the traveling mechanisms to be attached to the tower; the two protective mechanisms are movably connected to the driving ends, and when the traveling mechanisms are attached to the tower, the driving ends can also drive the two protective mechanisms to enclose and wrap around the tower to form a sealed wrapping cavity; the present invention can be applied to towers of different sizes, has high accuracy in tower detection, and meets the current detection needs.

Description

Technical Field

[0001] The invention relates to the technical field of wind turbine tower monitoring and detection, and in particular to an intelligent wind turbine tower monitoring and detection system. Background Art

[0002] As a renewable and clean energy, wind power generation has been vigorously promoted in various countries around the world in recent years. The capacity of wind turbines has increased year by year, and the maintenance of wind turbines, the cleaning of towers, and the inspection of wind turbine blades have become increasingly important. However, the working site of wind turbines is often subject to severe weather such as wind, sand, rain, and snow. Once a wind turbine fails, it will affect the power generation efficiency and the economic benefits of the power plant at the least, and cause damage to the wind turbine and huge economic losses at the worst. Therefore, wind turbines must be maintained all year round.

[0003] Wind turbine tower is the tower pole of wind power generation, which mainly plays a supporting role in wind turbine generator set and absorbs the vibration of the unit. The inspection of wind turbine tower is a key inspection test in the operation stage of wind farm, which is related to the safe operation of wind turbine and reflects the bearing capacity of the tower under the condition of frequent changes in operating conditions and tower load.

[0004] However, the existing wind turbine tower monitoring and detection system has the following problems: 1. The existing wind turbine tower monitoring and detection system cannot be applied to towers of different sizes, which affects the operation and use of the detection device; 2. The detection accuracy of the wind turbine tower monitoring and detection system is easily affected by the light during detection and the residual mud and sand on the tower, which makes it difficult to meet the current detection needs. Summary of the invention

[0005] The purpose of the present invention is to overcome the above technical deficiencies, propose an intelligent supervision and detection system for wind turbine towers, and solve the technical problems in the prior art that the wind turbine tower supervision and detection system cannot be applied to towers of different sizes and the detection accuracy is easily affected.

[0006] In order to achieve the above technical objectives, the technical solution of the present invention provides a wind turbine tower intelligent monitoring and detection system, including:

[0007] Vehicle main frame;

[0008] Two walking mechanisms are connected to the main frame of the vehicle body and can be attached to the tower and move along the extension direction of the tower;

[0009] The detection mechanism is connected to the main frame of the vehicle body and includes a detection member and a lighting lamp, the detection member is used to detect the tower, and the lighting lamp is used to illuminate the detection part of the tower;

[0010] The cleaning mechanism includes a cleaning piece and a cleaning nozzle. The cleaning piece is connected to the vehicle body main frame and its output end is connected to the cleaning nozzle. The cleaning nozzle faces the tower when the vehicle body main frame moves, and is used to spray the medium output by the cleaning piece to the tower through the cleaning nozzle to clean the sediment on the tower;

[0011] At least two driving members, each of which is connected to the vehicle body main frame and has a driving end connected to a corresponding traveling mechanism, for driving the traveling mechanism to be attached to the tower;

[0012] Two protective mechanisms are movably connected to the driving end, and the two protective mechanisms are enclosed to form a protective cavity covering the walking mechanism and the detection mechanism. When the walking mechanism is attached to the tower, the driving end can also drive the two protective mechanisms to enclose and wrap around the tower to form a sealed wrapping cavity.

[0013] As a further improvement of the present invention, each walking mechanism includes a wall-climbing wheel and an adsorption device. The wall-climbing wheel is movably connected to the vehicle body main frame, and the two wall-climbing wheels can move relative to the vehicle body main frame to respectively fit the wall of the tower, and can rotate to drive the vehicle body main frame to walk on the tower. The adsorption device is connected to the wall-climbing wheel, and the wall-climbing wheel can be adsorbed to the tower via the adsorption device, so that the wall-climbing wheel can drive the vehicle body main frame to move on the tower in a state of being adsorbed to the tower.

[0014] As a further improvement of the present invention, the wall-climbing wheel is a tracked drive wheel, and a driving motor with a driving end connected to the central axis of the driving wheel is provided on the driving wheel of the tracked drive wheel. The wall-climbing wheel can also be a circular roller, and the adsorption device includes a plurality of permanent magnets evenly arranged on the track surface of the tracked drive wheel or the surface of the circular roller.

[0015] As a further improvement of the present invention, the cleaning component includes a water tank and a water pump, the cleaning nozzle is a pressure nozzle, the water pump is arranged in the water tank and its water inlet is connected to the water tank, and the water outlet is connected to the pressure nozzle through a connecting pipe.

[0016] As a further improvement of the present invention, the cleaning component includes an air pump, the cleaning nozzle is a gas nozzle, and the air outlet of the air pump is connected to the gas nozzle through a connecting pipe.

[0017] As a further improvement of the present invention, the two protective mechanisms both include a protective shell, and the two protective shells both include a shell, a sponge body and a rubber strip. The shell is connected to the driving member, and the two shells are sealed and connected in a fit toward each other. A sealing gasket is provided on the side of one shell close to the other shell, and one side of the sponge body is connected to the shell, and the other side is connected to the rubber strip.

[0018] As a further improvement of the present invention, a plurality of connecting belts are evenly embedded in the sponge, one end of the connecting belt is connected to the shell, and the other end is connected to the rubber strip.

[0019] As a further improvement of the present invention, the driving member includes at least two driving modules, and the driving modules are set to an even number and are evenly arranged on both sides of the vehicle body main frame.

[0020] As a further improvement of the present invention, each driving module includes a first articulated block, a second articulated block and a cylinder, the first articulated block is connected to the main frame of the vehicle body, the second articulated block is connected to both the walking mechanism and the protective mechanism, and one end of the cylinder is hinged to the first articulated block and the other end is hinged to the second articulated block.

[0021] As a further improvement of the present invention, the detection parts include an ultrasonic flaw detector and a camera, which are both connected to the vehicle body main frame and face the side opposite to the vehicle body main frame. A positioning drive control system is also provided on the vehicle body main frame, and the walking mechanism, cleaning mechanism, driving part and detection mechanism are all electrically connected to the ground control station through the positioning drive control system.

[0022] Compared with the prior art, the beneficial effects of the present invention include: through the vehicle body main frame and the walking mechanism, the wall climbing wheel can drive the device to walk on the tower surface under the action of the adsorption device, and cooperate with the driving of the driving member to make the wall climbing wheel adapt to the surface of the tower and fit the tower, so that it can be suitable for towers of different sizes;

[0023] Through the cleaning mechanism, the medium output by the cleaning part can be sprayed toward the tower through the cleaning nozzle to clean the residual sand on the tower surface and the tower weld to prevent the sand from affecting the tower inspection;

[0024] Through the detection mechanism and protection mechanism that are set up, the protection mechanism can isolate the cleaned mud and sand, prevent the mud and sand from entering the protection cavity and affecting the detection result of the detection piece. On the other hand, the protection mechanism can also block external light. The device only performs detection operations under lighting. When the light changes due to external weather, the light can be prevented from affecting the detection result. The tower detection is highly accurate and meets the current detection needs. In conjunction with the set driving member, the driving member can drive the protective cavity to fit the tower, ensuring the protection mechanism's effect of isolating light and mud. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall three-dimensional structure of an implementation method of the wind turbine tower intelligent monitoring and detection system of the present invention;

[0026] Figure 2 It is a schematic diagram of the overall front cross-sectional structure of an implementation method of the wind turbine tower intelligent monitoring and detection system of the present invention;

[0027] Figure 3 It is a schematic diagram of the overall left-side cross-sectional structure of an implementation method of the wind turbine tower intelligent monitoring and detection system of the present invention;

[0028] Figure 4 It is a schematic diagram of the front cross-sectional structure of the protection mechanism installation of an implementation mode of the wind turbine tower intelligent monitoring and detection system of the present invention;

[0029] Figure 5 yes Figure 4 Enlarged structural diagram at A in the middle.

[0030] In the figure: 1. vehicle body main frame; 2. walking mechanism; 21. wall-climbing wheel; 211. driving motor; 22. adsorption device; 3. detection mechanism; 31. detection part; 32. lighting lamp; 4. cleaning mechanism; 41. cleaning part; 42. cleaning nozzle; 5. protection mechanism; 51. shell; 52. sponge body; 521. connecting belt; 53. rubber strip; 6. driving part; 61. first hinge block; 62. second hinge block; 63. cylinder; 7. positioning drive control system. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0032] like Figure 1 , Figure 2 As shown, the present invention provides an intelligent monitoring and detection system for a wind turbine tower, comprising: a vehicle body main frame 1, two walking mechanisms 2, a detection mechanism 3, a cleaning mechanism 4, at least two driving members 6 and two protection mechanisms 5.

[0033] The two traveling mechanisms 2 are connected to the vehicle body main frame 1 and can be adsorbed on the tower and move along the extension direction of the tower.

[0034] The detection mechanism 3 is connected to the vehicle body main frame 1 and comprises a detection member 31 and a lighting lamp 32. The detection member 31 is used to detect the tower, and the lighting lamp 32 is used to illuminate the detection part of the tower.

[0035] The cleaning mechanism 4 includes a cleaning piece 41 and a cleaning nozzle 42. The cleaning piece 41 is connected to the vehicle body main frame 1 and its output end is connected to the cleaning nozzle 42. The cleaning nozzle 42 faces the tower when the vehicle body main frame 1 is moving, and is used to spray the medium output by the cleaning piece 41 to the tower through the cleaning nozzle 42 to clean the mud and sand on the tower.

[0036] The driving members 6 are respectively connected to the vehicle body main frame 1 and the driving ends thereof are respectively connected to the corresponding traveling mechanisms 2 for driving the traveling mechanisms 2 to be attached to the tower.

[0037] The two protection mechanisms 5 are movably connected to the driving end, and the two protection mechanisms 5 are enclosed to form a protection cavity covering the walking mechanism 2 and the detection mechanism 3. When the walking mechanism 2 is attached to the tower, the driving end can also drive the two protection mechanisms 5 to enclose and wrap around the tower to form a sealed wrapping cavity.

[0038] In the present device, the walking mechanism 2 can be adsorbed on the tower and move along the extension direction of the tower to drive the device to walk on the surface of the tower. During the walking process, the cleaning nozzle 42 faces the tower, so that the medium output by the cleaning member 41 can be sprayed toward the tower through the cleaning nozzle 42 to clean the mud and sand on the tower. A protective cavity is formed between the two protective mechanisms 5 to cover the walking mechanism 2 and the detection mechanism 3, and the protective cavity can be attached to the tower. When the protective cavity is attached to the tower, the protective cavity is in a sealed state, so that the protective mechanism 5 can isolate the cleaned mud and sand, and prevent the cleaned mud from being Sand entering the protective cavity affects the detection result of the detection member 31. At the same time, the protective mechanism 5 can also block external light, so that the device can perform detection operations under the illumination of the lighting lamp 32. When the light changes due to external weather, the light can be prevented from affecting the detection result. Through the set driving member 6, the driving member 6 can drive the walking mechanism 2 and the protective mechanism 5 to attach to the tower for towers of different sizes, so that the device can adapt to the conditions on the surface of the tower. Finally, the detection of any part of the tower can be realized through the detection member 31, so that maintenance personnel can understand the status of the wind turbine tower in time.

[0039] like Figure 1 As shown, the driving member 6 includes at least two driving modules, and the driving modules are set to an even number and are evenly arranged on both sides of the vehicle body main frame 1. By setting the driving modules to an even number and evenly arranged on both sides of the vehicle body main frame 1, the driving members 6 can be evenly distributed on both sides of the vehicle body main frame 1, so that the forces on both sides of the vehicle body main frame 1 are evenly applied, and the same number of driving modules are respectively connected to the two groups of traveling mechanisms 2, so that they can stably drive the traveling mechanisms 2 on both sides of the vehicle body main frame 1;

[0040] Each driving module includes a first hinge block 61, a second hinge block 62 and a cylinder 63. The first hinge block 61 is connected to the vehicle body main frame 1, and the second hinge block 62 is connected to the traveling mechanism 2 and the protective mechanism 5. One end of the cylinder 63 is hinged to the first hinge block 61, and the other end is hinged to the second hinge block 62. By setting the first hinge block 61, the second hinge block 62 and the cylinder 63, the cylinder 63 is fixedly connected to the vehicle body main frame 1 through the first hinge block 61, and its driving end is respectively connected to the traveling mechanism 2 and the protective mechanism 5 through the second hinge block 62. When the cylinder 63 is relatively extended or shortened, it can control and adjust the angle between the traveling mechanism 2 and the protective mechanism 5 and the vehicle body main frame 1, so as to facilitate the adjustment of the position of the traveling mechanism 2 and the protective mechanism 5 according to the towers of different diameters, so that the traveling mechanism 2 and the protective mechanism 5 are kept close to the tower.

[0041] like Figure 1 , Figure 2 As shown, the detection component 31 includes an ultrasonic flaw detector and a camera, which are both connected to the vehicle body main frame 1 and face the side opposite to the vehicle body main frame 1. By setting the ultrasonic flaw detector and the camera, and electrically connecting the ultrasonic flaw detector and the camera through the controller, when the device walks on the tower, the detection end of the ultrasonic flaw detector and the shooting end of the camera can correspond to the tower, and the ultrasonic flaw detector is used to detect the tower to achieve the purpose of flaw detection. The camera is used to capture the image of the ultrasonic flaw detector on the tower, which is convenient for the operator to complete the detection and analysis of the wind turbine tower according to the image captured by the camera. The ultrasonic flaw detector and the camera are used in combination, and the detection accuracy is high; the vehicle body main frame 1 is also provided with a positioning drive control system 7, and the walking mechanism 2, the cleaning mechanism 4, the driving member 6 and the detection mechanism 3 are all electrically connected to the ground control station through the positioning drive control system 7. Through the positioning drive control system 7, the walking mechanism 2, the cleaning mechanism 4, the driving member 6 and the detection mechanism 3 can be controlled by the positioning drive control system 7 at the ground control station, so as to realize remote, convenient and sensitive control of the detection system.

[0042] like Figure 2 As shown, each walking mechanism 2 includes a wall-climbing wheel 21 and an adsorption device 22. The wall-climbing wheel 21 is movably connected to the vehicle body main frame 1, and the two wall-climbing wheels 21 can move relative to the vehicle body main frame 1 to respectively fit the wall of the tower, and can rotate to drive the vehicle body main frame 1 to walk on the tower. The adsorption device 22 is connected to the wall-climbing wheel 21. The wall-climbing wheel 21 can be adsorbed on the tower via the adsorption device 22, so that the wall-climbing wheel 21 can drive the vehicle body main frame 1 to move on the tower in a state of being adsorbed on the tower. This structural arrangement enables the wall-climbing wheel 21 to respectively fit the wall of the tower under the drive of the driving member 6, and can be adsorbed on the tower via the adsorption device 22, thereby realizing driving the vehicle body main frame 1 to move on the tower;

[0043] The wall-climbing wheel 21 is a crawler-type driving wheel. A driving motor 211 whose driving end is connected to the central axis of the driving wheel is provided on the driving wheel of the crawler-type driving wheel. The wall-climbing wheel 21 can also be a circular roller. The adsorption device 22 includes a plurality of permanent magnets evenly arranged on the crawler surface of the crawler-type driving wheel or the surface of the circular roller. The crawler-type driving wheel is hinged to the main frame 1 of the vehicle body through the arranged wall-climbing wheel 21, the driving motor 211 and the permanent magnet. The permanent magnet is arranged on the crawler surface of the crawler-type driving wheel. The permanent magnet and the The tower wall generates attraction so that the device is adsorbed on the tower, and the driving motor 211 can drive the driving wheel of the crawler driving wheel to rotate, so that the vehicle body main frame 1 can walk on the tower surface under the drive of the two walking mechanisms 2; when the wall climbing wheel 21 is a circular roller, one end of it is provided with a driving motor 211 connected to its central axis with a driving shaft, and the driving motor 211 can drive the circular roller to rotate, and a permanent magnet is arranged on the surface of the circular roller, and the permanent magnet and the tower wall generate attraction so that the device is adsorbed on the tower;

[0044] In this embodiment, one end of the wall-climbing wheel 21 close to the vehicle body main frame 1 is hingedly fixed to the vehicle body main frame 1, so that the wall-climbing wheel 21 can generate a bending moment relative to one side of the vehicle body main frame 1, so as to bend and fit the tower under the drive of the driving member 6.

[0045] like Figure 3 As shown, the cleaning part 41 includes a water tank and a water pump, and the cleaning nozzle 42 is a pressure nozzle. The water pump is arranged in the water tank, and its water inlet is connected with the water tank, and its water outlet is connected with the pressure nozzle through a connecting pipe. Through the arranged water tank, water pump and pressure nozzle, water can be stored in the water tank. The pressure nozzle is a high-pressure nozzle. The water pump can pump the water in the water tank to the pressure nozzle through the connecting pipe, so that the water is sprayed toward the tower through the pressure nozzle, so as to realize the cleaning of the tower. The arrangement uses water to wash the mud and sand on the surface of the tower and its welds, and its cleaning effect is good.

[0046] The cleaning component 41 includes an air pump, and the cleaning nozzle 42 is a gas nozzle. The air outlet of the air pump is connected to the gas nozzle through a connecting pipe. The air pump and the gas nozzle are arranged so that the air pump can spray toward the tower through the connecting pipe and the gas nozzle. When spraying, the mud and sand on the surface of the tower and its welds can be blown off to clean the tower. This arrangement makes the cleaning component 41 lighter, can reduce the load on the main frame 1 of the vehicle body, and has a longer battery life, making it easy to use.

[0047] like Figure 1 , Figure 4As shown, the two protection mechanisms 5 both include a protection shell, and the two protection shells both include a shell 51, a sponge 52 and a rubber strip 53. The shell 51 is connected to the driving member 6, and the two shells 51 are sealed and connected to each other on the side close to each other. A sealing gasket is provided on the side of one shell 51 close to the other shell 51. One side of the sponge 52 is connected to the shell 51, and the other side is connected to the rubber strip 53. Through the shell 51, the sponge 52 and the rubber strip 53, when the device moves on the surface of the tower, the rubber strip 53 contacts the tower without causing wear and scratches on the surface of the tower. The shell 51 is connected to the rubber strip 53 through the sponge 52. The sponge 52 has a shrinkage property, so that when the protection shell contacts the tower, the sponge 52 can shrink according to the surface of the tower to ensure that the protection shell is attached to the tower, and the protection mechanism 5 can adapt to the surface of the tower. By providing a sealing gasket on the side of one shell 51 close to the other shell 51, it is beneficial to improve the tightness of the connection between the two shells 51.

[0048] In this embodiment, the bottoms of the two protective shells are connected to each other in an arc shape so that the protective shells can fit the cylindrical tower, which is more conducive to improving the accuracy of detection; a soft rubber pad is provided on the side of the protective shell close to the main frame 1 of the vehicle body, and the soft rubber pad is in contact with the main frame 1 of the vehicle body to seal the gap between the main frame 1 of the vehicle body and the protective shell, and at the same time provide a certain rotation space between the protective shell and the main frame 1 of the vehicle body.

[0049] like Figure 5 As shown, a plurality of connecting belts 521 are evenly embedded in the sponge body 52, one end of the connecting belt 521 is connected to the shell body 51, and the other end is connected to the rubber strip 53. By evenly embedding a plurality of connecting belts 521 in the sponge body 52, one end of the connecting belt 521 is connected to the shell body 51, and the other end is connected to the rubber strip 53, and in this embodiment, the connecting belt 521 preferably adopts an elastic rope, so that the connecting belt 521 is arranged in the sponge body 52 and is used to connect the shell body 51 and the rubber strip 53, which increases the connection strength of the sponge body 52 to avoid damage or disconnection of the sponge body 52.

[0050] Working principle: During the detection process, the permanent magnet arranged on the wall-climbing wheel 21 enables it to be adsorbed on the surface of the tower. Driven by the driving motor 211, the wall-climbing wheel 21 drives the main frame 1 of the vehicle body to move on the tower, and then the sludge on the tower is cleaned by the cleaning mechanism 4, so that the ultrasonic flaw detector can accurately detect the tower. During the walking process, the cylinder 63 can drive the wall-climbing wheel 21 and the protective mechanism 5 to be attached to the tower through the second hinge block 62, so that it can be suitable for the surface conditions of the tower. The shell 51 can prevent external light from entering the protective cavity. Under the illumination of the lighting lamp 32, the camera can capture the image of the ultrasonic flaw detector on the tower, which is convenient for the operator to complete the inspection of the wind turbine tower according to the image captured by the camera.

[0051] The present invention provides a vehicle body main frame 1 and a walking mechanism 2, and the wall-climbing wheel 21 can drive the device to walk on the tower surface under the action of the adsorption device 22, and cooperates with the driving of the driving member 6 to make the wall-climbing wheel 21 adapt to the surface of the tower and fit the tower, so that it can be applied to towers of different sizes;

[0052] The present invention provides a cleaning mechanism 4 so that the medium output by the cleaning member 41 can be sprayed toward the tower through the cleaning nozzle 42 to clean the residual sand on the tower surface and the tower weld to prevent the sand from affecting the detection of the tower.

[0053] The present invention provides a detection mechanism 3 and a protection mechanism 5, so that the protection mechanism 5 can isolate the cleaned mud and sand, prevent the mud and sand from entering the protection cavity and affecting the detection result of the detection member 31. On the other hand, the protection mechanism 5 can also block external light. The device only performs detection operations under the illumination of the lighting lamp 32. When the light changes due to external weather, the light can be prevented from affecting the detection result. The accuracy of tower detection is high and meets the current detection needs. The driving member 6 is provided so that the driving member 6 can drive the protection cavity to fit the tower, ensuring the effect of the protection mechanism 5 in isolating light and mud.

[0054] The specific implementation of the present invention described above does not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A wind turbine tower intelligent monitoring and detection system, characterized in that: include: Vehicle main frame; Two walking mechanisms are connected to the main frame of the vehicle body and can be attached to the tower and move along the extension direction of the tower; A detection mechanism, the detection mechanism is connected to the vehicle body main frame and comprises a detection member and a lighting lamp, the detection member is used to detect the tower, and the lighting lamp is used to illuminate the detection part of the tower; A cleaning mechanism, the cleaning mechanism comprising a cleaning piece and a cleaning nozzle, the cleaning piece is connected to the vehicle body main frame and its output end is connected to the cleaning nozzle, the cleaning nozzle is directed toward the tower when the vehicle body main frame is moving, and is used to spray the medium output by the cleaning piece toward the tower through the cleaning nozzle to clean the mud and sand on the tower; At least two driving members, each of which is connected to the vehicle body main frame and has a driving end connected to a corresponding traveling mechanism, for driving the traveling mechanism to be attached to the tower; Two protection mechanisms are movably connected to the driving end, and the two protection mechanisms are enclosed to form a protection cavity covering the walking mechanism and the detection mechanism, and when the walking mechanism is attached to the tower, the driving end can also drive the two protection mechanisms to enclose and wrap around the tower to form a sealed wrapping cavity.

2. The wind turbine tower intelligent monitoring and detection system according to claim 1 is characterized in that: Each of the walking mechanisms includes a wall-climbing wheel and an adsorption device, the wall-climbing wheel is movably connected to the vehicle body main frame, and the two wall-climbing wheels can move relative to the vehicle body main frame to respectively fit the wall of the tower, and can rotate to drive the vehicle body main frame to walk on the tower, the adsorption device is connected to the wall-climbing wheel, and the wall-climbing wheel can be adsorbed on the tower via the adsorption device, so that the wall-climbing wheel can drive the vehicle body main frame to move on the tower in a state of being adsorbed on the tower.

3. The wind turbine tower intelligent monitoring and detection system according to claim 2 is characterized in that: The wall-climbing wheel is a track-type drive wheel or a circular roller. When the wall-climbing wheel is a track-type drive wheel, a driving motor with a driving end connected to the central axis of the driving wheel is provided on the driving wheel of the track-type drive wheel. When the wall-climbing wheel is a circular roller, the adsorption device includes a plurality of permanent magnets evenly arranged on the track surface of the track-type drive wheel or the surface of the circular roller.

4. The wind turbine tower intelligent monitoring and detection system according to claim 1 is characterized in that: The cleaning component comprises a water tank and a water pump, the cleaning nozzle is a pressure nozzle, the water pump is arranged in the water tank, and its water inlet is connected with the water tank, and its water outlet is connected with the pressure nozzle through a connecting pipe.

5. The wind turbine tower intelligent monitoring and detection system according to claim 1 is characterized in that: The cleaning component comprises an air pump, the cleaning nozzle is a gas nozzle, and the air outlet of the air pump is connected with the gas nozzle through a connecting pipe.

6. The wind turbine tower intelligent monitoring and detection system according to claim 1 is characterized in that: Both of the two protective mechanisms include a protective shell, and both of the two protective shells include a shell, a sponge and a rubber strip. The shell is connected to the driving member, and the two shells are sealed and connected on the sides close to each other. A sealing gasket is provided on the side of one of the shells close to the other shell, and one side of the sponge is connected to the shell, and the other side is connected to the rubber strip.

7. The wind turbine tower intelligent monitoring and detection system according to claim 6 is characterized in that: A plurality of connecting belts are evenly embedded in the sponge body, one end of the connecting belt is connected to the shell body, and the other end is connected to the rubber strip.

8. The wind turbine tower intelligent monitoring and detection system according to claim 1 is characterized in that: The driving member comprises at least two driving modules, and the driving modules are set to an even number and are evenly arranged on both sides of the vehicle body main frame.

9. The wind turbine tower intelligent monitoring and detection system according to claim 8 is characterized in that: Each of the driving modules includes a first articulated block, a second articulated block and a cylinder. The first articulated block is connected to the vehicle main frame, the second articulated block is connected to both the walking mechanism and the protective mechanism, and one end of the cylinder is articulated to the first articulated block and the other end is articulated to the second articulated block.

10. The wind turbine tower intelligent monitoring and detection system according to claim 1 is characterized in that: The detection parts include an ultrasonic flaw detector and a camera, both of which are connected to the vehicle main frame and face the side opposite to the vehicle main frame. The vehicle main frame is also provided with a positioning drive control system, and the walking mechanism, cleaning mechanism, driving part and detection mechanism are all electrically connected to the ground control station through the positioning drive control system.

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