CN109491387B - Navigation cleaning equipment and method carried on vehicle body of inspection robot in heliostat field - Google Patents
Navigation cleaning equipment and method carried on vehicle body of inspection robot in heliostat field Download PDFInfo
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- CN109491387B CN109491387B CN201811377124.6A CN201811377124A CN109491387B CN 109491387 B CN109491387 B CN 109491387B CN 201811377124 A CN201811377124 A CN 201811377124A CN 109491387 B CN109491387 B CN 109491387B
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- 238000007689 inspection Methods 0.000 title claims abstract description 152
- 238000004140 cleaning Methods 0.000 title claims abstract description 60
- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000001514 detection method Methods 0.000 claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims abstract description 13
- 230000003749 cleanliness Effects 0.000 claims abstract description 9
- 238000004891 communication Methods 0.000 claims abstract description 4
- 230000005540 biological transmission Effects 0.000 claims description 18
- 230000008569 process Effects 0.000 claims description 13
- 230000000712 assembly Effects 0.000 claims description 9
- 238000000429 assembly Methods 0.000 claims description 9
- 238000010521 absorption reaction Methods 0.000 claims description 8
- 230000008859 change Effects 0.000 claims description 8
- 230000009467 reduction Effects 0.000 claims description 8
- 238000005070 sampling Methods 0.000 claims description 7
- 239000011521 glass Substances 0.000 claims description 5
- 238000012937 correction Methods 0.000 claims description 4
- 238000013461 design Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 239000000428 dust Substances 0.000 description 4
- 238000010248 power generation Methods 0.000 description 4
- 239000004576 sand Substances 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000005338 heat storage Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000002310 reflectometry Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000000638 solvent extraction Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
Abstract
The invention discloses navigation cleaning equipment and a method carried on a vehicle body of a routing inspection robot in a heliostat field. The magnetic navigation auxiliary mechanism is arranged at the front part of the inspection robot body, the magnetic navigation sensor is arranged at the front end surface of the inspection robot body, the GPS positioning sensor and the microcontroller are arranged on the inspection robot body, and the GPS positioning sensor and the magnetic navigation sensor are electrically connected with the microcontroller through serial communication; the front wheel driving motor is arranged on both front wheels of the chassis of the vehicle body and is connected to the wheels through the output shaft of the front wheel driving motor; in the magnetic navigation auxiliary mechanism, gear sets are arranged at two front wheels of a vehicle body chassis, a base is arranged on the top surface of the front end of the vehicle body chassis, the gear sets are connected with a front wheel driving motor, a connecting part is connected to the base, and a cleaning part is arranged at the tail end of the connecting part. The invention can more efficiently carry out the operation of unfolding and inspecting the heliostat field, can more rapidly finish the cleanliness detection of the mirror surface of a large-scale heliostat field, and greatly improves the detection efficiency.
Description
Technical Field
The invention relates to a navigation cleaning device and a routing inspection method, in particular to a navigation cleaning device and a routing inspection method carried on a body of a routing inspection robot in a heliostat field, which are suitable for routing inspection path planning of the routing inspection robot in the heliostat field of a tower type solar power station.
Background
The tower type solar thermal power generation system generally comprises four main parts of a heat absorption tower, a heliostat field, a generator set and a heat storage tank, wherein the heliostat field mainly comprises a circular array, and heat storage power generation equipment such as the heat absorption tower is positioned at the center of the circular array. The heliostat is a main core technology and a main device of the tower type solar thermal power generation system, once the heliostat surface can be covered with certain sand and dust due to the influence of wind, sand and dust, the reflectivity of a mirror surface can be directly influenced by the sand and dust quantity, and therefore the power generation efficiency of a power station is seriously influenced. Therefore, once the wind weather exists, the cleanliness of the heliostat needs to be detected for the heliostat field so as to carry out mirror cleaning work, so that the inspection work of carrying out mirror cleanliness on the heliostat field in a large range is very necessary.
At present, the inspection work of the heliostat field mainly comprises manual inspection, however, the work of carrying out clean manual inspection on a large-scale heliostat field is difficult, at present, although the research work of related inspection robots is ongoing, the problem of path planning during inspection in the heliostat field is not well solved, and the efficient and reasonable inspection work cannot be carried out on the heliostat field with the heliostat field.
The positioning mode adopted in the heliostat field is GPS positioning, and is commonly used for positioning on a mirror cleaning unmanned vehicle, but because of larger positioning errors, navigation is often assisted by a person, and collision to the heliostat caused by deviation is avoided. Likewise, the single GPS positioning technique cannot be used to perform inspection well on heliostat fields.
Therefore, how to design a navigation cleaning device and a routing inspection method capable of realizing efficient, stable and high-precision routing inspection is a technical problem to be solved by the person in the field.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a navigation cleaning device and a method for a vehicle body of a patrol robot in a heliostat field, and particularly to quickly determine heliostat areas needing cleaning in a night environment with fewer patrol paths.
In order to achieve the above purpose, the invention adopts the following technical scheme:
1. Navigation cleaning equipment carried on vehicle body of inspection robot in heliostat field:
The system mainly comprises a patrol robot body, a GPS positioning sensor, a magnetic navigation sensor, a microcontroller and a magnetic navigation auxiliary mechanism, wherein the GPS positioning sensor, the magnetic navigation sensor, the microcontroller and the magnetic navigation auxiliary mechanism are arranged on the patrol robot body; the magnetic navigation auxiliary mechanism is arranged at the front part of the inspection robot body, the magnetic navigation sensor is arranged at the front end surface of the inspection robot body, the GPS positioning sensor and the microcontroller are both fixed on the inspection robot body, and the GPS positioning sensor and the magnetic navigation sensor are electrically connected with the microcontroller through serial communication.
The inspection robot vehicle body comprises a vehicle body chassis and wheels at four corners of the vehicle body chassis, wherein front wheel driving motors are arranged on two front wheels, and the front wheel driving motors are connected to the wheels through front wheel driving motor output shafts;
The magnetic navigation auxiliary mechanism comprises a gear set, a base, a cleaning component and a connecting component; the two front wheels of the chassis are provided with gear sets, the top surface of the front end of the chassis is provided with a base, the gear sets are connected with a front wheel driving motor, a connecting part is connected with the base, and a cleaning part is arranged at the tail end of the connecting part.
The gear set comprises an input shaft conical gear and an output shaft conical gear, the input shaft conical gear is coaxially and fixedly sleeved on the output shaft of the front wheel driving motor, the output shaft conical gear is coaxially and fixedly sleeved on the side base column of the base, and the input shaft conical gear and the output shaft conical gear are in meshed transmission connection through gears; the design reduction ratio of the conical gears of the input shaft and the output shaft is 1:1.
The base comprises two side base posts and a middle base post, the two side base posts are respectively hinged on the chassis of the vehicle beside the two front wheels, the middle base post is hinged on the chassis of the vehicle between the two side base posts, the middle base post and the two side base posts are arranged into a straight line perpendicular to the advancing direction of the vehicle body of the inspection robot, and the middle base post coincides with the central line of the chassis of the vehicle.
The connecting component comprises two rotary long and short rod assemblies and a swinging long rod, one end of the swinging long rod is fixedly connected with the middle base column in a coaxial way, one end of the other end of the swinging long rod, which is close to the end part, is bifurcated into two parallel branch rods, and the two rotary long and short rod assemblies are respectively arranged on two sides of the swinging long rod and are asymmetrically arranged; each rotary long and short rod assembly comprises a rotary short rod, a rotary long rod and a rotary sliding block, one end of the rotary short rod is coaxially and fixedly connected with a base column at one side of the base, the other end of the rotary short rod is hinged with one end of the rotary long rod, the other end of the rotary long rod is hinged with the rotary sliding block, the rotary sliding block is movably sleeved on a branch rod at the other end of the swinging long rod, and the positions and angles of the rotary short rod, the rotary long rod and the rotary sliding block in the two rotary long and short rod assemblies at two sides of the swinging long rod are asymmetrically arranged by the central line of the chassis of the vehicle body; the cleaning part comprises a cleaning brush and a bolt; the cleaning brush is fixedly rotated at the tail end of the other end of the rotary long rod through the sliding groove and the bolt.
The structure of two gear sets arranged at two front wheels of the chassis of the vehicle body is different, one side of the gear set is additionally provided with an intermediate transmission gear part compared with the other side of the gear set, and the intermediate transmission gear part comprises an upper gear and a lower gear which are horizontally and parallelly arranged and are coaxially connected; the input shaft bevel gear is connected with the lower gear of the intermediate transmission gear component in a meshed manner, and the two gear modulus ratios are 1:3, the upper gear of the intermediate transmission gear component is meshed with the conical gear of the output shaft, and the reduction ratio is 3:1.
The magnetic navigation sensor is cuboid, and comprises at least eight magnetic signal receiving devices which are uniformly distributed at equal intervals along a straight line parallel to the horizontal edge of the front end face of the inspection robot body.
The GPS positioning sensor is fixedly arranged at the top of the inspection robot body.
And a magnetic stripe is placed on the inspection path of the heliostat field, the rough positioning is performed by using a GPS positioning sensor, the accurate positioning is performed by using a magnetic navigation sensor, and further, the path searching and moving are realized to finish inspection.
2. A navigation inspection method carried on a car body of an inspection robot in a heliostat field comprises the following steps:
the method adopts the navigation cleaning equipment. The heliostat field comprises a centrally located heat absorption tower and heliostats circumferentially arranged around the heat absorption tower.
Step S1: layering heliostat fields, namely sequentially dividing the heliostat fields into three layers according to different wind directions and positions of mirror surfaces:
A first layer: uniformly dividing a heliostat field into three large areas along the circumferential direction according to the wind direction change range in the fixed period, wherein each large area is a 120-degree sector area;
A second layer: according to the main wind direction concentration range, uniformly and continuously subdividing the large area of each 120-degree fan-shaped area into three middle areas along the circumferential direction, wherein each middle area is a 40-degree fan-shaped area;
Third layer: continuously dividing each region into three sub-regions with the same radial dimension along the radial direction according to different distances between heliostats and a central heat absorption tower in a heliostat field and arrangement density of the heliostats;
Step S2: carrying out a patrol process by using a navigation cleaning device according to the large area determined in the first layer in the step S1 as a working unit according to the wind direction change range in the fixed time;
Step S3: because of different wind directions, the quantity of the wind and sand influence of each region is also different, and the quantity n of the sunglasses samples to be inspected is obtained for each sub-region of the third layer;
step S4: dividing each sub-area of the third layer into three mirror rows with the same radial size continuously along the radial direction, uniformly distributing the number n of the day mirror samples to be inspected to the three mirror rows as much as possible, wherein the number of the day mirror samples to be inspected of each mirror row is even, and the difference of the number of the day mirror samples to be inspected between the adjacent mirror rows is not more than 2;
Step S5: and (3) carrying out inspection on each mirror row of each sub-area by means of navigation cleaning equipment according to the inspection path with a fixed shape in advance according to the number of the day mirror samples to be inspected in the mirror row determined in the step (S4), wherein in the inspection process, the arrangement of the day mirror samples to be inspected in the inspection path meets the following conditions: the width of the number of the daily mirror samples to be inspected along the circumferential direction under the inspection path is at least 1/6 of the number of heliostats where the outer arc line of the mirror row fan ring is located, the width of the daily mirror samples to be inspected along the radial direction under the inspection path is at least 1/2 of the number of the heliostats where the outer arc line of the mirror row fan ring is located, and the minimum external fan ring of the inspection path with a pre-fixed shape covers at least half of the area of the mirror row.
The step S3 specifically comprises the following steps:
S3.1: the sub-areas of the third layer are subjected to proportional non-repeated random sampling, and the number n 1 of preliminary heliostat samples is calculated and obtained:
Wherein n 1 is the number of preliminary heliostat samples, z is the statistic of the heliostat samples to be inspected under standard normal distribution under fixed confidence (for example, when the confidence is 95%, z=1.96), P is the expected proportion value (generally 0.5) of the number of the heliostat samples to be inspected in the subarea to the total number of heliostats, and e represents the allowable error value (0 < e < 1) of the average cleanliness measured in the subarea;
S3.2: further sample estimation is then performed to obtain the number of intermediate heliostat samples n 2 using the following equation:
Wherein N is the total number of heliostats in the heliostat field;
S3.3: and correcting the number n 2 of the intermediate heliostat samples by adopting a proportion parameter B according to the influence factors between the middle regions of the second layer and the influence factors between the third layer regions to obtain the number n of the heliostat samples to be patrolled: n=bn 2;
the number n of the sun glasses to be inspected after correction is even and simultaneously meets the following conditions: t is more than or equal to T 0+nT1, wherein T is the total inspection time, T 0 is the total time spent in the moving process of the navigation cleaning equipment except for the heliostat detection, and T1 is the time required by the single-sided heliostat detection.
In the step S5, the inspection paths between adjacent mirror rows are symmetrically arranged with a circumferential boundary therebetween, and the inspection paths between adjacent sub-regions are symmetrically arranged with a radial boundary therebetween.
And the proportion parameter B is used for designing a proportion parameter table for comparison according to different influence factors. In the heliostat field, the magnetic stripe is paved on the inspection path, rough positioning is performed by using a GPS positioning sensor, and accurate path searching is performed by using a magnetic navigation sensor.
The inspection path is an approximate Z-shaped moving path, and S-shaped movement is adopted in the middle of the Z shape.
The beneficial effects of the invention are as follows:
the invention can more stably and accurately carry out the inspection operation in a large-scale mirror field by combining the magnetic navigation technology with the GPS positioning technology;
The magnetic navigation auxiliary mechanism designed by the invention can convert the driving force of the front wheel into the force which enables the cleaning component to swing left and right, so that the magnetic stripe can be cleaned while inspection, and the cleaning area can be adjusted by differential control of the driving force of the left and right wheels, and the magnetic stripe can be cleaned when turning.
According to the invention, the lens field is partitioned by integrating a plurality of important factors in a scientific sampling mode, so that the inspection efficiency is higher.
The inspection path designed by the invention has the advantages of wide coverage area, short path, reasonable inspection distribution, strong adaptability of the mirror field and the like.
Therefore, in practical application, the navigation cleaning equipment and the inspection method designed by the invention can more efficiently carry out the operation of unfolding and inspecting the heliostat field, and the adopted GPS positioning sensor and magnetic navigation sensor can adapt to all-weather detection work, have lower environmental requirements and can realize the inspection work in a non-working state at night; meanwhile, the inspection path is integrated into the navigation cleaning equipment, so that the cleanliness detection of the mirror surface of a large-range mirror field can be more rapidly finished, and the detection efficiency is greatly improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required in the prior art and the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of the overall structure of a navigational cleaning apparatus according to the present invention;
FIG. 2 is a schematic diagram of a navigational cleaning apparatus according to the present invention;
FIG. 3 is an enlarged partial view of a wheel portion of a navigational cleaning apparatus according to the present invention;
FIG. 4 is a schematic view of the installation of cleaning components on a navigational cleaning apparatus according to the present invention;
FIG. 5 is a diagram of a field patrol area of a heliostat of a photo-thermal power station;
FIG. 6 is a view of a division of a region of a field of view to be inspected;
fig. 7 is a schematic view of dividing the rows of the inspection area A1;
FIG. 8 is a schematic diagram of heliostat field inspection path planning;
FIG. 9 is a schematic view of inspection paths corresponding to different sample numbers of mirror rows;
FIG. 10 is a schematic diagram of a gear set engagement;
Fig. 11 is a schematic view showing an operation state of a cleaning member in the navigation cleaning apparatus in a straight traveling state.
In the figure: 001-inspection robot car body, 002-GPS positioning sensor, 003-magnetic navigation sensor, 004-microcontroller, 005-magnetic navigation auxiliary mechanism; 100-of a vehicle body chassis, 200-of a gear set, 300-of a base, 400-of a cleaning component and 500-of a connecting component; 101-a left front wheel driving motor output shaft, 102-a right front wheel driving motor output shaft and 103-wheels; 201-an input shaft bevel gear, 202-an output shaft bevel gear; 203-an intermediate transmission gear component, 301-a left base post, 302-an intermediate base post, 303-a right base post; 401-cleaning brushes, 402-bolts; 501-rotating short bar, 502-rotating long bar, 503-rotating slider, 504-swinging long bar.
Detailed Description
The invention provides navigation cleaning equipment and a patrol method for a patrol robot in a heliostat field, which can effectively acquire dust distribution conditions of the heliostat field and reduce unnecessary detection paths.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical", "horizontal", "left", "right" and the like are used herein for illustrative purposes only and are not meant to be the only embodiments.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
As shown in fig. 1, the implementation of the invention mainly comprises a patrol robot body 001, a GPS positioning sensor 002, a magnetic navigation sensor 003, a microcontroller 004 and a magnetic navigation auxiliary mechanism 005 which are arranged on the patrol robot body 001; the four corners bottom of the inspection robot car body 001 is provided with wheels, the magnetic navigation auxiliary mechanism 005 is arranged at the front part of the inspection robot car body 001, the magnetic navigation sensor 003 is arranged at the front end surface of the inspection robot car body 001, the GPS positioning sensor 002 and the microcontroller 004 are both fixed on the inspection robot car body 001, the GPS positioning sensor 002 and the magnetic navigation sensor 003 are electrically connected with the microcontroller 004 through serial communication, and the microcontroller 004 is externally connected with a power supply and supplies power to the navigation cleaning equipment through the external power supply.
As shown in fig. 2, the inspection robot vehicle body 001 comprises a vehicle chassis 100 and wheels 103 at four corners of the vehicle chassis 100, wherein front wheel driving motors are mounted on two front wheels, the front wheel driving motors are connected to the wheels 103 through front wheel driving motor output shafts 101/102, and the wheels 103 are controlled to rotate so as to drive the inspection robot vehicle body 001 to advance; the left and right front wheel drive motors are connected to the wheels 103 via left and right front wheel drive motor output shafts 101 and 102, respectively, and the left and right front wheel drive motor output shafts 101 and 102 are fixed coaxially with the respective input shaft bevel gears 201.
The magnetic navigation aid 005 includes a gear set 200, a base 300, a cleaning member 400, and a connecting member 500; the two front wheels of the vehicle chassis 100 are provided with gear sets 200, the top surface of the front end of the vehicle chassis 100 is provided with a base 300, the gear sets 200 are connected with a front wheel driving motor, the gear sets 200 are connected with the vehicle chassis 100 and the base 300 through gears, a connecting part 500 is connected with the base 300, and a cleaning part 400 is arranged at the tail end of the connecting part 500;
As shown in fig. 3, the gear set 200 includes an input shaft conical gear 201 and an output shaft conical gear 202, the input shaft conical gear 201 is coaxially and fixedly sleeved on the output shaft 101/102 of the front wheel drive motor, the output shaft conical gear 202 is coaxially and fixedly sleeved on the side base post 301/303 of the base 300, and the input shaft conical gear 201 and the output shaft conical gear 202 are in transmission connection through gear engagement; the designed reduction ratio of the input shaft conical gear 201 and the output shaft conical gear 202 is 1:1.
In order to ensure that the rotation directions of the rotary short rods 501 at the left side and the right side are consistent, an intermediate transmission gear part 203 is added in another gear set 200 connected with the output shaft 101/102 of the front wheel driving motor, and the intermediate transmission gear part 203 comprises an upper gear and a lower gear which are coaxially welded and fixed; the input shaft bevel gear 201 is meshed with the lower gear of the intermediate transmission gear part 203, and the two gear modulus ratios are that the reduction ratio is 1:3, the upper gear of the intermediate transmission gear part 203 is meshed with the output shaft bevel gear 202, and the reduction ratio is 3:1.
Specifically, in the present embodiment, as shown in fig. 10, the actual fit of the gear set 200 is that the input shaft bevel gear 201 is a bevel gear with a module of 2 and a number of teeth of 48, the lower gear of the intermediate transmission gear member 203 is a bevel gear with a module of 2 and a number of teeth of 16, the lower gear of the intermediate transmission gear member 203 is a bevel gear with a module of 1 and a number of teeth of 16, the right output shaft bevel gear 202 is a bevel gear with a module of 2 and a number of teeth of 48, the left output shaft bevel gear 202 is a bevel gear with a module of 1 and a number of teeth of 48.
As shown in fig. 2, the base 300 includes two side base posts 301/303 and an intermediate base post 302, the two side base posts 301/303 are respectively hinge-mounted to the vehicle body chassis 100 beside the two front wheels, the intermediate base post 302 is hinge-mounted to the vehicle body chassis 100 between the two side base posts 301/303, the intermediate base post 302 and the two side base posts 301/303 are aligned in a straight line perpendicular to the advancing direction of the inspection robot vehicle body 001, and the intermediate base post 302 coincides with the center line of the vehicle body chassis 100 (the center line of the vehicle body chassis 100 is parallel to the advancing direction of the inspection robot vehicle body 001). Specifically, the left and right base posts 301, 303 are respectively hingedly mounted to the body chassis 100 adjacent to the two front wheels, and the middle base post 302 is hingedly mounted to the body chassis 100 between the left and right base posts 301, 303, with the middle base post 302, the left and right base posts 301, 303 aligned.
In particular, the mounting distance between the left base post 301 and the right base post 303 is 20cm.
As shown in fig. 1, the connection part 500 comprises two rotary long and short rod assemblies and a swinging long rod 504, one end of the swinging long rod 504 is coaxially and fixedly connected with the middle base column 302, one end of the swinging long rod 504 near the end is bifurcated into two parallel branch rods, the branch rods are parallel to the swinging long rod 504, and the two rotary long and short rod assemblies are respectively arranged at two sides of the swinging long rod 504 and are asymmetrically arranged; each rotary long and short rod assembly comprises a rotary short rod 501, a rotary long rod 502 and a rotary sliding block 503, one end of the rotary short rod 501 is coaxially and fixedly connected with one side base column 301/303 of the base 300, the other end of the rotary short rod 501 is hinged with one end of the rotary long rod 502, the other end of the rotary long rod 502 is hinged with the rotary sliding block 503, the rotary sliding block 503 is movably sleeved on a branch rod at the other end of the swinging long rod 504, and the positions and angles of the rotary short rod 501, the rotary long rod 502 and the rotary sliding block 503 in the two rotary long and short rod assemblies at two sides of the swinging long rod 504 are all asymmetrically arranged by the central line of the vehicle body chassis 100;
as shown in fig. 4, the cleaning member 400 includes a cleaning brush 401 and a latch 402 for fixing; the brush 401 is mounted on the end of the other end of the rotary long rod 502 through the chute and the latch 402. Specifically, the brush 401 is connected to the end of the rotary shaft 502 through a chute, and is fixed by a pin 402.
Meanwhile, to avoid interference of the rotation short lever 501 with the left and right side units of the base 300 during 360 degrees of rotation, the top end height of the side base post 301/303 is lower than the bottom end height of the rotation long lever 502.
Through the design, the invention can swing the long rod left and right under the driving action of the single-side rotary short rod 501, and the swing angle is 60 degrees.
In practice, the rotating short bar 501 is 3.4cm long, the rotating long bar 502 is 27.8cm long, the swinging long bar 504 is 40cm long, and the three bars are the same in thickness.
In order to improve the driving force and ensure that the cleaning action is completed during turning, and adapt to different speeds of left and right driving wheels, the invention designs two rotary sliding blocks 503 on the main body of the swinging long rod 504, and the size of the rotary sliding blocks is a rectangular groove with the length of 3 cm. The shortest distance between the rotating slider 503 and the intermediate base column 302 is 25cm.
As shown in fig. 11, a schematic view of a cleaning member of the navigation cleaning apparatus in a straight running state is shown, first, from state 1, the rotation of the left and right rotating stubs 501 is driven along with the movement of the wheels 103.
As shown in fig. 1, the magnetic navigation sensor 003 is rectangular, and the magnetic navigation sensor 003 includes at least eight magnetic signal receiving devices, and the eight magnetic signal receiving devices are uniformly distributed at equal intervals along a straight line parallel to a horizontal edge of a front end face of the inspection robot vehicle body 001.
The installation mode of the magnetic navigation sensor 003 is as follows: the long side of one end not provided with the magnetic signal receiving device is fixedly arranged in front of the inspection robot body 001, the long side provided with the magnetic signal receiving device is close to the ground and is positioned at the position 3cm-8cm above the ground, and the long side of the magnetic navigation sensor 003 is arranged perpendicular to the advancing direction of the inspection robot.
The GPS positioning sensor 002 is fixedly arranged on the top of the inspection robot car body 001. And a magnetic stripe is placed on the inspection path of the heliostat field, the rough positioning is performed by using a GPS positioning sensor, the accurate positioning is performed by using a magnetic navigation sensor, and further, the path searching and moving are realized to finish inspection.
The invention implements the following inspection process:
step S1: layering heliostat fields, namely sequentially dividing the heliostat fields into three layers according to different wind directions and positions of mirror surfaces:
A first layer: uniformly dividing the heliostat field into three large areas along the circumferential direction according to the wind direction change range in the fixed period of time, wherein the three large areas are respectively a large area, a two large areas and three large areas, and each large area is a 120-degree sector area as shown in fig. 5;
A second layer: according to the main wind direction concentration range, uniformly and continuously subdividing the large area of each 120-degree fan-shaped area into three middle areas along the circumferential direction, wherein the three middle areas are A, B, C respectively, and each middle area is a 40-degree fan-shaped area as shown in fig. 6;
Third layer: according to the different distances between the heliostat and the central heat absorption tower in the heliostat field and the arrangement density of the heliostat, each region is divided into three sub-regions with the same radial dimension along the radial direction, as shown in fig. 6, namely, three sub-regions are divided from the inside to the outside of the circle, and the radial length of each sub-region is the same;
Step S2: carrying out a patrol process by using a navigation cleaning device according to the large area determined in the first layer in the step S1 as a working unit according to the wind direction change range in the fixed time;
Step S3: obtaining the number n of the sunglasses samples to be inspected for each sub-area of the third layer;
the step S3 specifically comprises the following steps:
S3.1: the sub-areas of the third layer are subjected to proportional non-repeated random sampling, and the number n 1 of preliminary heliostat samples is calculated and obtained:
Wherein n 1 is the number of preliminary heliostat samples, z is the statistic of the heliostat samples to be inspected under standard normal distribution under the fixed confidence (z=1.96 when the confidence is 95% in the embodiment), P is the expected value (0.5) of the number of the heliostat samples to be inspected in the subarea in proportion to the total number of heliostats, and e represents the allowable error value (0 < e < 1) of the average cleanliness measured in the subarea.
S3.2: further sample estimation is then performed to obtain the number of intermediate heliostat samples n 2 using the following equation:
Wherein N is the total number of heliostats in the heliostat field;
S3.3: and correcting the number n 2 of intermediate heliostat samples by using a proportion parameter B according to the influencing factors between the areas of the second layer (namely the influence of wind direction) and the influencing factors between the areas of the third layer (namely the difference of the positions and the mounting densities of heliostats), so as to obtain the number n of the heliostat samples to be inspected: n=bn 2;
The number n of the sun glasses to be inspected after correction is even and simultaneously meets the following conditions: t is more than or equal to T 0+nT1, wherein T is the total inspection time, T 0 is the total time spent in the moving process of the navigation cleaning equipment except for the heliostat detection, and T 1 is the time required by the single-sided heliostat detection;
If the corrected value is T < T 0+nT1, the value of n is recalculated, and in step S3.1, the value of n 1 is reduced by increasing the error value e allowed by the measured average cleanliness, so that the number n of the day mirror samples to be inspected finally calculated meets the condition T not less than T 0+nT1.
Step S4: dividing each sub-area of the third layer into three mirror rows with the same radial size in the radial direction, uniformly distributing the number n of the day mirror samples to be inspected to the three mirror rows as much as possible, and distributing the number of the samples of the inspection area to which the three mirror rows belong as much as possible, wherein the number of the day mirror samples to be inspected of each mirror row is even, and the difference of the number of the day mirror samples to be inspected between the adjacent mirror rows is not more than 2 as shown in fig. 7;
Step S5: and (3) uniformly inspecting each mirror row of each sub-area by means of the navigation cleaning equipment according to the inspection path with a fixed shape in advance and the number of the day mirror samples to be inspected in the mirror row determined in the step (S4), wherein the inspection path is an approximately Z-shaped moving path, and the middle of the Z shape adopts S-shaped movement, as shown in fig. 8 and 9.
Each lens row is in a fan ring shape, and is provided with an inner arc line, an outer arc line and a side line along the radial direction, wherein in the inspection process, the arrangement of the day lens samples to be inspected in the inspection path meets the following conditions: the number width of the sun glasses to be inspected along the circumferential direction under the inspection path is at least 1/6 of the number of heliostats where the outer arc line of the mirror row fan ring is located, the number width of the sun glasses to be inspected along the radial direction under the inspection path is at least 1/2 of the number of heliostats where the outer arc line of the mirror row fan ring is located, and the minimum external fan ring of the inspection path with a pre-fixed shape covers at least half of the area of the mirror row; and the inspection path is as short as possible, and the interval between adjacent day mirrors to be inspected on the inspection path is as close as possible.
The inspection paths between adjacent mirror rows are symmetrically arranged with a circumferential boundary between the adjacent mirror rows, and the inspection paths between adjacent subareas are symmetrically arranged with a radial boundary between the adjacent subareas, so that each mirror row in three subareas positioned in the same radial direction is sequentially inspected from inside to outside or from outside to inside, the areas in different radial directions are sequentially inspected along the circumferential direction, and the inspection between the adjacent areas is directly connected.
The inspection process of the present invention is further described below with reference to specific examples and procedures thereof:
Fig. 5 is a diagram of a field inspection area of heliostats of a tower solar power station, in which, because the area of each heliostat in the field and the influence of different wind directions on the ash accumulation of each heliostat are different, in order to ensure the scientificity of sampling in the inspection operation, according to the differences of the ash accumulation conditions of the heliostats caused by these factors, layered sampling needs to be adopted:
Firstly, limiting the number of heliostat samples: the total inspection time T of the design is known to be 9 hours, the time T 0 required by the movement process is calculated to be 4 hours and 20 minutes according to the movement route, and the detection time T 1 of each heliostat is known to be 30s on average, so that the total allowable sample amount of the selective inspection of the heliostats is determined to be n less than or equal to 580 according to a formula T=T 0+nT1;
then partitioning the whole heliostat field:
A first layer: uniformly dividing a heliostat field into three large areas along the circumferential direction according to the wind direction change range in the fixed period of time; the inspection operation is carried out in only one large area at a time, and decision is mainly made according to the wind direction change condition and the lens field cleaning condition in a period of time.
A second layer: according to the main wind direction concentration range, uniformly and continuously subdividing the large area of each 120-degree fan-shaped area into three middle areas along the circumferential direction, wherein each middle area is a 40-degree fan-shaped area;
Third layer: continuously dividing each region into three sub-regions with the same radial dimension along the radial direction according to different distances between heliostats and a central heat absorption tower in a heliostat field and arrangement density of the heliostats;
Fig. 6 is a view of a map of a determined area of a field to be inspected, including a second layer of subareas and a third layer of subareas, assuming that the total number of heliostats in each subarea is as follows: sub-region a1=b1=c1=576 faces, sub-region a2=b2=c2=702 faces, sub-region a3=b3=c3=1040 faces;
each region is simply and randomly sampled according to the formula And/>Since there is no information available about the fact proportion P, it is assumed that the variance is maximized, i.e., assuming p=0.5, while taking the measured average cleanliness allowable error value e=0.1; and under the condition that the confidence is 90%, z=1.64, so as to calculate the number n 2 of the day mirror samples to be patrolled in each area as a subarea a1=b1=c1=60 face, a subarea a2=b2=c2=62 face and a subarea a3=b3=c3=64 face respectively;
different proportion parameters B are selected for different areas, the number of heliostat samples to be inspected is corrected, the calculation is carried out according to a formula n=Bn 2, and the parameters B in the embodiment are selected from the following table:
Table 1: comparison table of proportion parameter B of wind direction and mirror surface position influence
As shown in fig. 6, if the field of view in the present embodiment receives the influence of wind blown from the right south, the ratio parameters B of each region are a1=0.8, a2=0.7, a3=0.6, b1=1.0, b2=0.9, b3=0.8, c1=0.8, c2=0.7, c3=0.6, respectively; the number of samples per region after correction is a1=48, a2=44, a3=38, b1=60, b2=56, b3=52, c1=48, c2=44, c3=38;
as shown in fig. 7, since each inspection area is divided into three mirror rows, the number of samples in each mirror row is different, and the division is based on: the number of the day mirror samples to be inspected in different mirror rows in the same area is as close as possible, the maximum number is not more than 2, and specific data are shown in the following table:
table 2: number of specific inspection samples per line of different regions within the field
According to the design requirement of the inspection path:
Knowing that the number of outer arc heliostats of the outer mirror row of the sub-area A3 is 40, the number of edge heliostats is 8, so that the inspection path takes at least 7 heliostats in the long side direction and at least 4 heliostats in the short side direction,
The other mirror rows are calculated in the mode, and because the number of heliostats calculated by the other mirror rows is smaller than that of the outer mirror rows of the subarea A3, the inspection path uniformly meets the requirement of taking at least 7 heliostats along the long side direction and at least 4 heliostats along the short side direction for the convenience of design. The whole route of the inspection of the lens field is designed according to the design requirements of other points, and meanwhile, a specific inspection path is designed according to the fact that different lens rows in the table 2 have different inspection sample numbers.
The inspection path of the lens field designed in this embodiment is shown in fig. 8, firstly, the inspection is started from the inner lens row of the sub-area A1, the inspection is performed along the direction indicated by the black arrow in the figure until the inspection is performed to the outer lens row of the sub-area A3, then the inspection is performed to the outer lens row of the sub-area B3 until the inspection is performed to the inner lens row of the sub-area B1, then the inspection is performed to the sub-area C1, and finally, the inspection is performed to the outer lens row of the sub-area C3, thus the inspection can be used as a complete inspection work.
The inspection positions corresponding to the different inspection numbers are shown in fig. 9, so each mirror row of each inspection area corresponding to table 2 can select a corresponding inspection path in comparison with fig. 9, thereby completing the inspection operation.
In this embodiment, the specific patrol heliostat position of each mirror row is not specified, only the patrol route is designed, but in the actual patrol process, the exact position of the patrol heliostat needs to be selected according to the actual condition of the mirror field, and especially the first patrol heliostat position, the last patrol heliostat position and the number of heliostats spaced between every two heliostats to be detected in each mirror row need to be determined; in addition, the specific number of the inspection samples, the selection of the proportion parameter B, and the like are not limited to the embodiment, and can be determined according to the field size, the heliostat installation density, the wind direction influence size, and the like of practical application, so that the inspection efficiency and the scientificity of inspection sampling are improved.
Various other corresponding changes and modifications may be made by those skilled in the art in light of the technical teaching of the present invention, and all such changes and modifications are intended to be included within the scope of the following claims.
Claims (8)
1. Navigation cleaning equipment on inspection robot automobile body in heliostat field, its characterized in that:
the intelligent inspection robot mainly comprises an inspection robot body (001), and a GPS positioning sensor (002), a magnetic navigation sensor (003), a microcontroller (004) and a magnetic navigation auxiliary mechanism (005) which are arranged on the inspection robot body (001); the magnetic navigation auxiliary mechanism (005) is arranged at the front part of the inspection robot car body (001), the magnetic navigation sensor (003) is arranged at the front end surface of the inspection robot car body (001), the GPS positioning sensor (002) and the microcontroller (004) are both fixed on the inspection robot car body (001), and the GPS positioning sensor (002) and the magnetic navigation sensor (003) are electrically connected with the microcontroller (004) through serial communication;
The inspection robot vehicle body (001) comprises a vehicle body chassis (100) and wheels (103) at four corners of the vehicle body chassis (100), wherein front wheel driving motors are arranged on two front wheels, and the front wheel driving motors are connected to the wheels (103) through front wheel driving motor output shafts;
The magnetic navigation auxiliary mechanism (005) comprises a gear set (200), a base (300), a cleaning component (400) and a connecting component (500); the two front wheels of the vehicle body chassis (100) are provided with gear sets (200), the top surface of the front end of the vehicle body chassis (100) is provided with a base (300), the gear sets (200) are connected with a front wheel driving motor, a connecting component (500) is connected with the base (300), and a cleaning component (400) is arranged at the tail end of the connecting component (500);
The gear set (200) comprises an input shaft conical gear (201) and an output shaft conical gear (202), the input shaft conical gear (201) is coaxially and fixedly sleeved on an output shaft of the front wheel driving motor, the output shaft conical gear (202) is coaxially and fixedly sleeved on a side base column (301/303) of the base (300), and the input shaft conical gear (201) is in transmission connection with the output shaft conical gear (202) through gear engagement; the designed reduction ratio of the input shaft bevel gear (201) to the output shaft bevel gear (202) is 1:1, a step of;
The base (300) comprises two side base posts (301, 303) and a middle base post (302), the two side base posts (301, 303) are respectively hinged on the chassis (100) beside the two front wheels, the middle base post (302) is hinged on the chassis (100) between the two side base posts (301, 303), the middle base post (302) and the two side base posts (301, 303) are arranged into a straight line perpendicular to the advancing direction of the vehicle body (001) of the inspection robot, and the middle base post (302) coincides with the central line of the chassis (100);
The connecting component (500) comprises two rotary long and short rod assemblies and a swinging long rod (504), one end of the swinging long rod (504) is coaxially and fixedly connected with the middle base column (302), one end, close to the end, of the other end of the swinging long rod (504) is bifurcated into two parallel branch rods, and the two rotary long and short rod assemblies are respectively arranged on two sides of the swinging long rod (504) and are asymmetrically arranged; each rotary long and short rod assembly comprises a rotary short rod (501), a rotary long rod (502) and a rotary sliding block (503), one end of the rotary short rod (501) is coaxially fixedly connected with one side base column (301/303) of the base (300), the other end of the rotary short rod (501) is hinged with one end of the rotary long rod (502), the other end of the rotary long rod (502) is hinged with the rotary sliding block (503), the rotary sliding block (503) is movably sleeved on a branch rod at the other end of the swinging long rod (504), and the positions and angles of the rotary short rod (501), the rotary long rod (502) and the rotary sliding block (503) in the two rotary long and short rod assemblies at two sides of the swinging long rod (504) are asymmetrically arranged by the central line of the chassis (100) of the vehicle body;
The cleaning component (400) comprises a cleaning brush (401) and a bolt (402); the cleaning brush (401) is arranged at the tail end of the other end of the rotary long rod (502) through a sliding groove and a bolt (402).
2. A navigational cleaning device carried on a heliostat in-field inspection robot vehicle body as defined in claim 1, wherein: two gear sets (200) arranged at two front wheels of the vehicle body chassis (100) are different in structure, one side of the gear set (200) is additionally provided with an intermediate transmission gear part (203) compared with the other side of the gear set (200), the intermediate transmission gear part (203) comprises an upper gear and a lower gear which are horizontally and parallelly arranged, and the upper gear and the lower gear are coaxially connected; the input shaft bevel gear (201) is in meshed connection with the lower gear of the intermediate transmission gear part (203), and the two gear modulus ratios are the reduction ratio of 1:3, the upper gear of the intermediate transmission gear part (203) is meshed with the output shaft bevel gear (202), and the reduction ratio is 3:1.
3. A navigational cleaning device carried on a heliostat in-field inspection robot vehicle body as defined in claim 1, wherein:
The magnetic navigation sensor (003) is cuboid, and the magnetic navigation sensor (003) comprises at least eight magnetic signal receiving devices which are uniformly distributed at equal intervals along a straight line parallel to the horizontal edge of the front end face of the inspection robot vehicle body (001).
4. A navigational cleaning device carried on a heliostat in-field inspection robot vehicle body as defined in claim 1, wherein:
The GPS positioning sensor (002) is fixedly arranged at the top of the inspection robot car body (001).
5. A navigational cleaning device carried on a heliostat in-field inspection robot vehicle body as defined in claim 1, wherein:
And a magnetic stripe is placed on the inspection path of the heliostat field, the rough positioning is performed by using a GPS positioning sensor, the accurate positioning is performed by using a magnetic navigation sensor, and further, the path searching and moving are realized to finish inspection.
6. The navigation inspection method for the vehicle body of the inspection robot in the heliostat field is characterized by comprising the following steps of:
step S1: layering heliostat fields, namely sequentially dividing the heliostat fields into three layers according to different wind directions and positions of mirror surfaces:
A first layer: uniformly dividing a heliostat field into three large areas along the circumferential direction according to the wind direction change range in the fixed period, wherein each large area is a 120-degree sector area;
A second layer: according to the main wind direction concentration range, uniformly and continuously subdividing the large area of each 120-degree fan-shaped area into three middle areas along the circumferential direction, wherein each middle area is a 40-degree fan-shaped area;
Third layer: continuously dividing each region into three sub-regions with the same radial dimension along the radial direction according to different distances between heliostats and a central heat absorption tower in a heliostat field and arrangement density of the heliostats;
Step S2: carrying out a patrol process by using a navigation cleaning device according to the large area determined in the first layer in the step S1 as a working unit according to the wind direction change range in the fixed time;
Step S3: obtaining the number n of the sunglasses samples to be inspected for each sub-area of the third layer;
The step S3 specifically comprises the following steps:
S3.1: the sub-areas of the third layer are subjected to proportional non-repeated random sampling, and the number n 1 of preliminary heliostat samples is calculated and obtained:
N 1 is the number of preliminary heliostat samples, z is the statistic of the heliostat samples to be inspected under standard normal distribution under the fixed confidence, P is the expected proportion value of the number of the heliostat samples to be inspected in the subarea to the total number of heliostats, and e represents the allowable error value of the average cleanliness measured in the subarea;
S3.2: further sample estimation is then performed to obtain the number of intermediate heliostat samples n 2 using the following equation:
Wherein N is the total number of heliostats in the heliostat field;
S3.3: and correcting the number n 2 of the intermediate heliostat samples by adopting a proportion parameter B according to the influence factors between the middle regions of the second layer and the influence factors between the third layer regions to obtain the number n of the heliostat samples to be patrolled: n=bn 2;
the number n of the sun glasses to be inspected after correction is even and simultaneously meets the following conditions: t is more than or equal to T 0+nT1, wherein T is the total inspection time, T 0 is the total time spent in the moving process of the navigation cleaning equipment except for the heliostat detection, and T1 is the time required by the single-sided heliostat detection;
step S4: dividing each sub-area of the third layer into three mirror rows with the same radial size continuously along the radial direction, uniformly distributing the number n of the day mirror samples to be inspected to the three mirror rows as much as possible, wherein the number of the day mirror samples to be inspected of each mirror row is even, and the difference of the number of the day mirror samples to be inspected between the adjacent mirror rows is not more than 2;
Step S5: and (3) carrying out inspection on each mirror row of each sub-area by means of navigation cleaning equipment according to the inspection path with a fixed shape in advance according to the number of the day mirror samples to be inspected in the mirror row determined in the step (S4), wherein in the inspection process, the arrangement of the day mirror samples to be inspected in the inspection path meets the following conditions: the width of the number of the daily mirror samples to be inspected along the circumferential direction under the inspection path is at least 1/6 of the number of heliostats where the outer arc line of the mirror row fan ring is located, the width of the daily mirror samples to be inspected along the radial direction under the inspection path is at least 1/2 of the number of the heliostats where the outer arc line of the mirror row fan ring is located, and the minimum external fan ring of the inspection path with a pre-fixed shape covers at least half of the area of the mirror row.
7. The navigation inspection method carried on the body of the inspection robot in a heliostat field of claim 6, wherein the method comprises the steps of: in the step S5, the inspection paths between adjacent mirror rows are symmetrically arranged with a circumferential boundary therebetween, and the inspection paths between adjacent sub-regions are symmetrically arranged with a radial boundary therebetween.
8. The navigation inspection method carried on the body of the inspection robot in a heliostat field of claim 6, wherein the method comprises the steps of: the inspection path is an approximate Z-shaped moving path, and S-shaped movement is adopted in the middle of the Z shape.
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