Fixed-point cleaning device and method for outer wall of wind power tower

Abstract

The invention discloses a wind power tower outer wall fixed-point cleaning device and method. The device comprises an unmanned aerial vehicle, a support, a cleaning head and a pumping system. The bracket is connected with the unmanned aerial vehicle through a mounting assembly, and the mounting assembly comprises a first connecting piece and a second connecting piece which can adapt to different unmanned aerial vehicles; the cleaning head is installed at the bottom of the support and provided with a nozzle. The pumping system comprises a high-pressure pump, a water pipe, a water storage tank, a cleaning tank and a water pipe storage device, and can realize independent supply of a cleaning agent and water and automatic collection and release of the water pipe; an infrared camera device and an infrared distance meter are further arranged on the support and used for positioning and monitoring. The cleaning method comprises the steps of positioning, cleaning agent spraying, high-pressure water flushing and device storage. The unmanned aerial vehicle is adopted for operation, the safety is high, the cleaning efficiency and effect are improved through precise control and a two-step cleaning process, the cleaning requirements of tower barrels of different specifications are met, and the maintenance cost is reduced.

Description

Technical Field

[0001] This invention relates to the field of wind power equipment maintenance technology, and in particular to a device and method for fixed-point cleaning of the outer wall of a wind turbine tower. Background Technology

[0002] As a crucial supporting structure for wind turbine generators, wind turbine towers are constantly exposed to the outdoor environment, making their outer walls prone to accumulating dust, oil, bird droppings, and other corrosive contaminants. These contaminants not only affect the tower's appearance but can also accelerate the aging and corrosion of the surface coating due to long-term adhesion, shortening the tower's lifespan and increasing maintenance costs.

[0003] Currently, the cleaning of wind turbine tower exteriors mainly relies on manual climbing or the construction of high-altitude work platforms, which presents the following problems: First, the working height usually exceeds 50 meters, resulting in high risks and safety hazards for manual operation; second, the towers are mostly conical curved structures, making it difficult to ensure uniformity during manual cleaning, leading to poor cleaning results; third, the work efficiency is low, with cleaning a single tower taking several days; and fourth, it requires a large number of manpower, resulting in high overall costs. Furthermore, some fixed robotic arm cleaning equipment suffers from insufficient flexibility and poor adaptability to different tower sizes, making it difficult to meet the diverse cleaning needs of wind farms. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a fixed-point cleaning device and method for the outer wall of wind turbine towers, thereby solving the technical problems of low safety, poor efficiency, high cost, and insufficient adaptability in existing cleaning methods.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A fixed-point cleaning device for the outer wall of a wind turbine tower includes a drone, and also includes: The bracket has a mounting component at the top for connecting to the drone, and a fixing component at the bottom for secure connection. A cleaning head, equipped with a spray nozzle for spraying water and cleaning agent, is mounted on a bracket by a fixing assembly; The pumping system includes a high-pressure pump and a water pipe connected to the cleaning head. The high-pressure pump delivers cleaning agent and water to the nozzle through the water pipe, and the cleaning agent and water are sprayed onto the outer wall of the tower through the nozzle.

[0006] Furthermore, the mounting assembly includes a first connector and / or a second connector, the first connector being fixedly connected to the drone's bay by bolts, and the second connector being fixedly connected to the drone's mounting frame.

[0007] Furthermore, the first connector includes threaded posts and a folded plate. The threaded posts are evenly distributed on the edge of the bracket and are fixedly connected to one end of the folded plate by nuts. The other end of the folded plate is fixedly connected to the drone's cabin by bolts.

[0008] Furthermore, the second connector includes four sets of connecting seats, connecting columns, and a connecting ring composed of two semi-circular arcs. The connecting seats are evenly installed on the bracket, the connecting columns are rotatably connected to the center of the connecting seats, and the connecting rings are connected to the connecting columns by two bolts to achieve closure. The connecting rings are fixedly connected to the UAV's stand.

[0009] Furthermore, the support frame is provided with a cross-shaped slide rail, and the connecting seat is slidably disposed within the slide rail to accommodate different types of support frames.

[0010] Furthermore, the pumping system also includes a water storage tank and a cleaning tank, which are connected in parallel to the water pipe. Each of the water storage tank and the cleaning tank is equipped with a solenoid valve to control the supply.

[0011] Furthermore, the pumping system also includes a water pipe storage device, which includes a storage cylinder, a top cover, and a first motor. The bottom of the storage cylinder is connected to a water pipe, and the top cover has an eccentrically oriented water pipe leading out. A central column is fixedly connected to the center of the storage cylinder, and the top cover is rotatably connected to the central column. An annular toothed belt is fixedly connected to the top of the outer wall of the storage cylinder. The first motor is fixedly mounted on the top cover, and a gear that meshes with the toothed belt is fixedly connected to the output shaft of the first motor to drive the top cover to rotate and rotatably store the water pipe.

[0012] Furthermore, a second motor and a mounting bracket are fixedly connected to the top cover. Two parallel connecting wheels with meshing teeth are rotatably connected to the mounting bracket. Friction wheels are fixedly connected to the rotating shaft of the connecting wheels. The water pipe passes between the two friction wheels. The second motor is connected to the connecting wheels for transmission to drive the friction wheels to deliver the water pipe.

[0013] Furthermore, the bracket is equipped with an infrared camera and two infrared rangefinders, which are spaced apart and arranged horizontally side by side.

[0014] The present invention also provides a method for fixed-point cleaning of the outer wall of a wind turbine tower, using the above-mentioned cleaning device, comprising the following steps: S1. Cleaning and positioning: Control the drone carrying the device to the wind turbine tower to be cleaned, observe the distribution of stains on the outer wall of the tower through the infrared camera on the bracket, measure the distance between the cleaning head and the outer wall of the tower using two spaced and horizontally parallel infrared rangefinders, and adjust the position of the drone so that the cleaning head is aligned with the area to be cleaned. S2. Open only the solenoid valve of the cleaning tank. The high-pressure pump delivers the cleaning agent in the cleaning tank to the nozzle of the cleaning head through the water pipe. The nozzle sprays the cleaning agent evenly onto the area to be cleaned on the outer wall of the tower. During the spraying process, the spray coverage is observed through the infrared camera. If there are any uncovered areas, the drone position is adjusted to spray additional areas. After the spraying is completed, the solenoid valve of the cleaning tank and the high-pressure pump are closed. The tank is left to stand for a preset time to allow the cleaning agent to fully react with the stains. S3. After settling, open only the solenoid valve of the water storage tank. The high-pressure pump will deliver water from the water storage tank to the nozzle through the water pipe. The nozzle will spray water at high pressure onto the area on the outer wall of the tower where the cleaning agent has been sprayed, rinsing away any remaining cleaning agent and stains. During rinsing, the distance between the cleaning head and the outer wall of the tower will be adjusted in real time using an infrared rangefinder. The rinsing effect will be observed using an infrared camera. For areas with residual stains, steps two to three can be repeated. If the height of the cleaning head needs to be adjusted, start the second motor on the top cover. The second motor will drive the two meshing connecting wheels on the mounting bracket to rotate. The friction wheel on the connecting wheel axle will drive the water pipe to deliver water, thereby adjusting the position of the cleaning head. S4. After cleaning, turn off the high-pressure pump and the solenoid valve of the water tank, start the first motor of the water pipe collection device. The gear on the output shaft of the first motor meshes with the annular toothed belt on the outer wall of the collection cylinder, driving the top cover to rotate around the central column. At the same time, start the second motor on the top cover. The second motor drives the two meshing connecting wheels on the mounting bracket to rotate. The friction wheel on the connecting wheel axle drives the water pipe to collect the water pipe. The water pipe eccentrically led out from the top cover is drawn into the collection cylinder as the top cover rotates. During the water pipe collection process, the drone descends to keep the water pipe in an extended state. Finally, turn off the infrared camera device, infrared rangefinder and drone to complete the cleaning operation.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. Significantly improved safety: By using drones equipped with cleaning devices for high-altitude operations, the risks of manual climbing are avoided, fundamentally solving the safety hazards of high-altitude operations.

[0016] 2. High cleaning efficiency: Drones can move flexibly and, combined with a high-pressure spraying system, the cleaning time for a single tower can be shortened to a few hours, greatly improving operational efficiency.

[0017] 3. High adaptability: The combination design of the first and second connectors can be adapted to different models of drones; the cross-shaped slide design allows the connector to be flexibly adjusted, further enhancing the equipment's versatility.

[0018] 4. Excellent cleaning effect: It adopts a two-step process of first spraying cleaning agent and then high-pressure rinsing, combined with real-time monitoring by infrared camera device and precise positioning by infrared rangefinder to ensure uniform and thorough cleaning.

[0019] 5. Easy to operate: The supply of cleaning agent and water is switched by solenoid valve control, and the water pipe storage device realizes automatic pipe opening and closing, reducing the difficulty of operation.

[0020] 6. Cost reduction: Reduced labor input and equipment transportation costs, as well as reduced maintenance costs due to tower corrosion, result in significant economic benefits. Attached Figure Description

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments: Figure 1 This is a schematic diagram of the cleaning device in operation according to an embodiment of the present invention; Figure 2 This is a three-dimensional schematic diagram of the connection between the bracket and the drone in an embodiment of the present invention. Figure 1 ; Figure 3 This is a three-dimensional schematic diagram of the connection between the bracket and the drone in an embodiment of the present invention. Figure 2 ; Figure 4 This is a three-dimensional schematic diagram of the bracket in an embodiment of the present invention. Figure 1 ; Figure 5 This is a three-dimensional schematic diagram of the bracket in an embodiment of the present invention. Figure 2 ; Figure 6 This is a three-dimensional schematic diagram of the pumping system according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the internal workings of the pumping system according to an embodiment of the present invention; Figure 8 This is a top view of the top cover structure according to an embodiment of the present invention; Figure 9 This is a schematic diagram of the top cover structure from below according to an embodiment of the present invention.

[0022] The components include: 1. UAV; 2. Support frame; 21. Threaded column; 22. Folding plate; 23. Connecting seat; 24. Connecting column; 25. Connecting ring; 26. Slide rail; 27. Fixing assembly; 3. Cleaning head; 31. Spray nozzle; 4. Pumping system; 41. Water pipe; 42. Water storage tank; 43. Cleaning tank; 5. Water pipe storage device; 51. Storage tube; 52. Top cover; 53. First motor; 54. Central column; 55. Toothed belt; 56. Second motor; 57. Connecting wheel; 58. Friction wheel; 6. Infrared camera device; 7. Infrared rangefinder. Detailed Implementation

[0023] The technical solutions of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0024] This embodiment discloses a fixed-point cleaning device for the outer wall of a wind turbine tower, such as... Figures 1-9 As shown, it includes a drone 1, a support 2, a cleaning head 3, and a pumping system 4.

[0025] The drone 1 is a quadcopter industrial-grade drone with a maximum payload of no less than 20kg and a flight time of no less than 30 minutes. It is equipped with a GPS positioning and attitude stabilization system to ensure operational stability in high-altitude and strong wind environments.

[0026] like Figure 4 , 5 As shown, the bracket 2 is made of aluminum alloy, which is lightweight and high-strength, and has an overall square frame structure. The bracket 2 has an installation component mounted on its top and a fixing component 27 bolted to its bottom. The fixing component 27 uses a quick-release structure for easy replacement and maintenance of the cleaning head 3.

[0027] The mounting components include a first connector and a second connector. The first connector consists of M8 threaded posts 21 and Z-shaped folding plates 22. The four threaded posts 21 are evenly welded to the four corners of the bracket 2 and fixedly connected to one end of the folding plate 22 by M8 nuts. The other end of the folding plate 22 has a waist-shaped hole and is fixedly connected to the bottom of the drone 1's cabin by M6 bolts.

[0028] The second connector includes four sets of connecting seats 23, connecting posts 24, and connecting rings 25. The connecting seats 23 are slidably mounted within a cross-shaped slide rail 26 on the surface of the bracket 2 via a slider. The slide rail 26 has a T-slot structure, allowing the connecting seats 23 to slide freely along it. The connecting posts 24 are rotatably connected to the center of the connecting seats 23 via bearings, allowing for 360-degree rotation. The connecting ring 25 consists of two semi-circular steel plates, each with flange ears at both ends. The connecting ring 25 is closed and fixed using two M10 bolts. The inner diameter of the connecting ring 25 can be adapted to the diameter of the UAV 1 stand, ranging from 30-80 mm.

[0029] like Figure 3 As shown, the cleaning head 3 is a combination of fan-shaped nozzles 31, containing 5 high-pressure nozzles 31 arranged in a straight line. The spray angle is adjustable from 30 to 90 degrees, and the working pressure is 10-20 MPa, ensuring a coverage width of not less than 500 mm. The cleaning head 3 is connected to the bottom of the bracket 2 via a quick-release structure, and is fixed to the cleaning head 3 by bolts using two semi-circular connecting blocks.

[0030] like Figures 6-9 As shown, the pumping system 4 includes a high-pressure pump, water pipe 41, water storage tank 42, cleaning tank 43, and a water pipe 41 receiving device. The high-pressure pump is a plunger-type high-pressure pump with a flow rate of 5-10 L / min and a power of 1.5 kW, powered by a ground power supply. Both the water storage tank 42 and the cleaning tank 43 are made of polyethylene, with a volume of 30 L, and are placed on the ground. Each tank has a solenoid valve (model 2W-160-15) installed at its bottom outlet, allowing for independent control via a PLC controller. The water pipe 41 is a high-pressure wear-resistant flexible hose with an inner diameter of 10 mm and a working pressure of not less than 25 MPa.

[0031] like Figure 6 , 8 As shown, the water pipe storage device 5 includes a storage cylinder 51, a top cover 52, and a first motor 53. The storage cylinder 51 is a cylindrical body with a diameter of 600mm, and a water pipe 41 inlet is opened at the center of the bottom. The diameter of the top cover 52 matches that of the storage cylinder 51, and its edge is rotatably connected to the central column 54 at the center of the storage cylinder 51 via bearings. The top cover 52 has a water pipe 41 outlet at an eccentric position, which is connected to the water pipe 41. A ring-shaped toothed belt 55 is fixedly connected to the top of the outer wall of the storage cylinder 51. The first motor 53 is a DC geared motor (model 57BLDC), which is fixedly installed on the top cover 52. A gear that meshes with the toothed belt 55 is fixedly connected to the output shaft. The motor drives the top cover 52 to rotate by forward and reverse rotation, realizing the rotary storage of the water pipe 41.

[0032] like Figure 8 As shown, a second motor 56 and a mounting bracket are also fixedly connected to the top cover 52. The second motor 56 is a DC geared motor of the same model as the first motor 53. Two parallel connecting wheels 57 are rotatably connected to the mounting bracket via bearings. The two connecting wheels 57 mesh with each other, and rubber friction wheels 58 are fixedly connected to their rotating shafts. The gap between the two friction wheels 58 matches the outer diameter of the water pipe 41. The second motor 56 is connected to one of the connecting wheels 57 via a synchronous belt, driving the two friction wheels 58 to rotate in opposite directions, realizing the active conveying of water pipe 41. The conveying speed is adjustable, ranging from 0.5-2 m / s.

[0033] like Figure 5 As shown, an infrared camera device 6 and two infrared rangefinders 7 are installed at the front end of the bracket 2. The infrared camera device 6 is a high-definition infrared camera with a resolution of 1920×1080, which has a night shooting function and transmits real-time images to the ground control console via a wireless transmission module. The two infrared rangefinders 7 (model GP2Y0A21YK) are installed horizontally side by side with a spacing of 100mm, with a measurement range of 10-80cm and an accuracy of ±2cm. They are used to monitor the distance between the cleaning head 3 and the outer wall of the tower in real time, ensuring that the cleaning distance is stable within the optimal range of 30-50cm.

[0034] The entire cleaning unit is equipped with a control system, which includes a main controller and communication control modules electrically connected to the UAV 1, high-pressure pump, solenoid valve, first motor 53, and second motor 56, respectively. This system coordinates the actions of each component, controlling the entire unit to move along the tower surface from top to bottom or bottom to top to complete the cleaning operation. The method for cleaning the outer wall of wind turbine towers using the above-mentioned device is as follows: S1. Cleaning Positioning: The operator controls the drone 1 via the ground control console, carrying the cleaning equipment, to a distance of 5-10m from the wind turbine tower to be cleaned. The infrared camera 6 is activated to observe the distribution of dirt on the outer wall of the tower and identify key cleaning areas. Two infrared rangefinders 7 are activated to monitor the distance between the cleaning head 3 and the outer wall of the tower in real time. By adjusting the position and attitude of the drone 1, the cleaning head 3 is aligned with the first area to be cleaned, maintaining a distance of approximately 40cm between the cleaning head 3 and the outer wall of the tower.

[0035] S2. Spraying Cleaning Agent: Issue a command via the control panel to open only the solenoid valve of cleaning tank 43 and start the high-pressure pump. The high-pressure pump delivers the cleaning agent (a neutral, environmentally friendly cleaning agent with a concentration of 5-10%) from cleaning tank 43 through water pipe 41 to nozzle 31 of cleaning head 3. Nozzle 31 sprays the cleaning agent evenly onto the area to be cleaned on the outer wall of the tower at a pressure of 15 MPa, with a spray flow rate of 8 L / min. During spraying, the operator observes the spray coverage in real time using infrared camera device 6. If any uncovered areas are found, the position of drone 1 is adjusted for additional spraying. After spraying is complete, close the solenoid valve of cleaning tank 43 and the high-pressure pump, and allow it to stand for 10-15 minutes to allow the cleaning agent to fully react with the stains.

[0036] S3. Water Flushing Cleaning: After settling, issue a command via the control panel to open only the solenoid valve of the water storage tank 42 and restart the high-pressure pump. The high-pressure pump delivers clean water from the water storage tank 42 to the nozzle 31 through the water pipe 41. The nozzle 31 sprays high-pressure water at a pressure of 20 MPa onto the area on the outer wall of the tower where cleaning agent has been sprayed, flushing away residual cleaning agent and stains at a flow rate of 10 L / min. During the flushing process, the infrared rangefinder 7 transmits distance data to the control panel in real time. When the distance deviates from the range of 30-50 cm, the system automatically prompts the operator to adjust the position of the drone 1. The operator observes the flushing effect through the infrared camera device 6. For areas with residual stains, steps S2 to S3 can be repeated. If the height of the cleaning head 3 needs to be adjusted, start the second motor 56 on the top cover 52. The second motor 56 drives the two meshing connecting wheels 57 on the mounting bracket to rotate. The friction wheel 58 on the shaft of the connecting wheel 57 rotates accordingly, driving the water pipe 41 to transport water upward or downward, thereby adjusting the height of the cleaning head 3. The adjustment speed is set to 1m / s.

[0037] S4. Device Storage: After cleaning, shut off the high-pressure pump and the solenoid valve of the water storage tank 42. Start the first motor 53 of the water pipe storage device 5. The gear on the output shaft of the first motor 53 meshes with the annular toothed belt 55 on the outer wall of the storage cylinder 51, driving the top cover 52 to rotate clockwise around the central column 54. At the same time, start the second motor 56 on the top cover 52, driving the friction wheel 58 to rotate forward, assisting in the storage of the water pipe 41. The water pipe 41, eccentrically led out from the top cover 52, rotates with the top cover 52 and is evenly wound into the storage cylinder 51. During the storage of the water pipe 41, the operator controls the drone 1 to descend slowly, keeping the water pipe 41 in a naturally extended state to avoid excessive bending or pulling of the water pipe 41. After the water pipe 41 is completely stored, shut off the infrared camera device 6, the infrared rangefinder 7, and the power system of the drone 1, and retrieve the equipment to the ground, completing the entire cleaning operation.

[0038] The wind turbine tower outer wall cleaning device and method of this embodiment, by using a drone 1 to carry the cleaning system, combined with precise positioning monitoring and automated operation control, achieves safe, efficient and thorough cleaning of the wind turbine tower outer wall, and has significant practical value and economic benefits.

[0039] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A fixed-point cleaning device for the outer wall of a wind turbine tower, comprising a drone, characterized in that, Also includes: The bracket has a mounting component at the top for connecting to the drone, and a fixing component at the bottom for secure connection. A cleaning head, equipped with a spray nozzle for spraying water and cleaning agent, is mounted on a bracket by a fixing assembly; The pumping system includes a high-pressure pump and a water pipe connected to the cleaning head. The high-pressure pump delivers cleaning agent and water to the nozzle through the water pipe, and the cleaning agent and water are sprayed onto the outer wall of the tower through the nozzle.

2. The wind turbine tower outer wall fixed-point cleaning device as described in claim 1, characterized in that, The mounting assembly includes a first connector and / or a second connector, wherein the first connector is fixedly connected to the drone's cabin by bolts, and the second connector is fixedly connected to the drone's mounting frame.

3. The wind turbine tower outer wall fixed-point cleaning device as described in claim 2, characterized in that, The first connector includes threaded posts and a folded plate. The threaded posts are evenly distributed on the edge of the bracket and are fixedly connected to one end of the folded plate by nuts. The other end of the folded plate is fixedly connected to the drone's cabin by bolts.

4. A fixed-point cleaning device for the outer wall of a wind turbine tower as described in claim 2, characterized in that, The second connector includes four sets of connecting seats, connecting columns, and a connecting ring composed of two semi-circular arcs. The connecting seats are evenly installed on the bracket. The connecting columns are rotatably connected to the center of the connecting seats. The connecting ring is connected to the connecting columns by two bolts to achieve closure. The connecting ring is fixedly connected to the UAV's stand.

5. A fixed-point cleaning device for the outer wall of a wind turbine tower as described in claim 4, characterized in that, The support frame is provided with a cross-shaped slide rail, and the connecting seat is slidably disposed in the slide rail to accommodate different types of support frames.

6. The wind turbine tower outer wall fixed-point cleaning device as described in claim 1, characterized in that, The pumping system also includes a water storage tank and a cleaning tank, which are connected in parallel to the water pipe. Each of the water storage tank and the cleaning tank is equipped with a solenoid valve to control the supply.

7. A fixed-point cleaning device for the outer wall of a wind turbine tower as described in claim 1, characterized in that, The pumping system also includes a water pipe storage device, which includes a storage cylinder, a top cover, and a first motor. The bottom of the storage cylinder is connected to a water pipe, and the top cover has an eccentrically oriented water pipe leading out. A central column is fixedly connected to the center of the storage cylinder, and the top cover is rotatably connected to the central column. An annular toothed belt is fixedly connected to the top of the outer wall of the storage cylinder. The first motor is fixedly mounted on the top cover, and a gear that meshes with the toothed belt is fixedly connected to the output shaft of the first motor to drive the top cover to rotate and rotatably store the water pipe.

8. A fixed-point cleaning device for the outer wall of a wind turbine tower as described in claim 7, characterized in that, A second motor and a mounting bracket are fixedly connected to the top cover. Two parallel connecting wheels with meshing teeth are rotatably connected to the mounting bracket. A friction wheel is fixedly connected to the rotating shaft of the connecting wheel. The water pipe passes between the two friction wheels. The second motor is connected to the connecting wheel for transmission to drive the friction wheel to deliver the water pipe.

9. A fixed-point cleaning device for the outer wall of a wind turbine tower as described in claim 1, characterized in that, The bracket is equipped with an infrared camera and two infrared rangefinders, which are spaced apart and arranged horizontally side by side.

10. A method for fixed-point cleaning of the outer wall of a wind turbine tower, characterized in that, Using the cleaning apparatus as described in any one of claims 1 to 9 includes the following steps: S1. Cleaning and positioning: Control the drone carrying the device to the wind turbine tower to be cleaned, observe the distribution of stains on the outer wall of the tower through the infrared camera on the bracket, measure the distance between the cleaning head and the outer wall of the tower using two spaced and horizontally parallel infrared rangefinders, and adjust the position of the drone so that the cleaning head is aligned with the area to be cleaned. S2. Open only the solenoid valve of the cleaning tank. The high-pressure pump delivers the cleaning agent in the cleaning tank to the nozzle of the cleaning head through the water pipe. The nozzle sprays the cleaning agent evenly onto the area to be cleaned on the outer wall of the tower. During the spraying process, the spray coverage is observed through the infrared camera. If there are any uncovered areas, the drone position is adjusted to spray additional areas. After the spraying is completed, the solenoid valve of the cleaning tank and the high-pressure pump are closed. The tank is left to stand for a preset time to allow the cleaning agent to fully react with the stains. S3. After settling, open only the solenoid valve of the water storage tank. The high-pressure pump will deliver water from the water storage tank to the nozzle through the water pipe. The nozzle will spray water at high pressure onto the area on the outer wall of the tower where the cleaning agent has been sprayed, rinsing away any remaining cleaning agent and stains. During rinsing, the distance between the cleaning head and the outer wall of the tower will be adjusted in real time using an infrared rangefinder. The rinsing effect will be observed using an infrared camera. For areas with residual stains, steps two to three can be repeated. If the height of the cleaning head needs to be adjusted, start the second motor on the top cover. The second motor will drive the two meshing connecting wheels on the mounting bracket to rotate. The friction wheel on the connecting wheel axle will drive the water pipe to deliver water, thereby adjusting the position of the cleaning head. S4. After cleaning, turn off the high-pressure pump and the solenoid valve of the water tank, start the first motor of the water pipe collection device. The gear on the output shaft of the first motor meshes with the annular toothed belt on the outer wall of the collection cylinder, driving the top cover to rotate around the central column. At the same time, start the second motor on the top cover. The second motor drives the two meshing connecting wheels on the mounting bracket to rotate. The friction wheel on the connecting wheel axle drives the water pipe to collect the water pipe. The water pipe eccentrically led out from the top cover is drawn into the collection cylinder as the top cover rotates. During the water pipe collection process, the drone descends to keep the water pipe in an extended state. Finally, turn off the infrared camera device, infrared rangefinder and drone to complete the cleaning operation.

Images