Circulating cleaning device capable of self-adapting to curved surface and wind power tower drum cleaning method

Abstract

The invention is suitable for the technical field of wind power tower drum cleaning, and provides a circulation type cleaning device capable of self-adapting to a curved surface and a wind power tower drum cleaning method.The circulation type cleaning device comprises a wall-climbing cleaning robot and a ground sewage treatment system, and a sewage recycling module communicates with a cleaning module and the ground sewage treatment system through pipelines; the ground sewage treatment system is further communicated with the cleaning module through a pipeline to form a circulation loop. The first data acquisition assembly acquires contact state feedback data between the cleaning module and the surface of the wind power tower and inputs the contact state feedback data to the central control module; and the central control module performs fuzzy reasoning based on the contact state feedback data and outputs corresponding control quantities to the first driving assembly and the second driving assembly. The multifunctional integrated design is adopted, different types of dirt on the surface of the tower drum can be efficiently removed, closed-loop sewage recycling and reusing are considered, the automation degree is high, the cleaning efficiency is improved while the cleaning quality is ensured, and meanwhile waste of water resources is reduced.

Description

Technical Field

[0001] This application belongs to the field of wind turbine tower cleaning technology, and particularly relates to a circulating cleaning device and a wind turbine tower cleaning method with adaptive curved surfaces. Background Technology

[0002] As the main supporting structure of wind turbine generators, wind turbine towers are mostly installed in harsh environments such as deserts, plateaus, hills, and coastal shallows. Their surfaces easily accumulate dust, rust, oil, and other pollutants, affecting not only aesthetics but also potentially reducing turbine efficiency, causing structural corrosion, and threatening safety and stability. Therefore, regular cleaning and maintenance are crucial. Wind turbine tower cleaning robots can reduce manual labor and improve efficiency and safety. They can be equipped with various cleaning modules to adapt to different needs, and the entire operation process is safe and controllable, achieving excellent cleaning results in practical applications.

[0003] However, current wind turbine tower cleaning robots have some drawbacks. First, they rely solely on roller brushes or nozzles for operation, resulting in poor adaptability to different types of dirt. Furthermore, the curved shape of the wind turbine tower prevents the cleaning module from adhering well to the tower surface, leading to insufficient force on some dirt and poor cleaning results and low efficiency. Second, they consume a large amount of water during cleaning but lack an integrated wastewater recycling system, causing cleaning wastewater to drip directly, polluting the surrounding environment and wasting water resources. Summary of the Invention

[0004] This application provides an adaptive curved surface circulating cleaning device and a wind turbine tower cleaning method, which can solve the problems of poor cleaning effect, low efficiency, water waste and secondary pollution of sewage of existing wind turbine tower cleaning robots.

[0005] In a first aspect, embodiments of this application provide a circulating cleaning device with an adaptive curved surface, including a wall-climbing cleaning robot and a ground sewage treatment system; The wall-climbing cleaning robot includes a main frame and a central control module, a cleaning module, and a wastewater recovery module mounted on the main frame. The central control module is electrically connected to the cleaning module and the wastewater recovery module respectively. The wastewater recovery module is connected to the cleaning module and the ground wastewater treatment system through pipelines. The ground wastewater treatment system is also connected to the cleaning module through pipelines to form a circulation loop. The cleaning module is mounted on a mounting bracket and includes a first data acquisition component, a roller brush cleaning component, a first drive component, a spray cleaning component, a scraper cleaning component, and a wastewater collection component. The spray cleaning component is positioned above the roller brush cleaning component, and the scraper cleaning components are distributed below and on both sides of the roller brush cleaning component, with the lower scraper cleaning components gradually protruding upwards from both ends towards the middle. The wastewater collection component is positioned below the scraper cleaning components on both sides. The mounting frame is movably connected to the main frame via a second drive assembly, which is used to adjust the relative distance between the cleaning module and the surface of the wind turbine tower; the first drive assembly is connected to the roller brush cleaning assembly to control the rotation of the roller brush cleaning assembly. The first data acquisition component is used to acquire contact status feedback data between the cleaning module and the surface of the wind turbine tower and input it to the central control module; The central control module is used to perform fuzzy inference based on the contact state feedback data and output the corresponding control quantity to the first drive component and the second drive component.

[0006] The beneficial effects of the embodiments in this application compared with the prior art are: Employing a multi-functional integrated design, this system efficiently removes various types of dirt from the tower surface while simultaneously enabling closed-loop wastewater recycling and reuse, boasting a high degree of automation. During cleaning, the spray cleaning component, roller brush cleaning component, and scraper cleaning component work together to achieve thorough cleaning without blind spots and improve cleaning efficiency. Based on fuzzy control principles, feedback data on the contact state between the roller brush and the tower is used to control the contact distance and rotation speed of the roller brush, allowing the pressure between the roller brush and the tower to automatically adjust according to the tower's curved surface, thus maintaining the contact degree between them within a range that achieves good cleaning results. After cleaning, the scraper guides the wastewater to the wastewater collection component, preventing secondary pollution. The wastewater is collected in real time by the wastewater recycling module and sent to the ground wastewater treatment system for processing, resulting in reusable clean water that is then reused in the cleaning module, reducing water waste.

[0007] In one embodiment of the first aspect, the wall-climbing cleaning robot further includes two sets of structurally identical permanent magnet track modules; The two sets of permanent magnet track modules are respectively installed on both sides of the main frame and electrically connected to the central control module to form a dual track drive chassis structure. The dual track drive chassis structure is used to drive the wall-climbing cleaning robot to move on the surface of the wind turbine tower.

[0008] In the above scheme, the dual-track driven chassis structure ensures uniform distribution of adsorption force while avoiding local stress concentration, thereby minimizing the risk of damage to the tower surface. The tracks provide adsorption force through permanent magnets. Compared with the electromagnetic adsorption scheme, it does not rely on continuous power supply, avoiding the risk of falling when power is cut off and ensuring safety. In addition, by reducing the number of large-capacity batteries or external cables, the robot's weight and load pressure can also be reduced, making the robot's movement more convenient.

[0009] In one embodiment of the first aspect, the wastewater recycling module includes a wastewater tank, a suction assembly, a first water pump assembly, and a check valve; a second data acquisition assembly is provided inside the wastewater tank; The wastewater collection assembly is connected to the wastewater tank via a wastewater recovery pipe; the first water pump assembly is connected to the interior of the wastewater tank and is also connected to the input of the ground wastewater treatment system; the output of the ground wastewater treatment system is connected to the spray cleaning assembly via the second water pump assembly and the check valve assembly. The suction assembly is used to draw the sewage tank to a negative pressure state so that the sewage in the sewage collection assembly is drawn into the sewage tank. The first pump assembly is used to transport sewage from the sewage tank to the surface sewage treatment system; The second water pump assembly is used to deliver cleaning water from the ground wastewater treatment system to the spray cleaning assembly; The second data acquisition component is used to acquire high and low water level information in the sewage tank; The central control module is also used to control the start and stop of the suction component and the first water pump component based on the high and low water level information.

[0010] In the above solution, based on the intelligent linkage of negative pressure adsorption and high and low water level monitoring, and integrating water pumps and check valves, the automatic circulation control of sewage suction into sewage tank and sewage transportation to the ground sewage treatment system is realized, and the risks of empty suction and back suction are eliminated. Compared with traditional gravity diversion and recycling, its recycling efficiency is greatly improved and the water resource recycling rate is higher.

[0011] In one embodiment of the first aspect, the roller brush cleaning assembly includes an arc-shaped elastic roller brush and two connectors; the arc-shaped elastic roller brush is gradually recessed from both ends toward the middle to match the curvature of the wind turbine tower surface; The arc-shaped elastic roller brush and one end of the two connecting members are detachably connected, and the other end of the two connecting members are rotatably connected to the mounting frame. The second drive component is connected to one of the connectors to drive the connector to rotate and thus drive the arc-shaped elastic roller brush to rotate.

[0012] In the above solution, the detachable arc-shaped elastic roller brush can fully ensure that the roller brush cleaning component is compatible with various tower curved surfaces, making the contact range between the roller brush and the tower larger, thereby further improving cleaning efficiency.

[0013] In one embodiment of the first aspect, the first data acquisition component includes a distance sensor and a pressure sensor. The distance sensor is used to acquire the vertical distance between multiple positions on the arc-shaped elastic roller and the surface of the wind turbine tower. The pressure sensor is used to acquire the actual contact pressure between the arc-shaped elastic roller and the surface of the wind turbine tower. The central control module is specifically used to determine the surface curvature deviation and the contact pressure deviation. It uses the surface curvature deviation and the contact pressure deviation as input variables, and the first control quantity corresponding to the first drive component and the second control quantity corresponding to the second drive component as output variables. It sets the domain of each variable and divides the corresponding variable into multiple fuzzy sets within the domain of each variable. The contact pressure deviation is the difference between the actual contact pressure and the target contact pressure. The surface curvature deviation is the difference between the actual curvature of the tower and the reference curvature of the arc-shaped elastic roller brush. The actual curvature of the tower is determined based on the reference curvature of the roller brush and the vertical distance. The central control module is also specifically used to transform each input variable to a corresponding domain and obtain the fuzzy value of the corresponding input variable through the membership function of each input variable; wherein, the fuzzy value represents the membership degree of the input variable to a certain fuzzy set; The central control module is further specifically used to obtain the fuzzy set of the output variable based on the fuzzy values ​​of the input variables and the fuzzy rule base using a fuzzy inference algorithm, then obtain the universe of discourse value of the output variable through defuzzification processing, and obtain the first control quantity and the second control quantity through transformation processing; wherein, the fuzzy rule base contains multiple control rules, the antecedent of each control rule is a combination of the fuzzy sets of all the input variables, and the consequent is a fuzzy set of at least one of the output variables; The central control module is also specifically used to control the working state of the first drive component according to the first control quantity and / or control the working state of the second drive component according to the second control quantity.

[0014] In the above scheme, the vertical distance and contact pressure between the arc-shaped elastic roller brush and the wind turbine tower are obtained by distance and pressure sensors. Combined with the fuzzy control principle, an automated closed-loop control is established to identify the tower curvature, calculate the contact pressure, and output the control quantity. This allows the roller brush cleaning component to adapt to the nonlinear changes in the curvature of the tower surface. The entire process does not require manual intervention, reducing the dependence on the operator's experience, thereby improving cleaning efficiency and cleaning effect.

[0015] In one embodiment of the first aspect, the wall-climbing cleaning robot further includes a visual feedback module electrically connected to the central control module; The visual feedback module includes an industrial camera assembly and an adjustable light source assembly. The industrial camera assembly is mounted on the mounting bracket, and the adjustable light source assembly is distributed around the industrial camera assembly. The visual feedback module is used to acquire image data of the surface of the wind turbine tower and input it to the central control module; The central control module is also used to detect the cleanliness of the surface of the wind turbine tower based on the image data.

[0016] In the above scheme, the visual feedback module and the central control module are used to realize the visual detection of the cleanliness of the wind turbine tower surface. The adjustable light source component can automatically adjust the light source brightness in the corresponding direction according to the curvature change of the tower surface, ensuring that the light intensity of each point on the tower surface is consistent, improving the image quality acquired by the industrial camera component, and thus improving the detection accuracy.

[0017] In one embodiment of the first aspect, the scraper cleaning assembly is provided in multiple sets, each set of the scraper cleaning assembly including at least one telescopic rod, at least one spring and a scraper blade; One end of the telescopic rod is fixedly connected to the side of the mounting frame away from the surface of the wind turbine tower, and the other end of the telescopic rod is hinged to the wiper blade. The spring is sleeved on the telescopic rod and both ends of the spring are respectively connected to the mounting frame and the wiper blade. A wiper blade is detachably installed on the side of the wiper blade opposite to the surface of the wind turbine tower.

[0018] In the above solution, when the wiper blade of the scraper cleaning assembly comes into contact with the surface of the wind turbine, the extension rod and spring work together to provide a buffer, making the contact between the wiper blade and the surface of the wind turbine a soft contact, thus avoiding damage to the coating. At the same time, the scraper cleaning assembly is set up independently in segments, and the extension degree of each set of scraper cleaning assemblies can be different, thus making it more adaptable to the surface of the tower. Furthermore, individual wiper blades can be replaced independently after they wear out, which can effectively reduce maintenance costs.

[0019] In a first embodiment of the first aspect, the ground wastewater treatment system includes a host computer and a sedimentation tank, a filter tank, and a cleaning water preparation tank electrically connected to the host computer; The inlet of the sedimentation tank is connected to the first water pump assembly. The top of the sedimentation tank is provided with a first feeding mechanism for adding flocculant and a third water pump assembly. The bottom of the sedimentation tank is provided with a first cleaning mechanism for cleaning sedimented impurities. The third water pump assembly is connected to the interior of the sedimentation tank and is also connected to the inlet of the filter box. The interior of the sedimentation tank is provided with a first liquid level monitoring sensor for monitoring the water volume information in the sedimentation tank. The inlet of the filter box is located at the top of the filter box, and the outlet of the filter box is located at the bottom of the filter box. At least one filter screen for filtration is fixedly connected inside the filter box. The outlet of the filter box is connected to the first inlet of the cleaning water preparation tank, which is located below the filter box. The filter box is equipped with a second cleaning mechanism for cleaning the filter screen. The filter box is equipped with a differential pressure sensor for monitoring the pressure difference of the filter screen and an alarm for issuing warning information. The warning information is used to prompt the replacement of the filter screen. The outlet of the cleaning water preparation tank is connected to the second water pump assembly, the second inlet of the cleaning water preparation tank is connected to an external clean water source, the top of the cleaning water preparation tank is provided with a second feeding mechanism for adding detergent, and the interior of the cleaning water preparation tank is provided with a second liquid level monitoring sensor for monitoring the water volume information in the cleaning water preparation tank.

[0020] In the above scheme, the host computer controls the circulating water pump to discharge sewage into the sedimentation tank, add flocculant for filtration, separate solid impurities from liquid, and then send the filtered water into the filter box for secondary filtration. The filtered water is sent to the cleaning water preparation tank, where detergent is added to prepare cleaning water, and then it is sent back to the cleaning module to realize the recycling of water resources. The amount of flocculant and detergent is automatically proportioned by the host computer, and the system automatically monitors the sediment on the filter screen to determine whether to clean or replace it. The system also integrates a cleaning mechanism and an alarm.

[0021] Secondly, embodiments of this application provide a wind turbine tower cleaning method, implemented using the adaptive curved surface cyclic cleaning device described in any one of the first aspects, the wind turbine tower cleaning method comprising: S1. The wall-climbing cleaning robot is driven by the dual-track drive chassis structure to move along a preset cleaning trajectory on the surface of the wind turbine tower; wherein, the preset cleaning trajectory includes multiple areas to be cleaned; S2. Analyze the cleanliness of the area to be cleaned based on the image data. If the cleanliness meets the preset requirements, return to step S1; if the cleanliness does not meet the preset requirements, proceed to step S3. S3. Based on the cleanliness level, add clean water and detergent to the cleaning water preparation tank, and then deliver the prepared cleaning water to the spray cleaning assembly. Control the spray cleaning assembly to spray the cleaning water onto the roller brush cleaning assembly and / or the area to be cleaned; wherein, the source of the clean water is the sedimentation tank and / or the external clean water source. S4. Based on the vertical distance and the actual contact pressure, perform fuzzy reasoning to obtain the first control quantity and the second control quantity. Control the second drive component to adjust the relative distance between the cleaning module and the surface of the wind turbine tower according to the second control quantity so that the roller brush cleaning component and the scraper cleaning component contact the area to be cleaned. Then control the first drive component to control the roller brush cleaning component to rotate according to the first control quantity so that the roller brush cleaning component scrubs the area to be cleaned with the target scrubbing force. S5. When the first drive component starts, a timer is started to obtain the cleaning duration of the cleaning module. When the cleaning duration reaches the set duration, return to step S2.

[0022] In one embodiment of the second aspect, step S4 is followed by: S41. Control the start and stop of the suction component and the first water pump component according to the high and low water level information; wherein, when the high and low water level information is low, the first water pump component is turned off and the suction component is started to suck the sewage in the sewage collection component into the sewage tank; when the high and low water level information is high, the suction component is turned off and the first water pump component is started to transport the sewage in the sewage tank to the sedimentation tank. S42. Based on the water volume information in the sedimentation tank, add flocculant, and transport the pre-filtered water separated from the sedimentation tank to the filter tank to filter and obtain the clean water.

[0023] In one embodiment of the second aspect, step S4 specifically includes: S401. Determine the surface curvature deviation and the contact pressure deviation, using the surface curvature deviation and the contact pressure deviation as input variables, and the first control quantity corresponding to the first driving component and the second control quantity corresponding to the second driving component as output variables. Set the domain of each variable, and divide the corresponding variable into multiple fuzzy sets within the domain of each variable; wherein, the contact pressure deviation is the difference between the actual contact pressure and the target contact pressure, the surface curvature deviation is the difference between the actual curvature of the tower and the reference curvature of the arc-shaped elastic roller brush, and the actual curvature of the tower is determined based on the reference curvature of the roller brush and the vertical distance; S402. Transform each input variable to its corresponding domain and obtain the fuzzy value of the corresponding input variable through the membership function of each input variable; wherein, the fuzzy value represents the membership degree of the input variable to a certain fuzzy set; S403. Based on the fuzzy values ​​of the input variables and the fuzzy rule base, a fuzzy inference algorithm is used to obtain the fuzzy set of the output variables. Then, the universe of discourse value of the output variables is obtained through defuzzification processing, and the first control quantity and the second control quantity are obtained through transformation processing. The fuzzy rule base contains multiple control rules. The antecedent of each control rule is a combination of the fuzzy sets of all the input variables, and the consequent is a fuzzy set of at least one of the output variables. S404. Control the working state of the first drive component according to the first control quantity and / or control the working state of the second drive component according to the second control quantity.

[0024] Thirdly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the wind turbine tower cleaning method described in any one of the second aspects above.

[0025] Fourthly, embodiments of this application provide a computer program product that, when run on a terminal device, causes the terminal device to execute the wind turbine tower cleaning method described in any of the second aspects above.

[0026] It is understood that the beneficial effects of the second to fourth aspects mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of the overall structure of a circulating cleaning device with an adaptive curved surface provided in an embodiment of this application; Figure 2 This is a schematic diagram of the structure of a wall-climbing cleaning robot 1 connected to a ground sewage treatment system 2 in a circulating cleaning device with an adaptive curved surface provided in an embodiment of this application; Figure 3 This is a schematic diagram of the structure of a wall-climbing cleaning robot 1 in a circulating cleaning device with an adaptive curved surface provided in an embodiment of this application; Figure 4 This is a schematic diagram of the connection between the cleaning module 13 and the central control module 12 in a circulating cleaning device with an adaptive curved surface provided in an embodiment of this application; Figure 5 This is a schematic diagram of the connection between the wastewater recovery module 14 and the central control module 12 in a circulating cleaning device with an adaptive curved surface provided in an embodiment of this application; Figure 6 This is a schematic diagram of the structure of the roller brush cleaning component 132 in a circulating cleaning device with an adaptive curved surface provided in an embodiment of this application; Figure 7 This is a schematic diagram of the scraper cleaning component 135 in a circulating cleaning device with an adaptive curved surface provided in an embodiment of this application; Figure 8 This is a schematic diagram of the structure of the second drive component 151 in a circulating cleaning device with an adaptive curved surface provided in an embodiment of this application; Figure 9 This is a schematic diagram of the structure of a ground sewage treatment system 2 in a circulating cleaning device with an adaptive curved surface provided in an embodiment of this application; Figure 10 This is a schematic flowchart of a wind turbine tower cleaning method provided in an embodiment of this application.

[0029] Figure 11 This is a schematic flowchart of another wind turbine tower cleaning method provided in an embodiment of this application.

[0030] Figure 12 This is a flowchart illustrating step S4 of a wind turbine tower cleaning method provided in an embodiment of this application.

[0031] Legend: 1-Wall-climbing cleaning robot; 2-Ground sewage treatment system; 11-Main frame; 12-Central control module; 13-Cleaning module; 14-Sewage recovery module; 15-Mounting frame; 16-Permanent magnet track module; 17-Visual feedback module; 131-First data acquisition component; 132-Roller brush cleaning component; 133-First drive component; 134-Spray cleaning component; 135-Scraper cleaning component; 136-Sewage collection component; 151-Second drive component; 141-Sewage tank; 142-Suction component; 143-First water pump component; 144-Check valve; 145-Second data acquisition component; 146-Second water pump component; 1321-Arc-shaped Elastic roller brush; 1322-Connector; 1351-Telescopic rod; 1352-Spring; 1353-Scraper; 1511-Motor; 1512-Synchronous belt drive assembly; Lead screw-1513; Nut seat-1514; Linear guide rail 1515; 21-Host computer; 22-Sedimentation tank; 23-Filter box; 24-Cleaning water preparation tank; 221-First feeding mechanism; 222-Third water pump assembly; 223-First cleaning mechanism; 224-First liquid level monitoring sensor; 231-Filter screen; 232-Second cleaning structure; 233-Differential pressure sensor; 234-Alarm; 241-Second feeding mechanism; 242-Second liquid level monitoring sensor. Detailed Implementation

[0032] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0033] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0034] Unless otherwise expressly specified and limited, the term "comprising" indicates the presence of the described feature, integral, step, operation, element, and / or component, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or collections thereof. Those skilled in the art will understand the specific meaning of the above terms in this application based on the specific circumstances.

[0035] This application provides a circulating cleaning device that can adapt to curved surfaces. This circulating cleaning device is mainly used for cleaning wind turbine towers, but it can also be used to clean other curved exterior walls, such as oil pipes or ship hulls.

[0036] See Figures 1-5 The adaptive curved surface circulating cleaning device includes a wall-climbing cleaning robot 1 and a ground wastewater treatment system 2. The wall-climbing cleaning robot 1 includes a main frame 11 and a central control module 12, a cleaning module 13, and a wastewater recovery module 14 mounted on the main frame 11. Figure 2 As shown, the central control module 12 is electrically connected to the cleaning module 13 and the wastewater recovery module 14, respectively. Specifically, the central control module 12 is electrically connected to various electrical components in the cleaning module 13 and the wastewater recovery module 14. The wastewater recovery module 14 is connected to the cleaning module 13 and the ground wastewater treatment system 2 through pipelines. The ground wastewater treatment system 2 is also connected to the cleaning module 13 through pipelines to form a circulation loop.

[0037] In one possible implementation, a solenoid valve is installed in the pipeline between the ground sewage treatment system 2 and the cleaning module 13, and the solenoid valve is also controlled by the central control module 12.

[0038] Specifically, the cleaning module 13 is mounted on the mounting bracket 15. For example... Figure 1 , Figure 3 and Figure 4 As shown, the cleaning module 13 includes a first data acquisition component 131, a roller brush cleaning component 132, a first drive component 133, a spray cleaning component 134, a scraper cleaning component 135, and a wastewater collection component 136. The spray cleaning component 134 is positioned above the roller brush cleaning component 132, while the scraper cleaning components 135 are distributed below and on both outer sides of the roller brush cleaning component 132, with the lower scraper cleaning component 135 gradually protruding upwards from both ends towards the center. The wastewater collection component 136 is positioned below the scraper cleaning components 135 on both sides.

[0039] In one possible implementation, the mounting frame 15 is movably connected to the main frame 11 via a second drive assembly 151, which is used to adjust the relative distance between the cleaning module 13 and the surface of the wind turbine tower; the first drive assembly 133 is connected to the roller brush cleaning assembly 132 to control the rotation of the roller brush cleaning assembly 132.

[0040] In one possible implementation, the first data acquisition component 131 is used to acquire contact status feedback data between the cleaning module 13 and the surface of the wind turbine tower and input it to the central control module 12. Optionally, the contact status feedback data specifically includes the relative distance between the roller brush cleaning component 132 and the surface of the wind turbine tower, as well as the contact pressure between the roller brush cleaning component 132 and the surface of the wind turbine tower.

[0041] In one possible implementation, the central control module 12 performs fuzzy inference based on contact state feedback data and outputs corresponding control quantities to the first drive component 133 and the second drive component 151. Optionally, the drive source for both the first drive component 133 and the second drive component 151 is a motor, and the control quantities specifically include the motor torque and motor speed, etc. Based on the fuzzy control principle, the central control module 12 establishes a mapping model of "contact state feedback data - control quantity," enabling the degree of contact between the roller brush cleaning component 132 and the tower surface to be automatically adjusted according to different curved surfaces on the tower, avoiding local contact pressure overload.

[0042] In this embodiment, when a cleaning task is required, the central control module 12 first controls the second drive component 151 based on the data from the first data acquisition component 131, so that the mounting frame 15 moves towards the surface of the wind turbine tower under the action of the second drive component 151. The mounting frame 15 will simultaneously drive the cleaning module 13 to move towards the surface of the wind turbine tower, so that both the roller brush cleaning component 132 and the scraper cleaning component 135 can contact the surface of the wind turbine tower.

[0043] Furthermore, the central control module 12 controls the delivery of cleaning water to the spray cleaning assembly 134, causing the spray cleaning assembly 134 to spray the cleaning water onto the roller brush cleaning assembly 132 for pre-wetting. In addition, the spray cleaning assembly 134 can also spray cleaning water onto the surface of the wind turbine tower, such as in uneven structures with cleaning blind spots like welds and bolts. The central control module 12 can adjust the nozzle pressure in the spray cleaning assembly 134 to flush away dirt in these blind spots. It should be noted that the cleaning water is automatically prepared by mixing clean water and detergent in a specific ratio. Different cleaning water formulations can be prepared according to the specific dirt conditions on the wind turbine tower surface. After the wind turbine tower surface is cleaned, the cleaning water used at this point represents clean water without added detergent, which washes away any remaining detergent from the wind turbine tower surface.

[0044] Furthermore, the central control module 12 controls the first drive component 133 based on the data from the first data acquisition component 131, causing the roller brush cleaning component 132 to rotate under the action of the first drive component 133. The first drive component 133 can further adjust the contact pressure between the roller brush cleaning component 132 and the surface of the wind turbine tower, so that the roller brush cleaning component 132 scrubs the surface of the wind turbine tower with a target scrubbing force. The target scrubbing force refers to the range of adhesion that achieves a good cleaning effect without damaging the coating on the tower surface.

[0045] In one possible implementation, the central control module 12 has a built-in timer. After the first drive component 133 is started, the roller brush cleaning component 132 starts cleaning. The timer keeps track of the cleaning time of a single cleaning cycle of the roller brush cleaning component 132. When the cleaning time reaches the preset set time, the first drive component 133 is stopped, and the cleaning effect is checked, that is, whether the cleaning degree meets the preset requirements. If the cleaning degree meets the preset requirements, it means that the cleaning is complete, and the wall-climbing cleaning robot can be moved to the next surface. If the cleaning degree does not meet the preset requirements, the first drive component 133 can be restarted to drive the roller brush cleaning component 132 to scrub. Alternatively, new cleaning water can be delivered to the spray cleaning component 134 and sprayed onto the roller brush cleaning component 132 and the curved surface of the wind turbine tower, and then the roller brush cleaning component 132 will perform the cleaning work. This cycle continues until the cleaning degree meets the preset requirements.

[0046] In one alternative implementation, the preparation information of the cleaning water (i.e., the amount of clean water and the amount of cleaning agent) is determined according to the degree of cleanliness. For example, the proportion of cleaning agent is increased in heavily soiled areas and decreased in lightly soiled areas.

[0047] In this embodiment, the scraper cleaning component 135 assists the roller brush cleaning component 132 in scraping away dirt from the tower surface, and can also guide the wastewater after cleaning by the roller brush cleaning component 132 to the wastewater collection component 136. Then, the wastewater in the wastewater collection component 136 is recycled by the wastewater recycling module 14 and flows down to the ground wastewater treatment system 2 to obtain reusable clean water. The reusable clean water can then be reused to prepare cleaning water or used to rinse away cleaning agent residues.

[0048] This embodiment provides an adaptive curved surface circulating cleaning device with a multi-functional integrated design. It efficiently removes different types of dirt from the tower surface while simultaneously enabling closed-loop wastewater recycling and reuse, and boasts a high degree of automation. During cleaning, the spray cleaning component, roller brush cleaning component, and scraper cleaning component work together to achieve blind-spot-free cleaning and improve cleaning efficiency. Based on fuzzy control principles, feedback data on the contact state between the roller brush and the tower is used to control the contact distance and rotation speed of the roller brush, allowing the pressure between the roller brush and the tower to automatically adjust according to the curved surface of the tower, thus maintaining the contact degree between them within a range that achieves good cleaning results. After cleaning, the scraper can guide wastewater to the wastewater collection component to avoid secondary pollution. The wastewater is collected in real time by the wastewater recycling module and sent to the ground wastewater treatment system for treatment, resulting in reusable clean water that is then reused in the cleaning module, reducing water waste.

[0049] In this embodiment, as Figure 2 and Figure 3 As shown, the wall-climbing cleaning robot 1 also includes two sets of permanent magnet track modules 16 with identical structures.

[0050] Two sets of permanent magnet track modules 16 are respectively installed on both sides of the main frame and electrically connected to the central control module 12 to form a dual track drive chassis structure. The dual track drive chassis structure is used to drive the wall-climbing cleaning robot 1 to move on the surface of the wind turbine tower.

[0051] In one possible implementation, the tracks are made of flexible polyurethane material with an auxiliary magnet at the tail, allowing the chassis's adsorption surface to closely conform to the tower's curved surface. This ensures uniform distribution of adsorption force while avoiding localized stress concentration, minimizing the risk of damage to the tower's paint layer.

[0052] This embodiment provides an adaptive curved surface circulating cleaning device. The dual-track driven chassis structure ensures uniform distribution of adsorption force while avoiding local stress concentration, thereby minimizing the risk of damage to the tower surface. The tracks provide adsorption force through permanent magnets. Compared with electromagnetic adsorption solutions, it does not rely on continuous power supply, avoiding the risk of falling due to power failure and ensuring safety. In addition, by reducing the need for large-capacity batteries or external cables, the robot's weight and load pressure can also be reduced, making the robot's movement more convenient.

[0053] In one possible implementation, such as Figure 2 As shown, the wall-climbing cleaning robot 1 also includes a visual feedback module 17 electrically connected to the central control module 12.

[0054] In one possible implementation, the visual feedback module 17 includes an industrial camera assembly and an adjustable light source assembly. The industrial camera assembly can be mounted on the mounting bracket 15, and the adjustable light source assembly can be distributed around the industrial camera assembly.

[0055] The visual feedback module 17 is used to acquire image data of the wind turbine tower surface and input it to the central control module 12; the central control module 12 is also used to detect the cleanliness of the wind turbine tower surface based on the image data.

[0056] This embodiment provides an adaptive curved surface circulating cleaning device that uses a visual feedback module and a central control module to achieve visual detection of the cleanliness of the wind turbine tower surface. The adjustable light source component can automatically adjust the light source brightness in the corresponding direction according to the curvature change of the tower surface, ensuring that the light intensity at each point on the tower surface is consistent, improving the image quality acquired by the industrial camera component, and thus improving the detection accuracy.

[0057] Optionally, such as Figure 1 and Figure 5 As shown, the wastewater recycling module 14 includes a wastewater tank 141, a suction assembly 142, a first water pump assembly 143, and a check valve 144; a second data acquisition assembly 145 is provided inside the wastewater tank 141.

[0058] Specifically, the wastewater collection assembly 136 is connected to the wastewater tank 141 via a wastewater recovery pipe; the first water pump assembly 143 is connected to the interior of the wastewater tank 141 and is also connected to the input of the ground wastewater treatment system 2. The output of the ground wastewater treatment system 2 is connected to the spray cleaning assembly 134 via the second water pump assembly 146 and the check valve 144 assembly.

[0059] In one possible implementation, the suction assembly 142 is used to draw the sewage tank 141 to a negative pressure state, so that the sewage in the sewage collection assembly 136 is drawn into the sewage tank 141. As an example, the suction assembly 142 may be a blower, which draws air out of the sewage tank 141 to create a negative pressure state.

[0060] In this embodiment, the first water pump assembly 143 is used to transport sewage in the sewage tank 141 to the ground sewage treatment system 2; the second water pump assembly 146 is used to transport cleaning water in the ground sewage treatment system 2 to the spray cleaning assembly 134.

[0061] The second data acquisition component 145 is used to acquire high and low water level information in the sewage tank 141. As an example, the second data acquisition component 145 can be a liquid level sensor respectively installed at the high and low water levels, which can monitor the high and low water levels in real time.

[0062] The central control module 12 is also used to control the start and stop of the suction assembly 142 and the first water pump assembly 143 according to the high and low water level information. Specifically, when the high and low water level information is low, the first water pump assembly 143 is turned off and the suction assembly 142 is started to suck the sewage in the sewage collection assembly 136 into the sewage tank 141. When the high and low water level information is high, the suction assembly 142 is turned off and the first water pump assembly 143 is started to transport the sewage in the sewage tank 141 to the ground sewage treatment system 2, thereby realizing the automatic cycle of "high level pumping and low level replenishment".

[0063] This embodiment provides an adaptive curved surface circulating cleaning device, which is based on the intelligent linkage of negative pressure adsorption and high and low water level monitoring, and integrates a water pump and a check valve to realize the automatic circulation control of sewage suction into the sewage tank and sewage transportation to the ground sewage treatment system, and eliminates the risks of empty suction and back suction. Compared with traditional gravity diversion and recycling, its recycling efficiency is greatly improved and the water resource recycling rate is higher.

[0064] Optionally, see Figure 6 The roller brush cleaning assembly 132 includes an arc-shaped elastic roller brush 1321 and two connectors 1322. The arc-shaped elastic roller brush 1321 is gradually recessed from both ends toward the middle to match the curvature of the wind turbine tower surface.

[0065] In this embodiment, one end of the arc-shaped elastic roller brush 1321 and the two connectors 1322 are detachably connected, and the other end of the two connectors 1322 is rotatably connected to the mounting bracket 15. The second drive assembly 151 is connected to one of the connectors 1322 to drive the connector 1322 to rotate and drive the arc-shaped elastic roller brush 1321 to rotate.

[0066] This embodiment provides an adaptive curved surface circulating cleaning device. The detachable arc-shaped elastic roller brush can fully ensure that the roller brush cleaning component is compatible with various tower curved surfaces, so that the roller brush and tower have a larger contact range, thereby further improving cleaning efficiency.

[0067] In one specific implementation, the first data acquisition component 131 includes a distance sensor and a pressure sensor. The distance sensor is used to acquire the vertical distance between multiple positions on the arc-shaped elastic roller brush 1321 and the surface of the wind turbine tower. The pressure sensor is used to acquire the actual contact pressure between the arc-shaped elastic roller brush 1321 and the surface of the wind turbine tower.

[0068] In this embodiment, the central control module 12 is specifically used to determine the surface curvature deviation and the contact pressure deviation. The surface curvature deviation and the contact pressure deviation are used as input variables, and the first control quantity corresponding to the first drive component 133 and the second control quantity corresponding to the second drive component 151 are used as output variables. The domain of each variable is set, and within the domain of each variable, the corresponding variable is divided into multiple fuzzy sets. The contact pressure deviation is the difference between the actual contact pressure and the target contact pressure, and the surface curvature deviation is the difference between the actual curvature of the tower and the reference curvature of the arc-shaped elastic roller brush 1321. The actual curvature of the tower is determined based on the reference curvature of the roller brush and the vertical distance. In an optional implementation, the actual curvature of the tower can be obtained by fitting the vertical distance data using the least squares method.

[0069] In this embodiment, the central control module 12 is further specifically used to transform each input variable to its corresponding universe of discourse, and obtain the fuzzy value of the corresponding input variable through the membership function of each input variable. The fuzzy value represents the membership degree of the input variable to a certain fuzzy set. The universe of discourse is set according to the actual tower parameters. For example, the radius of a common wind turbine tower is usually around 2 to 4, and the reference curvature is around 0.25 to 0.5. Therefore, a curvature deviation of ±0.2 is sufficient to cover local unevenness on the surface (such as weld protrusions or slight deformation). In one possible implementation, the membership function can be a triangular membership function.

[0070] In this embodiment, the central control module 12 is further specifically used to obtain the fuzzy set of the output variable based on the fuzzy values ​​of the input variables and the fuzzy rule base using a fuzzy inference algorithm, then obtain the universe of discourse value of the output variable through defuzzification processing, and finally obtain the first control quantity and the second control quantity through transformation processing. The fuzzy rule base contains multiple control rules, where the antecedent of each control rule is a combination of the fuzzy sets of all input variables, and the consequent is a fuzzy set of at least one output variable.

[0071] In one possible implementation, the fuzzy inference algorithm can use the Mamdani (maximum-minimum synthesis) inference method, which involves applying a minimum operation (taking the minimum value of the input membership degree) to the output membership degree of each fuzzy rule, and then applying a maximum operation (taking the maximum value of the output of each rule) to synthesize the final fuzzy set. Of course, other fuzzy inference algorithms such as the Larsen method (maximum-product synthesis) can also be used.

[0072] In one possible implementation, the defuzzification process can use the centroid method, where the precise output value of the fuzzy set is equal to the "geometric centroid x-coordinate" of the region enclosed by its membership function curve and the universe of discourse. Of course, other defuzzification methods, such as the weighted average method, can also be used.

[0073] In this embodiment, the central control module 12 is also specifically used to control the working state of the first drive component 133 according to the first control quantity and / or control the working state of the second drive component 151 according to the second control quantity.

[0074] This embodiment provides an adaptive curved surface circulating cleaning device. By acquiring the vertical distance and contact pressure between the arc-shaped elastic roller brush and the wind turbine tower through distance and pressure sensors, and combining the fuzzy control principle, an automated closed-loop control is established for tower curvature recognition, contact pressure calculation, and control output. This allows the roller brush cleaning component to adapt to the nonlinear changes in the curvature of the tower surface, and the entire process requires no manual intervention, reducing reliance on operator experience and thus improving cleaning efficiency and cleaning effect.

[0075] Optionally, see Figure 7 The scraper cleaning assembly 135 is provided in multiple sets, and each set of scraper cleaning assembly 135 includes at least one telescopic rod 1351, at least one spring 1352 and a scraper 1353; One end of the telescopic rod 1351 is fixedly connected to the side of the mounting frame 15 away from the surface of the wind turbine tower. The other end of the telescopic rod 1351 is hinged to the wiper blade 1353. The spring 1352 is sleeved on the telescopic rod 1351 and both ends of the spring 1352 are connected to the mounting frame 15 and the wiper blade 1353 respectively. A wiper rubber strip is detachably installed on the side of the wiper blade 1353 opposite to the surface of the wind turbine tower.

[0076] This embodiment provides an adaptive curved surface circulating cleaning device. When the wiper blade of the scraper cleaning assembly 135 contacts the surface of the wind turbine, the cooperation of the telescopic rod and spring can play a buffering role, making the contact between the wiper blade and the surface of the wind turbine a soft contact, avoiding damage to the coating. At the same time, the scraper cleaning assembly is set independently in segments, and the degree of extension of each scraper cleaning assembly can be different, thus making it more adaptable to the surface of the tower. Furthermore, individual wiper blades can be replaced independently after wear, which can effectively reduce maintenance costs.

[0077] In one possible implementation, see Figure 8The second drive assembly 151 includes a motor 1511, a synchronous belt drive assembly 1512, a lead screw 1513, a nut seat 1514, and a linear guide rail 1515. The motor 1511 and the linear guide rail 1515 are both fixedly mounted on the main frame 11. The lead screw 1513 is rotatably mounted on the main frame 11 via bearings. The output shaft of the motor 1511 is connected to the lead screw 1513 via the synchronous belt drive assembly 1512. The nut seat 1514 is threadedly connected to the lead screw 1513. The mounting bracket 15 is fixedly connected to the nut seat 1514 and also slidably connected to the linear guide rail 1515. The linear guide rail 1515 guides the movement of the mounting bracket 15, making its movement smoother.

[0078] In one possible implementation, see Figure 9 The ground wastewater treatment system 2 includes a host computer 21 and a sedimentation tank 22, a filter tank 23 and a cleaning water preparation tank 24 that are electrically connected to the host computer 21.

[0079] The inlet of the sedimentation tank 22 is connected to the first water pump assembly 143. The top of the sedimentation tank 22 is provided with a first feeding mechanism 221 for adding flocculant and a third water pump assembly 222. The bottom of the sedimentation tank 22 is provided with a first cleaning mechanism 223 for cleaning sedimented impurities. The third water pump assembly 222 is connected to the interior of the sedimentation tank 22 and is also connected to the inlet of the filter box 23. The interior of the sedimentation tank 22 is provided with a first liquid level monitoring sensor 224 for monitoring the water volume information in the sedimentation tank 22. The inlet of the filter box 23 is located at the top of the filter box 23, and the outlet of the filter box 23 is located at the bottom of the filter box 23. At least one filter screen 231 for filtration is fixedly connected inside the filter box 23. The outlet of the filter box 23 is connected to the first inlet of the cleaning water preparation tank 24, which is located below the filter box 23. The filter box 23 is equipped with a second cleaning mechanism 232 for cleaning the filter screen 231. The filter box 23 is equipped with a differential pressure sensor 233 for monitoring the pressure difference of the filter screen and an alarm 234 for issuing warning information. The warning information is used to prompt the replacement of the filter screen.

[0080] In one possible implementation, when the filter screen 231 is clogged with deposits, the negative pressure on the filter screen 231 will increase. A cleaning threshold and a replacement threshold can be preset according to the pressure difference. When the pressure difference reaches the cleaning threshold, the second cleaning mechanism 232 is activated. When the pressure difference reaches the replacement threshold or the number of cleanings exceeds the preset number (to avoid over-cleaning and damage to the filter bag), the alarm 234 is activated.

[0081] The outlet of the cleaning water preparation tank 24 is connected to the second water pump assembly 146, the second inlet of the cleaning water preparation tank 24 is connected to an external clean water source, the top of the cleaning water preparation tank 24 is provided with a second feeding mechanism 241 for adding cleaning agent, and the inside of the cleaning water preparation tank 24 is provided with a second liquid level monitoring sensor 242 for monitoring the water volume information in the cleaning water preparation tank 24.

[0082] This embodiment provides an adaptive curved surface circulating cleaning device. The host computer controls the circulating water pump to discharge sewage into the sedimentation tank, add flocculant for filtration, separate solid impurities from liquid, and then send the filtered water back into the sedimentation tank for secondary filtration. The filtered water is then sent to the cleaning water preparation tank, where detergent is added to prepare the cleaning water, which is then transported back to the cleaning module to achieve water resource recycling. The dosage of flocculant and detergent is automatically proportioned by the host computer, and the device automatically monitors the sediment on the filter screen to determine whether to clean or replace it. It also integrates a cleaning mechanism and an alarm.

[0083] See Figure 10 This application provides a method for cleaning wind turbine towers, which is based on the adaptive curved surface cyclic cleaning device described in the above embodiments. The wind turbine tower cleaning method includes: S1. The wall-climbing cleaning robot is driven by a dual-track chassis structure to move along a preset cleaning trajectory on the surface of the wind turbine tower.

[0084] The preset cleaning trajectory includes multiple areas to be cleaned. After the current area is cleaned, the wall-climbing cleaning robot automatically moves to the next area to be cleaned according to the preset cleaning trajectory.

[0085] S2. Analyze the cleanliness of the area to be cleaned based on the image data. If the cleanliness meets the preset requirements, return to step S1; if the cleanliness does not meet the preset requirements, proceed to step S3.

[0086] S3. Add clean water and detergent to the cleaning water preparation tank according to the degree of cleanliness, and then deliver the prepared cleaning water to the spray cleaning component. Control the spray cleaning component to spray the cleaning water onto the roller brush cleaning component and / or the area to be cleaned.

[0087] The clean water source is a sedimentation tank and / or an external clean water source. In one optional embodiment, the clean water obtained from sedimentation tank filtration is used preferentially; if insufficient, clean water is supplemented from an external clean water source.

[0088] S4. Based on the vertical distance and actual contact pressure, perform fuzzy reasoning to obtain the first control quantity and the second control quantity. Control the second drive component to adjust the relative distance between the cleaning module and the surface of the wind turbine tower according to the second control quantity so that the roller brush cleaning component and the scraper cleaning component contact the area to be cleaned. Then control the first drive component to control the roller brush cleaning component to rotate according to the first control quantity so that the roller brush cleaning component scrubs the area to be cleaned with the target scrubbing force.

[0089] S5. When the first drive component starts, a timer is started to obtain the cleaning duration of the cleaning module. When the cleaning duration reaches the set duration, return to step S2.

[0090] Further, see Figure 11 Step S4 is followed by: S41. Control the start and stop of the suction assembly and the first water pump assembly based on the high and low water level information.

[0091] Specifically, when the high and low water level information is low, the first water pump assembly is turned off and the suction assembly is started to suck the sewage in the sewage collection assembly into the sewage tank. When the high and low water level information is high, the suction assembly is turned off and the first water pump assembly is started to transport the sewage in the sewage tank to the sedimentation tank.

[0092] S42. Based on the water volume information in the sedimentation tank, add flocculant and transport the pre-filtered water separated from the sedimentation tank to the sedimentation tank for filtration to obtain clean water.

[0093] Further, see Figure 12 Step S4 specifically includes: S401. Determine the surface curvature deviation and contact pressure deviation, take the surface curvature deviation and contact pressure deviation as input variables, take the first control quantity corresponding to the first drive component and the second control quantity corresponding to the second drive component as output variables, set the domain range of each variable respectively, and divide the corresponding variable into multiple fuzzy sets within the domain range of each variable.

[0094] Among them, the contact pressure deviation is the difference between the actual contact pressure and the target contact pressure, and the surface curvature deviation is the difference between the actual curvature of the tower and the reference curvature of the arc-shaped elastic roller brush. The actual curvature of the tower is determined based on the reference curvature of the roller brush and the vertical distance.

[0095] S402. Transform each input variable to the corresponding universe of discourse, and obtain the fuzzy value of the corresponding input variable through the membership function of each input variable.

[0096] Here, the fuzzy value represents the degree of membership of the input variable to a certain fuzzy set.

[0097] S403. Based on the fuzzy values ​​of the input variables and the fuzzy rule base, the fuzzy set of the output variables is obtained by using fuzzy inference algorithm and fuzzy synthesis operation. Then, the universe value of the output variables is obtained by defuzzification processing, and the first control quantity and the second control quantity are obtained by transformation processing.

[0098] The fuzzy rule base contains multiple control rules. The antecedent of each control rule is a fuzzy set combination of all input variables, and the consequent is a fuzzy set of at least one output variable.

[0099] S404. Control the working state of the first drive component according to the first control quantity and / or control the working state of the second drive component according to the second control quantity.

[0100] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0101] It should be noted that the information interaction, execution process, and other aspects of the above methods are based on the same concept as the system embodiments of this application. For details on their specific functions and technical effects, please refer to the system embodiments section, which will not be repeated here.

[0102] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps described in the above embodiments of the Lion Head Wind Turbine Tower Cleaning Method.

[0103] This application provides a computer program product that, when run on a mobile terminal, enables the mobile terminal to execute the steps described in the above-described Lion Head Wind Turbine Tower Cleaning Method embodiments.

[0104] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the above-described embodiments of this application can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various Lion Head Wind Turbine Tower Cleaning Method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include at least: any entity or device capable of carrying the computer program code to a photographing device / terminal device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electrical carrier signals or telecommunication signals.

[0105] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0106] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A cyclic cleaning device for self-adapting to a curved surface, characterized in that, The wall climbing cleaning robot and the ground sewage treatment system are included. The wall climbing cleaning robot includes a main frame, a central control module, a cleaning module and a sewage recovery module arranged on the main frame, the central control module is electrically connected with the cleaning module and the sewage recovery module respectively, the sewage recovery module is communicated with the cleaning module and the ground sewage treatment system through pipelines, and the ground sewage treatment system is also communicated with the cleaning module through a pipeline to form a circulation loop. The cleaning module is arranged on a mounting frame, and includes a first data acquisition assembly, a rolling brush cleaning assembly, a first driving assembly, a spraying cleaning assembly, a scraper cleaning assembly and a sewage collection assembly. The spraying cleaning assembly is arranged above the rolling brush cleaning assembly, the scraper cleaning assemblies are distributed below and on both sides of the rolling brush cleaning assembly, and the scraper cleaning assemblies below are gradually raised upward from both ends to the middle. The mounting frame is movably connected with the main frame through a second driving assembly, the second driving assembly is used for adjusting the relative distance between the cleaning module and the surface of the wind power tower drum, and the first driving assembly is connected with the rolling brush cleaning assembly to control the rotation of the rolling brush cleaning assembly. The first data acquisition assembly is used for acquiring contact state feedback data between the cleaning module and the surface of the wind power tower drum and inputting the contact state feedback data to the central control module.

2. The self-adaptable curved surface circulating cleaning device according to claim 1, wherein, The central control module is used for fuzzy reasoning based on the contact state feedback data and outputting corresponding control amount to the first driving assembly and the second driving assembly. The wall climbing cleaning robot also includes two groups of structure same permanent magnet track modules.

3. The self-adaptable curved surface circulating cleaning device according to claim 1, wherein, The two groups of permanent magnet track modules are respectively arranged on both sides of the main frame and electrically connected with the central control module to form a double track driving chassis structure, and the double track driving chassis structure is used for driving the wall climbing cleaning robot to move on the surface of the wind power tower drum. The sewage recovery module includes a sewage tank, a suction assembly, a first water pump assembly and a check valve, and the sewage tank is internally provided with a second data acquisition assembly. The sewage collection assembly is communicated with the sewage tank through a sewage recovery pipe, the first water pump assembly is communicated with the inside of the sewage tank, and the first water pump assembly is communicated with the input of the ground sewage treatment system. The suction assembly is used for sucking the sewage tank to a negative pressure state, so that the sewage in the sewage collection assembly is sucked into the sewage tank. The first water pump assembly is used for conveying the sewage in the sewage tank to the ground sewage treatment system. The second water pump assembly is used for conveying cleaning water in the ground sewage treatment system to the spraying cleaning assembly. The second data acquisition assembly is used for acquiring high and low water level information in the sewage tank. The central control module is also used for controlling the start and stop of the suction assembly and the first water pump assembly according to the high and low water level information.

4. The self-adapting curved surface circulating cleaning device according to claim 1, wherein, The roller brush cleaning assembly includes an arc-shaped elastic roller brush and two connectors; the arc-shaped elastic roller brush is gradually recessed from both ends toward the middle to match the curvature of the wind turbine tower surface; The arc-shaped elastic roller brush and one end of the two connecting members are detachably connected, and the other end of the two connecting members are rotatably connected to the mounting frame. The second drive component is connected to one of the connectors to drive the connector to rotate and thus drive the arc-shaped elastic roller brush to rotate.

5. The self-adapting curved surface circulating cleaning device according to claim 4, wherein, The first data acquisition component includes a distance sensor and a pressure sensor. The distance sensor is used to acquire the vertical distance between multiple positions on the arc-shaped elastic roller and the surface of the wind turbine tower. The pressure sensor is used to acquire the actual contact pressure between the arc-shaped elastic roller and the surface of the wind turbine tower. The central control module is specifically used to determine the surface curvature deviation and the contact pressure deviation. It uses the surface curvature deviation and the contact pressure deviation as input variables, and the first control quantity corresponding to the first drive component and the second control quantity corresponding to the second drive component as output variables. It sets the domain of each variable and divides the corresponding variable into multiple fuzzy sets within the domain of each variable. The contact pressure deviation is the difference between the actual contact pressure and the target contact pressure. The surface curvature deviation is the difference between the actual curvature of the tower and the reference curvature of the arc-shaped elastic roller brush. The actual curvature of the tower is determined based on the reference curvature of the roller brush and the vertical distance. The central control module is also specifically used to transform each input variable to a corresponding domain and obtain the fuzzy value of the corresponding input variable through the membership function of each input variable; wherein, the fuzzy value represents the membership degree of the input variable to a certain fuzzy set; The central control module is further specifically used to obtain the fuzzy set of the output variable based on the fuzzy values ​​of the input variables and the fuzzy rule base using a fuzzy inference algorithm, then obtain the universe of discourse value of the output variable through defuzzification processing, and obtain the first control quantity and the second control quantity through transformation processing; wherein, the fuzzy rule base contains multiple control rules, the antecedent of each control rule is a combination of the fuzzy sets of all the input variables, and the consequent is a fuzzy set of at least one of the output variables; The central control module is also specifically used to control the working state of the first drive component according to the first control quantity and / or control the working state of the second drive component according to the second control quantity.

6. The self-adapting curved surface circulating cleaning device according to claim 1, wherein, The wall-climbing cleaning robot also includes a visual feedback module electrically connected to the central control module; The visual feedback module includes an industrial camera assembly and an adjustable light source assembly. The industrial camera assembly is mounted on the mounting bracket, and the adjustable light source assembly is distributed around the industrial camera assembly. The visual feedback module is used to acquire image data of the surface of the wind turbine tower and input it to the central control module; The central control module is also used to detect the cleanliness of the surface of the wind turbine tower based on the image data.

7. The self-adapting curved surface circulating cleaning device according to claim 1, wherein, The scraper cleaning assembly is provided in multiple sets, and each set of the scraper cleaning assembly includes at least one telescopic rod, at least one spring, and a scraper blade; One end of the telescopic rod is fixedly connected to the side of the mounting frame away from the surface of the wind turbine tower, and the other end of the telescopic rod is hinged to the wiper blade. The spring is sleeved on the telescopic rod and both ends of the spring are respectively connected to the mounting frame and the wiper blade. A wiper blade is detachably installed on the side of the wiper blade opposite to the surface of the wind turbine tower.

8. The self-adapting curved surface circulating cleaning device according to claim 1, wherein, The ground wastewater treatment system includes a host computer and a sedimentation tank, a filter tank, and a cleaning water preparation tank that are electrically connected to the host computer. The inlet of the sedimentation tank is connected to the first water pump assembly. The top of the sedimentation tank is provided with a first feeding mechanism for adding flocculant and a third water pump assembly. The bottom of the sedimentation tank is provided with a first cleaning mechanism for cleaning sedimented impurities. The third water pump assembly is connected to the interior of the sedimentation tank and is also connected to the inlet of the filter box. The interior of the sedimentation tank is provided with a first liquid level monitoring sensor for monitoring the water volume information in the sedimentation tank. The inlet of the filter box is located at the top of the filter box, and the outlet of the filter box is located at the bottom of the filter box. At least one filter screen for filtration is fixedly connected inside the filter box. The outlet of the filter box is connected to the first inlet of the cleaning water preparation tank, which is located below the filter box. The filter box is equipped with a second cleaning mechanism for cleaning the filter screen. The filter box is equipped with a differential pressure sensor for monitoring the pressure difference of the filter screen and an alarm for issuing warning information. The warning information is used to prompt the replacement of the filter screen. The outlet of the cleaning water preparation tank is connected to the second water pump assembly, the second inlet of the cleaning water preparation tank is connected to an external clean water source, the top of the cleaning water preparation tank is provided with a second feeding mechanism for adding detergent, and the interior of the cleaning water preparation tank is provided with a second liquid level monitoring sensor for monitoring the water volume information in the cleaning water preparation tank.

9. A method of cleaning a wind turbine tower, characterized in that, The wind turbine tower cleaning method utilizes the adaptive curved surface cyclic cleaning device as described in claims 1-8, and includes: S1. The wall-climbing cleaning robot is driven by the dual-track drive chassis structure to move along a preset cleaning trajectory on the surface of the wind turbine tower; wherein, the preset cleaning trajectory includes multiple areas to be cleaned; S2. Analyze the cleanliness of the area to be cleaned based on the image data. If the cleanliness meets the preset requirements, return to step S1; if the cleanliness does not meet the preset requirements, proceed to step S3. S3. Based on the cleanliness level, add clean water and detergent to the cleaning water preparation tank, and then deliver the prepared cleaning water to the spray cleaning assembly. Control the spray cleaning assembly to spray the cleaning water onto the roller brush cleaning assembly and / or the area to be cleaned; wherein, the source of the clean water is the sedimentation tank and / or the external clean water source. S4. Based on the vertical distance and the actual contact pressure, perform fuzzy reasoning to obtain the first control quantity and the second control quantity. Control the second drive component to adjust the relative distance between the cleaning module and the surface of the wind turbine tower according to the second control quantity so that the roller brush cleaning component and the scraper cleaning component contact the area to be cleaned. Then control the first drive component to control the roller brush cleaning component to rotate according to the first control quantity so that the roller brush cleaning component scrubs the area to be cleaned with the target scrubbing force. S5. When the first drive component starts, a timer is started to obtain the cleaning duration of the cleaning module. When the cleaning duration reaches the set duration, return to step S2.

10. The wind turbine tower washing method of claim 9, wherein, The steps following step S4 include: S41. Control the start and stop of the suction component and the first water pump component according to the high and low water level information; wherein, when the high and low water level information is low, the first water pump component is turned off and the suction component is started to suck the sewage in the sewage collection component into the sewage tank; when the high and low water level information is high, the suction component is turned off and the first water pump component is started to transport the sewage in the sewage tank to the sedimentation tank. S42. Based on the water volume information in the sedimentation tank, add flocculant, and transport the pre-filtered water separated from the sedimentation tank to the filter tank to filter and obtain the clean water.

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