A wind turbine tower inspection and cleaning device

Abstract

The present invention relates to the technical field of cleaning equipment, and specifically proposes a wind turbine tower inspection and cleaning device, comprising: a support frame, a magnetic wheel, a cleaning assembly, a defect detection assembly, and a control unit. The cleaning assembly includes a detection module and a cleaning module, and the control unit is electrically connected to the magnetic wheel, the cleaning assembly, and the defect detection assembly. The control unit includes a collection module, a judgment module, an adjustment module, and an early warning module. This application improves the maintenance efficiency of wind turbine towers, reduces maintenance costs, improves maintenance safety, extends the life of wind turbines, ensures a reliable wind energy supply, and reduces safety risks in wind power systems.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning equipment, and in particular to a detection and cleaning equipment for a wind turbine tower. Background Art

[0002] Wind energy is a type of renewable energy that converts wind power into electrical energy. Wind energy plays a core role in the clean energy system. Wind turbines are key equipment for converting wind energy into electrical energy. Their safe and efficient operation is essential for the sustainable supply of clean electricity. The wind turbine tower is one of the core components of a wind turbine, and it plays the role of main support and stress bearing. It not only supports the structure of the entire wind turbine, but must also be able to withstand wind and mechanical stress. However, due to long-term wind and sand corrosion and oil pollution on its surface, the anti-corrosion and anti-rust paint on the surface of the tower will fall off if it is not cleaned, maintained and maintained for a long time, making the tower structure more susceptible to corrosion and rust, thereby affecting the structural strength of the entire tower and even causing stress concentration, which makes the tower prone to collapse in severe weather and environment. The losses caused will be immeasurable.

[0003] Wind turbine tower maintenance is typically performed manually, with workers carrying equipment via hanging baskets or spider-like vehicles. Due to the nearly 100-meter height of wind turbine towers and the limited internal transport space, preliminary preparation is extremely time-consuming. Furthermore, the limited equipment and raw materials available for maintenance lead to low efficiency, long construction times, high costs, and concerns about worker safety. This approach fails to meet the growing maintenance needs of my country's wind power industry.

[0004] Therefore, it is necessary to design a wind turbine tower inspection and cleaning device to solve the current problems. Summary of the Invention

[0005] In view of this, the present invention proposes a wind turbine tower inspection and cleaning device, which aims to solve the current problem that wind turbine tower cleaning is time-consuming and labor-intensive, difficult to clean and poses safety risks.

[0006] The present invention provides a wind turbine tower inspection and cleaning device, comprising:

[0007] Support frame;

[0008] The magnetic wheel is connected to the support frame via a first connecting rod and a second connecting rod, wherein the first connecting rod is provided with an elastic connector; both ends of the second connecting rod adopt a ball joint structure; the magnetic wheel is used to be attached to the outer wall of the tower;

[0009] A cleaning assembly is fixed to one end of the support frame via a head connecting frame; the cleaning assembly includes a detection module and a cleaning module, the detection module is used to collect image data of the tower outer wall and obtain the cleanliness of the tower outer wall based on the image data; the cleaning module is used to spray cleaning liquid and clean the tower outer wall;

[0010] A defect detection component is fixed to the other end of the support frame through a tail connecting frame, and the defect detection component is used to detect whether there are defects in the weld of the outer wall of the tower;

[0011] A control unit is electrically connected to the magnetic wheel, the cleaning assembly and the defect detection assembly, and the control unit includes: an acquisition module, a judgment module, an adjustment module and an early warning module;

[0012] The acquisition module is configured to acquire quality data of the device in real time, and determine the adsorption force of the magnetic wheel based on the quality data; the acquisition module is further configured to obtain the roughness of the outer wall of the tower, adjust the adsorption force based on the roughness, and obtain the adjusted adsorption force; after obtaining the adjusted adsorption force, the acquisition module is further configured to obtain wind force data F0, compare the wind force data F0 with a preset wind force threshold Fmax, and determine whether to perform a secondary adjustment on the adjusted adsorption force based on the comparison result; when F0>Fmax, the acquisition module determines to perform a secondary adjustment on the adjusted adsorption force, and obtains a wind force difference ΔF=F0-Fmax, and performs a secondary adjustment on the adjusted adsorption force based on the wind force difference ΔF;

[0013] The judgment module is configured to, after the acquisition module determines the adsorption force and determines whether to make a secondary adjustment to the adjusted adsorption force, acquire a first cleanliness Jq of the tower outer wall before cleaning, and determine the spraying amount of the cleaning liquid sprayed by the cleaning module and the cleaning speed according to the first cleanliness Jq; the judgment module is further configured to acquire the real-time speed of the magnetic wheel, determine whether to adjust the cleaning speed according to the real-time speed, and obtain an adjusted cleaning speed;

[0014] The adjustment module is configured to, after the judgment module determines whether to adjust the cleaning speed, collect a second cleanliness level Jh of the tower outer wall after cleaning, compare the second cleanliness level with a preset cleanliness threshold Jmin, determine whether to adjust the adjusted cleaning speed again based on the comparison result, obtain a final cleaning speed, and control the cleaning module to perform a cleaning operation at the final cleaning speed;

[0015] The early warning module is configured to collect size data of the defect and issue an early warning based on the size data when the defect detection unit determines that there is a defect in the weld of the tower outer wall after cleaning.

[0016] Furthermore, the acquisition module is configured to acquire quality data of the device in real time, and determine the adsorption force of the magnetic wheel according to the quality data, including:

[0017] The acquisition module is further configured to pre-set first preset mass data M1, second preset mass data M2, and third preset mass data M3, wherein M1<M2<M3; and pre-set first preset adsorption force F1, second preset adsorption force F2, and third preset adsorption force F3, wherein F1<F2<F3;

[0018] The acquisition module determines the adsorption force of the magnetic wheel according to the magnitude relationship between the real-time collected mass data M0 and each preset mass data;

[0019] When M1≤M0<M2, the acquisition module determines that the adsorption force of the magnetic wheel is F1;

[0020] When M2≤M0<M3, the acquisition module determines that the adsorption force of the magnetic wheel is F2;

[0021] When M3≤M0, the acquisition module determines that the adsorption force of the magnetic wheel is F3.

[0022] Furthermore, after determining that the adsorption force of the magnetic wheel is F i, where i=1, 2, or 3, the acquisition module is further configured to obtain the roughness of the outer wall of the tower, adjust the adsorption force according to the roughness, and obtain the adjusted adsorption force, including:

[0023] The acquisition module is further configured to pre-set a first preset roughness Ra1, a second preset roughness Ra2, and a third preset roughness Ra3, wherein Ra1<Ra2<Ra3; pre-set a first preset adsorption force adjustment coefficient A1, a second preset adsorption force adjustment coefficient A2, and a third preset adsorption force adjustment coefficient A3, wherein A1<A2<A3; and select an adsorption force adjustment coefficient based on a magnitude relationship between the roughness Ra0 of the outer wall of the tower and each preset roughness to adjust the adsorption force Fi, thereby obtaining the adjusted adsorption force;

[0024] When Ra1≤Ra0<Ra2, the third preset adsorption force adjustment coefficient A3 is selected to adjust the adsorption force Fi to obtain the adjusted adsorption force Fi*A3;

[0025] When Ra2≤Ra0<Ra3, the second preset adsorption force adjustment coefficient A2 is selected to adjust the adsorption force Fi to obtain the adjusted adsorption force Fi*A2;

[0026] When Ra3≤Ra0, the first preset adsorption force adjustment coefficient A1 is selected to adjust the adsorption force Fi to obtain the adjusted adsorption force Fi*A1.

[0027] Furthermore, after selecting the i-th preset adsorption force adjustment coefficient Ai to adjust the adsorption force F i and obtaining the adjusted adsorption force F i*Ai, i=1, 2, 3, the acquisition module is further configured to obtain wind force data F 0, compare the wind force data F 0 with the preset wind force threshold F max, and determine whether to adjust the adjusted adsorption force according to the comparison result, including:

[0028] When F0≤Fmax, the acquisition module determines not to perform a secondary adjustment on the adjusted adsorption force;

[0029] When F>Fmax, the acquisition module determines to make a secondary adjustment to the adjusted adsorption force, obtains the wind force difference ΔF, and makes a secondary adjustment to the adjusted adsorption force according to the wind force difference ΔF;

[0030] The acquisition module is further used to pre-set a first preset wind force difference value △F1, a second preset wind force difference value △F2 and a third preset wind force difference value △F3, and △F1<△F2<△F3;

[0031] When ΔF1≤ΔF<ΔF2, the first preset adsorption force adjustment coefficient A1 is selected to perform secondary adjustment on the adjusted adsorption force Fi*Ai to obtain the secondary adjusted adsorption force Fi*Ai*A1;

[0032] When ΔF2≤ΔF<ΔF3, the second preset adsorption force adjustment coefficient A2 is selected to perform a secondary adjustment on the adjusted adsorption force Fi*Ai to obtain the secondary adjusted adsorption force Fi*Ai*A2;

[0033] When ΔF3≤ΔF, the third preset adsorption force adjustment coefficient A3 is selected to perform a secondary adjustment on the adjusted adsorption force F i*Ai to obtain the secondary adjusted adsorption force F i*Ai*A3.

[0034] Furthermore, the judgment module collects the first cleanliness Jq of the tower outer wall before cleaning, and determines the spraying amount S of the cleaning liquid sprayed by the cleaning module and the cleaning speed Z according to the first cleanliness Jq, including:

[0035] A first preset cleanliness level Jq1, a second preset cleanliness level Jq2, and a third preset cleanliness level Jq3 are preset, and Jq1 < Jq2 < Jq3; a first preset spraying amount S1, a second preset spraying amount S2, and a third preset spraying amount S3 are preset, and S1 < S2 < S3; a first preset cleaning speed Z1, a second preset cleaning speed Z2, and a third preset cleaning speed Z3 are preset, and Z1 < Z2 < Z3;

[0036] Determining the spraying amount of the cleaning liquid and the cleaning speed of the cleaning module according to the relationship between the first cleanliness level Jq and each preset cleanliness level;

[0037] When Jq1≤Jq<Jq2, the judgment module determines that the spraying amount S of the cleaning liquid sprayed by the cleaning module is S3 and the cleaning speed Z is Z3;

[0038] When Jq2≤Jq<Jq3, the judgment module determines that the spraying amount S of the cleaning liquid sprayed by the cleaning module is S2 and the cleaning speed Z is Z2;

[0039] When Jq3≤Jq, the judgment module determines that the spraying amount S=S1 of the cleaning liquid sprayed by the cleaning module and the cleaning speed Z=Z1.

[0040] Furthermore, after determining the spraying amount S=Si and the cleaning speed Z=Zi, where i=1, 2, or 3, the judgment module is further configured to collect the real-time speed of the magnetic wheel, and determine whether to adjust the cleaning speed according to the real-time speed, to obtain the adjusted cleaning speed, including:

[0041] Preset the speed threshold Vmin of the magnetic wheel, compare the real-time speed V0 with the speed threshold Vmin, and determine whether to adjust the cleaning speed Z=Z i based on the comparison result;

[0042] When V0>Vmin, the judgment module determines to adjust the cleaning speed Z=Zi to obtain an adjusted cleaning speed Zh;

[0043] When V0≤Vmin, the judgment module determines not to adjust the cleaning speed Z=Zi, and uses the cleaning speed Zi as the adjusted cleaning speed Zh, that is, Zh=Zi.

[0044] Furthermore, when the judgment module determines to adjust the cleaning speed Z=Z i, a speed difference ΔV=V0-Vmin is obtained, and the cleaning speed Z=Z i is adjusted according to the speed difference ΔV, including:

[0045] Preset a first preset speed difference △V1, a second preset speed difference △V2, and a third preset speed difference △V3, and △V1 < △V2 < △V3; preset a first preset speed adjustment coefficient B1, a second preset speed adjustment coefficient B2, and a third preset speed adjustment coefficient B3, and B1 < B2 < B3;

[0046] When ΔV1≤ΔV<ΔV2, the first preset speed adjustment coefficient B1 is selected to adjust the cleaning speed Z, and the adjusted cleaning speed Zh=Zi*B1 is obtained;

[0047] When ΔV2≤ΔV<ΔV3, the second preset speed adjustment coefficient B2 is selected to adjust the cleaning speed Z, and the adjusted cleaning speed Zh=Zi*B2 is obtained;

[0048] When ΔV3≤ΔV, the third preset speed adjustment coefficient B3 is selected to adjust the cleaning speed Z, and the adjusted cleaning speed Zh=Zi*B3 is obtained.

[0049] Furthermore, the adjustment module collects a second cleanliness Jh of the tower outer wall after cleaning, compares the second cleanliness with a preset cleanliness threshold Jmin, and determines whether to adjust the adjusted cleaning speed again according to the comparison result, including:

[0050] When Jh≤Jmin, the adjustment module determines to adjust the adjusted cleaning speed Zh again to obtain the final cleaning speed Zo;

[0051] When Jh>Jmin, the adjustment module determines not to adjust the adjusted cleaning speed Zh again, and uses the adjusted cleaning speed Zh as the final cleaning speed Zo, that is, Zo=Zh.

[0052] Furthermore, when the adjustment module determines to adjust the adjusted cleaning speed Zh again, the adjustment module is further configured to adjust the adjusted cleaning speed Zh again according to the relationship between the second cleanliness Jh and the preset cleanliness threshold Jmin, i=1, 2, 3, including:

[0053] When 0<Jh<0.6Jmin, the third preset speed adjustment coefficient B3 is selected to adjust the adjusted cleaning speed Zh again to obtain the final cleaning speed Zo=Zh*B3;

[0054] When 0.6Jmin≤Jh<0.8Jmin, the second preset speed adjustment coefficient B2 is selected to adjust the adjusted cleaning speed Zh again to obtain the final cleaning speed Zo=Zh*B2;

[0055] When 0.8Jmin≤Jh≤Jmin, the first preset speed adjustment coefficient B1 is selected to adjust the adjusted cleaning speed Zh again to obtain the final cleaning speed Zo=Zh*B1.

[0056] Furthermore, the early warning module collects the size data of the defect and issues an early warning based on the size data, including:

[0057] Preset a first preset size data C1, a second preset size data C2 and a third preset size data C3, and C1 < C2 < C3; issue an early warning based on the size relationship between the size data C0 and each preset size data;

[0058] When C1≤C0<C2, the warning module determines that there is a minor defect in the weld and issues a yellow warning, increasing attention to the defect;

[0059] When C2≤C0<C3, the warning module determines that there is a defect in the weld and issues an orange warning, which needs to be processed during the maintenance of the wind turbine tower;

[0060] When C1≤C0<C2, the early warning module determines that there is a minor defect in the weld and issues a red warning, requiring immediate processing of the defect.

[0061] Compared with the existing technology, the beneficial effects of the present invention are: through the precise control of the magnetic wheel, the cleaning and maintenance of the wind turbine tower can be automatically completed at high altitude, effectively solving the problems of difficult and inefficient manual operation; through real-time collection and analysis of wind data, the adsorption force and cleaning speed of the magnetic wheel can be intelligently adjusted to adapt to different environmental conditions and improve cleaning efficiency; at the same time, during the cleaning process, defects in the welds on the outer wall of the tower can be detected, and timely warnings and defect size data can be recorded, thereby improving the safety and reliability of the wind turbine tower, reducing maintenance costs and risks, and ensuring the continuous and stable operation of the wind turbine set. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present invention. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0063] Figure 1 A structural view of a wind turbine tower inspection and cleaning device provided by an embodiment of the present invention;

[0064] Figure 2 This is a structural block diagram of the control unit in the wind turbine tower detection and cleaning equipment provided by an embodiment of the present invention.

[0065] Among them, 110, support frame; 120, magnetic wheel; 121, first connecting rod; 122, second connecting rod; 123, elastic connector; 130, cleaning component; 131, detection module; 132, cleaning module; 133, head connecting frame; 134, cleaning liquid storage box; 140, defect detection component; 141, camera; 142, alarm light; 143, tail connecting frame; 150, control unit; 151, acquisition module; 152, judgment module; 153, adjustment module; 154, early warning module. DETAILED DESCRIPTION

[0066] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that, unless there is a conflict, the embodiments of the present disclosure and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0067] See Figure 1-2 As shown, this embodiment provides an inspection and cleaning device for a wind turbine tower, including: a support frame 110, a magnetic wheel 120, a cleaning assembly 130, a defect detection assembly 140 and a control unit 150, wherein the support frame 110 is a support structure, and a power device is provided in the support frame 110 for driving the device to operate.

[0068] Preferably, four magnetic wheels 120 are provided, connected to the support frame 110 via a first connecting rod 121 and a second connecting rod 122. The first connecting rod 121 is sleeved with an elastic connector 123. The second connecting rod 122 has a ball-jointed structure at both ends. The magnetic wheels 120 are designed to be attached to the outer wall of the tower. The magnetic wheels 120 preferably contain permanent magnets or electromagnets, which generate a magnetic field. Permanent magnets are made of strong magnetic material, while electromagnets control the strength of the magnetic field through electric current. The permanent magnets adhere to the outer wall of the tower. When the desired attraction force is increased, the magnetism of the electromagnets is increased by controlling the current to enhance the attraction force. The first connecting rod 121 is used to connect and fix the magnetic wheels 120. The second connecting rod 122 is connected to the center of the magnetic wheels 120 via a ball-jointed structure and is used to drive the magnetic wheels 120. Because the outer wall of the tower is curved, the first connecting rod 121 can swing slightly to ensure that the magnetic wheels 120 are fully aligned with the outer wall of the tower. The surface of the magnetic wheel 120 can be a smooth plane or a non-smooth plane with grooves or protrusions, so as to increase the friction when contacting the outer wall of the tower.

[0069] The cleaning component 130 is fixed to one end of the support frame 110 through the head connecting frame 133. The cleaning component 130 includes a detection module 131 and a cleaning module 132. The detection module 131 is used to collect image data of the outer wall of the tower and obtain the cleanliness of the outer wall of the tower based on the image data. The image data is segmented and grayscale processed, and different grayscales are defined as different cleanliness values. The higher the grayscale, the lower the cleanliness value. All cleanliness values ​​in the image data are compared with the values ​​when completely clean to obtain the cleanliness. The higher the cleanliness, the lower the dust and impurities in the detection area. The cleaning module 132 is used to spray cleaning liquid and clean the outer wall of the tower. When the cleaning module 132 cleans the outer wall, it is preferred to use a rotating brush wheel to contact the outer wall to achieve cleaning. The cleaning module also includes a cleaning liquid temporary storage box 134 for storing cleaning liquid.

[0070] Defect detection assembly 140 is fixed to the other end of support frame 110 via tail connector 143. It is used to detect defects in the welds on the tower's outer wall. When the device is in operation, the cleaning assembly 130 is mounted at the head and the defect detection assembly 140 is mounted at the tail. Defect detection assembly 140 includes a camera 141 and an alarm light 142. Camera 141 captures images of the welds, processes the images to determine the presence and size of defects, and issues a warning via alarm light 142 if the defect is large. This not only improves defect detection accuracy but also identifies surface defects caused by cleaning. Cleaning issues can be identified promptly, preventing damage to the tower's outer wall caused by excessive cleaning.

[0071] Control unit 150 is electrically connected to magnetic wheel 120, cleaning assembly 130, and defect detection assembly 140. Control unit 150 includes a collection module 151, a determination module 152, an adjustment module 153, and an early warning module 154. Control unit 150 is fixed to support frame 110 and functions as a drive device. It serves as the control and regulation component of the device.

[0072] Among them, the acquisition module 151 is configured to collect quality data of the device in real time, and determine the adsorption force of the magnetic wheel 120 based on the quality data. The acquisition module 151 is also configured to obtain the roughness of the outer wall of the tower, adjust the adsorption force based on the roughness, and obtain the adjusted adsorption force. After obtaining the adjusted adsorption force, the acquisition module 151 is also configured to obtain wind force data F0, compare the wind force data F0 with the preset wind force threshold Fmax, and determine whether to make a secondary adjustment to the adjusted adsorption force based on the comparison result. When F0>Fmax, the acquisition module 151 determines to make a secondary adjustment to the adjusted adsorption force, and obtains the wind force difference △F=F0-Fmax, and makes a secondary adjustment to the adjusted adsorption force based on the wind force difference △F.

[0073] After the acquisition module 151 determines the adsorption force and determines whether to make a secondary adjustment to the adjusted adsorption force, the judgment module 152 is configured to collect the first cleanliness level Jq before cleaning the tower outer wall. Based on the first cleanliness level Jq, the judgment module 152 determines the amount of cleaning fluid to be sprayed by the cleaning module 132 and the cleaning speed. The judgment module 152 is also configured to collect the real-time speed of the magnetic wheel 120, determine whether to adjust the cleaning speed based on the real-time speed, and obtain the adjusted cleaning speed.

[0074] The adjustment module 153 is configured to collect the second cleanliness Jh of the outer wall of the tower after cleaning after the judgment module 152 determines whether to adjust the cleaning speed, compare the second cleanliness with the preset cleanliness threshold Jmin, and determine whether to adjust the adjusted cleaning speed again based on the comparison result, obtain the final cleaning speed and control the cleaning module 132 to perform cleaning operations at the final cleaning speed.

[0075] The early warning module 154 is configured to collect dimensional data of the defect and issue an early warning based on the dimensional data when the defect detection unit determines that there is a defect in the weld of the tower outer wall after cleaning.

[0076] Specifically, the magnetic wheel 120 is connected to the connecting rod on the support frame 110 and is used to attach to the outer wall of the tower. The cleaning component 130 includes a detection module 131 and a cleaning module 132. The detection module 131 collects image data of the outer wall and calculates the cleanliness level, while the cleaning module 132 is used to clean the outer wall. The defect detection component 140 is used to detect whether the weld has defects. The control unit 150 adjusts the suction force of the magnetic wheel 120 and the operating parameters of the cleaning module 132 by collecting real-time information such as device quality data, cleanliness, and wind speed data to ensure efficient, accurate, and safe detection and cleaning operations.

[0077] As can be understood, this application achieves automated cleaning, inspection, and maintenance of wind turbine towers. By real-time monitoring and adjusting various parameters, it improves cleaning efficiency and accuracy, reducing maintenance costs and risks. Furthermore, the equipment can promptly detect and issue warnings for exterior wall weld defects, ensuring the safety of the equipment and structure, extending the life of the wind turbine, and thus improving the reliability and sustainability of wind energy supply.

[0078] In some embodiments of the present application, the acquisition module 151 is configured to collect device mass data in real time and determine the attraction force of the magnetic wheel 120 based on the mass data. This includes: The acquisition module 151 is further configured to pre-set first, second, and third preset mass data M1, M2, and M3, with M1 < M2 < M3. A first, second, and third preset attraction force F1, F2, and F3 are pre-set, with F1 < F2 < F3. The acquisition module 151 determines the attraction force of the magnetic wheel 120 based on the magnitude relationship between the real-time collected mass data M0 and each of the preset mass data. When M1 ≤ M0 < M2, the acquisition module 151 determines the attraction force of the magnetic wheel 120 to be F1. When M2 ≤ M0 < M3, the acquisition module 151 determines the attraction force of the magnetic wheel 120 to be F2. When M3 ≤ M0, the acquisition module 151 determines the attraction force of the magnetic wheel 120 to be F3.

[0079] Specifically, the mass data represents the downward gravitational force that the device is subjected to when running on the outer wall of the tower, and can reflect the required adsorption force of the magnetic wheel 120.

[0080] It is understood that the adsorption force of the magnetic wheel 120 is automatically adjusted based on the device quality data to adapt to different working conditions. This prevents excessive or insufficient adsorption of the magnetic wheel 120, thereby ensuring that the device is firmly fixed to the outer wall of the tower, improving safety and cleaning efficiency, reducing the risk factor of the cleaning operation, and helping to reduce maintenance costs.

[0081] In some embodiments of the present application, after the acquisition module 151 determines that the adsorption force of the magnetic wheel 120 is Fi, where i = 1, 2, or 3, the acquisition module 151 is further configured to acquire the roughness of the tower outer wall, adjust the adsorption force based on the roughness, and acquire the adjusted adsorption force. This includes: The acquisition module 151 is further configured to pre-set a first preset roughness Ra1, a second preset roughness Ra2, and a third preset roughness Ra3, where Ra1 < Ra2 < Ra3. Pre-set a first preset adsorption force adjustment coefficient A1, a second preset adsorption force adjustment coefficient A2, and a third preset adsorption force adjustment coefficient A3, where A1 < A2 < A3. Based on the relationship between the roughness Ra0 of the tower outer wall and each preset roughness, an adsorption force adjustment coefficient is selected to adjust the adsorption force Fi, and the adjusted adsorption force is acquired. When Ra1 ≤ Ra0 < Ra2, the third preset adsorption force adjustment coefficient A3 is selected to adjust the adsorption force Fi, and the adjusted adsorption force Fi*A3 is acquired. When Ra2≤Ra0<Ra3, the second preset adsorption force adjustment coefficient A2 is selected to adjust the adsorption force Fi to obtain the adjusted adsorption force Fi*A2. When Ra3≤Ra0, the first preset adsorption force adjustment coefficient A1 is selected to adjust the adsorption force Fi to obtain the adjusted adsorption force Fi*A1.

[0082] Specifically, the magnetic wheel 120 achieves adsorption through the physical interaction between magnetism and electromagnetic force and the tower's outer wall. When the tower's outer wall is relatively smooth and has low roughness, the device adheres to the outer wall. However, when the cleaning area is changed, the smooth surface can easily cause the device to slip, hindering the cleaning process. Therefore, the adsorption force is adjusted based on the roughness. When the roughness is low, the adsorption force is increased, increasing the contact pressure between the magnetic wheel 120 and the tower's outer wall, effectively preventing the device from slipping.

[0083] As you can see, the multi-stage adjustment method allows for real-time adjustment of the suction force based on the roughness of the tower's outer wall, ensuring that the magnetic wheel 120 maintains a secure grip regardless of surface conditions, thereby improving the device's stability and cleaning efficiency. By adapting to varying surface conditions, the device's applicability is expanded, maintenance costs are reduced, and cleaning safety is enhanced.

[0084] In some embodiments of the present application, after selecting the i-th preset adsorption force adjustment coefficient Ai to adjust the adsorption force F i and obtaining the adjusted adsorption force F i*Ai, where i = 1, 2, or 3, the acquisition module 151 is further configured to obtain wind force data F 0 , compare the wind force data F 0 with a preset wind force threshold F max , and determine whether to adjust the adjusted adsorption force based on the comparison result, including: when F 0 ≤ F max , the acquisition module 151 determines not to make a secondary adjustment to the adjusted adsorption force. When F > F max , the acquisition module 151 determines to make a secondary adjustment to the adjusted adsorption force, obtains a wind force difference ΔF, and performs a secondary adjustment on the adjusted adsorption force based on the wind force difference ΔF. The acquisition module 151 is further configured to pre-set a first preset wind force difference ΔF1 , a second preset wind force difference ΔF2 , and a third preset wind force difference ΔF3 , where ΔF1 < ΔF2 < ΔF3 . When ΔF1≤ΔF<ΔF2, the first preset adsorption force adjustment coefficient A1 is selected to perform a secondary adjustment on the adjusted adsorption force Fi*Ai, obtaining the secondary adjusted adsorption force Fi*Ai*A1. When ΔF2≤ΔF<ΔF3, the second preset adsorption force adjustment coefficient A2 is selected to perform a secondary adjustment on the adjusted adsorption force Fi*Ai, obtaining the secondary adjusted adsorption force Fi*Ai*A2. When ΔF3≤ΔF, the third preset adsorption force adjustment coefficient A3 is selected to perform a secondary adjustment on the adjusted adsorption force Fi*Ai, obtaining the secondary adjusted adsorption force Fi*Ai*A3.

[0085] Specifically, strong winds can affect the device's suction force, causing it to shift or become unstable. Adjusting the suction force based on current wind conditions is necessary to adapt to varying wind intensities. By making secondary adjustments based on wind data, unnecessary excessive suction force can be avoided, saving energy.

[0086] It is understood that the adsorption force is intelligently adjusted according to actual wind conditions to ensure that the device can be stably adsorbed to the outer wall of the tower under different wind conditions. This helps to improve the operating stability and safety of the device and reduce unexpected situations caused by wind changes. It not only meets the use requirements of the device in extreme conditions, but also avoids secondary damage to the outer wall of the tower and energy waste caused by excessive adsorption, further reducing maintenance and repair costs.

[0087] In some embodiments of the present application, the judgment module 152 collects the first cleanliness Jq of the tower outer wall before cleaning, and determines the spraying amount S of the cleaning liquid and the cleaning speed Z of the cleaning module 132 based on the first cleanliness Jq, including: presetting a first preset cleanliness Jq1, a second preset cleanliness Jq2, and a third preset cleanliness Jq3, with Jq1 < Jq2 < Jq3. Presetting a first preset spraying amount S1, a second preset spraying amount S2, and a third preset spraying amount S3, with S1 < S2 < S3. Presetting a first preset cleaning speed Z1, a second preset cleaning speed Z2, and a third preset cleaning speed Z3, with Z1 < Z2 < Z3. The spraying amount of the cleaning liquid and the cleaning speed of the cleaning module 132 are determined based on the relationship between the first cleanliness Jq and each preset cleanliness. When Jq1 ≤ Jq < Jq2, the judgment module 152 determines the amount of cleaning fluid sprayed by the cleaning module 132 to be S=S3 and the cleaning speed Z=Z3. When Jq2 ≤ Jq < Jq3, the judgment module 152 determines the amount of cleaning fluid sprayed by the cleaning module 132 to be S=S2 and the cleaning speed Z=Z2. When Jq3 ≤ Jq, the judgment module 152 determines the amount of cleaning fluid sprayed by the cleaning module 132 to be S=S1 and the cleaning speed Z=Z1.

[0088] Specifically, a first cleanliness value of the tower's outer wall is collected and then compared against different pre-set cleanliness thresholds. Based on the comparison results, the operating parameters of cleaning module 132 are determined, including the spray volume of the cleaning fluid and the sweeping speed. Appropriate operating parameters are selected based on the pre-set cleanliness thresholds. If the cleanliness falls within different threshold ranges, the pre-set spray volume and sweeping speed corresponding to that range are selected. This approach ensures that cleaning module 132 can provide effective cleaning operations under varying cleanliness requirements.

[0089] It is understood that cleaning module 132 can automatically adjust its operating parameters based on the actual cleanliness of the tower's outer wall to provide the most optimal cleaning effect. This can reduce cleaning fluid waste, improve cleaning efficiency, and ensure that the outer wall achieves the desired cleanliness level. By avoiding excessive cleaning, it also helps reduce unnecessary environmental impact, lowers maintenance costs, and extends the tower's service life.

[0090] In some embodiments of the present application, after determining the spraying amount S = S i and the cleaning speed Z = Zi, where i = 1, 2, or 3, the judgment module 152 is further configured to collect the real-time speed of the magnetic wheel 120 and determine whether to adjust the cleaning speed based on the real-time speed to obtain an adjusted cleaning speed. This includes: presetting a speed threshold Vmin for the magnetic wheel 120, comparing the real-time speed V0 with the speed threshold Vmin, and determining whether to adjust the cleaning speed Z = Zi based on the comparison result. When V0 > Vmin, the judgment module 152 determines to adjust the cleaning speed Z = Zi to obtain an adjusted cleaning speed Zh. When V0 ≤ Vmin, the judgment module 152 determines not to adjust the cleaning speed Z = Zi and uses the cleaning speed Zi as the adjusted cleaning speed Zh, i.e., Zh = Zi.

[0091] Specifically, after the cleaning operation begins, the judgment module 152 collects the real-time speed of the magnetic wheel 120 and compares it with a pre-set speed threshold. Based on the comparison result, the judgment module 152 determines whether the cleaning speed needs to be adjusted to obtain an adjusted cleaning speed. If the cleaning speed remains unchanged during the cleaning operation, high operating speeds can easily result in ineffective cleaning results and failure to meet cleaning standards. Alternatively, at lower operating speeds, excessive cleaning of the same location can damage the tower wall, causing secondary damage.

[0092] It is understandable that adaptive adjustments are made based on actual operating conditions to cope with changes in cleaning tasks. By dynamically adjusting the cleaning speed, it is possible to fully adapt to the operating speed of the device to ensure the cleaning effect.

[0093] In some embodiments of the present application, when the judgment module 152 determines that the cleaning speed Z=Z i needs to be adjusted, a speed difference ΔV=V0-Vmin is obtained, and the cleaning speed Z=Z i is adjusted according to the speed difference ΔV, including: presetting a first preset speed difference ΔV1, a second preset speed difference ΔV2, and a third preset speed difference ΔV3, with ΔV1 < ΔV2 < ΔV3. Presetting a first preset speed adjustment coefficient B1, a second preset speed adjustment coefficient B2, and a third preset speed adjustment coefficient B3, with B1 < B2 < B3. When ΔV1 ≤ ΔV < ΔV2, the first preset speed adjustment coefficient B1 is selected to adjust the cleaning speed Z, and the adjusted cleaning speed Zh=Z i*B1 is obtained. When ΔV2 ≤ ΔV < ΔV3, the second preset speed adjustment coefficient B2 is selected to adjust the cleaning speed Z, and the adjusted cleaning speed Zh=Z i*B2 is obtained. When ΔV3≤ΔV, the third preset speed adjustment coefficient B3 is selected to adjust the cleaning speed Z, and the adjusted cleaning speed Zh=Zi*B3 is obtained.

[0094] As can be understood, this embodiment achieves adaptive adjustment under different operating conditions, improving cleaning effectiveness and operational intelligence. By optimizing the cleaning speed based on actual conditions, dirt can be removed more effectively, energy waste and equipment wear can be reduced, and the efficiency and sustainability of cleaning operations can be improved.

[0095] In some embodiments of the present application, the adjustment module 153 collects a second cleanliness level Jh of the tower outer wall after cleaning, compares the second cleanliness level with a preset cleanliness threshold Jmin, and determines whether to adjust the adjusted cleaning speed again based on the comparison result, including: when Jh ≤ Jmin, the adjustment module 153 determines to adjust the adjusted cleaning speed Zh again to obtain a final cleaning speed Zo. When Jh > Jmin, the adjustment module 153 determines not to adjust the adjusted cleaning speed Zh again, and uses the adjusted cleaning speed Zh as the final cleaning speed Zo, that is, Zo = Zh.

[0096] Specifically, after completing the cleaning operation, the system will measure the second cleanliness of the outer wall of the tower. This value reflects the actual cleanliness level after the cleaning operation. Based on the comparison between the second cleanliness and the cleanliness threshold, the system determines whether it is necessary to adjust the previously adjusted cleaning speed again. The cleanliness threshold is a pre-set standard or limit used to measure and judge whether the surface or area after cleaning meets specific cleanliness requirements. The cleanliness threshold is a pre-set standard or limit used to measure and judge whether the surface or area after cleaning meets specific cleanliness requirements. If Jh≤Jmin, it is considered that the cleaning effect does not meet the requirements and the cleaning speed needs to be adjusted again. If Jh>Jmin, the cleaning effect has met the requirements and no further adjustment of the cleaning speed is required.

[0097] As you can see, the final cleaning speed adjustment is based on the actual cleanliness level after the cleaning operation to ensure that the tower outer wall reaches the required cleanliness standard. This helps avoid over- or under-cleaning, improves the accuracy and efficiency of the cleaning operation, and reduces waste of resources and energy. By dynamically adjusting the cleaning speed, the system can better respond to the cleaning needs of different areas, ensuring that every area of ​​the outer wall maintains the required cleanliness level, thereby extending equipment life and improving wind power system reliability.

[0098] In some embodiments of the present application, when the adjustment module 153 determines that the adjusted cleaning speed Zh needs to be readjusted, the adjustment module 153 is further configured to readjust the adjusted cleaning speed Zh according to the relationship between the second cleanliness Jh and the preset cleanliness threshold Jmin, i=1, 2, 3, including: when 0<Jh<0.6Jmin, selecting the third preset speed adjustment coefficient B3 to readjust the adjusted cleaning speed Zh, and obtaining a final cleaning speed Zo=Zh*B3. When 0.6Jmin≤Jh<0.8Jmin, selecting the second preset speed adjustment coefficient B2 to readjust the adjusted cleaning speed Zh, and obtaining a final cleaning speed Zo=Zh*B2. When 0.8Jmin≤Jh≤Jmin, selecting the first preset speed adjustment coefficient B1 to readjust the adjusted cleaning speed Zh, and obtaining a final cleaning speed Zo=Zh*B1.

[0099] As you can see, the sweeping speed is finely adjusted based on the actual situation, taking into account the changes in cleanliness during the cleaning operation, to ensure that the desired cleaning effect can be achieved in different situations. This helps to improve the efficiency of the cleaning operation, reduce resource waste, and ensure the continuity and safety of the tower outer wall.

[0100] In some embodiments of the present application, the early warning module 154 collects the size data of the defect and issues an early warning based on the size data, including: presetting the first preset size data C1, the second preset size data C2 and the third preset size data C3, and C1<C2<C3. An early warning is issued based on the size relationship between the size data C0 and each preset size data. When C1≤C0<C2, the early warning module 154 determines that there is a minor defect in the weld and issues a yellow early warning, strengthening attention to the defect. When C2≤C0<C3, the early warning module 154 determines that there is a defect in the weld and issues an orange early warning, which needs to be processed during the maintenance of the wind turbine tower. When C1≤C0<C2, the early warning module 154 determines that there is a minor defect in the weld and issues a red early warning, which needs to be processed immediately.

[0101] Specifically, the cleaning process effectively removes dirt, dust, and other impurities from the tower's exterior, making it more visible. Defect inspection after cleaning makes it easier to identify and detect defects such as welds, cracks, and corrosion, improving detection accuracy. Post-cleaning defect detection can also be used to assess the quality of the cleaning operation. If problems arise during the cleaning process, such as scratches on the tower's exterior, these issues can be promptly identified through inspection data, allowing corrective measures to ensure thorough and uniform cleaning.

[0102] It is understandable that it helps to identify the condition of welds in a timely manner, provide different levels of warnings according to the degree of defects, and help operation and maintenance personnel take appropriate measures, thereby improving the safety and reliability of wind turbine towers and reducing potential maintenance costs and risks.

[0103] The device in this application operates as follows: the device is placed on the outer wall of a wind turbine tower. The acquisition module 151 in the control unit 150 collects device quality data to determine the suction force of the magnetic wheel 120, ensuring the device is stably attached to the tower outer wall. The device then collects surface roughness data and adjusts the suction force based on the roughness of the tower outer wall to ensure the device can properly move along the outer wall. Wind turbine data is collected and used to determine whether to adjust the suction force based on wind data to avoid the risk of the device falling off. When the cleaning operation begins, the detection module 131 in the head section measures the outer wall cleanliness. Based on this cleanliness, the amount of cleaning fluid sprayed per unit time and the cleaning speed are determined. The device cleans while moving forward, collecting real-time data on the device's speed to adjust the cleaning speed accordingly. After cleaning, a second cleanliness value is collected and compared with a cleanliness threshold to determine whether the cleaning speed should be adjusted again to ensure optimal cleaning results. After cleaning is complete, a defect detection unit in the rear section determines whether there are defects in the outer wall welds. If defects are present, an early warning is issued based on the defect size.

[0104] In the above-described embodiment, precise control of the magnetic wheel enables automated cleaning and maintenance of wind turbine towers at high altitudes, effectively resolving the difficulties and inefficiencies inherent in manual operation. By collecting and analyzing wind data in real time, the magnetic wheel's suction force and cleaning speed can be intelligently adjusted to adapt to varying environmental conditions, improving cleaning efficiency. Furthermore, during the cleaning process, defects in the tower's outer wall welds can be detected, providing timely warnings and recording defect size data. This improves the safety and reliability of wind turbine towers, reduces maintenance costs and risks, and ensures the continued stable operation of wind turbines.

[0105] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0106] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0107] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0108] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1A step that specifies a function in one or more boxes.

[0109] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered by the scope of protection of the claims of the present invention.

Claims

1. A wind turbine tower inspection and cleaning device, characterized in that: include: Support frame; The magnetic wheel is connected to the support frame via a first connecting rod and a second connecting rod, wherein the first connecting rod is provided with an elastic connector; both ends of the second connecting rod adopt a ball joint structure; the magnetic wheel is used to be attached to the outer wall of the tower; A cleaning assembly is fixed to one end of the support frame via a head connecting frame; the cleaning assembly includes a detection module and a cleaning module, the detection module is used to collect image data of the tower outer wall and obtain the cleanliness of the tower outer wall based on the image data; the cleaning module is used to spray cleaning liquid and clean the tower outer wall; A defect detection component is fixed to the other end of the support frame through a tail connecting frame, and the defect detection component is used to detect whether there are defects in the weld of the outer wall of the tower; A control unit is electrically connected to the magnetic wheel, the cleaning assembly and the defect detection assembly, and the control unit includes: an acquisition module, a judgment module, an adjustment module and an early warning module; The acquisition module is configured to acquire quality data of the device in real time, and determine the adsorption force of the magnetic wheel based on the quality data; the acquisition module is further configured to obtain the roughness of the outer wall of the tower, adjust the adsorption force based on the roughness, and obtain the adjusted adsorption force; after obtaining the adjusted adsorption force, the acquisition module is further configured to obtain wind force data F0, compare the wind force data F0 with a preset wind force threshold Fmax, and determine whether to perform a secondary adjustment on the adjusted adsorption force based on the comparison result; when F0>Fmax, the acquisition module determines to perform a secondary adjustment on the adjusted adsorption force, and obtains a wind force difference ΔF=F0-Fmax, and performs a secondary adjustment on the adjusted adsorption force based on the wind force difference ΔF; The judgment module is configured to, after the acquisition module determines the adsorption force and determines whether to make a secondary adjustment to the adjusted adsorption force, acquire a first cleanliness Jq of the tower outer wall before cleaning, and determine the spraying amount of the cleaning liquid sprayed by the cleaning module and the cleaning speed according to the first cleanliness Jq; the judgment module is further configured to acquire the real-time speed of the magnetic wheel, determine whether to adjust the cleaning speed according to the real-time speed, and obtain an adjusted cleaning speed; The adjustment module is configured to, after the judgment module determines whether to adjust the cleaning speed, collect a second cleanliness level Jh of the tower outer wall after cleaning, compare the second cleanliness level with a preset cleanliness threshold Jmin, determine whether to adjust the adjusted cleaning speed again based on the comparison result, obtain a final cleaning speed, and control the cleaning module to perform a cleaning operation at the final cleaning speed; The early warning module is configured to collect dimensional data of the defect and issue an early warning based on the dimensional data when the defect detection component determines that there is a defect in the weld of the tower outer wall after cleaning.

2. The wind turbine tower inspection and cleaning equipment according to claim 1, characterized in that: The acquisition module is configured to acquire quality data of the device in real time, and determine the adsorption force of the magnetic wheel according to the quality data, including: The acquisition module is further configured to pre-set first preset mass data M1, second preset mass data M2, and third preset mass data M3, wherein M1<M2<M3; and pre-set first preset adsorption force F1, second preset adsorption force F2, and third preset adsorption force F3, wherein F1<F2<F3; The acquisition module determines the adsorption force of the magnetic wheel according to the magnitude relationship between the real-time collected mass data M0 and each preset mass data; When M1≤M0<M2, the acquisition module determines that the adsorption force of the magnetic wheel is F1; When M2≤M0<M3, the acquisition module determines that the adsorption force of the magnetic wheel is F2; When M3≤M0, the acquisition module determines that the adsorption force of the magnetic wheel is F3.

3. The wind turbine tower inspection and cleaning equipment according to claim 2, characterized in that: After the acquisition module determines that the adsorption force of the magnetic wheel is Fi, where i=1, 2, or 3, the acquisition module is further configured to acquire the roughness of the outer wall of the tower, adjust the adsorption force according to the roughness, and acquire the adjusted adsorption force, including: The acquisition module is further configured to pre-set a first preset roughness Ra1, a second preset roughness Ra2, and a third preset roughness Ra3, wherein Ra1<Ra2<Ra3; pre-set a first preset adsorption force adjustment coefficient A1, a second preset adsorption force adjustment coefficient A2, and a third preset adsorption force adjustment coefficient A3, wherein A1<A2<A3; and select an adsorption force adjustment coefficient according to a magnitude relationship between the roughness Ra0 of the tower outer wall and each preset roughness to adjust the adsorption force Fi, thereby obtaining the adjusted adsorption force; When Ra1≤Ra0<Ra2, the third preset adsorption force adjustment coefficient A3 is selected to adjust the adsorption force Fi to obtain the adjusted adsorption force Fi*A3; When Ra2≤Ra0<Ra3, the second preset adsorption force adjustment coefficient A2 is selected to adjust the adsorption force Fi to obtain the adjusted adsorption force Fi*A2; When Ra3≤Ra0, the first preset adsorption force adjustment coefficient A1 is selected to adjust the adsorption force Fi to obtain the adjusted adsorption force Fi*A1.

4. The wind turbine tower inspection and cleaning equipment according to claim 3, characterized in that: After selecting the i-th preset adsorption force adjustment coefficient Ai to adjust the adsorption force Fi and obtaining the adjusted adsorption force Fi*Ai, where i=1, 2, 3, the acquisition module is further configured to obtain wind force data F0, compare the wind force data F0 with a preset wind force threshold Fmax, and determine whether to adjust the adjusted adsorption force based on the comparison result, including: When F0≤Fmax, the acquisition module determines not to perform a secondary adjustment on the adjusted adsorption force; When F0>Fmax, the acquisition module determines to make a secondary adjustment to the adjusted adsorption force, obtains the wind force difference ΔF, and makes a secondary adjustment to the adjusted adsorption force according to the wind force difference ΔF; The acquisition module is further used to pre-set a first preset wind force difference value △F1, a second preset wind force difference value △F2 and a third preset wind force difference value △F3, and △F1<△F2<△F3; When ΔF1≤ΔF<ΔF2, the first preset adsorption force adjustment coefficient A1 is selected to perform a secondary adjustment on the adjusted adsorption force Fi*Ai to obtain the secondary adjusted adsorption force Fi*Ai*A1; When ΔF2≤ΔF<ΔF3, the second preset adsorption force adjustment coefficient A2 is selected to perform a secondary adjustment on the adjusted adsorption force Fi*Ai to obtain the secondary adjusted adsorption force Fi*Ai*A2; When ΔF3≤ΔF, the third preset adsorption force adjustment coefficient A3 is selected to perform a secondary adjustment on the adjusted adsorption force Fi*Ai to obtain the secondary adjusted adsorption force Fi*Ai*A3.

5. The wind turbine tower inspection and cleaning equipment according to claim 4, characterized in that: The judgment module collects a first cleanliness Jq of the tower outer wall before cleaning, and determines a spraying amount S of the cleaning liquid sprayed by the cleaning module and a cleaning speed Z according to the first cleanliness Jq, including: A first preset cleanliness level Jq1, a second preset cleanliness level Jq2, and a third preset cleanliness level Jq3 are preset, and Jq1 < Jq2 < Jq3; a first preset spraying amount S1, a second preset spraying amount S2, and a third preset spraying amount S3 are preset, and S1 < S2 < S3; a first preset cleaning speed Z1, a second preset cleaning speed Z2, and a third preset cleaning speed Z3 are preset, and Z1 < Z2 < Z3; Determining the spraying amount of the cleaning liquid and the cleaning speed of the cleaning module according to the relationship between the first cleanliness level Jq and each preset cleanliness level; When Jq1≤Jq<Jq2, the judgment module determines that the spraying amount S=S3 of the cleaning liquid sprayed by the cleaning module and the cleaning speed Z=Z3; When Jq2≤Jq<Jq3, the judgment module determines that the spraying amount S=S2 of the cleaning liquid sprayed by the cleaning module and the cleaning speed Z=Z2; When Jq3≤Jq, the judgment module determines that the spraying amount S=S1 of the cleaning liquid sprayed by the cleaning module and the cleaning speed Z=Z1.

6. The wind turbine tower inspection and cleaning equipment according to claim 5, characterized in that: After determining the spraying amount S=Si and the cleaning speed Z=Zi, where i=1, 2, or 3, the judgment module is further configured to collect the real-time speed of the magnetic wheel, and determine whether to adjust the cleaning speed according to the real-time speed to obtain the adjusted cleaning speed, including: Preset the speed threshold Vmin of the magnetic wheel, compare the real-time speed V0 with the speed threshold Vmin, and determine whether to adjust the cleaning speed Z=Zi based on the comparison result; When V0>Vmin, the judgment module determines to adjust the cleaning speed Z=Zi to obtain an adjusted cleaning speed Zh; When V0≤Vmin, the judgment module determines not to adjust the cleaning speed Z=Zi, and uses the cleaning speed Zi as the adjusted cleaning speed Zh, that is, Zh=Zi.

7. The wind turbine tower inspection and cleaning equipment according to claim 6, characterized in that: When the judgment module determines that the cleaning speed Z=Zi is to be adjusted, a speed difference ΔV=V0-Vmin is obtained, and the cleaning speed Z=Zi is adjusted according to the speed difference ΔV, including: Preset a first preset speed difference △V1, a second preset speed difference △V2, and a third preset speed difference △V3, and △V1 < △V2 < △V3; preset a first preset speed adjustment coefficient B1, a second preset speed adjustment coefficient B2, and a third preset speed adjustment coefficient B3, and B1 < B2 < B3; When ΔV1≤ΔV<ΔV2, the first preset speed adjustment coefficient B1 is selected to adjust the cleaning speed Z, and the adjusted cleaning speed Zh=Zi*B1 is obtained; When ΔV2≤ΔV<ΔV3, the second preset speed adjustment coefficient B2 is selected to adjust the cleaning speed Z, and the adjusted cleaning speed Zh=Zi*B2 is obtained; When ΔV3≤ΔV, the third preset speed adjustment coefficient B3 is selected to adjust the cleaning speed Z to obtain the adjusted cleaning speed Zh=Zi*B3.

8. The wind turbine tower inspection and cleaning equipment according to claim 7, characterized in that: The adjustment module collects a second cleanliness level Jh of the tower outer wall after cleaning, compares the second cleanliness level with a preset cleanliness threshold Jmin, and determines whether to adjust the adjusted cleaning speed again according to the comparison result, including: When Jh≤Jmin, the adjustment module determines to adjust the adjusted cleaning speed Zh again to obtain the final cleaning speed Zo; When Jh>Jmin, the adjustment module determines not to adjust the adjusted cleaning speed Zh again, and uses the adjusted cleaning speed Zh as the final cleaning speed Zo, that is, Zo=Zh.

9. The wind turbine tower inspection and cleaning equipment according to claim 8, characterized in that: When the adjustment module determines to adjust the adjusted cleaning speed Zh again, the adjustment module is further configured to adjust the adjusted cleaning speed Zh again according to the relationship between the second cleanliness Jh and the preset cleanliness threshold Jmin, i=1, 2, 3, including: When 0<Jh<0.6Jmin, the third preset speed adjustment coefficient B3 is selected to adjust the adjusted cleaning speed Zh again to obtain the final cleaning speed Zo=Zh*B3; When 0.6Jmin≤Jh<0.8Jmin, the second preset speed adjustment coefficient B2 is selected to adjust the adjusted cleaning speed Zh again to obtain the final cleaning speed Zo=Zh*B2; When 0.8Jmin≤Jh≤Jmin, the first preset speed adjustment coefficient B1 is selected to adjust the adjusted cleaning speed Zh again to obtain the final cleaning speed Zo=Zh*B1.

10. The wind turbine tower inspection and cleaning equipment according to claim 9, characterized in that: The early warning module collects the size data of the defect and issues an early warning based on the size data, including: Preset a first preset size data C1, a second preset size data C2 and a third preset size data C3, and C1 < C2 < C3; issue an early warning based on the size relationship between the size data C0 and each preset size data; When C1≤C0<C2, the warning module determines that there is a minor defect in the weld and issues a yellow warning, increasing attention to the defect; When C2≤C0<C3, the early warning module determines that there is a defect in the weld and issues an orange early warning, which needs to be processed during the maintenance of the wind turbine tower.

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