CN114653661A - Intelligent cleaning sensing detection system for heliostat - Google Patents
Intelligent cleaning sensing detection system for heliostat Download PDFInfo
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- CN114653661A CN114653661A CN202210565540.9A CN202210565540A CN114653661A CN 114653661 A CN114653661 A CN 114653661A CN 202210565540 A CN202210565540 A CN 202210565540A CN 114653661 A CN114653661 A CN 114653661A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 179
- 238000001514 detection method Methods 0.000 title claims abstract description 31
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 127
- 230000007246 mechanism Effects 0.000 claims abstract description 98
- 230000005540 biological transmission Effects 0.000 claims abstract description 36
- 238000005406 washing Methods 0.000 claims abstract description 25
- 239000007788 liquid Substances 0.000 claims description 13
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 230000001953 sensory effect Effects 0.000 claims 5
- 238000002310 reflectometry Methods 0.000 abstract description 5
- 238000000034 method Methods 0.000 description 9
- 238000005516 engineering process Methods 0.000 description 8
- 238000010248 power generation Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 8
- 230000003749 cleanliness Effects 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- 239000006096 absorbing agent Substances 0.000 description 3
- 230000009471 action Effects 0.000 description 3
- 239000002699 waste material Substances 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 230000001680 brushing effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 238000013024 troubleshooting Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
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- B08B1/12—
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- B08B1/165—
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- B08B1/32—
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B5/00—Cleaning by methods involving the use of air flow or gas flow
- B08B5/02—Cleaning by the force of jets, e.g. blowing-out cavities
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B2203/00—Details of cleaning machines or methods involving the use or presence of liquid or steam
- B08B2203/02—Details of machines or methods for cleaning by the force of jets or sprays
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B2203/00—Details of cleaning machines or methods involving the use or presence of liquid or steam
- B08B2203/02—Details of machines or methods for cleaning by the force of jets or sprays
- B08B2203/0217—Use of a detergent in high pressure cleaners; arrangements for supplying the same
Abstract
The application provides a sensing detection system is washd to heliostat intelligence, includes: the device comprises an engineering vehicle, a transmission mechanism, a cleaning arm, a water supply mechanism, a power supply mechanism, a control cabinet and a photoelectric sensor. The transmission mechanism drives the cleaning arm in a five-axis linkage mode, can adapt to different heliostat mirror surfaces in the five-axis linkage mode, and is high in application range. And realizing detection before washing and detection after washing by the photoelectric sensor according to different reflectivities of the heliostat mirror surface to light before and after washing. The control cabinet can control the cleaning arm to perform key cleaning on an uncleaned area according to the detection result of the photoelectric sensor, and the cleaned area is skipped over, so that intelligent cleaning of the heliostat is realized, and the operation time is shortened. And by adopting various sensors, the device can be ensured to run safely and stably, and self-adaptive adjustment and intelligent cleaning of the heliostat are realized.
Description
Technical Field
The application relates to the field of heliostat cleaning, in particular to a sensing detection system for intelligent cleaning of heliostats.
Background
Solar energy is increasingly applied as a clean renewable energy source, particularly, a photo-thermal power generation technology is a new solar energy utilization technology following a photovoltaic power generation technology, and the photo-thermal power generation technology mainly comprises the following steps: (1) tower type solar thermal power generation technology; (2) a trough type solar thermal power generation technology; (3) disc type solar thermal power generation technology; (4) linear fresnel solar thermal power generation technology. The tower type solar thermal power generation adopts a large number of heliostats to gather sunlight on a heat absorber arranged on the top of a heat absorbing tower, and heats working media to generate steam to push a steam turbine to drive a generator to generate power.
The heliostat functions to concentrate sunlight onto the heat absorber. The cleanliness of the heliostat mirror surface will affect the reflectivity of the mirror surface, and further affect the incident energy of the heat absorber. The heliostat mirror surface maintains higher cleanliness, and the photothermal conversion efficiency is improved, so the heliostat is cleaned regularly.
At present, heliostat mirror surface cleaning equipment is various, but self-adaptive adjustment and intelligent cleaning of heliostat angles cannot be realized in the cleaning process, and the cleaning can only be implemented under the conventional operation of operators. The cleaning degree of the heliostat surface can not be guaranteed, repeated cleaning is possibly needed, the operation time is increased, and the cleaning water is wasted.
Disclosure of Invention
The application provides a sensing detection system is washd to heliostat intelligence to solve and can't realize in the cleaning process that self-adaptation adjustment and intelligence to the heliostat angle wash, the heliostat mirror surface cleanliness after the washing can't be guaranteed, probably need rinse repeatedly, increases the activity duration, extravagant natural resources's problem.
The application provides a sensing detection system is washd to heliostat intelligence includes: machineshop car, drive mechanism, washing arm, water supply mechanism, power supply mechanism, switch board and photoelectric sensor, wherein, the machineshop car includes: the hydraulic station, the transmission mechanism, the water supply mechanism, the power supply mechanism and the control cabinet are all arranged on the engineering truck; the hydraulic station is connected with the transmission mechanism; the transmission mechanism is connected with the cleaning arm and drives the cleaning arm in a five-axis linkage manner; the cleaning arm is connected with the water supply mechanism; the photoelectric sensor is arranged on the cleaning arm; the power supply mechanism is respectively connected with the engineering truck, the transmission mechanism, the cleaning arm, the water supply mechanism, the control cabinet and the photoelectric sensor; the control cabinet is respectively connected with the engineering truck, the transmission mechanism, the cleaning arm, the water supply mechanism, the power supply mechanism and the photoelectric sensor.
Optionally, the transmission mechanism includes: the hydraulic telescopic arm, the guide rod, the connecting rod, the y-axis electric cylinder, the x-axis electric cylinder, the rotary turntable and the lifting hydraulic cylinder are arranged on the engineering truck; the hydraulic telescopic arm is arranged on the rotary turntable, and the lifting hydraulic cylinder is arranged on the rotary turntable; the lifting hydraulic cylinder is connected with the hydraulic telescopic arm; one end of the connecting rod is connected with the hydraulic telescopic arm, and the other end of the connecting rod is hinged with the guide rod; the guide rod is of a T-shaped structure, and the head of the guide rod is hinged with the cleaning arm; one end of the y-axis electric cylinder is hinged with the head of the guide rod, and the other end of the y-axis electric cylinder is hinged with the cleaning arm; one end of the x-axis electric cylinder is hinged to the tail of the guide rod, and the other end of the x-axis electric cylinder is hinged to the connecting rod.
Optionally, the transmission mechanism further includes: the moment limiter is arranged on the hydraulic telescopic arm; the guide rod inclination angle sensor is arranged on the guide rod; the moment limiter and the guide rod inclination angle sensor are both connected with the control cabinet.
Optionally, the wash arm comprises: the cleaning device comprises a cleaning frame, a cleaning brush, a coupler, a brush motor, a scraper, a fan, an air pipe, a nozzle and a strip-shaped water pipe, wherein the cleaning frame is connected with the transmission mechanism; the cleaning brushes, the coupling, the brush motor, the scraper plate, the fan, the air pipe and the strip-shaped water pipe are all arranged on the cleaning frame; the cleaning brush is connected with the brush motor through the coupler; the fan is connected with the air pipe; the strip-shaped water pipe is connected with the water supply mechanism; the nozzle is arranged on the strip-shaped water pipe.
Optionally, the wash arm further comprises: the device comprises a distance sensor, a brush rotating speed sensor, a pressure sensor, a cleaning inclination angle sensor and a flow sensor, wherein the distance sensor is arranged on the cleaning frame; the brush rotating speed sensor is arranged on the cleaning brush; the pressure sensor is arranged on the air pipe; the cleaning inclination angle sensor is arranged on the cleaning frame; the flow sensor is arranged on the strip-shaped water pipe; the distance sensor, the brush rotating speed sensor, the pressure sensor, the cleaning inclination angle sensor and the flow sensor are all connected with the control cabinet.
Optionally, the water supply mechanism comprises: the water tank is arranged on the engineering truck; the water pump is arranged on the water tank; the pipe coiling device is arranged on the engineering truck; the water pipe is wound on the pipe coiling device, one end of the water pipe is connected with the water pump, and the other end of the water pipe is connected with the cleaning arm.
Optionally, the water supply mechanism further comprises: the pipe coiling device comprises a pipe coiling rotating speed sensor, a liquid level sensor, a water inlet switch and a flow sensor, wherein the pipe coiling rotating speed sensor is arranged on the pipe coiling device; the liquid level sensor and the water inlet switch are arranged on the water tank; the flow sensor is arranged on the water pump; the reelpipe speed sensor, the liquid level sensor, the water inlet switch and the flow sensor are all connected with the control cabinet.
Optionally, the engineering truck further includes: the hydraulic support columns are arranged on two sides of the engineering truck and connected with the hydraulic station.
Optionally, the engineering truck further includes: and the strut inclination angle sensor is arranged on the hydraulic strut and is connected with the control cabinet.
Optionally, the power supply mechanism includes: the generator is connected with a power output shaft of the engineering truck; and the power supply circuit is respectively connected with the engineering truck, the transmission mechanism, the cleaning arm, the water supply mechanism, the control cabinet and the photoelectric sensor.
The application provides a sensing detection system is washd to heliostat intelligence, includes: the device comprises an engineering vehicle, a transmission mechanism, a cleaning arm, a water supply mechanism, a power supply mechanism, a control cabinet and a photoelectric sensor. The transmission mechanism drives the cleaning arm in a five-axis linkage mode, the five-axis linkage mode can be adapted to different heliostat mirror surfaces, and the application range is high. And realizing detection before washing and detection after washing by the photoelectric sensor according to different reflectivities of the heliostat mirror surface to light before and after washing. The control cabinet can control the cleaning arm to perform key cleaning on an uncleaned area according to the detection result of the photoelectric sensor, and the cleaned area is skipped over, so that intelligent cleaning of the heliostat is realized, the operation time is shortened, and the waste of cleaning water is reduced. The device can run safely and stably by adopting various sensors such as a strut inclination angle sensor, a guide rod inclination angle sensor, a distance sensor, a brush rotating speed sensor, a pressure sensor, a cleaning inclination angle sensor, a reelpipe rotating speed sensor, a liquid level sensor and a flow sensor, and self-adaptive adjustment and intelligent cleaning of the heliostat are realized.
Drawings
In order to more clearly explain the technical solution of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a front view of a heliostat intelligent wash sensing detection system according to the present application;
FIG. 2 is a top view of a heliostat intelligent wash sensing detection system according to the present application;
FIG. 3 is a side view of a cleaning arm according to the present application.
Illustration of the drawings:
wherein, 1-engineering truck, 101-hydraulic station, 102-hydraulic prop, 103-prop tilt angle sensor, 2-transmission mechanism, 201-hydraulic telescopic arm, 202-guide rod, 203-connecting rod, 204-y axis electric cylinder, 205-x axis electric cylinder, 206-rotating turntable, 207-lifting hydraulic cylinder, 208-torque limiter, 209-guide rod tilt angle sensor, 3-cleaning arm, 301-cleaning frame, 302-cleaning brush, 303-coupler, 304-brush motor, 305-scraper, 306-fan, 307-air pipe, 308-nozzle, 309-strip water pipe, 310-distance sensor, 311-brush rotation speed sensor, 312-pressure sensor, 313-cleaning tilt angle sensor, 4-water supply mechanism, 401-water tank, 402-water pump, 403-water pipe, 404-pipe coiling device, 405-pipe coiling speed sensor, 406-liquid level sensor, 407-water inlet switch, 408-flow sensor, 5-power supply mechanism, 6-control cabinet and 7-photoelectric sensor.
Detailed Description
Reference will now be made in detail to embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following examples do not represent all embodiments consistent with the present application. But merely as exemplifications of systems and methods consistent with certain aspects of the application, as recited in the claims.
A heliostat (heliostat) is an optical device that reflects light from the sun or other celestial bodies to a fixed direction, and is also called a star mirror, and is mostly installed in areas with sufficient sunlight, such as the gobi and the desert. The heliostat mirror surface cleaning equipment is various, and different forms of cleaning equipment are adopted according to different cleaning angles and requirements. When the heliostat is in a horizontal state, a crossing heliostat cleaning vehicle is adopted; when the heliostat is at an oblique angle, the vehicle can be cleaned by using the unfolding arm type heliostat. However, the unfolding arm type cleaning vehicle mostly adopts the cleaning equipment arranged on the fixed unfolding arm, so that the self-adaptive adjustment and intelligent cleaning of the angle of the heliostat cannot be realized in the cleaning process, and the cleaning can only be implemented under the conventional operation of an operator. The cleanness of the surface of the cleaned heliostat cannot be guaranteed, repeated cleaning is possibly needed, the operation time is increased, and the cleaning water is wasted.
The application provides a sensing detection system is washd to heliostat intelligence, as shown in FIG. 1, includes: machineshop car 1, drive mechanism 2, wash arm 3, water supply mechanism 4, power supply mechanism 5, switch board 6 and photoelectric sensor 7, wherein, machineshop car 1 includes: the hydraulic station 101, the transmission mechanism 2, the water supply mechanism 4, the power supply mechanism 5 and the control cabinet 6 are all arranged on the engineering truck 1; and the hydraulic station 101 is used for driving each hydraulic machine to do work. The hydraulic station 101 is connected with the transmission mechanism 2; the transmission mechanism 2 is connected with the cleaning arm 3, and the transmission mechanism 2 drives the cleaning arm 3 in a five-axis linkage manner; and the cleaning arm 3 is used for cleaning the heliostat. The cleaning arm 3 is connected with the water supply mechanism 4; the water supply mechanism 4 is used for supplying cleaning water to the cleaning arm 3. The photoelectric sensor 7 is arranged on the cleaning arm 3; the power supply mechanism 5 is respectively connected with the engineering truck 1, the transmission mechanism 2, the cleaning arm 3, the water supply mechanism 4, the control cabinet 6 and the photoelectric sensor 7; and the power supply mechanism 5 is used for supplying power to each mechanism. The control cabinet 6 is respectively connected with the engineering truck 1, the transmission mechanism 2, the cleaning arm 3, the water supply mechanism 4, the power supply mechanism 5 and the photoelectric sensor 7. The control cabinet 6 is configured to receive signals fed back by the sensors and control actions of the mechanisms, and may be connected in a cable manner or a wireless manner, for example.
The engineering vehicle 1 can be a three-axle vehicle (the three-axle vehicle is a truck with three rows of tires on the trailer part), and the hydraulic station 101, the transmission mechanism 2, the water supply mechanism 4, the power supply mechanism 5 and the control cabinet 6 are all placed on the trailer and need enough load capacity.
The driving mechanism 2 drives the cleaning arm 3 in a five-axis linkage mode, namely the driving mechanism 2 can drive the cleaning arm 3 to move in three linear coordinate directions and two rotating coordinate directions, the five-axis linkage mode can adapt to different heliostat mirror surfaces, and the application range is high.
In an exemplary embodiment, as shown in fig. 2, the transmission mechanism 2 includes: the hydraulic telescopic arm 201, the guide rod 202, the connecting rod 203, the y-axis electric cylinder 204, the x-axis electric cylinder 205, the rotary turntable 206 and the lifting hydraulic cylinder 207, wherein the rotary turntable 206 is arranged on the engineering truck 1; the hydraulic telescopic arm 201 is arranged on the rotary turntable 206, and the lifting hydraulic cylinder 207 is arranged on the rotary turntable 206; the lifting hydraulic cylinder 207 is connected with the hydraulic telescopic arm 201; one end of the connecting rod 203 is connected with the hydraulic telescopic arm 201, and the other end of the connecting rod is hinged with the guide rod 202; the guide rod 202 is of a T-shaped structure, and the head of the guide rod 202 is hinged with the cleaning arm 3; one end of the y-axis electric cylinder 204 is hinged with the head of the guide rod 202, and the other end is hinged with the cleaning arm 3; one end of the x-axis electric cylinder 205 is hinged with the tail part of the guide rod 202, and the other end is hinged with the connecting rod 203.
The rotary dial 206 is used for controlling the hydraulic telescopic arm 201 to rotate. As shown in fig. 2, when the hydraulic telescopic arm 201 rotates, the link 203 can drive the cleaning arm 3 to move in the x-axis direction.
The hydraulic telescopic arm 201 can be extended and retracted on the straight line. As shown in fig. 2, when the hydraulic telescopic arm 201 extends and contracts, the link 203 can drive the cleaning arm 3 to move in the z-axis direction.
And the lifting hydraulic cylinder 207 is used for controlling the lifting of the hydraulic telescopic arm 201. As shown in fig. 1, when the hydraulic telescopic arm 201 is lifted, the link 203 can drive the cleaning arm 3 to move in the y-axis direction.
The y-axis electric cylinder 204, as shown in fig. 2, is used to control the guide rod 202 to drive the cleaning arm 3 to swing in the y-axis direction.
The x-axis electric cylinder 205, as shown in fig. 3, is used to control the guide rod 202 to drive the cleaning arm 3 to swing in the x-axis direction.
In an exemplary embodiment, the transmission mechanism 2 further comprises: a moment limiter 208 and a guide rod inclination angle sensor 209, wherein the moment limiter 208 is arranged on the hydraulic telescopic arm 201; the guide rod inclination angle sensor 209 is arranged on the guide rod 202; the moment limiter 208 and the guide rod inclination angle sensor 209 are both connected with the control cabinet 6.
The moment limiter 208 is arranged at the root of the hydraulic telescopic arm 201, and the root of the hydraulic telescopic arm 201 is the part where the hydraulic telescopic arm 201 is connected with the rotary turntable 206. Because the mirror surfaces of the heliostats are at different angles, the stretching and lifting amplitudes of the hydraulic stretching arm 201 are different, and the effective force arm is continuously reduced in the stretching and lifting processes of the hydraulic stretching arm 201. When the moment caused by the lifting height or the amplitude angle of the hydraulic telescopic boom 201 exceeds the moment limit value at the root of the hydraulic telescopic boom 201, the control cabinet 6 receives a feedback signal of the moment limiter 208 and reminds an operator to stop working.
The guide rod inclination angle sensor 209 is configured to detect an inclination angle of the guide rod 202, and prevent equipment damage or safety problems caused by an excessively large swing angle in the process of adjusting the guide rod 202 by using the x-axis electric cylinder 205. In addition, after the cleaning operation is completed, if the guide rod 202 is still in an inclined state, the control cabinet 6 receives a feedback signal of the guide rod inclination angle sensor 209 and gives an alarm to remind an operator to restore the guide rod 202 to the initial position, so that equipment damage or safety accidents are avoided.
And the photoelectric sensor 7 is used for detecting the cleanliness of the heliostat mirror surface. And realizing detection before washing and detection after washing by the photoelectric sensor 7 according to different reflectivities of the heliostat mirror surface to light before and after washing. Illustratively, the plurality of photosensors 7 are arranged in a rectangular array on both upper and lower sides of the wash arm 3. The heliostat mirror surface is cleaned in a top-down mode, when the cleaning arm 3 starts to move downwards from the upper part and cleans the heliostat, the photoelectric sensor 7 on the upper side of the cleaning arm 3 can detect a result after cleaning in the moving process, the photoelectric sensor 7 on the lower side of the cleaning arm 3 can detect a result before cleaning, the control cabinet 6 can control the cleaning arm 3 to perform key cleaning on an area which is not cleaned and skip the area which is cleaned according to the detection result of the photoelectric sensor 7, so that the intelligent cleaning of the heliostat is realized, the operation time is reduced, and the waste of cleaning water is reduced.
And the control cabinet 6 is used for receiving signals fed back by the sensors and controlling the actions of the mechanisms. For example, the control cabinet 6 may be a computer, a server, an industrial personal computer, a single chip microcomputer, a PLC (Programmable Logic Controller), a DSP (digital signal processor), an FPGA (Field Programmable Gate Array), an ASIC (Application-specific integrated circuit), and other devices having storage and operation functions, which are not limited in this embodiment of the present Application.
In an exemplary embodiment, as shown in fig. 1, the wash arm 3 comprises: the cleaning device comprises a cleaning frame 301, a cleaning brush 302, a coupler 303, a brush motor 304, a scraper 305, a fan 306, an air pipe 307, a nozzle 308 and a strip-shaped water pipe 309, wherein the cleaning frame 301 is connected with the transmission mechanism 2; the cleaning brushes 302, the coupler 303, the brush motor 304, the scraper 305, the fan 306, the air pipe 307 and the strip-shaped water pipe 309 are all arranged on the cleaning frame 301; the cleaning brush 302 is connected with the brush motor 304 through the coupler 303; the fan 306 is connected with the air pipe 307; the strip-shaped water pipe 309 is connected with the water supply mechanism 4; the nozzle 308 is disposed on the strip pipe 309.
The cleaning frame 301 is a cuboid and can be made of materials such as steel bars and aluminum alloy.
The cleaning brush 302 is long and is used for brushing the heliostat, and the cleaning brush 302 is arranged at the bottom of the cleaning frame 301 and transversely penetrates through the cleaning frame 301. The brush motor 304 drives the cleaning brush 302 to rotate through the coupling 303.
The strip-shaped water pipe 309 is long and is disposed above the cleaning brush 302, and for example, the strip-shaped water pipe 309 may be a steel pipe. A plurality of the nozzles 308 are provided on the bar-shaped water pipe 309. In summer, the cleaning brush 302 rotates to clean the heliostat by using the brush hair after the clean water is sprayed on the surface of the heliostat by using the nozzle 308. Meanwhile, a scraper 305 is disposed above the nozzle 308 to scrape off the residual water.
The blower 306 is disposed on the top of the cleaning frame 301 for supplying air to the air duct 307. The air duct 307 is a multi-segment strip and is located below the blower 306. The temperature is usually about-30 ℃ in winter, and the ice can be quickly frozen by using water for washing, so that the air is supplied by the fan 306, and the air pipe 307 is used for washing in a blowing mode.
In an exemplary embodiment, the wash arm 3 further comprises: a distance sensor 310, a brush rotation speed sensor 311, a pressure sensor 312, a washing inclination angle sensor 313, and a flow sensor 408, wherein the distance sensor 310 is provided on the washing frame 301; the brush rotating speed sensor 311 is arranged on the cleaning brush 302; the pressure sensor 312 is arranged on the air pipe 307; the cleaning inclination angle sensor 313 is arranged on the cleaning frame 301; the flow sensor 408 is arranged on the strip-shaped water pipe 309; the distance sensor 310, the brush rotation speed sensor 311, the pressure sensor 312, the cleaning tilt angle sensor 313 and the flow sensor 408 are all connected with the control cabinet 6.
The distance sensor 310 is configured to monitor a distance between the cleaning frame 301 and a surface of the heliostat to be cleaned, and the distance sensor 310 may be an ultrasonic sensor, for example. The distance between the cleaning frame 301 and the heliostat mirror surface to be cleaned is constantly monitored by a plurality of distance sensors 310 arranged on the cleaning frame 301, so that the cleaning brush 302 is kept within an effective distance from the heliostat mirror surface. Because the heliostat mirror surface can not be completely in a state vertical to the ground during installation, by arranging the distance sensor 310, the control cabinet 6 can receive the distance data between the cleaning frame 301 and the heliostat mirror surface in real time and adjust the distance between the cleaning frame 301 and the heliostat mirror surface in real time, thereby ensuring that the cleaning brush 302 can effectively clean the heliostat mirror surface, reducing the times of repeated cleaning and improving the cleaning efficiency.
The brush rotation speed sensor 311 is configured to monitor a working state of the cleaning brush 302. Since most of the cleaning is in the high-altitude working state, the working state of the cleaning brush 302 is not easy to observe by the operator. Set up brush speed sensor 311 in washing brush 302 pivot department, but real-time supervision washs brush 302 operating condition, if wash brush 302 stall or rotational speed when too low can not reach the rotational speed that washs the standard requirement, switch board 6 can receive brush speed sensor 311's feedback signal and remind the operation personnel to stop the operation, withdraws and washs arm 3 and carry out troubleshooting.
The flow sensor 408 is used for monitoring the water supply condition in the strip-shaped water pipe 309. The water yield is monitored in real time by means of a number of flow sensors 408 arranged on the bar-shaped water pipes 309, ensuring that the cleaning medium meets the cleaning requirements.
The pressure sensor 312 is used for monitoring the air supply condition in the air pipe 307. The air output is monitored in real time by a plurality of pressure sensors 312 arranged on the air pipe 307, so that the cleaning medium is ensured to meet the cleaning requirement.
The cleaning tilt sensor 313 is configured to detect a tilt angle of the cleaning arm 3, and prevent damage to the equipment or safety problems caused by an excessively large swing angle in the process of adjusting the cleaning arm 3 by using the y-axis electric cylinder 204. In addition, after the cleaning operation is completed, if the cleaning arm 3 is still in an inclined state, the control cabinet 6 can receive a feedback signal of the cleaning tilt angle sensor 313 and send an alarm to remind an operator to restore the cleaning arm 3 to the initial position, so that equipment damage or safety accidents are avoided.
In an exemplary embodiment, the water supply mechanism 4 includes: the water tank 401, the water pump 402, the water pipe 403 and the pipe coiling device 404 are arranged, wherein the water tank 401 is arranged on the engineering truck 1; the water pump 402 is arranged on the water tank 401; the pipe coiling device 404 is arranged on the engineering truck 1; the water pipe 403 is wound around the pipe winder 404, one end of the water pipe 403 is connected to the water pump 402, and the other end is connected to the cleaning arm 3.
The water tank 401 is used for loading cleaning water. The cleaning water is supplied to the cleaning arm 3 through a water pump 402 and a water pipe 403.
The pipe coiling device 404 is used for automatically coiling and uncoiling the water pipe 403 when the cleaning arm 3 moves, so as to ensure that the water pipe 403 is in a proper length.
In an exemplary embodiment, the water supply mechanism 4 further includes: a coil pipe rotation speed sensor 405, a liquid level sensor 406, a water inlet switch 407 and a flow sensor 408, wherein the coil pipe rotation speed sensor 405 is arranged on the coil pipe 404; the liquid level sensor 406 and the water inlet switch 407 are arranged on the water tank 401; the flow sensor 408 is arranged on the water pump 402; the coiled pipe rotating speed sensor 405, the liquid level sensor 406, the water inlet switch 407 and the flow sensor 408 are all connected with the control cabinet 6.
Reel pipe rotational speed sensor 405 for monitoring reel pipe ware 404 pivot rotational speed, avoid leading to the too high equipment damage that brings of reel pipe ware 404 rotational speed when the action of wash arm 3 is too fast.
The level sensor 406 is used to monitor the amount of water in the water tank 401. When the water level of the water tank 401 is lower than the effective water level, the control cabinet 6 receives a feedback signal of the liquid level sensor 406 and reminds an operator of executing water filling operation. The operating personnel can open the water filling port through the switch 407 of intaking that sets up on the 6 coordinated control water tanks 401 of switch board, and exemplarily, switch 407 of intaking can adopt the electro-magnet.
The flow sensor 408 is configured to monitor a water supply condition in the water pump 402, monitor a water yield in real time, and ensure that the cleaning medium meets a cleaning requirement.
In an exemplary embodiment, the work vehicle 1 further comprises: and the hydraulic support columns 102 are arranged on two sides of the engineering truck 1, and the hydraulic support columns 102 are connected with the hydraulic station 101.
Because the embodiment provided by the application only works on a single side, the heliostats are mostly arranged in the areas with uneven ground surfaces, such as the Gobi. In order to ensure safety during the cleaning operation, two sets of hydraulic struts 102 are provided on both sides of the work vehicle 1 for stabilizing the vehicle body during the cleaning operation.
In an exemplary embodiment, the work vehicle 1 further comprises: a pillar tilt sensor 103, wherein the pillar tilt sensor 103 is disposed on the hydraulic pillar 102, and the pillar tilt sensor 103 is connected to the control cabinet 6.
And the pillar inclination angle sensor 103 is used for monitoring the inclination angle of the engineering truck 1 and avoiding the problem of inclination to a single side in the working process. If the inclination angle is too large, the risk of rollover may occur, and the inclination angle of the vehicle body is monitored in real time by arranging a plurality of strut inclination sensors 103 at the hydraulic strut 102. If the inclination angle is too large, the control cabinet 6 receives a feedback signal of the pillar inclination angle sensor 103 and informs an operator to stop working, so that major safety accidents are avoided.
In an exemplary embodiment, the power supply mechanism 5 includes: the power generator is connected with a power output shaft of the engineering truck 1. And the power supply circuit is respectively connected with the engineering truck 1, the transmission mechanism 2, the cleaning arm 3, the water supply mechanism 4, the control cabinet 6 and the photoelectric sensor 7.
The heliostat is mostly arranged in the area with poor environment such as gobi, for example, the generator can adopt a diesel generator for better providing power.
The application provides a sensing detection system is washd to heliostat intelligence, includes: the device comprises an engineering vehicle 1, a transmission mechanism 2, a cleaning arm 3, a water supply mechanism 4, a power supply mechanism 5, a control cabinet 6 and a photoelectric sensor 7. The driving mechanism 2 drives the cleaning arm 3 in a five-axis linkage mode, can adapt to different heliostat mirror surfaces in the five-axis linkage mode, and is high in application range. And realizing detection before washing and detection after washing by the photoelectric sensor 7 according to different reflectivities of the heliostat mirror surface to light before and after washing. The control cabinet 6 can control the cleaning arm 3 to perform key cleaning on an uncleaned area according to the detection result of the photoelectric sensor 7, and the cleaned area is skipped over, so that intelligent cleaning of the heliostat is realized, the operation time is shortened, and the waste of cleaning water is reduced. The self-adaptive heliostat cleaning device has the advantages that various sensors such as the strut inclination angle sensor 103, the guide rod inclination angle sensor 209, the distance sensor 310, the brush rotating speed sensor 311, the pressure sensor 312, the cleaning inclination angle sensor 313, the reel pipe rotating speed sensor 405, the liquid level sensor 406 and the flow sensor 408 are adopted, the device can be ensured to run safely and stably, and the self-adaptive adjustment and intelligent cleaning of the heliostat are realized.
The embodiments provided in the present application are only a few examples of the general concept of the present application, and do not limit the scope of the present application. Any other embodiments extended according to the scheme of the present application without inventive efforts will be within the scope of protection of the present application for a person skilled in the art.
Claims (10)
1. A heliostat intelligent wash sensing detection system, comprising: an engineering truck (1), a transmission mechanism (2), a cleaning arm (3), a water supply mechanism (4), a power supply mechanism (5), a control cabinet (6) and a photoelectric sensor (7), wherein,
the work vehicle (1) comprises: a hydraulic station (101) and a trailer,
the hydraulic station (101), the transmission mechanism (2), the water supply mechanism (4), the power supply mechanism (5) and the control cabinet (6) are all arranged on the trailer;
the hydraulic station (101) is connected with the transmission mechanism (2);
the transmission mechanism (2) is connected with the cleaning arm (3), and the transmission mechanism (2) drives the cleaning arm (3) in a five-axis linkage manner;
the cleaning arm (3) is connected with the water supply mechanism (4);
the photoelectric sensor (7) is arranged on the cleaning arm (3);
the power supply mechanism (5) is respectively connected with the engineering truck (1), the transmission mechanism (2), the cleaning arm (3), the water supply mechanism (4), the control cabinet (6) and the photoelectric sensor (7);
the control cabinet (6) is respectively connected with the engineering truck (1), the transmission mechanism (2), the cleaning arm (3), the water supply mechanism (4), the power supply mechanism (5) and the photoelectric sensor (7).
2. A heliostat intelligent washing sensory detection system according to claim 1, wherein the transmission mechanism (2) comprises: a hydraulic telescopic arm (201), a guide rod (202), a connecting rod (203), a y-axis electric cylinder (204), an x-axis electric cylinder (205), a rotating turntable (206) and a lifting hydraulic cylinder (207), wherein,
the rotary turntable (206) is arranged on the engineering truck (1);
the hydraulic telescopic arm (201) is arranged on the rotary turntable (206), and the lifting hydraulic cylinder (207) is arranged on the rotary turntable (206);
the lifting hydraulic cylinder (207) is connected with the hydraulic telescopic arm (201);
one end of the connecting rod (203) is connected with the hydraulic telescopic arm (201), and the other end of the connecting rod is hinged with the guide rod (202);
the guide rod (202) is of a T-shaped structure, and the head of the guide rod (202) is hinged with the cleaning arm (3);
one end of the y-axis electric cylinder (204) is hinged with the head of the guide rod (202), and the other end of the y-axis electric cylinder is hinged with the cleaning arm (3);
one end of the x-axis electric cylinder (205) is hinged with the tail of the guide rod (202), and the other end of the x-axis electric cylinder is hinged with the connecting rod (203).
3. A heliostat intelligent washing sensory detection system according to claim 2, wherein the transmission mechanism (2) further comprises: a moment limiter (208) and a guide rod inclination angle sensor (209),
the moment limiter (208) is arranged on the hydraulic telescopic arm (201);
the guide rod inclination angle sensor (209) is arranged on the guide rod (202);
the moment limiter (208) and the guide rod inclination angle sensor (209) are connected with the control cabinet (6).
4. A heliostat intelligent wash sensing system according to claim 1, wherein the wash arm (3) comprises: a cleaning frame (301), a cleaning brush (302), a coupling (303), a brush motor (304), a scraper (305), a fan (306), an air pipe (307), a nozzle (308) and a strip-shaped water pipe (309), wherein,
the cleaning frame (301) is connected with the transmission mechanism (2);
the cleaning brush (302), the coupler (303), the brush motor (304), the scraper (305), the fan (306), the air pipe (307) and the strip-shaped water pipe (309) are arranged on the cleaning frame (301);
the cleaning brush (302) is connected with the brush motor (304) through the coupler (303);
the fan (306) is connected with the air pipe (307);
the strip-shaped water pipe (309) is connected with the water supply mechanism (4);
the nozzle (308) is arranged on the strip-shaped water pipe (309).
5. A heliostat intelligent wash sensing system according to claim 4, wherein the wash arm (3) further comprises: a distance sensor (310), a brush rotation speed sensor (311), a pressure sensor (312), a cleaning tilt angle sensor (313) and a flow sensor (408), wherein,
the distance sensor (310) is arranged on the cleaning frame (301);
the brush rotating speed sensor (311) is arranged on the cleaning brush (302);
the pressure sensor (312) is arranged on the air pipe (307);
the cleaning tilt angle sensor (313) is arranged on the cleaning frame (301);
the flow sensor (408) is arranged on the strip-shaped water pipe (309);
the distance sensor (310), the brush rotating speed sensor (311), the pressure sensor (312), the cleaning inclination angle sensor (313) and the flow sensor (408) are all connected with the control cabinet (6).
6. A heliostat intelligent washing sensory detection system according to claim 1, wherein the water supply mechanism (4) comprises: a water tank (401), a water pump (402), a water pipe (403) and a pipe coiling device (404), wherein,
the water tank (401) is arranged on the engineering truck (1);
the water pump (402) is arranged on the water tank (401);
the pipe coiling device (404) is arranged on the engineering truck (1);
the water pipe (403) is wound on the pipe coiling device (404), one end of the water pipe (403) is connected with the water pump (402), and the other end of the water pipe is connected with the cleaning arm (3).
7. A heliostat intelligent washing sensory detection system according to claim 6, wherein the water supply mechanism (4) further comprises: a coil rotational speed sensor (405), a liquid level sensor (406), a water inlet switch (407) and a flow sensor (408), wherein,
the roller pipe rotating speed sensor (405) is arranged on the roller pipe device (404);
the liquid level sensor (406) and a water inlet switch (407) are arranged on the water tank (401);
the flow sensor (408) is arranged on the water pump (402);
and the coiled pipe rotating speed sensor (405), the liquid level sensor (406), the water inlet switch (407) and the flow sensor (408) are connected with the control cabinet (6).
8. A heliostat intelligent washing sensing detection system according to claim 1, characterized in that the mobile machinery shop (1) further comprises: the hydraulic support columns (102) are arranged on two sides of the engineering truck (1), and the hydraulic support columns (102) are connected with the hydraulic station (101).
9. A heliostat smart washing sensory detection system according to claim 8, wherein the mobile crane (1) further comprises: the hydraulic prop is characterized by comprising a prop inclination angle sensor (103), wherein the prop inclination angle sensor (103) is arranged on the hydraulic prop (102), and the prop inclination angle sensor (103) is connected with the control cabinet (6).
10. A heliostat smart wash sensing detection system according to claim 1, wherein the power supply means (5) comprises: the power generator is connected with a power output shaft of the engineering truck (1);
the power supply circuit is respectively connected with the engineering truck (1), the transmission mechanism (2), the cleaning arm (3), the water supply mechanism (4), the control cabinet (6) and the photoelectric sensor (7).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210565540.9A CN114653661A (en) | 2022-05-24 | 2022-05-24 | Intelligent cleaning sensing detection system for heliostat |
| PCT/CN2022/101256 WO2023226135A1 (en) | 2022-05-24 | 2022-06-24 | Intelligent heliostat cleaning and sensing measurement system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210565540.9A CN114653661A (en) | 2022-05-24 | 2022-05-24 | Intelligent cleaning sensing detection system for heliostat |
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| CN114653661A true CN114653661A (en) | 2022-06-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210565540.9A Pending CN114653661A (en) | 2022-05-24 | 2022-05-24 | Intelligent cleaning sensing detection system for heliostat |
Country Status (2)
| Country | Link |
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| CN (1) | CN114653661A (en) |
| WO (1) | WO2023226135A1 (en) |
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