CN114688748A - Automatic intelligent cleaning system and method for heliostat - Google Patents
Automatic intelligent cleaning system and method for heliostat Download PDFInfo
- Publication number
- CN114688748A CN114688748A CN202210310798.4A CN202210310798A CN114688748A CN 114688748 A CN114688748 A CN 114688748A CN 202210310798 A CN202210310798 A CN 202210310798A CN 114688748 A CN114688748 A CN 114688748A
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- heliostat
- cleaning
- mirror surface
- module
- cleaned
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- 238000004140 cleaning Methods 0.000 title claims abstract description 108
- 238000000034 method Methods 0.000 title claims abstract description 12
- 239000007788 liquid Substances 0.000 claims abstract description 13
- 238000004891 communication Methods 0.000 claims abstract description 4
- 238000012544 monitoring process Methods 0.000 claims abstract description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 14
- 238000007664 blowing Methods 0.000 claims description 11
- 238000007790 scraping Methods 0.000 claims description 11
- 238000011217 control strategy Methods 0.000 claims description 9
- 238000005507 spraying Methods 0.000 claims description 5
- 239000000428 dust Substances 0.000 claims description 4
- 238000005406 washing Methods 0.000 claims description 4
- 239000004576 sand Substances 0.000 claims description 3
- 238000010248 power generation Methods 0.000 abstract description 4
- 230000003749 cleanliness Effects 0.000 description 3
- 239000006096 absorbing agent Substances 0.000 description 2
- 239000000306 component Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005494 condensation Effects 0.000 description 1
- 238000009833 condensation Methods 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000011086 high cleaning Methods 0.000 description 1
- 230000001678 irradiating effect Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24S—SOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
- F24S23/00—Arrangements for concentrating solar-rays for solar heat collectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/14—Wipes; Absorbent members, e.g. swabs or sponges
- B08B1/143—Wipes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/16—Rigid blades, e.g. scrapers; Flexible blades, e.g. wipers
- B08B1/165—Scrapers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
-
- 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
-
- 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24S—SOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
- F24S40/00—Safety or protection arrangements of solar heat collectors; Preventing malfunction of solar heat collectors
- F24S40/20—Cleaning; Removing snow
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Thermal Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
The invention belongs to the technical field of tower type solar photo-thermal power generation, and particularly relates to an automatic intelligent cleaning system and method for a heliostat. The automatic intelligent cleaning system for the heliostat specifically comprises an on-board platform, and a mirror face identification module, a control module, a cleaning module, a liquid storage module and a radar module which are arranged on the on-board platform. The mirror surface identification module comprises at least one image collector, and effectively positions the mirror surface position of a target heliostat by collecting images of the heliostat to be cleaned, so that the automatic cleaning operation of the mirror surface is realized and the mirror surface is not influenced by human factors; the control module can control the rotation of the heliostat within a certain range, and is in wireless communication with a heliostat field control system or a heliostat electric control system to control the rotation of the heliostat in a manner of sending heliostat attitude information; the radar modules are distributed on the outer side of the vehicle-mounted platform and used for monitoring the distance between the vehicle-mounted platform and equipment such as heliostats in a mirror field, and if the distance is smaller than a threshold value, an alarm is given and the vehicle-mounted platform is braked.
Description
Technical Field
The invention belongs to the technical field of tower type solar photo-thermal power generation, and particularly relates to an automatic intelligent cleaning system and method for a heliostat.
Background
The heliostat is a core component in the tower type solar photo-thermal power generation technology, and the sunlight is converged by reflecting the sunlight irradiating to the mirror surface of the heliostat to a target heat absorber area. The cleanliness of the heliostat is reduced after dust, water drops or snow adheres to the mirror surface of the heliostat, and the energy of reflected sunlight is reduced, namely the solar energy with a certain proportion cannot be reflected to a target heat absorber area, so that the light condensation efficiency of the whole solar photo-thermal power station is influenced. Therefore, the heliostat mirror surface needs to be cleaned regularly.
The existing heliostat mirror surface cleaning method mainly comprises two modes of manual cleaning and mechanical cleaning. The manual cleaning mode is used for cleaning the mirror surface through cleaning personnel, and the method is long in time consumption, low in efficiency and not suitable for the mirror surface cleaning work of a large-scale heliostat mirror field. The traditional mechanical cleaning mode is to plan a cleaning route in advance, to rotate all the heliostats on the route to a state to be cleaned in a manual control mode, and to finish the cleaning work in a manual alignment mode before a cleaning mechanism is conveyed to the heliostats to be cleaned in a vehicle conveying mode. In order to ensure that the vehicle can normally pass, the heliostat on the cleaning route needs to keep a specific posture all the time to prevent the mirror surface of the heliostat from being broken, so that the heliostat on the path cannot normally work, and the working efficiency of the heliostat field is reduced.
Therefore, there is a need for an efficient automated and intelligent cleaning system for heliostat mirror surfaces, which can effectively improve the cleanliness of the heliostat mirror surfaces and reduce the influence of cleaning operations on the working efficiency of heliostat mirror fields.
Disclosure of Invention
Aiming at the characteristic of high requirement on the cleanliness of the heliostat mirror surface in the tower-type solar photo-thermal power generation technology, the invention is based on the auxiliary recognition of the mirror surface position and posture of the heliostat to be cleaned by the mirror surface recognition module, and realizes the automatic intelligent cleaning of the heliostat mirror surface by blowing, washing or scraping and other modes.
The invention discloses an automatic intelligent cleaning system for a heliostat, which comprises a vehicle-mounted platform, and a mirror surface identification module, a control module, a cleaning module, a liquid storage module and a radar module which are arranged on the vehicle-mounted platform.
The vehicle-mounted platform is used for transferring the related modules to a target area.
The mirror surface identification module comprises at least one image collector and a calculation unit, wherein the image collector is used for collecting images of the heliostat to be cleaned, and the calculation unit is used for identifying the spatial position relationship between the heliostat mirror surface to be cleaned and the cleaning module and adjusting the position and the posture of the cleaning module according to the spatial position relationship so that the cleaning module can be aligned to the area of the heliostat mirror surface to be cleaned. The image collector consists of an imaging light path (a lens or a pinhole, etc.) and a digital image sensor.
The control module can control the heliostat within a certain range to rotate, and is in communication with the heliostat field control system or the heliostat electric control system in a wireless mode so as to control the rotation of the heliostat in a mode of sending heliostat attitude information.
The cleaning module comprises a support, and a blowing assembly, a water spraying assembly and a scraping assembly which are fixed through the support, wherein the blowing assembly, the water spraying assembly and the scraping assembly are assembled through commercial purchase, and can realize rotation, movement and telescopic operation of at least 3 degrees of freedom and be used for cleaning the mirror surface of the heliostat.
The liquid storage module stores liquid for cleaning the heliostat mirror surface.
The radar modules are distributed on the outer side of the vehicle-mounted platform and used for monitoring the distance between the vehicle-mounted platform and equipment such as heliostats in a mirror field, and if the distance is smaller than a threshold value, an alarm is given and the vehicle-mounted platform is braked.
The invention also discloses an automatic intelligent cleaning method of the heliostat, which comprises the following steps:
(1) planning a heliostat cleaning path, and acquiring the numbers of all heliostats on the path;
(2) the vehicle-mounted platform moves to the starting point of the cleaning path;
(3) the control module is communicated with the heliostat field control system or the heliostat electric control system in a wireless mode; controlling heliostats in a working area to be cleaned to perform corresponding attitude adjustment or keep a normal working state according to a heliostat control strategy to be cleaned;
(4) the heliostat mirror surface cleaning method comprises the following steps that a mirror surface identification module respectively identifies the spatial position relationship between a heliostat mirror surface to be cleaned and a cleaning module, the position and the posture of the cleaning module are adjusted to be aligned to a target mirror surface based on the overlapping condition of projection of a cleaning module area on the heliostat mirror surface and a mirror surface area, and then the cleaning module is controlled to approach the mirror surface to reach a working position according to the distance from the cleaning module to the target mirror surface;
(5) removing dust, sand, water or snow on the mirror surface through the blowing assembly;
(6) if the waterless cleaning mode is used, the mirror surface is directly cleaned by the scraping component; if the water cleaning mode is used, the water spraying assembly is firstly used for washing the mirror surface by using the cleaning liquid in the liquid storage module, and then the scraping assembly is used for cleaning the mirror surface;
(7) cleaning the mirror surface for the second time through the blowing assembly, and cleaning the mirror surface of a single heliostat;
(8) and (5) repeating the steps (3) to (7), and carrying out mirror surface cleaning operation on the heliostat on the next heliostat in the path according to the control strategy of the heliostat to be cleaned.
The invention also discloses a heliostat to be cleaned control strategy, which specifically comprises the following steps:
(1) establishing a working area to be cleaned by taking the heliostat to be cleaned as the center of a circle and taking the radius of the heliostat to be cleaned as R (unit: meter);
(2) the heliostat outside the working area to be cleaned keeps a normal working state and is not controlled by the control module;
(3) heliostats distributed on two sides of a cleaning path in a working area to be cleaned are controlled by the control module, wherein the heliostats on one side to be cleaned need to be rotated to a cleaning posture, and the heliostats on the other side are rotated to an evasion posture to prevent collision;
(4) other heliostats in the working area to be cleaned are kept in a normal working state and are not controlled by the control module;
(5) after the heliostat which is cleaned is moved to the next heliostat by the vehicle-mounted platform, the heliostat is controlled by the control module 3 to be recovered to the normal working state before cleaning;
(6) when one heliostat carries out cleaning work, other heliostats in the working area to be cleaned are controlled by the control module to carry out corresponding posture adjustment or keep a normal working state according to the steps (1) to (5).
The invention has the beneficial effects that:
(1) the invention adopts a vehicle-mounted automatic mechanical cleaning mode, and has high cleaning efficiency;
(2) the mirror surface position of the target heliostat is effectively positioned through the mirror surface identification module, automatic cleaning operation of the mirror surface is realized, and the mirror surface is not influenced by human factors;
(3) according to the invention, the working states of the heliostats on the cleaning path are respectively set through the heliostat control module according to a preset strategy, and the states of the heliostats on the cleaning path are automatically adjusted according to the cleaning completion state, so that the optimization of the working efficiency of the heliostat field is ensured.
Drawings
Fig. 1 is a schematic diagram of an automated intelligent cleaning system for heliostats of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings and specific examples.
Example 1
As shown in fig. 1, an automated intelligent cleaning system for heliostats comprises a vehicle-mounted platform 1, and a mirror surface identification module 2, a control module 3, a cleaning module 4, a liquid storage module 5 and a radar module 6 which are installed on the vehicle-mounted platform. The vehicle-mounted platform 1 is used for transferring the relevant module to a target area.
The mirror surface identification module 2 comprises at least one image collector and a calculation unit, wherein the image collector is used for collecting images of the heliostat to be cleaned, and the calculation unit is used for identifying the spatial position relationship between the mirror surface of the heliostat to be cleaned and the cleaning module 4 and adjusting the position and the posture of the cleaning module 4 according to the spatial position relationship, so that the cleaning module 4 can be aligned to the area of the mirror surface of the heliostat to be cleaned. The image collector consists of an imaging light path (a lens or a pinhole, etc.) and a digital image sensor.
The control module 3 can control the rotation of the heliostat within a certain range, and is in communication with a heliostat field control system or a heliostat electric control system in a wireless mode so as to control the rotation of the heliostat in a mode of sending heliostat attitude information.
The radar modules 6 are distributed on the outer side of the vehicle-mounted platform and used for monitoring the distance between the vehicle-mounted platform and equipment such as heliostats in a mirror field, and if the distance is smaller than a threshold value, an alarm is given and the vehicle-mounted platform is braked.
Example 2
An automatic intelligent cleaning method for heliostats comprises the following steps:
(1) planning a heliostat cleaning path, and acquiring the numbers of all heliostats on the path;
(2) the vehicle-mounted platform 1 moves to the starting point of the cleaning path;
(3) the control module 3 is communicated with a heliostat field control system or a heliostat electric control system in a wireless mode; controlling heliostats in a working area to be cleaned to perform corresponding attitude adjustment or keep a normal working state according to a heliostat control strategy to be cleaned;
(4) the mirror surface recognition module 2 respectively recognizes the spatial position relationship between the heliostat mirror surface to be cleaned and the cleaning module 4, adjusts the position and the posture of the cleaning module 4 to be aligned to the target mirror surface based on the overlapping condition of the projection of the cleaning module 4 region on the heliostat mirror surface and the mirror surface region, and then controls the cleaning module 4 to approach the mirror surface to reach the working position according to the distance from the cleaning module 4 to the target mirror surface;
(5) removing dust, sand, water or snow on the mirror surface through the blowing assembly;
(6) if the waterless cleaning mode is used, the mirror surface is directly cleaned by the scraping component; if the water cleaning mode is used, the water spraying assembly is firstly used for washing the mirror surface by using the cleaning solution in the liquid storage module 5, and then the scraping assembly is used for cleaning the mirror surface;
(7) cleaning the mirror surface for the second time through the blowing assembly, and cleaning the mirror surface of a single heliostat;
(8) and (5) repeating the steps (3) to (7), and carrying out mirror surface cleaning operation on the heliostat on the next heliostat in the path according to the control strategy of the heliostat to be cleaned.
The invention also discloses a heliostat to be cleaned control strategy, which specifically comprises the following steps:
(1) establishing a working area to be cleaned by taking the heliostat to be cleaned as the center of a circle and taking the radius as R (unit: meter);
(2) the heliostat outside the working area to be cleaned keeps a normal working state and is controlled by the uncontrolled module 3;
(3) heliostats distributed on two sides of a cleaning path in a working area to be cleaned are controlled by the control module 3, wherein the heliostats on one side to be cleaned need to be rotated to a cleaning posture, and the heliostats on the other side are rotated to an evasion posture to prevent collision;
(4) other heliostats in the working area to be cleaned keep normal working state and are not controlled by the control module 3;
(5) after the heliostat which is cleaned is moved to the next heliostat by the vehicle-mounted platform 1, the heliostat is controlled by the control module 3 to be recovered to the normal working state before cleaning;
(6) when one heliostat carries out cleaning work, other heliostats in the working area to be cleaned are controlled by the control module 3 to carry out corresponding posture adjustment or keep a normal working state according to the steps (1) to (5).
Claims (3)
1. An automatic intelligent cleaning system of heliostat, its characterized in that: the system comprises a vehicle-mounted platform, and a mirror surface identification module, a control module, a cleaning module, a liquid storage module and a radar module which are arranged on the vehicle-mounted platform;
the heliostat face recognition module comprises at least one image collector, and is used for recognizing the spatial position relationship between the heliostat face to be cleaned and the cleaning module by collecting images of the heliostat to be cleaned and adjusting the position and the posture of the cleaning module so as to enable the cleaning module to be aligned to the area of the heliostat face to be cleaned;
the control module can control the rotation of the heliostat within a certain range, and is in wireless communication with a heliostat field control system or a heliostat electric control system to control the rotation of the heliostat in a manner of sending heliostat attitude information;
the radar modules are distributed on the outer side of the vehicle-mounted platform and used for monitoring the distance between the vehicle-mounted platform and equipment such as heliostats in a mirror field, and if the distance is smaller than a threshold value, an alarm is given and the vehicle-mounted platform is braked.
2. An automatic intelligent cleaning method for heliostats is characterized by comprising the following steps:
(1) planning a heliostat cleaning path, and acquiring the numbers of all heliostats on the path;
(2) the vehicle-mounted platform moves to the starting point of the cleaning path;
(3) the control module is communicated with the heliostat field control system or the heliostat electric control system in a wireless mode; controlling heliostats in a working area to be cleaned to perform corresponding attitude adjustment or keep a normal working state according to a heliostat control strategy to be cleaned;
(4) the heliostat mirror surface cleaning method comprises the following steps that a mirror surface identification module respectively identifies the spatial position relationship between a heliostat mirror surface to be cleaned and a cleaning module, the position and the posture of the cleaning module are adjusted to be aligned to a target mirror surface based on the overlapping condition of projection of a cleaning module area on the heliostat mirror surface and a mirror surface area, and then the cleaning module is controlled to approach the mirror surface to reach a working position according to the distance from the cleaning module to the target mirror surface;
(5) removing dust, sand, water or snow on the mirror surface through the blowing assembly;
(6) if the waterless cleaning mode is used, the mirror surface is directly cleaned by the scraping component; if the water cleaning mode is used, the water spraying assembly is firstly used for washing the mirror surface by using the cleaning liquid in the liquid storage module, and then the scraping assembly is used for cleaning the mirror surface;
(7) cleaning the mirror surface for the second time through the blowing assembly, and cleaning the mirror surface of a single heliostat;
(8) and (5) repeating the steps (3) to (7), and carrying out mirror surface cleaning operation on the heliostat on the next heliostat in the path according to the control strategy of the heliostat to be cleaned.
3. The automated intelligent heliostat cleaning method of claim 2, wherein the heliostat to be cleaned control strategy specifically comprises:
(1) establishing a working area to be cleaned by taking the heliostat to be cleaned as a circle center and taking the radius as R;
(2) the heliostat outside the working area to be cleaned keeps a normal working state and is not controlled by the control module;
(3) heliostats distributed on two sides of a cleaning path in a working area to be cleaned are controlled by the control module, wherein the heliostats on one side to be cleaned need to be rotated to a cleaning posture, and the heliostats on the other side are rotated to an evasion posture to prevent collision;
(4) other heliostats in the working area to be cleaned are kept in a normal working state and are not controlled by the control module;
(5) after the heliostat which is cleaned is moved to the next heliostat by the vehicle-mounted platform, the heliostat is controlled by the control module 3 to be recovered to the normal working state before cleaning;
(6) when one heliostat carries out cleaning work, other heliostats in the working area to be cleaned are controlled by the control module to carry out corresponding posture adjustment or keep a normal working state according to the steps (1) to (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210310798.4A CN114688748A (en) | 2022-03-28 | 2022-03-28 | Automatic intelligent cleaning system and method for heliostat |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210310798.4A CN114688748A (en) | 2022-03-28 | 2022-03-28 | Automatic intelligent cleaning system and method for heliostat |
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| CN114688748A true CN114688748A (en) | 2022-07-01 |
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| CN202210310798.4A Pending CN114688748A (en) | 2022-03-28 | 2022-03-28 | Automatic intelligent cleaning system and method for heliostat |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100206294A1 (en) * | 2009-02-13 | 2010-08-19 | Jason Blair | Heliostat field cleaning system |
| WO2011106665A2 (en) * | 2010-02-25 | 2011-09-01 | Brightsource Industries (Israel) Ltd. | Systems and methods for arranging, maintaining, or operating heliostats in a solar field |
| CN102426455A (en) * | 2011-12-31 | 2012-04-25 | 浙江中控研究院有限公司 | Solar mirror surface cleaning robot system |
| CN103728979A (en) * | 2013-12-25 | 2014-04-16 | 青海中控太阳能发电有限公司 | Full-heliostat-field heliostat cleaning control method |
| CN104841671A (en) * | 2015-05-06 | 2015-08-19 | 浙江中控太阳能技术有限公司 | Cleaning system for surface of heliostat and method thereof |
| CN110780673A (en) * | 2019-11-15 | 2020-02-11 | 浙江中光新能源科技有限公司 | Heliostat night cleaning system based on guidance of searchlight |
| CN111617999A (en) * | 2020-06-12 | 2020-09-04 | 南京工业职业技术学院 | Tower heliostat belt cleaning device |
-
2022
- 2022-03-28 CN CN202210310798.4A patent/CN114688748A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100206294A1 (en) * | 2009-02-13 | 2010-08-19 | Jason Blair | Heliostat field cleaning system |
| WO2011106665A2 (en) * | 2010-02-25 | 2011-09-01 | Brightsource Industries (Israel) Ltd. | Systems and methods for arranging, maintaining, or operating heliostats in a solar field |
| CN102426455A (en) * | 2011-12-31 | 2012-04-25 | 浙江中控研究院有限公司 | Solar mirror surface cleaning robot system |
| CN103728979A (en) * | 2013-12-25 | 2014-04-16 | 青海中控太阳能发电有限公司 | Full-heliostat-field heliostat cleaning control method |
| CN104841671A (en) * | 2015-05-06 | 2015-08-19 | 浙江中控太阳能技术有限公司 | Cleaning system for surface of heliostat and method thereof |
| CN110780673A (en) * | 2019-11-15 | 2020-02-11 | 浙江中光新能源科技有限公司 | Heliostat night cleaning system based on guidance of searchlight |
| CN111617999A (en) * | 2020-06-12 | 2020-09-04 | 南京工业职业技术学院 | Tower heliostat belt cleaning device |
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