Automatic cleaning equipment device for inner cavity and bottom of cabin for wind turbine generator

Abstract

The invention discloses an automatic cleaning equipment device for a cabin inner cavity and the bottom of a wind turbine generator, belongs to the technical field of industrial control of the wind power technology, and solves the problems that in an existing cleaning device, manual cleaning is low in efficiency, high in dangerousness and high in cost, and efficient and reliable operation of the wind turbine generator cannot be guaranteed in real time. Comprising a cleaning fluid collecting and storing device, an automatic flushing recognition system, an automatic cleaning system, an automatic cleaning monitoring system, a cleaning fluid sorting device and a drying system. By arranging the automatic cleaning system, automatic control is achieved, and cleaning stock solution is guided to the inner cavity and the bottom of the cabin, so that efficient cleaning of the inner cavity and the bottom of the cabin is achieved; and by arranging the automatic flushing recognition system and the automatic cleaning monitoring system, the stability and safety of the wind turbine generator and the cleaning equipment are achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of wind power technology industrial control, and in particular relates to an automatic cleaning device for the inner cavity and bottom of a cabin of a wind turbine set. Background Art

[0002] With the rapid development of new energy technology, more and more wind turbines have become the main force of new energy power generation. Due to the resource conditions and selection requirements of wind farms, wind turbines are all operated outdoors, and most of them are remote and wild. Wind turbines are large, high-altitude, and heavy equipment with complex equipment technology. They are operated outdoors for a long time and are attacked by wind, sand and dust. In addition. There are complex oil and grease lubrication systems in wind turbines. Regular cleaning is one of the important operation and maintenance tasks of wind turbines.

[0003] In the current operation and maintenance technology, wind turbines are cleaned manually on a regular basis due to the remoteness of wind farms and the technical complexity of high-altitude equipment of wind turbines. Manual cleaning is inefficient, dangerous, and costly, and cannot guarantee the efficient and reliable operation of wind turbines in real time. Therefore, it is particularly important to develop automated cleaning equipment for wind turbines. Automated cleaning based on the real-time status of wind turbines is one of the effective solutions. Summary of the invention

[0004] In view of the above-mentioned deficiencies in the prior art, the present invention discloses an automatic cleaning device for the inner cavity and bottom of the cabin of a wind turbine set, which can analyze and judge the sand and dust accumulation in the cabin of the wind turbine set during field operation, the residue of consumables and expendables, and the sanitary cleaning after accidental oil leakage of the grease lubrication system.

[0005] In order to achieve the above technical effects, the present invention adopts the following technical solutions: An automatic cleaning device for the inner cavity and bottom of a nacelle of a wind turbine generator system, comprising: A cleaning liquid collection and storage device; used for storing the original cleaning liquid and setting a cleaning circuit; by setting a storage cylinder for storing the original cleaning liquid and a cleaning circuit, the original cleaning liquid is transmitted to the inner cavity and the bottom of the cabin to be used as a raw material for cleaning work; Automatic flushing identification system; used to detect the working status of the automatic cleaning equipment; by comparing the cleaned parts with the uncleaned parts and detecting the photocurrent flowing through the Hall sensor, it can give a cleaning or completion signal; Automatic cleaning system; used to control the automatic cleaning equipment to perform cleaning work; the data detected by the flow sensor, Hall sensor, pressure sensor and liquid level sensor are transmitted to the controller for automatic spraying and cleaning; Automatic cleaning monitoring system; used to indirectly observe the working status of the automatic cleaning system; by centrally sending the parameters in the real-time process to the computing unit for processing, the entire cleaning system can be displayed in the form of animation; Cleaning liquid sorting device; used to select different cleaning liquids according to different situations; according to different needs, different cleaning liquids can be selected and mixed with the cleaning stock liquid to achieve cleaning according to different needs; Drying system: used to dry the inner cavity and bottom of the cabin after cleaning. Combined with the cleaning path, the heating pipe and hot air furnace are used to achieve drying after cleaning to ensure a suitable environment in the cabin. Wherein, the cleaning liquid collection and storage device is arranged on the second-to-last tower platform and the third-to-last tower platform of the wind turbine; the automatic flushing identification system is fixedly installed on the inside of the cabin, the bottom of the cabin and the surface of the key grease path and the path where consumables are consumed through a slider assembly; the automatic cleaning system and the automatic cleaning monitoring system are realized by configuration software and arranged inside the controller, and the controller is installed on the spray circuit above the cleaned surface; the cleaning liquid sorting device is mounted and fixedly arranged on the branch circuit of the spray and cleaning system; the drying system is fixedly arranged above the spray and cleaning circuit through a mounting part. As a further description of the above scheme, The cleaning liquid collection and storage device includes a storage cylinder, a filter cylinder, a cleaning circuit, a cleaning communication pump circuit pipeline and a cleaning stock solution; the cleaning stock solution is arranged inside the storage cylinder and the filter cylinder; the cleaning stock solution is provided with antifreeze liquid on the upper part of the storage cylinder; the cleaning communication pump circuit pipeline is arranged between the storage cylinder and the filter cylinder; the storage cylinder and the filter cylinder are mutually reserved; the cleaning circuit is arranged inside the inner cavity and the bottom of the cabin; the cleaning circuit connects the cleaning liquid collection and storage device and the automatic cleaning system; the storage cylinder realizes the supply of the stock solution as automatic cleaning by containing the cleaning stock solution; the filter cylinder realizes the filtering of the filtered stock solution through the filter shaft cylinder mechanism to obtain the cleaning stock solution with higher cleanliness; the cleaning circuit realizes the transfer of the cleaning stock solution to the part to be cleaned by connecting the cleaning liquid collection and storage device and the automatic cleaning system; the cleaning communication pump circuit pipeline realizes the maintenance of the cleanliness of the cleaning stock solution inside the storage cylinder by connecting the storage cylinder and the filter cylinder; the cleaning stock solution realizes the cleaning of impurities in the inner cavity and the bottom of the cabin through the water-based material.

[0006] As a further description of the above scheme, The automatic flushing identification system includes a servo motor, a lead screw, a slider, a scraper, a limit switch and a Hall sensor; the servo motors are respectively connected to the lead screws of the cleaning parts, the sliders are installed on the lead screws, and the sliders are respectively connected to the cleaning materials on the surfaces of the interior of the cabin, the bottom of the cabin and the key grease paths, and the paths where consumables are consumed; the Hall sensor is connected and installed in the middle of the cleaning surface and the surface to be cleaned, and the Hall sensor is connected to the controller of the automatic cleaning system; the limit switches are installed at both ends of the lead screw, and when the slider moves to the end of the lead screw, it touches the limit switch to control the servo motor to reverse, thereby controlling the slider to move in the opposite direction.

[0007] As a further description of the above scheme, The automatic flushing identification system includes an automatic flushing judgment component, an automatic flushing component and an automatic walking scraping component; the automatic flushing judgment component includes the Hall sensor and the servo motor; the automatic flushing system is installed on the automatic flushing component; the automatic walking scraping component includes the lead screw, the slider and the scraper; the automatic flushing judgment component judges the cleaning condition of the cleaning position through the Hall sensor detection to confirm the working state and working accuracy of the automatic flushing equipment; the automatic flushing component realizes automatic cleaning of the cabin cavity and the bottom by connecting the controller and the automatic cleaning system; the automatic walking scraping component realizes scraping of foreign objects and automatic reciprocating motion of the part to be cleaned through the lead screw slider and the scraper installed on the slider.

[0008] As a further description of the above scheme, The automatic flushing system includes a water pump, a flow sensor, a pressure sensor, a liquid level sensor, a solenoid valve, a controller, a computing unit and a spraying system; a water level sensor is installed in the storage cylinder of the cleaning stock solution and in the liquid outlet circuit, and the water pump located at the bottom of the storage cylinder is connected to the flow sensor, pressure sensor, pressure gauge, solenoid valve and nozzle through pipelines; the flow sensor, liquid level sensor and pressure sensor are respectively connected to the controller, and the controller is connected to the computing unit through a monitoring system, and the computing unit is pre-installed on the control computer; the automatic flushing system is automatically sprayed and cleaned by transmitting the data detected by the flow sensor, Hall sensor, pressure sensor and liquid level sensor to the controller.

[0009] As a further description of the above scheme, The controller has a built-in LQR adaptive control algorithm, which adjusts the eigenvalue of the state equation by optimizing the state feedback K; the process flow to be performed is obtained by adjusting the eigenvalue; the steps of the LQR adaptive control algorithm are: first, according to the desired state desired by the user, the first parameters Q and R are preliminarily designed; second, according to the algebraic Riccati equation, the matrix P is solved by numerical solution; third, the optimal control sequence is calculated according to P; the principle of the LQR adaptive control algorithm is the LQR control formula; the LQR control formula is: In formula (1), represents the cost functional, which is used as an intermediate quantity to calculate the control scheme μ with parameters Q and T; Q T , R T It represents the unit diagonal matrix of parameters Q and R. The elements on the diagonal matrix correspond to the weights of different state quantities and control quantities. T represents the time parameter of the control algorithm, which is used to indicate that the control algorithm runs to the Tth cycle. μ represents the optimal control sequence obtained by the control algorithm. x represents the state vector as the second parameter. For x and μ, there is a formula: In formula (2), K represents the control gain matrix, which is used to represent the normal control state feedback; the expression of the algebraic Riccati equation is: In formula (3), P represents a symmetric matrix, and for P there is the formula: In the above formula (5), P is the desired bilinear interpolation midpoint, which is used to represent the desired split point coordinates, x represents the midpoint horizontal axis coordinate value, which is used to reflect the horizontal axis coordinate of point P, y represents the midpoint vertical axis coordinate value, which is used to reflect the vertical axis coordinate of point P, x represents the horizontal axis coordinate value of one endpoint, which is used to determine the horizontal axis coordinate of the endpoint and the range of point P, x represents the horizontal axis coordinate value of the other endpoint, which is used to determine the horizontal axis coordinate of the endpoint and the range of point P, y represents the vertical axis coordinate value of the endpoint x, which is used to determine the vertical axis coordinate of the endpoint and the range of point P, y represents the vertical axis coordinate value of the endpoint x, which is used to determine the vertical axis coordinate of the endpoint and the range of point P, φ represents the angle value of the calculated coordinate point, which is used to determine the coordinate angles of the endpoint, the endpoint and point P. As a further description of the above scheme, The cleaning liquid sorting device controls the sealing valve through the controller to distribute different special cleaning liquids to mix with the cleaning stock liquid, so as to achieve cleaning according to different needs; the cleaning liquid sorting device includes a device shell, a cavity, a partition plate, a main control valve, a sub-control valve and a special cleaning liquid; the special cleaning liquid is stored inside the cavity, and the special cleaning liquid is mixed with the cleaning stock liquid to improve the cleaning ability and effect of the cleaning stock liquid; the cavity is opened at the center of the device shell, and the cavity is used to hold the special cleaning liquid through the cavity structure; the partition plate is installed inside the cavity, and the size of the partition plate is consistent with the size of the cavity. The height and width of the device are the same, and the partition plate is used to isolate the cavity into four small cavities through a sealing plate structure; the main control valve is arranged at the opening of the device shell, and the main control valve separates or transmits the special cleaning liquid to the cleaning circuit through a sealing valve structure; the sub-control valve is arranged at the opening of the small cavity after the cavity passes through the partition plate, and the sub-control valve separates or transmits the special cleaning liquid to the main control valve through a sealing valve structure; the device shell is installed on the cleaning circuit through a mounting part, and the device shell provides an installation position for the cavity, partition plate, main control valve, sub-control valve and special cleaning liquid and protects internal components through a circular cavity column structure.

[0010] As a further description of the above scheme, The drying system realizes drying treatment of the cleaned area through a heating pipe and a hot air stove to prevent water corrosion in the cabin; the drying system includes a heating pipe, a hot air pipe, a hot air valve, an exhaust port and a hot air stove; the heating pipe is arranged at the top of the hot air pipe, and the heating pipe realizes raising and maintaining the temperature of the hot air transported by the hot air pipe through a constant temperature magnet; the hot air pipe is laid and installed inside the cabin, and the hot air pipe realizes transmission of the hot air in the hot air stove to the inside of the cabin through the gas flow principle; the hot air valve is arranged at the position where the hot air pipe is connected to the output port of the hot air stove, and the hot air valve realizes control of the frequency, wind speed, wind volume and opening and closing of the hot air transported by the hot air stove by connecting to the controller; the exhaust port is arranged at the port position of the hot air pipe away from the hot air stove, and the exhaust port realizes discharge of the hot air in the hot air pipe to the outside of the cabin through a through-hole structure; the hot air stove is arranged inside the wind turbine, and the hot air stove realizes heating of cold air and transport of hot air to the hot air pipe through the hot air stove working method.

[0011] In summary, the present invention has the following positive and beneficial effects: In the present invention, by providing an automatic cleaning device for the inner cavity and the bottom of the wind turbine cabin, the cleaning, maintenance and servicing problems of the wind turbines that operate outdoors for a long time can be effectively solved; so as to solve the safety problem of long-term climbing, effectively improve the efficiency of operation and maintenance, and reduce the cost of cleaning and maintenance; In the present invention, by providing an automatic cleaning device for the inner cavity and bottom of the wind turbine cabin, the clean environment of the cabin is improved, and by providing a clean operating environment, the reliability of the wind turbine operation and the life of the equipment components are improved; In the present invention, by adding antifreeze liquid to the cleaning stock solution in proportion, the cleaning stock solution is prevented from freezing at low temperatures, thereby increasing the service life of the automatic cleaning device, reducing the replacement frequency of the cleaning stock solution, and reducing the steps of the automatic cleaning process; In the present invention, the automatic cleaning monitoring system is provided to display the entire cleaning system in an animated form, and the parameters such as liquid level, flow, pressure, position, etc. in the real-time process on site are centrally sent to the calculation unit for processing, so as to realize the functions of display, printing, storage, alarm, control, history drawing, and real-time curve recording, so as to improve the working efficiency and accuracy of the wind turbine generator set; In the present invention, a detection circuit is set up to compare the cleaned part and the uncleaned part and detect the photocurrent flowing through the Hall sensor, so as to judge the cleaning status and transmit the corresponding signal to the controller, so as to control the automatic cleaning equipment to clean the incompletely cleaned part again or control the automatic cleaning equipment to stop working. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 A schematic diagram of the control principle of an automatic cleaning device for the inner cavity and bottom of a wind turbine cabin; Figure 2 A schematic diagram of the key principles of an automatic cleaning device for the inner cavity and bottom of a wind turbine cabin; Figure 3 A schematic diagram of the filter cartridge structure of an automatic cleaning device for the inner cavity and bottom of a wind turbine cabin; Figure 4 A schematic diagram of the structure of a cleaning liquid sorting device for an automatic cleaning device for the inner cavity and bottom of a wind turbine cabin; Figure 5 A schematic diagram of the drying system structure of an automatic cleaning device for the inner cavity and bottom of a wind turbine cabin; Among them, 1 servo motor, 2 lead screw, 3 slider, 4 scraper, 5 limit switch, 6 spray system, 7 Hall sensor, 8 cleaning circuit, 9 pressure sensor, 10 flow sensor, 11 liquid level sensor, 12 rainfall sensor, 13 temperature sensor, 14 controller, 15 solenoid valve, 16 computing unit, 17 water pump, 18 monitoring system, 19 small motor, 20 storage cylinder, 21 filter cylinder, 22 cleaning connecting pump circuit pipeline, 30 hot air furnace, 31 heating pipe, 32 hot air valve, 33 hot air pipeline, 34 exhaust port, 51 device housing, 52 cavity, 53 partition plate, 54 main control valve, 55 sub-control valve, 101 cleaning stock solution, 102 antifreeze, 103 rainwater, 104 special cleaning liquid.

[0013] Specific implementation plan The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0014] like Figure 1 - Figure 5 As shown, an automatic cleaning device for the inner cavity and bottom of a nacelle of a wind turbine generator system comprises: A cleaning liquid collection and storage device; used for storing the cleaning liquid and setting the cleaning circuit; by setting a storage cylinder 20 for storing the cleaning liquid and a cleaning circuit 8, the cleaning liquid 101 is transmitted to the inner cavity and the bottom of the cabin to be used as a raw material for cleaning work; The cleaning liquid collection and storage device is a system for storing cleaning stock liquid and setting up a cleaning circuit, and its main purpose is to perform cleaning work in the inner cavity and bottom of the cabin. The storage cylinder 20 is used to store the cleaning stock liquid. The storage cylinder is usually made of corrosion-resistant and pressure-resistant materials, such as stainless steel or plastic. A stirring device is provided inside the storage cylinder to ensure that the cleaning stock liquid is evenly mixed to prevent precipitation. The cleaning circuit 8 is a pipeline system connecting the storage cylinder and other cleaning components, which is responsible for transmitting the cleaning stock liquid to the inner cavity and bottom of the cabin. The circuit includes components such as pumps, valves, filters, etc. to control flow, filter impurities and adjust pressure. The cleaning stock liquid 101 is a chemical solution used for cleaning, which is stored in the storage cylinder 20. When cleaning is required, the cleaning circuit 8 is started and the cleaning stock liquid 101 in the storage cylinder 20 is pumped out by the pump. The cleaning stock liquid 101 is transmitted to the inner cavity and bottom of the cabin through the cleaning circuit 8. During the transmission process, the cleaning stock liquid is evenly sprayed into the interior of the cabin through a nozzle or a spraying device to achieve a cleaning effect. The cleaning liquid 101 circulates in the inner cavity and bottom of the cabin, removing dirt through chemical reactions and physical effects. The liquid after cleaning contains dirt and chemical residues, which need to be collected by the collection system and processed or discharged again. The collection system includes a filter and a collection container to ensure that the cleaning liquid is effectively processed. The cleaning liquid collection and storage device can effectively transfer the cleaning liquid to the inner cavity and bottom of the cabin by storing the cleaning liquid and setting up a cleaning circuit to achieve cleaning work, while ensuring the automation, efficiency and safety of the entire process.

[0015] Automatic flushing identification system; used to detect the working status of the automatic cleaning equipment; by comparing the cleaned parts with the uncleaned parts and detecting the photocurrent flowing through the Hall sensor 7, a cleaning or completion signal is given; The automatic flushing identification system is an intelligent detection device, which is mainly used to monitor the working status of automatic cleaning equipment to ensure the accuracy and effectiveness of the cleaning process. The Hall sensor is a sensor that can detect the magnetic field. It senses the existence and strength of the magnetic field by detecting the photocurrent flowing through its coil. In the automatic flushing system, the Hall sensor is usually used to detect the flow of cleaning fluid or the occurrence of cleaning action. The cleaned part and the uncleaned part refer to different areas of the surface of the object or equipment that need to be cleaned. The cleaned part refers to the area that has been cleaned, and the uncleaned part refers to the area that has not been cleaned. The system judges the completion of the cleaning work by comparing the detection signals of the cleaned part and the uncleaned part.

[0016] At the beginning of cleaning, when the automatic cleaning equipment starts working, the system will start, and the Hall sensor 7 will start to detect the position where the cleaning liquid flows. When the Hall sensor 7 detects the flow of cleaning liquid, a photocurrent signal will be generated. This signal is transmitted to the control system. The control system compares the detected signal with the preset cleaning standard. If it is detected that the photocurrent signals of all cleaned parts meet the cleaning completion standard, the cleaning work is considered to be completed. If all parts have been cleaned, the system will output a cleaning completion signal to notify the operator or the control system to stop the cleaning process. If uncleaned parts are detected, the system will output a cleaning signal to instruct the cleaning equipment to continue working until all parts meet the cleaning standards.

[0017] Automatic cleaning system; used to control the automatic cleaning equipment to perform cleaning work; the data detected by the flow sensor 10, the Hall sensor 7, the pressure sensor 9 and the liquid level sensor 11 are transmitted to the controller 14 for automatic spraying and cleaning; Automatic cleaning monitoring system; used for indirect observation of the working status of the automatic cleaning system; by centrally sending the parameters of the on-site real-time process to the computing unit 16 for processing, the entire cleaning system can be displayed in the form of animation; A cleaning liquid sorting device; used to select different cleaning liquids according to different situations; according to different needs, different cleaning liquids 104 are selected and mixed with the cleaning stock liquid 101 to achieve cleaning according to different needs; Drying system; used to dry the inner cavity and bottom of the cabin after the cleaning work is completed; combined with the cleaning path, the heating tube 31 and the hot air furnace 30 are used to achieve drying after cleaning to ensure a suitable environment in the cabin; Among them, the cleaning liquid collection and storage device is arranged on the second-to-last tower platform and the third-to-last tower platform of the wind turbine set; the automatic flushing identification system is fixedly installed on the inside of the cabin, the bottom of the cabin and the surface of the key grease path and the path where consumables are consumed through a slider assembly; the automatic cleaning system and the automatic cleaning monitoring system are realized by configuration software and are arranged inside the controller 14, and the controller 14 is installed on the spray circuit above the cleaned surface; the cleaning liquid sorting device is mounted and fixedly arranged on the branch circuit of the spray and cleaning system; the drying system is fixedly arranged above the spray and cleaning circuit through a mounting part.

[0018] In the above embodiment: the cleaning liquid collection and storage device includes a storage cylinder 20, a filter cylinder 21, a cleaning circuit 8, a cleaning communication pump circuit pipeline 22 and a cleaning stock liquid 101; the cleaning stock liquid 101 is arranged inside the storage cylinder 20 and the filter cylinder 21; the cleaning stock liquid 101 is provided with an antifreeze liquid 102 on the upper part of the storage cylinder 20; the cleaning communication pump circuit pipeline 22 is arranged between the storage cylinder 20 and the filter cylinder 21; the storage cylinder 20 and the filter cylinder 21 are mutually reserved; the cleaning circuit 8 is arranged inside the inner cavity and the bottom of the cabin; the cleaning circuit 8 connects the cleaning liquid collection and storage device and the automatic cleaning The cleaning system comprises: the reserve cylinder 20 is provided with the cleaning stock solution 101 for automatic cleaning; the filter cylinder 21 is used to filter the filtered stock solution through the filter shaft cylinder mechanism so as to obtain the cleaning stock solution 101 with higher cleanliness; the cleaning circuit 8 is connected with the cleaning liquid collection and storage device and the automatic cleaning system to transfer the cleaning stock solution to the part to be cleaned; the cleaning connecting pump circuit pipeline 22 is connected with the reserve cylinder 20 and the filter cylinder 21 to maintain the cleaning stock solution 101 in the reserve cylinder 20 with higher cleanliness; the cleaning stock solution 101 is used to clean the impurities in the inner cavity and the bottom of the cabin through water-based materials.In a specific embodiment: the cleaning stock solution 101 is obtained by rainwater or by injecting clean water into the storage cylinder 20; the storage cylinder 20 serves as an intermediate device, collects rainwater 103 from the storage cylinder for cleaning stock solution, and pumps the reserved pure water of the storage cylinder downward for cleaning stock solution; the filter cylinder 21 filters the rainwater 103 to obtain rainwater with higher purity as the cleaning stock solution 101; the cleaning loop 8 is equipped with independent pipelines along the cabin and inner cavity of the wind turbine; the pipeline material of the cleaning connecting pump loop pipeline 22 is PVC plastic thin tube, and the pipeline material of the cleaning loop 8 is galvanized alloy steel plate; the PVC plastic thin tube has the advantages of flexible installation position, strong corrosion resistance, low procurement cost and excellent surface stability; the galvanized alloy steel plate has strong corrosion resistance, compatibility with memory metal, strong rigidity and hardness, not easy to deform, and stable The advantages of strong elasticity and thin thickness; the cleaning circuit 8 and the cleaning connecting pump circuit pipeline 22 are fixed by pipe clamps during laying; the cleaning connecting pump circuit pipeline 22 realizes the connection and exchange of liquids in the storage cylinder 20 and the filter cylinder 21 through the U-tube principle; a sealing valve is provided at the connection position between the filter cylinder 21 and the cleaning connecting pump circuit pipeline 22, and the sealing valve is used to prevent unfiltered rainwater from entering the storage cylinder 20; a rain sensor 12 is provided on the inner side of the filter cylinder 21, and the rain sensor 12 realizes the size of the rainfall through the sensor principle, so as to judge the influence of the weather on the operation of the cleaning device; the rain sensor 12 outputs the detection result to the controller 14; the cleaning stock solution 101 adopts water-based material, which has the advantages of more acquisition channels, compatibility with natural collection and artificial replenishment, extremely low cost, reduced chemical corrosion and dual-use reserve.

[0019] In the above embodiment: the automatic flushing identification system includes a servo motor 1, a lead screw 2, a slider 3, a scraper 4, a limit switch 5 and a Hall sensor 7; the servo motor 1 is respectively connected to the lead screw 2 of the cleaning part, the slider 3 is installed on the lead screw 2, and the slider 3 is respectively connected to the cleaning materials on the surface of the cabin interior, the bottom of the cabin and the key grease path, and the path where consumables are consumed; the Hall sensor 7 is connected and installed in the middle position between the cleaning surface and the surface to be cleaned, and the Hall sensor 7 is connected to the controller 14 of the automatic cleaning system; the limit switch 5 is installed at both ends of the lead screw 2, and when the slider 3 moves to the end of the lead screw 2, it touches the limit switch 5, controls the servo motor 1 to reverse, and realizes the control of the slider 2 to move in the opposite direction.

[0020] In a specific embodiment: the servo motor 1 is connected to a driving power supply for power distribution; the servo motor 1 drives the lead screw 2 to rotate and transmit, and the slider 3 moves up and down or left and right under the drive of the lead screw 2, and the slider 3 drives the cleaning device to clean the interior of the cabin, the bottom of the cabin and the surface of the key grease path and the path where consumables are consumed; the limit switch 4 is installed at both ends of the lead screw 2, and when the slider 3 moves to both ends, it touches the limit switch 4, and the limit switch 4 controls the servo motor 1 to reverse, and the slider 3 moves up and down or left and right in the opposite direction of the original circuit; a detection circuit is set to compare the cleaned part and the uncleaned part, detect the photocurrent flowing through the Hall sensor 7, make a judgment and give a corresponding signal to determine the progress of the cleaning work; a cleaning device is installed on the scraper 4, and the cleaning device can be a towel, a rubber scraper, a brush and a soft rag.

[0021] In the above embodiment: the automatic flushing identification system includes an automatic flushing judgment component, an automatic flushing component and an automatic walking scraping component; the automatic flushing judgment component includes the Hall sensor 7 and the servo motor 1; the automatic flushing system is installed on the automatic flushing component; the automatic walking scraping component includes the lead screw 2, the slider 3 and the scraper 4; the automatic flushing judgment component detects the cleaning condition of the cleaning position through the Hall sensor 7 to confirm the working state and working accuracy of the automatic flushing equipment; the automatic flushing component realizes automatic cleaning of the cabin cavity and the bottom by connecting the controller 14 and the automatic cleaning system; the automatic walking scraping component realizes scraping of foreign objects and automatic reciprocating motion of the part to be cleaned through the lead screw 2, the slider 3 and the scraper 4 installed on the slider 3.

[0022] In the above embodiment: the automatic flushing system includes a water pump 17, a flow sensor 10, a pressure sensor 9, a liquid level sensor 11, a solenoid valve 15, a controller 14, a computing unit 16 and a spray system 6; a water level sensor 11 is installed in the storage cylinder of the cleaning stock solution and in the liquid outlet circuit, and the water pump 17 located at the bottom of the storage cylinder is connected to the flow sensor 10, the pressure sensor 9, the pressure gauge, the solenoid valve 15 and the nozzle through pipelines; the flow sensor 10, the liquid level sensor 11 and the pressure sensor 9 are respectively connected to the controller 14, and the controller 14 is connected to the computing unit 16 through a monitoring system, and the computing unit 16 is pre-installed on the control computer; by transmitting the data detected by the flow sensor 10, the Hall sensor 7, the pressure sensor 9 and the liquid level sensor 11 to the controller 14, the automatic flushing system is realized to automatically spray and clean. In a specific embodiment: the automatic flushing system is connected to the cleaning circuit 8, and the automatic flushing system sprays the area to be cleaned through the spray system 6; the spray system 6 is connected to the cleaning circuit 8, and the spray system 6 sprays the cleaning stock solution 101 through a nozzle. The specific implementation scheme of the automatic flushing system is that the controller 14 controls the water pump 17 to extract the cleaning stock solution 101 in the storage cylinder 20, and the spray system 6 sprays the cleaning stock solution 101 through a nozzle to achieve cleaning work. When the spray system 6 is working, the liquid level sensor 11 The extraction volume of the water pump 17 is monitored, the pressure sensor 9 and the flow sensor 10 monitor the flow of the cleaning liquid 101 in the cleaning circuit 8, the liquid level sensor 11, the pressure sensor 9 and the flow sensor 10 output the monitoring results to the calculation unit 16 for scheme verification, so as to check whether the cleaning scheme causes a fault in the cleaning circuit 8. The solenoid valve 15 locks the cleaning circuit 8 when the calculation unit 16 determines that a fault occurs. The solenoid valve 15 works by connecting to a small motor 19, and the small motor 19 is connected to the controller 14 to assist in protecting the operation of the controller 14.

[0023] In the above embodiment: the controller 14 has a built-in LQR adaptive control algorithm, which adjusts the eigenvalue of the state equation by optimizing the state feedback K, and obtains the required process flow by adjusting the eigenvalue; the steps of the LQR adaptive control algorithm are: first, according to the desired state desired by the user, the first parameters Q and R are preliminarily designed; the second step is to solve the matrix P by numerical solution according to the algebraic Riccati equation; the third step is to calculate the optimal control sequence according to P; the principle of the LQR adaptive control algorithm is the LQR control formula; the LQR control formula is: In formula (1), represents the cost functional, which is used as an intermediate quantity to calculate the control scheme μ with parameters Q and T; Q T , R T It represents the unit diagonal matrix of parameters Q and R. The elements on the diagonal matrix correspond to the weights of different state quantities and control quantities. T represents the time parameter of the control algorithm, which is used to indicate that the control algorithm runs to the Tth cycle. μ represents the optimal control sequence obtained by the control algorithm. x represents the state vector as the second parameter. For x and μ, there is a formula: In formula (2), K represents the control gain matrix, which is used to represent the normal control state feedback; the expression of the algebraic Riccati equation is: In formula (3), P represents a symmetric matrix, and for P there is the formula: In a specific embodiment: the principle of the LQR adaptive control algorithm is based on the least squares optimization problem; the goal of the LQR adaptive control algorithm is to design a state feedback controller to minimize the performance index of the system; the mathematical basis of the LQR adaptive control algorithm is based on linear system theory and optimal control theory; the core of the LQR adaptive control algorithm lies in controlling state feedback. From the perspective of the state space equation, the original state matrix of the controlled object is the A matrix, and the eigenvalues ​​and eigenvectors have been determined. After full state feedback, adjusting K can achieve the purpose of adjusting the system. According to the algebraic Riccati equation, K is calculated: In formula (6), A represents the controlled object matrix, B represents the constant matrix, P represents the symmetric matrix, and Q represents the diagonal matrix. By operating the four matrices, the control gain matrix K is obtained; the running code of the LQR adaptive control algorithm is: LQR(Actual State x, Desired State xf, Q, R, A, B, dt): x_error = Actual State x – Desired State xf Initialize N = ( ) Set P = [Empty list of N + 1 elements] K = [Empty list of N elements] u = [Empty list of N elements] Let P[N] = Q For i = N, …, 1 P[i-1] = Q + ATP[i]A – (ATP[i]B)(R + BTP[i]B)-1(BTP[i]A).

[0024] For i = 0, …, N – 1 K[i] = -(R + BTP[i+1]B)-1BTP[i+1]A For i = 0, …, N – 1 u[i] = K[i] @ x_error u_star = u[N-1] Return u_star .

[0025] #=end=# In the above code, Initialize N = ( ) where N is set to an arbitrary integer; P[i-1] = Q + ATP[i]A –(ATP[i]B)(R + BTP[i]B)-1(BTP[i]A) represents a discrete time algebraic equation; K[i] = -(R + BTP[i+1]B)-1BTP[i+1]A realizes keeping K as the optimal feedback gain value; u[i] = K[i] @ x_error indicates that the current iteration is the Nth iteration, and the result is the stable value of the optimal control input u; u_star = u[N-1] indicates that the optimal control input is u_star; Return u_star indicates returning the optimal control input, which will be sent to the controlled object; in the specific implementation, the data comparison table of the LQR adaptive control algorithm and the traditional PID algorithm is shown in the table: In the above embodiment: the automatic cleaning monitoring system improves the search of automatic cleaning instructions by setting an MR ratio segmentation algorithm. The MR ratio segmentation algorithm further refines the automatic control instruction detection through a segmentation refinement method to realize automatic cleaning instruction information retrieval. The MR ratio segmentation algorithm realizes screening of different instruction information and instruction command information through an instruction information segmentation formula. The expression of the MR ratio segmentation algorithm is: In the above formula (5), P is the desired bilinear interpolation midpoint, which is used to represent the coordinates of the desired segmentation point; x represents the midpoint horizontal axis coordinate value, which is used to reflect the horizontal axis coordinate of point P; y represents the midpoint vertical axis coordinate value, which is used to reflect the vertical axis coordinate of point P; x1 represents the horizontal axis coordinate value of one endpoint, which is used to determine the horizontal axis coordinate of endpoint 1 and the range of point P; x2 represents the horizontal axis coordinate value of the other endpoint, which is used to determine the horizontal axis coordinate of endpoint 2 and the range of point P; y1 represents the vertical axis coordinate value of endpoint x1, which is used to determine the vertical axis coordinate of endpoint 1 and the range of point P; y2 represents the vertical axis coordinate value of endpoint x2, which is used to determine the vertical axis coordinate of endpoint 2 and the range of point P; φ represents the angle value of the calculated coordinate point, which is used to determine the coordinate angles of endpoint 1, endpoint 2 and point P.

[0026] In a specific embodiment: the abnormal screening module obtains operating power by connecting the information collection module and the fault identification module, the image screening unit and the atlas screening unit complete the screening of the working status information through the MR ratio segmentation algorithm, the MR ratio segmentation algorithm operating environment is the computing unit 16 and the control computer, and the MR ratio segmentation algorithm deletes the redundant information after completing the screening; the MR ratio segmentation algorithm is a multi-task network that can be used for target detection, target instance segmentation and target key point detection. It is a framework based on the FR regression segmentation algorithm. A fully connected segmentation network is added after the basic feature network. The core lies in classification, regression and segmentation; the process steps of the MR ratio segmentation algorithm are: first, input or obtain a set of pictures and perform corresponding preprocessing; then, input them into a preset neural network to obtain the corresponding convolutional neural network feature map; then, set the return rate for each point in the convolutional neural network feature map to obtain multiple candidate return rate parameters; then, input these candidate return rates into the region generation network for foreground binary classification and border regression, and filter out some candidate return rates; then, perform return rate alignment operations on the remaining candidate return rates, Match the original image with the convolutional neural network feature map; finally, perform N-category classification, border regression and image segmentation on these return rate parameters to obtain the target image; compared with the basic FR regression segmentation algorithm, the MR ratio segmentation algorithm has the advantages of strong feature extraction ability, excellent target detection effect and fine instance segmentation effect; the MR ratio segmentation algorithm adds a diffusion prediction branch to predict the binary mask, so as to not only detect the target in the image, but also give a high-quality segmentation result for each target, and also expand the task to key point detection; in the specific implementation, the data comparison table of the MR ratio segmentation algorithm and the traditional algorithm is shown in the table: In the above embodiment: the cleaning liquid sorting device controls the sealing valve through the controller 14 to distribute different special cleaning liquids 104 and mix them with the cleaning stock liquid 101 to achieve cleaning according to different needs; the cleaning liquid sorting device includes a device shell 51, a cavity 52, a partition plate 53, a main control valve 54, a sub-control valve 55 and a special cleaning liquid 104; the special cleaning liquid 104 is stored in the interior of the cavity 52, and the special cleaning liquid 104 is mixed with the cleaning stock liquid 101 to improve the cleaning ability and effect of the cleaning stock liquid 101; the cavity 52 is opened at the center of the device shell 51, and the cavity 52 is used to contain the special cleaning liquid 104 through the cavity structure; the partition plate 53 is installed in the interior of the cavity 52, and the size of the partition plate 53 The partition plate 53 is of the same height and width as the cavity 52, and the isolation cavity is formed into four small cavities through a sealing plate structure; the main control valve 54 is arranged at the opening of the device housing 51, and the main control valve 55 separates or transmits the special cleaning liquid 104 to the cleaning circuit 8 through a sealing valve structure; the sub-control valve 55 is arranged at the opening of the small cavity after the cavity 52 passes through the partition plate 53, and the sub-control valve 55 separates or transmits the special cleaning liquid 104 to the main control valve 54 through a sealing valve structure; the device housing 51 is installed on the cleaning circuit 8 through a mounting part, and the device housing 51 provides an installation position for the cavity 52, the partition plate 53, the main control valve 54, the sub-control valve 55 and the special cleaning liquid 104 and protects the internal components through a circular cavity column structure.

[0027] In a specific embodiment: four different types of special cleaning liquids 104 are prevented in the cavity 52 of the cleaning liquid sorting device. In a specific implementation scheme, the liquids prevented in the cavity 52 are low-carbon organic cleaning agent, carbon-free compound cleaning agent, water-containing neutral cleaning agent and YH degreasing cleaning liquid; the special cleaning liquid 104 is characterized by stable chemical properties, not easy to react with the object to be cleaned, small surface tension and viscosity, strong penetration, low boiling point, can be dried by itself, has no flash point, is not flammable, and has a KB value (shell rosin butanol The carbon-free compound cleaning agent is used to clean difficult-to-handle adhesions. The carbon-free compound cleaning agent has the advantages of strong penetration, can penetrate narrow gaps, and can completely dissolve and remove attached dirt. The aqueous neutral cleaning agent is used to clean corrosion-resistant adhesions. The aqueous neutral cleaning agent has the advantages of being widely used on smooth surfaces, having very low corrosiveness and low cost; the YH degreasing cleaning liquid is used in areas with mild cleaning environments; the YH degreasing cleaning liquid has the advantages of not leaving insoluble matter on the surface of the cleaning object during the cleaning process, not generating new stains, not forming a new covering layer that is harmful to subsequent processes, and not affecting the quality of the product; the low-carbon organic cleaning agent, the carbon-free compound cleaning agent, the aqueous neutral cleaning agent and the YH degreasing cleaning liquid are acidic cleaning agents; the specific implementation plan of the cleaning liquid sorting device is as follows: opening the device housing 51, placing cleaning agents of different types into the cavity 52, closing the sub-control valve 55 and the main control valve 55, and after completing the configuration of the cleaning scheme, the controller 14 controls the main control valve 54 to open, and according to the cleaning scheme, selects the corresponding special cleaning liquid 104 and opens the corresponding sub-control valve 55, and the special cleaning liquid 104 is mixed with the cleaning stock liquid 101 to form a cleaning liquid for cleaning the inner cavity of the cabin and the bottom of the position to be cleaned.

[0028] In the above embodiment: the drying system realizes drying treatment of the cleaned area through the heating pipe 31 and the hot air stove 30 to prevent water corrosion in the cabin; the drying system includes a heating pipe 31, a hot air duct 33, a hot air valve 32, an exhaust port 34 and a hot air stove 30; the heating pipe 31 is arranged on the top of the hot air duct 33, and the heating pipe 31 realizes raising and maintaining the temperature of the hot air transported by the hot air duct 33 through a constant temperature magnet; the hot air duct 33 is laid and installed inside the cabin, and the hot air duct 33 realizes the transmission of the hot air in the hot air stove 30 to the hot air stove 30 through the gas flow principle. Inside the cabin; the hot air valve 32 is arranged at the position where the hot air duct 33 is connected to the output port of the hot air stove 30, and the hot air valve 32 controls the frequency, wind speed, air volume and opening and closing of the hot air conveying by the hot air stove 30 by connecting to the controller 14; the exhaust port 34 is arranged at the port position of the hot air duct 33 away from the hot air stove 30, and the exhaust port 34 discharges the hot air in the hot air duct 33 to the outside of the cabin through a through-hole structure; the hot air stove 30 is arranged inside the wind turbine unit, and the hot air stove 30 heats the cold air and conveys the hot air to the hot air duct 33 through the hot air stove working method.

[0029] In a specific embodiment: the drying system heats and dehumidifies the cleaned area through a constant temperature heating scheme to improve the service life of the cabin and related components and prevent the cabin from being in an unsuitable state of corrosion, water seepage and humidity; in a specific implementation scheme, the hot air furnace 30 heats the cold air environment to obtain hot air below the upper limit of the bearing temperature of the hot air pipe 33, opens the hot air valve 32, and outputs hot air to the inside of the hot air pipe 33 through the principle of gas circulation. The hot air temperature is used to dry the cabin cavity and the bottom of the top of the hot air pipe 33. When the hot air enters the hot air pipe 33, the heating pipe 31 is used to keep the temperature of the hot air constant; after the cleaning area is dried, the hot air is discharged through the exhaust port 34 to prevent the drying system from damaging the connected cabin cavity and bottom area; when the natural environment is in a cold state, the drying system circulates hot air as a floor heating component through the hot air pipe 33 laid inside and at the bottom of the cabin to adjust the temperature inside the cabin and protect the cabin.

[0030] A specific implementation scheme of an automatic cleaning device for the inner cavity and bottom of a wind turbine cabin is as follows: the reserve cylinder 20 and the filter cylinder 21 are installed on the second-to-last tower platform and the third-to-last tower platform of the wind turbine, the cleaning communication pump loop pipeline 22 is connected between the reserve cylinder 20 and the filter cylinder 21, the cleaning pipeline 8 is connected to the reserve cylinder 20, the controller 14 is installed inside the control computer of the device, the device housing 51 is opened, different types of cleaning agents are placed in the cavity 52, and the sub-control valve 55 and the main control valve 55 are closed; the controller 14 is connected to the Hall valve installed Sensor 7, the Hall sensor 7 connects the cleaning surface and the surface to be cleaned; the controller 14 works by inputting instructions through the control computer; in the cleaning stage, the controller 14 controls the liquid level sensor 11, the flow sensor 10, the pressure sensor 9, the solenoid valve 15 and the nozzle to start working, and the controller 14 sucks out the cleaning stock liquid 101 in the storage cylinder 20 into the cleaning circuit 8 through the nozzle 14, and the controller 14 controls the main control valve 54 to open, selects the corresponding cleaning special liquid 104 according to the cleaning plan and opens the corresponding sub-control valve 55, so that The special cleaning liquid 104 and the cleaning stock liquid 101 are mixed in the cleaning circuit 8 to form a cleaning liquid, and the spray cleaning of the area to be cleaned is realized through the spray system 6. The driving motor 1 in the automatic flushing identification system is connected to a DC power supply, and the scraper 4 scrapes and sweeps the water marks in the area to be cleaned under the drive of the lead screw 2 and the slider 3, and the cleaning state is monitored by the automatic cleaning monitoring system; after the cleaning is completed, the hot air valve 32 is opened, and the hot air furnace 30 outputs hot air to the inside of the hot air duct 33 through the principle of gas circulation, and the hot air temperature is used to realize the hot air cleaning. The cabin inner cavity at the top and the bottom of the air duct 33 are dried with hot air. When the hot air enters the hot air duct 33, the temperature of the hot air is kept at a constant temperature through the heating tube 31; the hot air is discharged through the heat seal 34 to complete the drying process of the cleaning area; after the cleaning equipment is completed, the power connection of the drive motor 1 is cut off, and the hot air valve 32, the sub-control valve 55, and the main control valve 54 are closed in turn to complete the locking of the cleaning equipment device, the connection between the cleaning circuit 8 and the storage cylinder 20 is cut off, and the operation of the controller 14 is stopped by the control computer to complete the shutdown of the automatic cleaning equipment device.

[0031] It should be noted that the above embodiments illustrate the present invention rather than limit it, and that those skilled in the art may devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets shall not be construed as a limitation on the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "one" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention may be implemented by means of hardware comprising a number of different elements and by means of a suitably programmed computer. In a unit claim enumerating a number of means, several of these means may be embodied by the same hardware item. The use of the words first, second and third, etc., does not indicate any order. These words may be interpreted as names.

[0032] Specific examples are used herein to illustrate the principles and implementation methods of the present application, and the description of the above embodiments is only used to help understand the method and core ideas of the present application. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the claims of the present application.

Claims

1. An automatic cleaning device for the inner cavity and bottom of a nacelle of a wind turbine generator system, comprising: A cleaning liquid collection and storage device; used for storing the original cleaning liquid and setting a cleaning circuit; by setting a storage cylinder (20) for storing the original cleaning liquid and a cleaning circuit (8), the original cleaning liquid (101) is transmitted to the inner cavity and the bottom of the cabin, so as to be used as a raw material for cleaning work; Automatic flushing identification system; used to detect the working status of the automatic cleaning equipment; by comparing the cleaned part and the uncleaned part and detecting the photocurrent flowing through the Hall sensor (7), a cleaning or completion signal is given; An automatic cleaning system; used to control the automatic cleaning equipment to perform cleaning work; data detected by the flow sensor (10), the Hall sensor (7), the pressure sensor (9) and the liquid level sensor (11) are transmitted to the controller (14) to perform automatic spraying and cleaning; Automatic cleaning monitoring system: used to indirectly observe the working status of the automatic cleaning system; By sending the parameters of the on-site real-time process to the computing unit (16) for processing, the entire cleaning system can be displayed in an animated form; A cleaning liquid sorting device; used to select different cleaning liquids according to different situations; according to different needs, different cleaning liquids (104) are selected and mixed with the cleaning stock liquid (101) to achieve cleaning according to different needs; A drying system; used for drying the inner cavity and the bottom of the cabin after the cleaning work is completed; in combination with the cleaning path, the heating pipe (31) and the hot air furnace (30) are used to achieve drying after cleaning, so as to ensure a suitable environment in the cabin; The cleaning liquid collection and storage device is arranged on the second-to-last tower platform and the third-to-last tower platform of the wind turbine; the automatic flushing identification system is fixedly installed inside the cabin, the bottom of the cabin and the surface of the key grease path and the path where consumables are consumed through a slider assembly; the automatic cleaning system and the automatic cleaning monitoring system are arranged inside the controller (14) through configuration software, and the controller (14) is installed on the spray circuit above the cleaned surface; the cleaning liquid sorting device is mounted and fixedly arranged on the branch circuit of the spray and cleaning system; and the drying system is fixedly arranged above the spray and cleaning circuit through a mounting member.

2. The automatic cleaning device for the inner cavity and bottom of the nacelle of a wind turbine according to claim 1, characterized in that; The cleaning liquid collecting and storing device comprises a storage cylinder (20), a filter cylinder (21), a cleaning circuit (8), a cleaning connecting pump circuit pipeline (22) and a cleaning stock liquid (101); the cleaning stock liquid (101) is arranged inside the storage cylinder (20) and the filter cylinder (21); the cleaning stock liquid (101) is provided with antifreeze liquid (102) on the upper part of the storage cylinder (20); the cleaning connecting pump circuit pipeline (22) is arranged between the storage cylinder (20) and the filter cylinder (21); the storage cylinder (20) and the filter cylinder (21) are mutually stored; the cleaning circuit (8) is arranged inside the inner cavity and the bottom of the cabin; the cleaning circuit (8) is connected to the cleaning liquid collecting and storing device and the An automatic cleaning system; the reserve cylinder (20) is used to contain the cleaning stock solution (101) to realize the supply of stock solution for automatic cleaning; the filter cylinder (21) is used to filter the filtered stock solution through a filter shaft cylinder mechanism to obtain a cleaning stock solution (101) with a high degree of cleanliness; the cleaning circuit (8) is used to transfer the cleaning stock solution to a part to be cleaned by connecting the cleaning liquid collection and storage device and the automatic cleaning system; the cleaning connecting pump circuit pipeline (22) is used to connect the reserve cylinder (20) and the filter cylinder (21) to maintain the cleaning stock solution (101) in the reserve cylinder (20) with a high degree of cleanliness; the cleaning stock solution (101) is used to clean impurities in the inner cavity and the bottom of the cabin through a water-based material.

3. The automatic cleaning device for the inner cavity and bottom of a wind turbine cabin according to claim 1, characterized in that: The automatic flushing identification system comprises a servo motor (1), a lead screw (2), a slider (3), a scraper (4), a limit switch (5) and a Hall sensor (7); the servo motor (1) is respectively connected to the lead screw (2) at the cleaning position, the lead screw (2) is additionally provided with the slider (3), and the slider (3) is respectively connected to the cleaning material on the surface of the cabin interior, the bottom of the cabin and the key grease path, and the path where consumables and consumables are consumed; the Hall sensor (7) is connected and installed at the middle position between the cleaning surface and the surface to be cleaned, and the Hall sensor (7) is connected to the controller (14) of the automatic cleaning system; the limit switch (5) is installed at both ends of the lead screw (2), and when the slider (3) moves to the end of the lead screw (2), it touches the limit switch (5), controls the servo motor (1) to reverse, and realizes the control of the slider (2) to move in the opposite direction.

4. The automatic cleaning device for the inner cavity and bottom of the wind turbine cabin according to claim 3 is characterized in that: The automatic flushing identification system comprises an automatic flushing judgment component, an automatic flushing component and an automatic walking scraping component; the automatic flushing judgment component comprises the Hall sensor (7) and a servo motor (1); the automatic flushing system is installed on the automatic flushing component; the automatic walking scraping component comprises the lead screw (2), a slider (3) and a scraper (4); the automatic flushing judgment component judges the cleaning condition of the cleaning position through the detection of the Hall sensor (7) to confirm the working state and working accuracy of the automatic flushing device; the automatic flushing component automatically cleans the inner cavity and bottom of the cabin by connecting the controller (14) and the automatic cleaning system; the automatic walking scraping component scrapes foreign matter on the part to be cleaned and automatically reciprocates through the lead screw (2), the slider (3) and the scraper (4) installed on the slider (3).

5. The automatic cleaning device for the inner cavity and bottom of a wind turbine cabin according to claim 1, characterized in that: The automatic flushing system comprises a water pump (17), a flow sensor (10), a pressure sensor (9), a liquid level sensor (11), a solenoid valve (15), a controller (14), a computing unit (16) and a spraying system (6); a water level sensor (11) is installed in the storage cylinder of the cleaning stock solution and in the liquid outlet circuit; the water pump (17) located at the bottom of the storage cylinder is connected to the flow sensor (10), the pressure sensor (9), the pressure gauge, the solenoid valve (15) and the spray head through pipelines; the flow sensor (10), the liquid level sensor (11) and the pressure sensor (9) are connected to the controller (14) respectively; the controller (14) is connected to the computing unit (16) through a monitoring system; the computing unit (16) is pre-installed on a control computer; the automatic flushing system performs automatic spraying and cleaning by transmitting data detected by the flow sensor (10), the Hall sensor (7), the pressure sensor (9) and the liquid level sensor (11) to the controller (14).

6. The automatic cleaning device for the inner cavity and bottom of the wind turbine cabin according to claim 5, characterized in that: The controller (14) has a built-in LQR adaptive control algorithm. The LQR adaptive control algorithm adjusts the characteristic value of the state equation by optimizing the state feedback K. The process flow to be performed is obtained by adjusting the characteristic value. The steps of the LQR adaptive control algorithm are as follows: first, according to the desired state desired by the user, the first parameters Q and R are preliminarily designed; second, according to the algebraic Riccati equation, the matrix P is solved by numerical solution; third, according to P, the optimal control sequence is calculated; the principle of the LQR adaptive control algorithm is the LQR control formula; the LQR control formula is: In formula (1), represents the cost functional, which is used as an intermediate quantity to calculate the control scheme μ with parameters Q and T; Q T , R T It represents the unit diagonal matrix of parameters Q and R. The elements on the diagonal matrix correspond to the weights of different state quantities and control quantities. T represents the time parameter of the control algorithm, which is used to indicate that the control algorithm runs to the Tth cycle. μ represents the optimal control sequence obtained by the control algorithm. x represents the state vector as the second parameter. For x and μ, there is a formula: In formula (2), K represents the control gain matrix, which is used to represent the normal control state feedback; the expression of the algebraic Riccati equation is: In formula (3), P represents a symmetric matrix, and for P there is the formula: 。 7. The automatic cleaning device for the inner cavity and bottom of a wind turbine cabin according to claim 1, characterized in that: The automatic cleaning monitoring system improves the search of automatic cleaning instructions by setting up an MR ratio segmentation algorithm. The MR ratio segmentation algorithm further refines the automatic control instruction detection through a segmentation refinement method to realize automatic cleaning instruction information retrieval. The MR ratio segmentation algorithm realizes screening of different instruction information and instruction command information through an instruction information segmentation formula. The expression of the MR ratio segmentation algorithm is: In the above formula (5), P is the desired bilinear interpolation midpoint, which is used to represent the coordinates of the desired segmentation point; x represents the midpoint horizontal axis coordinate value, which is used to reflect the horizontal axis coordinate of point P; y represents the midpoint vertical axis coordinate value, which is used to reflect the vertical axis coordinate of point P; x1 represents the horizontal axis coordinate value of one endpoint, which is used to determine the horizontal axis coordinate of endpoint 1 and the range of point P; x2 represents the horizontal axis coordinate value of the other endpoint, which is used to determine the horizontal axis coordinate of endpoint 2 and the range of point P; y1 represents the vertical axis coordinate value of endpoint x1, which is used to determine the vertical axis coordinate of endpoint 1 and the range of point P; y2 represents the vertical axis coordinate value of endpoint x2, which is used to determine the vertical axis coordinate of endpoint 2 and the range of point P; φ represents the angle value of the calculated coordinate point, which is used to determine the coordinate angles of endpoint 1, endpoint 2 and point P.

8. The automatic cleaning device for the inner cavity and bottom of a wind turbine cabin according to claim 1, characterized in that: The cleaning liquid sorting device controls the sealing valve through the controller (14) to distribute different cleaning liquids (104) and mix them with the cleaning stock liquid (101), so as to achieve cleaning according to different needs; the cleaning liquid sorting device comprises a device housing (51), a cavity (52), a partition plate (53), a main control valve (54), a sub-control valve (55) and the cleaning liquid (104); the cleaning liquid (104) is stored inside the cavity (52), and the cleaning liquid (104) is mixed with the cleaning stock liquid (101) to improve the cleaning ability and effect of the cleaning stock liquid (101); the cavity (52) is opened at the center of the device housing (51), and the cavity (52) is used to contain the cleaning liquid (104) through the cavity structure; the partition plate (53) is installed inside the cavity (52), and the size of the partition plate (53) is similar to that of the cavity (52). The dimensions of the body (52) are equal in height and width; the partition plate (53) is used to separate the cavity into four small cavities through a sealing plate structure; the main control valve (55) is provided at the opening of the device housing (51); the main control valve (55) is used to separate or transmit the special cleaning liquid (104) to the cleaning circuit (8) through a sealing valve structure; the sub-control valve (55) is provided at the opening of the small cavity after the cavity (52) passes through the partition plate (53); the sub-control valve (55) is used to separate or transmit the special cleaning liquid (104) to the main control valve (55) through a sealing valve structure; the device housing (51) is installed on the cleaning circuit (8) through a mounting member; the device housing (51) is used to provide a mounting position for the cavity (52), the partition plate (53), the main control valve (54), the sub-control valve (55) and the special cleaning liquid (104) and to protect the internal components through a circular cavity column structure.

9. The automatic cleaning device for the inner cavity and bottom of a wind turbine cabin according to claim 1, characterized in that: The drying system uses a heating pipe (31) and a hot air furnace (30) to dry the cleaned area, so as to prevent water corrosion in the cabin; the drying system comprises a heating pipe (31), a hot air duct (33), a hot air valve (32), an exhaust port (34) and a hot air furnace (30); the heating pipe (31) is arranged at the top of the hot air duct (33), and the heating pipe (31) uses a constant temperature magnet to increase and maintain the temperature of the hot air transported by the hot air duct (33); the hot air duct (33) is laid and installed inside the cabin, and the hot air duct (33) transmits the hot air in the hot air furnace (30) to the inside of the cabin through the principle of gas flow. The hot air valve (32) is arranged at a position where the hot air duct (33) is connected to the output port of the hot air furnace (30), and the hot air valve (32) controls the frequency, wind speed, wind volume and opening and closing of the hot air delivered by the hot air furnace (30) by connecting to the controller (14); the exhaust port (34) is arranged at a port position of the hot air duct (33) away from the hot air furnace (30), and the exhaust port (34) discharges the hot air in the hot air duct (33) to the outside of the cabin through a through-hole structure; the hot air furnace (30) is arranged inside the wind turbine set, and the hot air furnace (30) heats the cold air and delivers the hot air to the hot air duct (33) through a hot air furnace working method.

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