A wind power tower detection robot platform and a pose control method thereof

Abstract

The application provides a wind power tower detection robot platform and a pose control method thereof. The platform mainly comprises a peripheral platform frame, a climbing device and a control device. The climbing device comprises a plurality of climbing modules uniformly distributed along the peripheral platform frame and a plurality of tightening mechanisms connected between the climbing modules. The screw rods on both sides of the plurality of climbing modules are contracted together to form a resultant force pointing to the wind power tower, so that the platform can stay on the core of the wind power tower. The six climbing modules are connected with the frame to avoid the problem of different steps during upward and downward climbing. A plurality of sensors are installed on the peripheral platform frame and the climbing device. The control device controls the pose of the platform through the signals generated by the sensors. The application can be effectively used for the climbing operation of the variable-diameter wind power tower. During the climbing process, the climbing modules keep synchronous operation, and through timely pose monitoring and adjustment, the platform can automatically and safely and stably work.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of wind power generation tower, and particularly relates to a wind power tower detection robot platform and a pose control method thereof. BACKGROUND

[0002] In recent years, with the increasing shortage of non-renewable resources such as oil, natural gas and coal, the development and utilization of clean energy and renewable resources have been accelerated all over the world. Among them, wind energy as a clean energy with large reserves and wide distribution has attracted widespread attention and is of great significance to economic development and energy structure adjustment. The widely used power generation form is to convert wind energy into mechanical energy and then into electrical energy. The wind power tower plays a supporting role in the wind power system, and the safety of the tower is related to the entire power generation system. Therefore, regular maintenance must be carried out on the wind power tower. In China, the general height of the wind power tower is more than 50 meters, and even the highest is up to 160 meters, with a diameter of 2.5 to 3.5 meters, and the largest tower diameter is 7.5 meters. However, the maintenance work of the wind power tower is mostly carried out manually, which has problems such as low safety, high labor intensity, slow work efficiency, and serious loss of power generation due to long downtime.

[0003] Compared with manual maintenance, the wind power tower detection robot platform can climb on the wind power tower and can carry detection robots. It can not only spray, detect, derust and clean the tower, but also can detect and clean the wind power fan blades. However, the existing wind power tower detection robot platform is prone to individual drive wheel slipping, drive wheel hitting welds, and being affected by external environment during climbing to the top of the tower, which leads to horizontal inclination and circumferential movement of the entire wind power tower detection robot platform. This greatly increases the safety hazard and affects the efficiency and accuracy of the entire operation.

[0004] Although many scholars have studied the climbing device of the wind tower robot detection and maintenance platform, the current climbing device of the wind tower robot detection and maintenance platform still has the following shortcomings: 1. It can only climb on equal-diameter towers and cannot be applied to variable-diameter towers; 2. The climbing device cannot keep synchronous operation, making the wind tower detection and maintenance platform unstable; 3. It can only work on towers made of specific materials (such as electromagnetic climbing devices); 4. It is prone to tilting and circumferential movement. SUMMARY

[0005] The present application provides a wind power tower detection robot platform and a pose control method thereof to overcome the deficiencies in the prior art.

[0006] To achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0007] The application discloses a wind power tower detection robot platform which comprises a peripheral platform frame, a climbing device and a control device.

[0008] To optimize the above technical solution, the specific measures taken further include:

[0009] Further, the peripheral platform frame is connected by a plurality of frames, each climbing module corresponds to a connected frame, and a guide shaft is installed on the frame connecting the climbing modules.

[0010] Further, the climbing module comprises a platform module case, universal casters, drive wheels, a servo motor A, a link hinge and a linear bearing which are installed on the platform module case.

[0011] The universal casters are used for the movement of the platform module case on the ground, the drive wheels are driven by the servo motor A and are used for the climbing of the platform module case on the surface of the variable-diameter wind power tower, and the linear bearing is installed on the link hinge and is in sliding connection with the guide shaft.

[0012] Further, the climbing module further comprises a quasi-double curved gear reducer, a drive wheel bearing support, a cross shaft universal coupling and a drive motor mounting plate; the servo motor A and the quasi-double curved gear reducer are connected and are jointly installed on the drive motor mounting plate, both sides of the quasi-double curved gear reducer are connected with the cross shaft universal couplings, and the cross shaft universal couplings are connected with the drive wheels through the drive wheel bearing support.

[0013] Further, the tightening mechanism comprises a motor end and a tension end, and the two ends are swingably installed on two adjacent platform module cases through a motor end support and a tension end support.

[0014] The motor end comprises a servo motor B, a servo motor reducer, a transmission shaft, a universal coupling, a ball screw, a tension pipe nut sleeve, a screw protection sleeve and a laser ranging target; the servo motor B is installed on the motor end support, an output end of the servo motor B is connected with the transmission shaft, the transmission shaft is further connected with the servo motor reducer and the universal coupling, the universal coupling is connected with one end of the ball screw, the laser ranging target is arranged at the other end of the ball screw, a screw nut of the ball screw is connected with the tension pipe nut sleeve and is externally sleeved with the screw protection sleeve.

[0015] The tension end comprises a tension sensor rotating shaft, a tension sensor and a laser range finder kit; one end of the tension sensor is installed on the tension end support through the tension sensor rotating shaft, the other end of the tension sensor is connected with the tension pipe nut sleeve, and the laser range finder kit is nested and installed on the tension pipe nut sleeve;

[0016] The torque generated by the servo motor B is transmitted to the ball screw through the servo motor speed reducer, the transmission shaft and the universal joint, drives the ball screw to rotate and drives the screw nut to move linearly, the tension pipe nut sleeve moves linearly in the gap between the ball screw and the screw protection sleeve under the driving of the screw nut, the laser range finder kit measures the distance between the laser range finder target and the laser range finder target, and then obtains the distance of the tension pipe nut sleeve contraction, and the tension sensor measures the tension of the tension pipe nut sleeve when the tension pipe nut sleeve is contracted.

[0017] Further, the peripheral platform rack is provided with an inclination sensor and a three-dimensional electronic compass, the inclination sensor is used for measuring the inclination angle of the peripheral platform rack during climbing and generating an inclination signal, and the three-dimensional electronic compass provides navigation data of climbing.

[0018] The climbing device is provided with a height sensor and a displacement sensor, the height sensor is used for measuring the height of each climbing module from the ground and generating a height signal, and the displacement sensor is used for measuring the circumferential movement distance of the peripheral platform rack and generating a displacement signal.

[0019] Further, the control device is a control box comprising an industrial computer and a motion control card, and the control box is installed in a certain climbing module; the industrial computer analyzes the signals collected by the inclination sensor, the three-dimensional electronic compass, the height sensor and the displacement sensor, and sends the analyzed data to the motion control card, and the motion control card drives the climbing and tightening mechanisms of the climbing module according to the analyzed data.

[0020] The present application also provides a pose control method of the wind tower detection robot platform, and the method comprises the following steps:

[0021] S1: collecting the motion state signals of the platform, wherein the motion state signals comprise the inclination signals generated by the inclination sensor and the height signals generated by the height sensor;

[0022] S2: analyzing the collected motion state signals to obtain measurement values, wherein the measurement values are the inclination angles of the peripheral platform rack during climbing and the heights of each climbing module from the ground, and the measurement values are compared with preset threshold values to calculate deviation values;

[0023] S3: the calculated deviation value is sent to the industrial computer after A / D conversion; the industrial computer judges whether the platform motion state is normal according to the deviation value: if the deviation value is in a reasonable deviation value interval, the platform continues to work normally; if the deviation value exceeds the deviation value interval, the industrial computer finds out the correction parameter of the deviation value and corrects the deviation value by using the correction parameter;

[0024] S4: the industrial computer sends the corrected data to the motion control card, and the motion control card generates pulse signals through position, speed and torque three ways by using the corrected data, and the pulse signals are sent to the servo motor A responsible for driving the climbing in the climbing module and the servo motor B responsible for driving the tightening in the tightening mechanism;

[0025] S5: each servo motor A and each servo motor B accurately control the climbing distance of each climbing module according to the received pulse signal, and complete the pose adjustment of the platform.

[0026] Further, in step S3, the industrial computer first compares the inclination deviation value with the inclination deviation value range interval under normal running condition: if the inclination deviation value is in the inclination deviation value range interval, the industrial computer works according to the preset instruction; if the inclination deviation value is not in the inclination deviation value range interval, the industrial computer compares the received height deviation value with the standard height deviation value, calculates the height correction parameter, and determines the best platform correction time required under the navigation data of the three-dimensional electronic compass, and calculates the best correction motion speed combined with the height correction parameter.

[0027] The application further provides a pose control method of the wind power tower detection robot platform, and has the characteristics that the method comprises the following steps:

[0028] S1: collecting the motion state signal of the platform, wherein the motion state signal is the displacement generated by the displacement sensor;

[0029] S2: analyzing the collected motion state signal to obtain a measurement value, wherein the measurement value is the distance of the circumferential movement of the platform, and the measurement value is sent to the industrial computer;

[0030] S3: the industrial computer receives the measurement value, and judges whether the measurement value is in an expected interval according to a preset coordinate: if the measurement value is in the expected interval, the industrial computer continues to execute the preset instruction; if the measurement value is not in the expected interval, the industrial computer compares the distance of the circumferential movement of the platform with the preset coordinate to calculate a new coordinate of the platform at this time, and generates a correction command to the motion control card;

[0031] S4: the motion control card receives the correction command, and drives each climbing module to move towards the preset coordinate with the new coordinate as the starting point.

[0032] The application has the following beneficial effects:

[0033] 1、The platform provided by the application does not use easy-to-wear ropes for bearing, and can carry various sensors and cameras, so that the operation is safer; the whole platform is assembled by multiple parts, is easy to transport and install, and can be quickly disassembled and installed on wind power towers in different regions;

[0034] 2、The platform provided by the application adopts a plurality of climbing modules, utilizes a polygonal frame to surround the outer shape structure of the wind power tower, provides a large range of movement space for the detection and maintenance platform work, and cooperatively controls the plurality of climbing modules, thereby improving the stability of the wind power tower robot detection and maintenance platform climbing device and being safer;

[0035] 3、In the climbing module, the laser range finder in the tension end of the tightening mechanism measures the distance of the movement of the screw rod in the hollow pipe, the industrial computer in the control box in the platform module machine case controls the output tension of the motor end of the tightening mechanism, so that the power of the movement of the climbing module along the guide shaft on the peripheral platform frame is obtained, and it is ensured that the driving wheel of the climbing module always tightly runs against the tower; the up and down movement of the climbing module relies on the servo motor A controlled by the industrial computer, and it is ensured that the two servo motors A synchronously operate, so that the effect that the climbing module automatically and safely and stably works is realized.

[0036] 4、The pose control method provided by the application can monitor whether inclination / offset occurs in the climbing process of the wind power tower detection robot platform through inclination, height, displacement and other sensors, and respectively controls the climbing modules to climb upward in the case of inclination / offset, so that the pose correction of the platform is achieved. The application adopts the bus control method, uniformly sends the collected information to the main control unit, sends different signals to each execution mechanism through the processing of the main control unit, so that each climbing module accurately climbs, and the inclination / offset correction of the platform is realized. This method maximizes the pose correction time of the platform, improves the efficiency of the maintenance work of the wind power fan blade and the tower, and can also reduce the damage to the connecting piece in the pose adjustment process. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 It is a structural schematic view of a wind power tower detection robot platform at the bottom of the tower.

[0038] Figure 2 It is a structural schematic view of a wind power tower detection robot platform at the top of the tower.

[0039] Figure 3 It is a partial schematic view of the peripheral platform frame.

[0040] Figure 4 It is a whole structure schematic view of the climbing device.

[0041] Figure 5 is the overall structure diagram of the climbing module.

[0042] Figure 6 is the structure diagram of the chassis drive of the climbing module.

[0043] Figure 7 is the overall structure diagram of the tightening mechanism.

[0044] Figure 8 is the structure diagram of the motor end of the tightening mechanism.

[0045] Figure 9 is the structure diagram of the tension end of the tightening mechanism.

[0046] Figure 10 is the assembly diagram of the tensioned screw mechanism.

[0047] Figure 11 is the force decomposition diagram of the climbing module.

[0048] Figure 12 is the control method flow diagram of the tilt problem in the pose control method.

[0049] Figure 13 is the control method flow diagram of the circumferential motion problem in the pose control method.

[0050] The reference signs are as follows: peripheral platform rack 1; climbing device 2; climbing module 3; tightening mechanism 4; control box 5; frame 1-1; guide shaft 1-2; platform module case 3-1; universal caster 3-2; drive wheel 3-3, servo motor A 3-4; link hinge 3-5; linear bearing 3-6; quasi-double curved gear reducer 3-7; drive wheel bearing support 3-8; cross shaft universal coupling 3-9; drive motor mounting plate 3-10; motor end support 4-1; tension end support 4-2; servo motor B 4-3; servo motor speed reducer 4-4; transmission shaft 4-5; universal coupling 4-6; ball screw 4-7; tensioning pipe nut sleeve 4-8; screw protection sleeve 4-9; laser ranging target 4-10; screw nut 4-11; tension sensor rotating shaft 4-12; tension sensor 4-13; laser ranging instrument kit 4-14. DETAILED DESCRIPTION

[0051] The present application will now be further described in detail with reference to the accompanying drawings.

[0052] Example One

[0053] This embodiment proposes a wind turbine tower detection robot platform, such as Figure 1 , Figure 2 and Figure 4As shown, its main components include an outer platform frame 1, a climbing device 2, and a control device. The climbing device 2 is connected to the outer platform frame 1 via bearing hinges. The climbing device 2 includes several climbing modules 3 evenly distributed along the outer platform frame 1 and several tightening mechanisms 4 connected between each climbing module 3. Each climbing module 3 is sequentially connected to form a polygonal structure through the tightening mechanisms 4.

[0054] The outer platform frame 1 serves as the framework for the entire wind turbine tower inspection robot platform, providing support while also housing other components of the platform. For example... Figure 3 As shown, the outer platform frame 1 can be disassembled into a polygonal frame composed of multiple connected frames 1-1, specifically six frames 1-1. Each frame 1-1 has a guide shaft 1-2. These frames 1-1 are connected by hexagonal bolts to form an approximately circular polygonal frame, ensuring both the strength of the outer platform frame 1 and allowing for quick assembly and disassembly before and after transportation. The outer platform frame 1 is also equipped with dual-axis tilt sensors, a three-dimensional electronic compass, wind speed and direction detection devices, monitoring cameras, and other equipment.

[0055] The climbing device 2 is the core of the wind turbine tower inspection robot platform, responsible for ensuring the platform remains stably attached to the tower and for climbing along it. For example... Figure 4 As shown, in this embodiment, the climbing device 2 is mainly composed of a hexagonal structure consisting of 6 climbing modules 3 and their respective connected tightening mechanisms 4.

[0056] See further Figure 5 The climbing module 3 is the core of the climbing device 2 for raising and lowering. The climbing module 3 includes a platform module housing 3-1, and on the platform module housing 3-1 are swivel casters 3-2, drive wheels 3-3, servo motors A 3-4, connecting hinges 3-5, and linear bearings 3-6. Each climbing module 3 has four swivel casters 3-2 underneath, which support the entire platform and facilitate movement on the ground. The four drive wheels 3-3 are driven by two servo motors A 3-4 for climbing the platform module housing 3-1 on the surface of the variable diameter wind turbine tower. The linear bearings 3-6 are mounted on the upper end of the connecting hinges 3-5, and are slidably connected to the guide shafts 1-2 on the outer platform frame 1, allowing the climbing module 3 to move in the direction pointing towards the tower radius. Figure 1 and Figure 2 The diagrams show the wind turbine tower inspection robot platform at the bottom and top of the tower. As shown, the climbing module 3 can move along guide shafts 1-2 in a direction pointing towards the center of the tower, thereby gripping the tower and achieving climbing from the bottom to the top. The diameter of the outer platform frame 1 and the radial movement distance of the climbing module 3 are set according to the tower's height and diameter variation range.

[0057] like Figure 6As shown, the chassis drive of the climbing module 3 mainly includes a high-efficiency hypoid gear reducer 3-7, a drive wheel bearing bracket 3-8, a universal joint 3-9, and a drive motor mounting plate 3-10. Servo motor A 3-4 is connected to the hypoid gear reducer 18 and is mounted together on the drive motor mounting plate 3-10. Both sides of the hypoid gear reducer 3-7 are connected to the universal joint 3-9 via the drive motor reducer shaft. The universal joint 3-9 is connected to the drive wheel bearing bracket 3-8 via the drive wheel shaft. Similarly, the hypoid gear reducer 3-7 converts the small torque generated by the servo motor A 3-4 into a large torque, thereby driving the rubber drive wheel 3-3 to rotate, realizing the overall movement of the platform module chassis 3-1.

[0058] The two adjacent platform module chassis 3-1 are connected by Figure 7 The tightening mechanism 4 shown is connected to each other. The tightening mechanism 4 can be divided into a motor end and a tension end. These two ends can be installed on the adjacent platform module chassis 3-1 with a small swing through the motor end bracket 4-1 and the tension end bracket 4-2 respectively.

[0059] like Figure 8 As shown, the motor end includes a servo motor B 4-3, a servo motor reduction device 4-4, a drive shaft 4-5, a universal coupling 4-6, a ball screw 4-7, a tensioning tube nut sleeve 4-8, a screw protective sleeve 4-9, and a laser rangefinder target 4-10. Among these, the tensioning tube nut sleeve 4-8, the laser rangefinder target 4-10, the ball screw 4-7, and the screw protective sleeve 4-9 constitute the following... Figure 10 The tensioning screw mechanism is shown. The servo motor reducer 4-4 is connected to the drive shaft 4-5 via the servo motor mounting base. The drive shaft 4-5 is connected to the universal coupling 4-6, which is connected to the ball screw 4-7 via hex socket head cap screws. The motor end bracket 4-1 is connected to the servo motor mounting base via two bearing supports. The screw nut 4-11 of the ball screw 4-7 is connected to the tensioning tube nut sleeve 4-8 via hex socket head cap screws, and a screw protective sleeve 4-9 is externally installed. A laser rangefinder target 4-10 is installed on the front end face of the ball screw 4-7.

[0060] like Figure 9 As shown, the tension end includes a tension sensor shaft 4-12, a tension sensor 4-13, and a laser rangefinder kit 4-14. A high-precision tension sensor 4-13 is mounted on the right end of the tension sensor shaft 4-12. The tension sensor 4-13 is connected to the laser rangefinder kit 4-14 via a tension tube nut sleeve 4-8. The tension tube nut sleeve 4-8 at the motor end is connected to the laser rangefinder kit 4-14 at the tension end via hex socket screws. Similarly, the tension end also has the same support mechanism, namely the tension end bracket 4-2, which is connected to the tension sensor shaft 4-12 via two bearing supports.

[0061] When the tightening mechanism is working normally, the servo motor reducer 4-4 converts the small torque generated by the servo motor B 4-3 into a larger torque, so that the larger torque is transmitted to the ball screw 4-7 through the transmission shaft 4-5 and the universal joint 4-6. The ball screw 4-7 rotates under the action of the larger torque, thereby driving the screw nut 4-11 on the ball screw 4-7 to move. The tension tube nut sleeve 4-8 is driven by the screw nut 4-11 to move to the right, that is, the motor end, and slowly enters the gap between the ball screw 4-7 and the screw protection sleeve 4-9. Therefore, the distance between the laser range finder kit 4-14 connected thereto and the laser ranging target plate 4-10 is reduced, so that the distance moved by the screw nut 4-11 can be measured, and the contraction distance of the tensioning screw mechanism is obtained. Similarly, the tension sensor 4-13 connected to the laser range finder kit 4-14 can also measure the tension of the tensioning screw mechanism when it is contracted.

[0062] The ball screw 4-7 can convert the rotary motion of the servo motor B 4-3 into linear motion of the tensioning screw mechanism. The universal joint 4-6 can adjust the angular deviation between the shafts, that is, when the two shafts are not on the same straight line, the angular deviation between them is adjusted to ensure effective power and torque transmission. The transmission mode of the transmission shaft 4-5 and the servo motor reducer 4-4 is worm gear transmission, so that the transmission ratio is large and the transmission effect is stable, and when the platform is working, the motor end does not need to output tension, the worm gear transmission is suitable for intermittent operation equipment, and the self-locking property of the worm gear transmission is good, which improves the safety of the climbing device during climbing. The high-precision tension sensor 4-13 can more accurately maintain the stable operation of the climbing device, and the laser range finder kit 4-14 measures the distance moved by the tension tube nut sleeve 4-8, which is conducive to the adjustment of the attitude of the climbing module 3.

[0063] In the embodiment, the control device is specifically a control box 5 including an industrial computer and a motion control card, as shown in Figure 5 The control box 5 is installed in the platform module case 3-1 of a certain climbing module 3, and its installation position can be set on the rack or the ground as needed. The industrial computer analyzes the signals collected by each sensor and sends the analyzed data to the motion control card, and the motion control card drives the climbing of the climbing module 3 and the contraction of the tightening mechanism 4 according to the analyzed data, specifically controls the work of the multiple servo motors A 3-4 and the multiple servo motors B 4-3 in the climbing device 2. Among them, the 12 servo motors A 3-4 are sub-stations in the EtherCAT bus system and are connected through linear topology, and the synchronous start and stop of the servo motors are realized through the industrial computer and the motion control card.

[0064] As shown in Figure 11As shown, taking any one climbing module 3 as an example, the principle that the climbing device 2 can be close to the wind tower is that the resultant force F of the tension of the two tensioned screw mechanisms of each climbing module 3 is 合 pointed to the center of the wind tower and acts on the driving wheel 3-3 of the climbing module 3. Therefore, the whole climbing device 2 is balanced in the vertical direction by the gravity F3 and the friction F4, so that the climbing device 2 can be close to the wind tower stably. Wherein, F1 and F2 respectively represent the tension of the two ends of the climbing module 3, F3 represents the gravity of the climbing module 3, F4 represents the friction between the climbing module 3 and the wind tower, F 合 represents the resultant force of the two screw mechanisms, and F5 represents the support force of the wind tower on the climbing module 3.

[0065] As shown in Figure 1 and Figure 2 , when the wind tower detection robot platform is climbing, the whole platform can be regarded as being wrapped around the whole tower, and the six climbing modules 3 are distributed around the tower. At this time, the climbing device 2 is directly below the peripheral platform frame 1. After the platform is powered and receives the control instruction, it starts to climb. First, the six tensioned screw mechanisms of the climbing device 2 start to contract synchronously, and each climbing module 3 will form a resultant force F 合 under the action of F 合 , the climbing device 2 is supported by the universal caster 3-2 and gradually approaches the tower along the direction of the guide shaft 1-2 on the ground until it is close to the tower, and the tension of the climbing module 3 on the tower is completed. Then, the servo motor A 3-4 of the climbing module 3 is started synchronously under control, and the driving wheel 3-3 starts to rotate. When the driving wheel 3-3 of the climbing module 3 starts to move, the force acting on the tower is greater than its own gravity, and the whole platform starts to climb on the tower by overcoming its own gravity. At this time, the double-axis inclination sensor and the three-dimensional electronic compass on the peripheral platform frame 1 start to guide the climbing of the platform, ensuring the stability of the climbing, and the monitoring camera and the wind direction and speed detector will transmit the data of the platform to the control end in real time, and the operator can also monitor and control the stability of the platform in real time. In the process of climbing upward, because the diameter of the tower becomes smaller and smaller towards the top of the tower, the climbing module 3 gradually moves out from the direct below of the peripheral platform frame 1 along the guide shaft 1-2.

[0066] Embodiment Two

[0067] In view of the inclination problem that the wind tower detection robot platform proposed in Embodiment One may generate in work, this embodiment proposes a pose control method of the wind tower detection robot platform. As shown in Figure 12 , the method specifically includes the following steps.

[0068] S1: Detect the motion state of the variable-diameter wind turbine tower inspection robot platform and collect the motion state signals.

[0069] In the embodiment, the state signals include inclination angle signals and height signals. The inclination angle signals are from inclination angle sensors installed on the peripheral platform frame 1, and the height signals are from height sensors installed on the climbing modules 3.

[0070] S2: Analyze the collected state signals to obtain measurement values, compare the measurement values with preset measurement value thresholds, and calculate deviation values.

[0071] The measurement values are real-time parameters during the platform climbing and descending processes, and the thresholds are preset parameters for normal operation of the platform. In the embodiment, a plurality of inclination angle sensors and height sensors are pre-installed on the platform, and are numbered as i (i = 1, 2,..., 5, 6), each sensor corresponding to a climbing module 3, and the climbing modules 3 are also numbered as i (i = 1, 2,..., 5, 6). The inclination angle signals are analyzed to obtain the inclination angle a of the platform during the climbing process, which is compared with the preset normal inclination angle β to calculate the deviation value Δθ. The height signals are analyzed to obtain the height h i (i = 1, 2,..., 5, 6) of each climbing module 3 from the ground, which is compared with the preset height difference ΔH to calculate the height deviation value Δh i (i = 1, 2,..., 5, 6).

[0072] S3: The calculated deviation values are first converted into digital quantities through A / D conversion, and then the converted data are sent to the industrial computer. The industrial computer judges whether the platform motion state is normal according to the deviation values. If the deviation values are within a reasonable deviation value interval I, the platform will continue to work normally. If the deviation values exceed the interval I, it means that the platform has tilted. The industrial computer is responsible for finding the correction parameters of the deviation values and correcting the deviation values using the correction parameters.

[0073] In the embodiment, the industrial computer analyzes the inclination angle deviation value Δθ received and compares it with the inclination angle deviation value range interval I under normal operation. If Δθ is within the interval I, the industrial computer will continue to work according to the original set instructions, i.e., normally receiving data, processing data, and sending normal operation instructions to the motion control card. If Δθ i is outside the interval I, it means that the platform has tilted, and at this time the industrial computer starts to correct the tilt and sends a stop instruction to the corresponding climbing module 3. The industrial computer compares the received height signal deviation value Δh i (i = 1, 2,..., 5, 6) with the standard height deviation value ΔH, and calculates the height correction parameter.

[0074] In the embodiment, the industrial computer determines the optimal platform correction time t required under the navigation data of the three-dimensional electronic compass, and calculates the optimal correction motion speed v in combination with the height correction parameter i (i = 1, 2,..., 5, 6), and sends it to the motion control card.

[0075] S4: The corrected data is sent to each motion control card, and each motion control card generates pulse signals for the corresponding servo motors (A and B) through position, speed and torque three ways by using the corrected data.

[0076] S5: Each servo motor (A and B) realizes accurate control of the climbing distance of each climbing module 3 according to the received pulse signals, thereby completing the pose adjustment of the platform.

[0077] Wherein, when the platform climbs or descends, the inclination deviation value Δθ i When the interval I is outside or any height deviation value Δh i When the preset height difference ΔH is exceeded, the platform stops, and the corresponding climbing module 3 adjusts the pose according to the deviation value.

[0078] Embodiment three

[0079] In view of the possible deviation of the wind power tower detection robot platform proposed in embodiment one during work, this embodiment proposes a pose control method for a wind power tower detection robot platform. As shown in Figure 13 The method specifically includes the following steps.

[0080] S1: Detect the motion state of the variable-diameter wind power tower detection robot platform and collect the motion state signal.

[0081] Wherein, the motion state signal is a displacement signal, which is sent by the displacement sensor installed on each climbing module 3.

[0082] S2: Analyze the collected signal and send the analyzed data to the industrial computer.

[0083] Wherein, the measured value is the distance d i (i = 1, 2,..., 5, 6), and the average moving distance

[0084] S3: The industrial computer receives the information, and judges whether it is in the expected interval X according to the preset coordinates, and according to the judgment result, selects to execute the original command or executes the correction command for the preset coordinates.

[0085] Wherein, the preset coordinates are the coordinates of the platform running in the normal state.

[0086] In this embodiment, the industrial computer receives the average moving distance of the platform determines whether it is in the expected interval X, and if In the expected interval X, the influence of the circumferential movement of the platform can be ignored, and the industrial computer continues to execute the previous preset instructions. If the measurement result exceeds the expected interval X, the industrial computer calculates the average moving distance of the platform compares with the preset coordinates to obtain the new coordinates of the platform at this time. The climbing module 3 executes the correction command in the climbing process, moves to the preset coordinates, and reaches the preset coordinates.

[0087] S4: The motion control card accepts the correction command and drives each climbing module to move to the preset coordinates from the new coordinates as the starting point.

[0088] It should be noted that the terms such as "up", "down", "left", "right", "front", "back" and the like cited in the invention are only for the convenience of clear description, and are not used to limit the scope of the implementation of the invention. The change or adjustment of the relative relationship is also considered as the implementation scope of the invention without substantial change of the technical content.

[0089] The above is only the preferred embodiment of the present application, and the protection scope of the present application is not limited to the above-mentioned embodiments. Any technical solution falling within the concept of the present application is within the protection scope of the present application. It should be noted that for ordinary skilled persons in the art, some improvements and refinements without departing from the principles of the present application are considered as the protection scope of the present application.

Claims

1. A wind tower inspection robot platform, characterized in that, The application relates to a peripheral platform frame (1), a climbing device (2) and a control device; the peripheral platform frame (1) is a polygonal frame arranged around a variable-diameter wind power tower; the climbing device (2) comprises a plurality of climbing modules (3) uniformly distributed along the peripheral platform frame (1) and a plurality of tightening mechanisms (4) connected between the climbing modules (3); the climbing modules (3) are sequentially connected through the tightening mechanisms (4) to form a polygonal structure; and the control device is used for controlling the climbing of the climbing modules (3) and the contraction of the tightening mechanisms (4), the distance between the climbing modules (3) is controlled to be contracted through the tightening mechanisms (4), and the climbing modules (3) are tightly attached to the variable-diameter wind power tower under the limitation of the peripheral platform frame (1) to perform climbing; The peripheral platform frame (1) is connected by a plurality of frames (1-1), each climbing module (3) corresponds to a connected frame (1-1), and a guide shaft (1-2) is arranged on the frame (1-1) connecting the climbing modules (3); The climbing module (3) comprises a platform module case (3-1), universal casters (3-2), driving wheels (3-3), a servo motor A (3-4), a linkage hinge (3-5) and a linear bearing (3-6) arranged on the platform module case (3-1); The universal casters (3-2) are used for the movement of the platform module case (3-1) on the ground, the driving wheels (3-3) are driven by the servo motor A (3-4) and are used for the climbing of the platform module case (3-1) on the surface of the variable-diameter wind power tower, the linear bearing (3-6) is arranged on the linkage hinge (3-5), and the linear bearing (3-6) is slidably connected with the guide shaft (1-2); The tightening mechanism (4) comprises a motor end and a tension end, and the two ends are swingably arranged on two adjacent platform module cases (3-1) through a motor end support (4-1) and a tension end support (4-2); The motor end comprises a servo motor B (4-3), a servo motor speed reducer (4-4), a transmission shaft (4-5), a universal coupling (4-6), a ball screw (4-7), a tension pipe nut sleeve (4-8), a screw protection sleeve (4-9) and a laser ranging target (4-10); the servo motor B (4-3) is arranged on the motor end support (4-1), the output end of the servo motor B (4-3) is connected with the transmission shaft (4-5), the transmission shaft (4-5) is further connected with the servo motor speed reducer (4-4) and the universal coupling (4-6), the universal coupling (4-6) is connected with one end of the ball screw (4-7), the laser ranging target (4-10) is arranged at the other end of the ball screw (4-7), the screw nut (4-11) of the ball screw (4-7) is connected with the tension pipe nut sleeve (4-8) and is externally sleeved with the screw protection sleeve (4-9). The tension end comprises a tension sensor rotating shaft (4-12), a tension sensor (4-13) and a laser range finder kit (4-14); one end of the tension sensor (4-13) is installed on the tension end support (4-2) through the tension sensor rotating shaft (4-12), and the other end of the tension sensor (4-13) is connected with the tension pipe nut sleeve (4-8); the laser range finder kit (4-14) is nested and installed on the tension pipe nut sleeve (4-8); The torque generated by the servo motor B (4-3) is transmitted to the ball screw (4-7) through the servo motor speed reducer (4-4), the transmission shaft (4-5) and the universal joint (4-6), drives the ball screw (4-7) to rotate and drives the screw nut (4-11) to move linearly, the tension pipe nut sleeve (4-8) moves linearly in the gap between the ball screw (4-7) and the screw protection sleeve (4-9) under the driving of the screw nut (4-11), the laser range finder kit (4-14) measures the distance between the laser range finder target (4-10) and the laser range finder target (4-10) to obtain the contraction distance of the tension pipe nut sleeve (4-8), and the tension sensor (4-13) measures the tension of the tension pipe nut sleeve (4-8) when it is contracted.

2. The wind tower inspection robot platform of claim 1, wherein: The climbing module (3) further comprises a hypoid gear speed reducer (3-7), a drive wheel bearing support (3-8), a cross shaft universal joint (3-9) and a drive motor mounting plate (3-10); the servo motor A (3-4) and the hypoid gear speed reducer (3-7) are connected and jointly installed on the drive motor mounting plate (3-10), both sides of the hypoid gear speed reducer (3-7) are connected with the cross shaft universal joint (3-9), and the cross shaft universal joint (3-9) is connected with the drive wheel (3-3) through the drive wheel bearing support (3-8).

3. The wind tower inspection robot platform of claim 1 or 2, wherein: The peripheral platform rack (1) is provided with an inclination sensor and a three-dimensional electronic compass, the inclination sensor is used for measuring the inclination angle of the peripheral platform rack (1) during climbing and generating an inclination signal, and the three-dimensional electronic compass provides navigation data for climbing; The climbing device (2) is provided with a height sensor and a displacement sensor, the height sensor is used for measuring the height of each climbing module (3) from the ground and generating a height signal, and the displacement sensor is used for measuring the circumferential movement distance of the peripheral platform rack (1) and generating a displacement signal.

4. The wind tower inspection robot platform of claim 3, wherein: The control device is a control box (5) comprising an industrial computer and a motion control card, and the control box (5) is installed in a certain climbing module (3); the industrial computer analyzes the signals collected by the inclination sensor, the three-dimensional electronic compass, the height sensor and the displacement sensor, and sends the analyzed data to the motion control card, and the motion control card drives the climbing of the climbing module (3) and the contraction of the tightening mechanism (4) according to the analyzed data.

5. The pose control method of the wind tower detection robot platform according to claim 4, characterized in that, The method comprises the following steps: S1: collecting the motion state signals of the platform, the motion state signals comprising inclination signals generated by the inclination sensor and height signals generated by the height sensor; S2: analyzing the collected motion state signal to obtain a measurement value, the measurement value being an inclination angle of the peripheral platform frame during the climbing process and a height of each climbing module from the ground, comparing the measurement value with a preset threshold value, and calculating a deviation value; S3: sending the calculated deviation value to an industrial computer after A / D conversion; the industrial computer judges whether the platform motion state is normal according to the deviation value: if the deviation value is within a reasonable deviation value interval, the platform continues to work normally; if the deviation value exceeds the deviation value interval, the industrial computer finds a correction parameter of the deviation value and corrects the deviation value by using the correction parameter; S4: the industrial computer sends the corrected data to a motion control card, and the motion control card generates pulse signals through position, speed and torque three ways by using the corrected data, and the pulse signals are sent to servo motors A responsible for driving climbing in the climbing module and servo motors B responsible for driving tightening in the tightening mechanism; S5: each servo motor A and each servo motor B accurately control the climbing distance of each climbing module according to the received pulse signal, and complete the pose adjustment of the platform.

6. The pose control method of claim 5, wherein: In step S3, the industrial computer first compares the inclination deviation value with the inclination deviation value range interval under normal operation: if the inclination deviation value is within the inclination deviation value range interval, the industrial computer works according to the preset instruction; if the inclination deviation value is not within the inclination deviation value range interval, the industrial computer compares the received height deviation value with the standard height deviation value, calculates the height correction parameter, and determines the best platform correction time required under the navigation data of the three-dimensional electronic compass, and calculates the best correction motion speed combined with the height correction parameter.

7. The pose control method of the wind tower inspection robot platform according to claim 4, wherein, The method comprises the following steps: S1: collecting the motion state signal of the platform, the motion state signal being the displacement generated by the displacement sensor; S2: analyzing the collected motion state signal to obtain a measurement value, the measurement value being the distance of the platform moving in the circumferential direction, and sending the measurement value to an industrial computer; S3: the industrial computer receives the measurement value, and judges whether the measurement value is in the expected interval according to a preset coordinate: if the measurement value is in the expected interval, the industrial computer continues to execute the preset instruction; if the measurement value is not in the expected interval, the industrial computer compares the distance of the platform moving in the circumferential direction with the preset coordinate to calculate a new coordinate of the platform at this time, and generates a correction command to a motion control card; S4: the motion control card receives the correction command, and drives each climbing module to move towards the preset coordinate with the new coordinate as the starting point.

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