A wind power tower wall surface self-adaptive wall-climbing robot and a control system thereof

Abstract

This invention relates to the field of wall-climbing robot technology, and discloses an adaptive wall-climbing robot for wind turbine towers and its control system. The robot includes multiple sets of supports, all fixedly connected to the top of a vehicle base. Two supports have a bolt rod threadedly connected to their opposite sides. A motor frame is rotatably connected to the outer wall of the bolt rod, and the motor frame is rotatably connected to the middle of the support. Multiple grooves are formed on the outer wall of the outer shell. A motor is fixedly connected inside the motor frame. The output end of the motor passes through the motor frame and the outer shell and is fixedly connected to a magnetic wheel. Waterproof ultrasonic sensors are fixedly connected to both sides of the vehicle base. When the robot moves along the tower wall and encounters changes in the wall's curvature, a spring contracts to release pressure, causing the spring to rotate around the bolt rod and push the motor frame to slide the motor within the groove, allowing the magnetic wheel to conform to the curved surface of the tower wall. This enables the robot to adapt to different curved surfaces of the tower wall.

Description

Technical Field

[0001] This invention relates to the field of wall-climbing robot technology, specifically to an adaptive wall-climbing robot for wind turbine towers and its control system. Background Technology

[0002] The invention stemmed from the need for modern cleaning robots to operate in complex environments. With the rapid development of industry and the cleaning sector, higher demands have been placed on the cleaning efficiency and adaptability of equipment. However, existing technologies are often constrained by the complexity of the working environment and the insufficient adaptability of equipment in the process of promoting the development of robots.

[0003] Existing technologies employ a single driving method and a static cleaning design. While they meet general cleaning needs to some extent, they lack adaptability when faced with complex-shaped equipment or obstacles. The cleaning equipment relies solely on brush heads or nozzles with fixed angles, which cannot maintain effective contact and cleaning results when facing curved or irregular surfaces.

[0004] While existing technologies are relatively simple to operate, they lack effective dynamic adjustment mechanisms, which prevents cleaning equipment from making autonomous adjustments when dealing with curved surfaces or obstacles, making it difficult to guarantee the comprehensiveness and thoroughness of cleaning. Existing technologies rely on the rigid design of mechanical structures and lack the ability to adapt to different environmental changes, thus limiting their application in complex scenarios. This invention introduces an adaptive adjustment function through innovative design, aiming to solve these shortcomings, improve the performance of wall-climbing robots in various working environments, and thus ensure efficient cleaning results. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides an adaptive wall-climbing robot for wind turbine towers and its control system, which solves the problem that wall-climbing robots cannot adapt to different curved surfaces for cleaning on wind turbine tower walls.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] The first aspect of the present invention provides an adaptive wall-climbing robot for wind turbine towers, including a chassis plate, a shell fixedly connected to the top of the chassis plate, an adjustment mechanism provided on the top of the chassis plate, and a cleaning mechanism provided on the front side of the chassis plate, the cleaning mechanism being used to clean the tower wall surface; The adjustment mechanism includes multiple sets of brackets, all of which are fixedly connected to the top of the vehicle floor. Two brackets are threaded with bolt rods on opposite sides. A motor frame is rotatably connected to the outer wall of the bolt rods. The motor frame is rotatably connected to the middle of the bracket. Multiple grooves are provided on the outer wall of the outer shell. A motor is fixedly connected inside the motor frame. The output end of the motor passes through the motor frame and the outer shell and is fixedly connected to a magnetic wheel. Waterproof ultrasonic sensors are fixedly connected to both sides of the vehicle floor. An adaptive component is provided on the outer side of the bracket.

[0008] Preferably, the cleaning mechanism includes a second motor and a transmission belt. The second motor is fixedly connected to the inner wall of the vehicle floor. The output end of the second motor passes through the outer shell and is fixedly connected to a first pulley. A baffle is fixedly connected to the front side of the vehicle floor. A brush roller is rotatably connected inside the baffle. The right end of the brush roller passes through the baffle and is fixedly connected to a second pulley. A transmission belt is fitted on the outer walls of the first and second pulleys. A water supply assembly is provided on the top of the outer shell.

[0009] Preferably, the adaptive component includes two fixed rods, both of which are fixedly connected to the outer wall of the motor frame. Each of the two supports has a bolt rod connected to its opposite side by a threaded connection. The outer walls of each bolt rod are rotatably connected to a ring. One side of each ring is fixedly connected to a spring, and the other end of the spring is slidably connected to the outer wall of the fixed rod.

[0010] Preferably, the water supply assembly includes a water tank, which is fixedly connected to the top of the outer shell. A miniature water pump is fixedly connected to the inner side of the water tank. A diversion pipe is fixedly connected to the inner side of the baffle plate. A connecting pipe is connected to the rear side of the diversion pipe, and the other end of the connecting pipe is connected to the miniature water pump.

[0011] Preferably, a step-down module and a gyroscope sensor are fixedly connected to the top of the vehicle floor, and a hub is fixedly connected to the middle of the vehicle floor.

[0012] Preferably, a microcontroller, an embedded microcontroller, and a waterproof ultrasonic sensor controller are fixedly connected to the top of the vehicle floor from right to left, and a motor drive board is fixedly connected to the top of the microcontroller.

[0013] Preferably, an electric speed controller is fixedly connected to each of the four corners of the vehicle floor, and a lithium battery is fixedly connected to the top of the vehicle floor.

[0014] Preferably, a hub plate is fixedly connected to the inner side of the vehicle floor, and the hub plate holds internal wires.

[0015] Preferably, the groove is arc-shaped, and the motor is slidably connected to the middle of the groove.

[0016] A second aspect of the present invention provides a control system for an adaptive wall-climbing robot for wind turbine towers, comprising: Speed ​​control module: It is configured to establish a communication connection with external hardware devices, collect and organize data to control motor one, so that the motor maintains a stable speed during the wall-climbing robot's crawling process; Obstacle avoidance and steering module: By receiving a waterproof ultrasonic sensor to identify distances less than a preset value, the module transmits a signal to change the differential speed between multiple motors to achieve deceleration and steering; The cleaning control module controls the rotation of the brush roller by motor 2 to clean the cylinder wall.

[0017] This invention provides an adaptive wall-climbing robot for wind turbine towers and its control system. It offers the following advantages: 1. This invention enables the robot to move along the cylinder wall by starting the motor and rotating the magnetic wheel. When the cylinder wall changes its curvature, the spring releases pressure by contracting and rotates around the bolt rod, pushing the motor frame to slide the motor in the groove, allowing the magnetic wheel to fit against the cylinder wall curvature. This allows the robot to adapt to different cylinder wall curvatures and always maintain the effective adsorption force of the magnetic wheel on the cylinder wall, enabling the robot to move stably on the cylinder wall.

[0018] 2. This invention uses a micro water pump to deliver the cleaning agent in the water tank to the distribution pipe via a connecting pipe. The distribution pipe sprays the cleaning agent onto the outer wall of the brush roller. The second motor starts and drives the pulley to rotate. The transmission belt drives the pulley to rotate the brush roller, which moves with the robot cylinder wall to complete the cleaning operation. This achieves simultaneous cleaning and movement, and the cleaning agent is evenly attached to the brush roller, improving the cleaning efficiency and effect of the cylinder wall. Attached Figure Description

[0019] Figure 1 This is a perspective view of the present invention; Figure 2 This is a front view of the present invention; Figure 3 This is a schematic diagram of the outer casing of the present invention; Figure 4 This is a schematic diagram of the embedded microcontroller of the present invention; Figure 5 This is a schematic diagram of the step-down module of the present invention; Figure 6 This is a schematic diagram of the adjustment mechanism structure of the present invention; Figure 7 This is a schematic diagram of the cleaning mechanism structure of the present invention; Figure 8 This is a schematic diagram of the water supply component structure of the present invention.

[0020] The components include: 1. Vehicle floor; 2. Adjustment mechanism; 21. Bracket; 22. Bolt rod one; 23. Motor frame; 24. Motor one; 25. Magnetic wheel; 26. Adaptive component; 261. Fixing rod; 262. Bolt rod two; 263. Ring; 264. Spring; 27. Waterproof ultrasonic sensor; 3. Cleaning mechanism; 31. Motor two; 32. Pulley one; 33. Pulley two; 34. Baffle plate; 35. Brush roller; 36. Drive belt; 37. Water supply component; 371. Water tank; 372. Diverter pipe; 373. Connecting pipe; 374. Miniature water pump; 4. Housing; 5. Step-down module; 6. Gyroscope sensor; 7. Hub board; 8. Microcontroller one; 9. Embedded microcontroller; 10. Waterproof ultrasonic sensor controller; 11. Motor drive board; 12. Lithium battery; 13. ESC; 14. Groove. Detailed Implementation

[0021] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Reference Figure 1 , Figure 4 and Figure 6 This invention provides an adaptive wall-climbing robot for wind turbine towers, including a chassis 1, a shell 4 fixedly connected to the top of the chassis 1, an adjustment mechanism 2 provided on the top of the chassis 1, and a cleaning mechanism 3 provided on the front side of the chassis 1. The cleaning mechanism 3 is used to clean the tower wall. The adjustment mechanism 2 includes multiple sets of brackets 21, which provide stable support. Each bracket 21 is fixedly connected to the top of the vehicle floor 1 to ensure overall structural stability. Bolt rods 22 are threadedly connected to the opposite sides of two brackets 21. A motor frame 23 is rotatably connected to the outer wall of the bolt rod 22 for easy adjustment. The motor frame 23 is rotatably connected to the middle of the bracket 21 to ensure proper motor alignment. Multiple grooves 14 are provided on the outer wall of the outer casing 4 to facilitate the adaptation of the magnetic wheel 25 to different surfaces. A motor 24 is fixedly connected inside the motor frame 23 to provide power. The output end of the motor 24 passes through the motor frame 23 and the outer casing 4 and is fixedly connected to the magnetic wheel 25, achieving strong adaptation to the external wall surface. Both sides of the vehicle floor 1... A waterproof ultrasonic sensor 27 is fixedly connected to detect the surrounding environment. An adaptive component 26 is provided on the outside of the bracket 21 to improve the overall adjustment capability. The adaptive component 26 includes two fixed rods 261 to provide support and connection. Both fixed rods 261 are fixedly connected to the outer wall of the motor frame 23 to increase the structural stability. Bolt rods 262 are threadedly connected to the opposite sides of the two brackets 21 to facilitate more precise adjustment. Rings 263 are rotatably connected to the outer walls of the two bolt rods 262 to make the adjustment more flexible. Springs 264 are fixedly connected to one side of the two rings 263 to provide additional elastic support. The other end of the springs 264 is slidably connected to the outer wall of the fixed rods 261 to facilitate adjustment and adaptation to different shaped surfaces. Specifically, the adjustment mechanism 2 is combined with the motor frame 23 through multiple sets of brackets 21, so that the magnetic wheel 25 can effectively adapt to the curvature changes of the cylinder wall. During operation, the robot is placed on the cylinder wall, and the magnetic wheel 25 moves along the cylinder wall with the help of the motor 24. If it encounters a change in the curvature of the cylinder wall, the spring 264, due to its connection with the fixed rod 261, can contract and release according to the external pressure, thereby rotating around the bolt rod 262 and pushing the motor frame 23 to slide in the groove 14. This process ensures that the magnetic wheel 25 can always maintain sufficient adsorption force with the cylinder wall with different curvatures, ensuring the stable movement of the robot.

[0023] Reference Figure 2 , Figure 3 , Figure 7 and Figure 8The cleaning mechanism 3 includes a second motor 31 to provide cleaning power and a transmission belt 36 for connecting the motor and the brush roller. The second motor 31 is fixedly connected to the inner wall of the vehicle floor 1 to save space and maintain stability. The output end of the second motor 31 passes through the outer casing 4 and is fixedly connected to a pulley 32 to achieve power transmission with other components. A baffle 34 is fixedly connected to the front side of the vehicle floor 1 to protect the internal components. The brush roller 35 is rotatably connected inside the baffle 34 to facilitate cleaning of surface dirt. The right end of the brush roller 35 passes through the baffle 34 and is fixedly connected to a pulley 33 to ensure stable operation of the brush roller. The outer sides of the pulley 32 and pulley 33 are connected to each other. The wall sleeve is equipped with a drive belt 36 to achieve efficient power transmission. The top of the outer casing 4 is equipped with a water supply component 37 to provide the water source required for cleaning. The water supply component 37 includes a water tank 371 to store cleaning agent. The water tank 371 is fixedly connected to the top of the outer casing 4 for easy installation and maintenance. A micro water pump 374 is fixedly connected to the inside of the water tank 371 to pump the cleaning agent to the cleaning area. A diversion pipe 372 is fixedly connected to the inside of the baffle 34 to effectively distribute the cleaning agent. A connecting pipe 373 is connected to the rear of the diversion pipe 372 to guide the cleaning agent to the brush roller. The other end of the connecting pipe 373 is connected to the micro water pump 374 to ensure a continuous supply of cleaning agent. Specifically, when the cylinder wall needs to be cleaned, the miniature water pump 374 inside the water tank 371 is first started to deliver the cleaning agent to the diversion pipe 372 through the connecting pipe 373. Then, the diversion pipe 372 sprays the cleaning agent onto the outer wall of the brush roller 35. At the same time, the motor 31 is started to drive the pulley 32, which in turn drives the pulley 33 to rotate through the transmission belt 36. This causes the brush roller 35 to rotate along the surface of the cylinder wall during the movement, thereby achieving a highly efficient cleaning effect.

[0024] Reference Figure 3 , Figure 4 and Figure 5A step-down module 5 is fixedly connected to the top of the chassis plate 1 to reduce the input voltage to adapt to the operation of other electronic components, and a gyroscope sensor 6 for real-time monitoring of the robot's direction and attitude. A hub 7 is fixedly connected to the middle of the chassis plate 1 as a power and signal convergence point. From right to left, the top of the chassis plate 1 is fixedly connected to a microcontroller 8 for controlling the main logic processing of the robot system, an embedded microcontroller 9 for performing specific tasks or functions, and a waterproof ultrasonic sensor controller 10 for managing the ultrasonic sensor with a waterproof design. A motor drive board 11 is fixedly connected to the top of the vehicle floor 1 to convert control signals into motor drive signals. ESCs 13 are fixedly connected to the four corners of the vehicle floor 1 to adjust the power output of the motor. A lithium battery 12 is fixedly connected to the top of the vehicle floor 1 to provide power to the entire system. A hub 7 is fixedly connected to the inside of the vehicle floor 1 to facilitate circuit connection and management. The hub 7 holds internal wires to ensure effective transmission of power and signals. The groove 14 is arc-shaped to provide the space required for the motor to slide. The motor 24 is slidably connected in the middle of the groove 14 to achieve motion adjustment. Specifically, step-down module 5: reduces the power supply voltage to a low level suitable for the operation of other electronic components, ensuring safe and stable operation of the equipment; gyroscope sensor 6: monitors the robot's posture and orientation in real time, helping the robot maintain stability and navigate; hub 7: serves as the convergence point for power and signals, responsible for connecting and distributing internal wires, enabling centralized management of information and power; microcontroller 8: controls and processes the robot's operating logic, including receiving sensor data, driving motors, and outputting various control commands; embedded microcontroller 9: processes data for specific functions or modules, potentially used for sensor data reading or controlling other small devices, providing higher efficiency. The robot operates as follows: Waterproof ultrasonic sensor controller 10: Works in conjunction with the waterproof ultrasonic sensor to monitor the surrounding environment, helping the robot avoid obstacles and move more precisely; Motor drive board 11: Converts the control signals output by the microcontroller into drive signals for the motor, providing accurate speed and direction control; ESC 13: Adjusts the power output of the motor to ensure its efficiency and stability during operation; Lithium battery 12: Provides power to the entire device, ensuring the robot's power supply during operation and supporting long-term operation; Groove 14: Provides a stable motion trajectory, allowing the motor 24 to slide within it, supporting the robot's flexible movement.

[0025] The present invention also provides a control system for an adaptive wall-climbing robot for wind turbine towers, comprising: Speed ​​control module: It is configured to establish a communication connection with external hardware devices, collect and organize data to control motor 24, so that the motor maintains a stable speed during the climbing robot's climbing process; Obstacle avoidance and steering module: By receiving a waterproof ultrasonic sensor 27 to identify distances less than a preset value, the module transmits a signal to change the differential speed between multiple motors 24 to achieve deceleration and steering. Cleaning control module; controls motor 2 31 to rotate brush roller 35 to clean the cylinder wall; Specifically, the speed control module includes an embedded microcontroller 9, a motor 24, and an electronic speed controller 13. The PID control algorithm is programmed into the embedded microcontroller 9. The embedded microcontroller 9 sends command messages to the electronic speed controller 13. The electronic speed controller 13 outputs current to the motor 24 to control its speed (or suddenly accelerate or decelerate) and receives feedback signals of the speed and angular displacement of the motor 24. After adjusting according to the PID control algorithm, it resends the signals to the motor 24. The whole process is repeated so that the motor 24 maintains a stable speed during the climbing robot's climbing process. The essence of a PID controller is to take the error e(t) = r(t) - y(t) between the setpoint r(t) and the actual output value y(t) as input, adjust the control quantity based on feedback, and output the control quantity u(t). Its mathematical expression is:

[0026] In the formula K P As a proportional coefficient, it directly responds to the current error and reflects the speed of the controller's adjustment. When a deviation signal appears in the control system, it enables the system to react quickly and reduce the deviation; K i K is the integral coefficient, used to eliminate steady-state error by accumulating historical errors; d The differential coefficients serve to predict the trend of error changes and suppress overshoot and oscillation; U O This is the initial steady-state control variable, which is usually taken as the output value when the system is in its initial equilibrium state.

[0027] In digital control systems, PID algorithms need to be discretized. Commonly used forms are positional PID and incremental PID. To avoid integral saturation and adapt to the working conditions of controllers with integral characteristics, such as stepper motors and DC motors, incremental PID is generally used. Its core idea is to calculate the increment of the control quantity instead of calculating the absolute value of the control quantity. Its output formula is:

[0028] In the formula: Δu(k) is the control increment at the k-th sampling, e(k) is the error at the k-th sampling, and similarly e(k) 1) with e(k) 2) represents the error during the (k-1)th and (k-2)th sampling.

[0029] Incremental PID controllers avoid excessive accumulation of integral terms by calculating the incremental control quantity instead of the incremental control quantity, thus reducing integral saturation. The final control quantity is obtained by accumulating the control increments.

[0030] Obstacle avoidance and steering module: including embedded microcontroller 9, motor 24, ESC 13 and waterproof ultrasonic sensor 24. When the wall-climbing robot climbs to the bottom or top and a large weld protrusion, the waterproof ultrasonic sensor 27 detects that the distance is less than the preset value and transmits the signal to the embedded microcontroller 9. The embedded microcontroller 9 controls motor 24 to decelerate and turn through the differential speed between motors 24. Cleaning control module: includes microcontroller 18, motor 231 and micro water pump 374. Microcontroller 18 is small in size but has large torque and is relatively simple to control. After the system starts running, it will always maintain the cleaning state. After microcontroller 18 is powered on, it sends the control signal to motor 231, and motor 231 always rotates at the system preset speed.

[0031] Working principle: When using this device, place the robot on the cylinder wall and let the magnetic wheel 25 adhere to the cylinder wall. The motor 24 starts and drives the magnetic wheel 25 to rotate, making the robot move on the cylinder wall. When encountering changes in the curvature of the cylinder wall, the spring 264 rotates around the outer wall of the bolt rod 262 by contracting and releasing pressure, pushing the motor frame 23 to drive the motor 24 to slide inside the groove 14, so that the magnetic wheel 25 can adapt to different curved cylinder walls and maintain sufficient adsorption force. Furthermore, when movement is required, the cylinder wall is cleaned. By activating the miniature water pump 374 inside the water tank 371, the cleaning agent inside the water tank 371 is transported to the diversion pipe 372 through the connecting pipe 373. The diversion pipe 372 sprays the cleaning agent onto the outer wall of the brush roller 35. At the same time, the second motor 31 is activated, causing the first pulley 32 to rotate, which in turn causes the second pulley 33 to rotate through the transmission belt 36. When the robot moves on the cylinder wall, the second pulley 33 drives the brush roller 35 to rotate and clean the cylinder wall.

[0032] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A wind turbine tower wall-adaptive climbing robot, comprising a chassis plate (1), characterized in that, The top of the vehicle floor (1) is fixedly connected to the outer shell (4), the top of the vehicle floor (1) is provided with an adjustment mechanism (2), and the front side of the vehicle floor (1) is provided with a cleaning mechanism (3). The cleaning mechanism (3) is used to clean the cylinder wall surface. The adjustment mechanism (2) includes multiple sets of brackets (21), all of which are fixedly connected to the top of the vehicle floor (1). Two of the brackets (21) are threadedly connected to bolt rods (22) on opposite sides. A motor frame (23) is rotatably connected to the outer wall of the bolt rod (22). The motor frame (23) is rotatably connected to the middle of the bracket (21). Multiple grooves (14) are provided on the outer wall of the outer shell (4). A motor (24) is fixedly connected inside the motor frame (23). The output end of the motor (24) passes through the motor frame (23) and the outer shell (4) and is fixedly connected to a magnetic wheel (25). Waterproof ultrasonic sensors (27) are fixedly connected to both sides of the vehicle floor (1). An adaptive component (26) is provided on the outer side of the bracket (21).

2. The wind turbine tower wall adaptive climbing robot according to claim 1, characterized in that, The cleaning mechanism (3) includes a second motor (31) and a transmission belt (36). The second motor (31) is fixedly connected to the inner wall of the vehicle floor (1). The output end of the second motor (31) passes through the outer shell (4) and is fixedly connected to a pulley (32). A baffle plate (34) is fixedly connected to the front side of the vehicle floor (1). A brush roller (35) is rotatably connected inside the baffle plate (34). The right end of the brush roller (35) passes through the baffle plate (34) and is fixedly connected to a pulley (33). The outer walls of the pulley (32) and the pulley (33) are fitted with a transmission belt (36). A water supply assembly (37) is provided on the top of the outer shell (4).

3. The adaptive wall-climbing robot for wind turbine towers according to claim 1, characterized in that, The adaptive component (26) includes two fixed rods (261), both of which are fixedly connected to the outer wall of the motor frame (23). The two supports (21) are threadedly connected to bolt rods (262) on opposite sides. The outer walls of the two bolt rods (262) are rotatably connected to rings (263). One side of each of the two rings (263) is fixedly connected to a spring (264), and the other end of the spring (264) is slidably connected to the outer wall of the fixed rod (261).

4. The wind turbine tower wall adaptive climbing robot according to claim 2, characterized in that, The water supply assembly (37) includes a water tank (371), which is fixedly connected to the top of the outer shell (4). A miniature water pump (374) is fixedly connected to the inner side of the water tank (371). A diversion pipe (372) is fixedly connected to the inner side of the baffle (34). A connecting pipe (373) is connected to the rear side of the diversion pipe (372). The other end of the connecting pipe (373) is connected to the miniature water pump (374).

5. The adaptive wall-climbing robot for wind turbine towers according to claim 1, characterized in that, A step-down module (5) and a gyroscope sensor (6) are fixedly connected to the top of the vehicle floor (1), and a hub plate (7) is fixedly connected to the middle of the vehicle floor (1).

6. The wind turbine tower wall adaptive climbing robot according to claim 1, characterized in that, The top of the vehicle floor (1) is fixedly connected from right to left with a microcontroller (8), an embedded microcontroller (9) and a waterproof ultrasonic sensor controller (10), and a motor drive board (11) is fixedly connected to the top of the microcontroller (8).

7. The wind turbine tower wall adaptive climbing robot according to claim 1, characterized in that, An electric speed controller (13) is fixedly connected to each of the four corners of the vehicle floor (1), and a lithium battery (12) is fixedly connected to the top of the vehicle floor (1).

8. The wind turbine tower wall adaptive climbing robot according to claim 1, characterized in that, A hub plate (7) is fixedly connected to the inner side of the vehicle floor plate (1), and the hub plate (7) holds internal wires.

9. The wind turbine tower wall adaptive climbing robot according to claim 1, characterized in that, The groove (14) is arc-shaped, and the motor (24) is slidably connected in the middle of the groove (14).

10. A control system for an adaptive wall-climbing robot for wind turbine towers, using the adaptive wall-climbing robot for wind turbine towers as described in any one of claims 1-9, characterized in that, include: Speed ​​control module: It is configured to establish a communication connection with external hardware devices, collect and organize data to control motor 1 (24), so that the motor maintains a stable speed during the climbing robot's climbing process; Obstacle avoidance and steering module: By receiving a waterproof ultrasonic sensor (27) to identify that the distance is less than a preset value, the signal is transmitted to change the differential speed between multiple motors (24) to achieve deceleration and steering; The cleaning control module cleans the cylinder wall by controlling the rotation of the brush roller (35) by the motor (31).

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