WO2023226135A1

WO2023226135A1 - Intelligent heliostat cleaning and sensing measurement system

Info

Publication number: WO2023226135A1
Application number: PCT/CN2022/101256
Authority: WO
Inventors: 张春光; 褚帅; 刘光恒; 刘佳慧; 安磊; 宫迎娇; 刘嘉瑞; 李智超; 杨煜兵; 李上青; 唐贵富; 吕艳; 孙成旭; 李金澎; 孙志涛
Original assignee: 国机传感科技有限公司; 沈阳仪表科学研究院有限公司
Priority date: 2022-05-24
Filing date: 2022-06-24
Publication date: 2023-11-30
Also published as: CN114653661A

Abstract

An intelligent heliostat cleaning and sensing measurement system, comprising: 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 photoelectric sensors (7). The transmission mechanism (2) drives the cleaning arm (3) in a five-axis linkage mode, by means of which, the cleaning arm (3) may adapt to different heliostat surfaces and has a large range of application. According to different reflectivities of a heliostat surface before and after cleaning, the photoelectric sensors can realize pre-cleaning measurement and post-cleaning measurement. According to measurement results of the photoelectric sensors, the control cabinet may control the cleaning arm to mainly clean an unclean area while skipping a clean area, thereby intelligently cleaning a heliostat and shortening operation time. Various sensors are used to ensure that the device can safely and stably operate so as to adaptively adjust and intelligently clean the heliostat.

Description

An intelligent cleaning and sensing detection system for heliostats

This application claims priority to the Chinese patent application submitted to the China Patent Office on May 24, 2022, with the invention title "A heliostat intelligent cleaning sensor detection system". The priority number is 202210565540.9, the entire content of which is incorporated by reference. incorporated in this application.

Technical field

The present application relates to the field of heliostat cleaning, and in particular to an intelligent heliostat cleaning sensor detection system.

Background technique

As a clean renewable energy, solar energy is increasingly used. In particular, photothermal power generation technology is an emerging solar energy utilization technology after photovoltaic power generation technology. Photothermal power generation technology mainly includes: (1) Tower solar thermal power generation technology; (2) trough solar thermal power generation technology; (3) dish solar thermal power generation technology; (4) linear Fresnel solar thermal power generation technology. Among them, tower-type solar thermal power generation uses a large number of heliostats to gather sunlight onto a heat absorber set on the top of the heat-absorbing tower to heat the working medium, generate steam, and drive the steam turbine to drive the generator to generate electricity.

The function of a heliostat is to focus sunlight onto a heat absorber. The cleanliness of the heliostat mirror will affect the reflectivity of the mirror, thereby affecting the incident energy of the heat absorber. Keeping the heliostat mirror surface clean will improve the light-to-heat conversion efficiency. Therefore, the heliostat must be cleaned regularly.

At present, there are various heliostat mirror cleaning equipments, but the adaptive adjustment of the heliostat angle and intelligent cleaning cannot be realized during the cleaning process, and it can only be implemented under the routine operation of the operator. The cleanliness of the heliostat mirror after cleaning cannot be guaranteed, and it may need to be cleaned repeatedly, which increases the operating time and wastes cleaning water.

Contents of the invention

This application provides a heliostat intelligent cleaning sensor detection system to solve the problem that adaptive adjustment of the heliostat angle and intelligent cleaning cannot be realized during the cleaning process. The cleanliness of the heliostat mirror after cleaning cannot be guaranteed, and it may It requires repeated cleaning, which increases operating time and wastes natural resources.

This application provides an intelligent cleaning and sensing detection system for heliostats, including: an engineering vehicle, a transmission mechanism, a cleaning arm, a water supply mechanism, a power supply mechanism, a control cabinet and a photoelectric sensor, wherein the engineering vehicle includes: a hydraulic station and a Trailer, the hydraulic station, transmission mechanism, water supply mechanism, power supply mechanism and control cabinet are all arranged on the engineering vehicle; the hydraulic station is connected to the transmission mechanism; the transmission mechanism is connected to the cleaning arm, so The transmission mechanism drives the cleaning arm using a five-axis linkage method; the cleaning arm is connected to the water supply mechanism; the photoelectric sensor is arranged on the cleaning arm; the power supply mechanism is connected to the engineering vehicle and the transmission mechanism respectively. , the cleaning arm, the water supply mechanism, the control cabinet and the photoelectric sensor are connected; the control cabinet is respectively connected with the engineering vehicle, the transmission mechanism, the cleaning arm, the water supply mechanism, the power supply mechanism and the photoelectric sensor.

Optionally, the transmission mechanism includes: a hydraulic telescopic arm, a guide rod, a connecting rod, a y-axis electric cylinder, an x-axis electric cylinder, a rotating turntable and a lifting hydraulic cylinder, wherein the rotating turntable is provided on the engineering vehicle. ; The hydraulic telescopic arm is arranged on the rotating turntable, and the lifting hydraulic cylinder is arranged on the rotating turntable; the lifting hydraulic cylinder is connected to the hydraulic telescopic arm; one end of the connecting rod is connected to the hydraulic telescopic arm The arm is connected, and the other end is hinged with the guide rod; the guide rod has 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, The other end is hinged to the cleaning arm; one end of the x-axis electric cylinder is hinged to the tail of the guide rod, and the other end is hinged to the connecting rod.

Optionally, the transmission mechanism also includes: a torque limiter and a guide rod inclination sensor, the torque limiter is provided on the hydraulic telescopic arm; the guide rod inclination sensor is provided on the guide rod; The torque limiter and the guide rod inclination sensor are both connected to the control cabinet.

Optionally, the cleaning arm includes: a cleaning frame, a cleaning brush, a coupling, a brush motor, a scraper, a fan, an air duct, a nozzle and a strip water pipe, wherein the cleaning frame and the transmission mechanism Connection; the cleaning brush, coupling, brush motor, scraper, fan, air duct and strip water pipe are all arranged on the cleaning frame; the cleaning brush is connected to the cleaning brush through the coupling The brush motor is connected; the fan is connected to the air duct; the strip water pipe is connected to the water supply mechanism; the nozzle is arranged on the strip water pipe.

Optionally, the cleaning arm also includes: a distance sensor, a brush rotation speed sensor, a pressure sensor, a cleaning inclination sensor and a flow sensor, wherein the distance sensor is provided on the cleaning frame; the brush rotation speed sensor is provided On the cleaning brush; the pressure sensor is arranged on the air duct; the cleaning inclination sensor is arranged on the cleaning frame; the flow sensor is arranged on the strip water pipe; the distance sensor , brush speed sensor, pressure sensor, cleaning inclination sensor and flow sensor are all connected to the control cabinet.

Optionally, the water supply mechanism includes: a water tank, a water pump, a water pipe and a hose reel, wherein the water tank is provided on the engineering vehicle; the water pump is provided on the water tank; and the hose reel is provided on On the engineering vehicle; the water pipe is wound around the pipe reel, one end of the water pipe is connected to the water pump, and the other end is connected to the cleaning arm.

Optionally, the water supply mechanism also includes: a hose reel speed sensor, a liquid level sensor, a water inlet switch and a flow sensor, wherein the hose reel rotation speed sensor is provided on the hose reel; the liquid level sensor and The water inlet switch is arranged on the water tank; the flow sensor is arranged on the water pump; the coil speed sensor, liquid level sensor, water inlet switch and flow sensor are all connected to the control cabinet.

Optionally, the engineering vehicle further includes: a hydraulic prop, the hydraulic prop is arranged on both sides of the engineering vehicle, and the hydraulic prop is connected to the hydraulic station.

Optionally, the engineering vehicle further includes: a pillar inclination sensor, the pillar inclination sensor is arranged on the hydraulic pillar, and the pillar inclination sensor is connected to the control cabinet.

Optionally, the power supply mechanism includes: a generator and a power supply circuit, the generator is connected to the power output shaft of the engineering vehicle; the power supply circuit is respectively connected to the engineering vehicle, transmission mechanism, cleaning arm, water supply mechanism, Control cabinet and photoelectric sensor connection.

This application provides an intelligent cleaning and sensing detection system for heliostats, including: 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 uses a five-axis linkage method to drive the cleaning arm. The five-axis linkage method can be adapted to different heliostat mirror surfaces and has a high scope of application. According to the difference in light reflectivity of the heliostat mirror before cleaning and after cleaning, pre-wash detection and post-wash detection are realized through the photoelectric sensor. According to the detection results of the photoelectric sensor, the control cabinet can control the cleaning arm to focus on cleaning the uncleaned areas and skip the cleaned areas, thereby realizing intelligent cleaning of the heliostat, reducing operating time and reducing Waste of cleaning water. Various sensors such as pillar inclination sensor, guide rod inclination sensor, distance sensor, brush speed sensor, pressure sensor, cleaning inclination sensor, coil speed sensor, liquid level sensor, flow sensor and other sensors are used to ensure that the device can operate safely and stably, and achieve Adaptive adjustment and intelligent cleaning of heliostats.

Description of the drawings

In order to explain the technical solutions of the present application more clearly, the drawings required to be used in the embodiments will be briefly introduced below. Obviously, for those of ordinary skill in the art, without exerting creative efforts, Additional drawings can be obtained from these drawings.

Figure 1 is a front view of a heliostat intelligent cleaning sensor detection system described in this application;

Figure 2 is a top view of a heliostat intelligent cleaning sensor detection system described in this application;

Figure 3 is a side view of the cleaning arm of the present application.

Illustration description:

Among them, 1-engineering vehicle, 101-hydraulic station, 102-hydraulic prop, 103-prop inclination 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-lift hydraulic cylinder, 208-torque limiter, 209-guide rod inclination sensor, 3-cleaning arm, 301-cleaning frame, 302-cleaning brush, 303- Coupling, 304-brush motor, 305-scraper, 306-fan, 307-air duct, 308-nozzle, 309-strip water pipe, 310-distance sensor, 311-brush speed sensor, 312-pressure sensor , 313-Cleaning inclination sensor, 4-water supply mechanism, 401-water tank, 402-water pump, 403-water pipe, 404-pipe reel, 405-pipe reel speed sensor, 406-liquid level sensor, 407-water inlet switch, 408 -Flow sensor, 5-power supply mechanism, 6-control cabinet, 7-photoelectric sensor.

Detailed ways

An embodiment will be described in detail below, examples of which are illustrated in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following examples do not represent all implementations consistent with this application. are merely examples of systems and methods consistent with some aspects of the application as detailed in the claims.

Heliostat refers to an optical device that reflects the light of the sun or other celestial bodies in a fixed direction. It is also called a heliostat. Most of them are installed in sunny areas such as Gobi and deserts. Heliostats include at least two plane mirrors, and The azimuth angle adjustment mechanism and the altitude angle adjustment mechanism of the plane mirror. There are various types of heliostat mirror cleaning equipment, and different forms of cleaning equipment are required according to different cleaning angles. When the heliostat is in a horizontal state, a straddle-type heliostat cleaning vehicle is used; when the heliostat is at an oblique angle, a boom-type heliostat cleaning vehicle can be used. However, boom-type cleaning vehicles mostly use cleaning equipment installed on fixed booms. During the cleaning process, adaptive adjustment of the heliostat angle and intelligent cleaning cannot be realized, and it can only be implemented under the normal operation of the operator. The cleanliness of the heliostat mirror after cleaning cannot be guaranteed, and it may need to be cleaned repeatedly, which increases the operating time and wastes cleaning water.

This application provides a heliostat intelligent cleaning sensing detection system, as shown in Figure 1, including: 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 engineering vehicle 1 includes: 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 installed on the engineering vehicle 1; the hydraulic station 101, used to drive each hydraulic machinery to do work. The hydraulic station 101 is connected to the transmission mechanism 2; the transmission mechanism 2 is connected to the cleaning arm 3, and the transmission mechanism 2 drives the cleaning arm 3 using a five-axis linkage; the cleaning arm 3 uses To clean the heliostat. The cleaning arm 3 is connected to the water supply mechanism 4; the water supply mechanism 4 is used to provide cleaning water to the cleaning arm 3. The photoelectric sensor 7 is arranged on the cleaning arm 3; the power supply mechanism 5 is connected to the engineering vehicle 1, the transmission mechanism 2, the cleaning arm 3, the water supply mechanism 4, the control cabinet 6 and the photoelectric sensor 7 respectively; The power supply mechanism 5 is used to supply power to various mechanisms. The control cabinet 6 is connected to the engineering vehicle 1, the transmission mechanism 2, the cleaning arm 3, the water supply mechanism 4, the power supply mechanism 5 and the photoelectric sensor 7 respectively. The control cabinet 6 is used to receive signals fed back by various sensors and control the actions of various mechanisms. For example, the connection can be made in a cable or wireless manner.

The engineering vehicle 1 can be a three-axle vehicle (a three-axle vehicle refers to a truck with three rows of tires in the trailer part). The hydraulic station 101, transmission mechanism 2, water supply mechanism 4, power supply mechanism 5 and control cabinet 6 are all placed in On a trailer, sufficient load capacity is required.

The transmission mechanism 2 uses a five-axis linkage method to drive the cleaning arm 3, that is, the transmission mechanism 2 can drive the cleaning arm 3 to move in three linear coordinates and two rotation coordinate directions. Using a five-axis linkage method can It is adaptable to different heliostat mirror surfaces and has high scope of application.

In an illustrative embodiment, as shown in Figure 2, the transmission mechanism 2 includes: 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, and a rotating turntable. 206 and a lifting hydraulic cylinder 207, wherein the rotating turntable 206 is provided on the engineering vehicle 1; the hydraulic telescopic arm 201 is provided on the rotating turntable 206, and the lifting hydraulic cylinder 207 is provided on the rotating turntable. 206 on; the lifting hydraulic cylinder 207 is connected to the hydraulic telescopic arm 201; one end of the connecting rod 203 is connected to the hydraulic telescopic arm 201, and the other end is hinged to the guide rod 202; the guide rod 202 is T The head of the guide rod 202 is hinged to the cleaning arm 3; one end of the y-axis electric cylinder 204 is hinged to the head of the guide rod 202, and the other end is hinged to the cleaning arm 3; the x-axis One end of the electric cylinder 205 is hinged to the tail of the guide rod 202, and the other end is hinged to the connecting rod 203.

The rotating turntable 206 is used to control the rotation of the hydraulic telescopic arm 201. As shown in FIG. 2 , when the hydraulic telescopic arm 201 rotates, the connecting rod 203 can drive the cleaning arm 3 to move in the x-axis direction.

The hydraulic telescopic arm 201 can telescope along its straight line. As shown in FIG. 2 , when the hydraulic telescopic arm 201 expands and contracts, the connecting rod 203 can drive the cleaning arm 3 to move in the z-axis direction.

The lifting hydraulic cylinder 207 is used to control the lifting and lowering of the hydraulic telescopic arm 201. As shown in FIG. 1 , when the hydraulic telescopic arm 201 is raised and lowered, the connecting rod 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 Figure 3, is used to control the guide rod 202 to drive the cleaning arm 3 to swing in the x-axis direction.

In an illustrative embodiment, the transmission mechanism 2 also includes: a torque limiter 208 and a guide rod inclination sensor 209. The torque limiter 208 is provided on the hydraulic telescopic arm 201; The sensor 209 is arranged on the guide rod 202 ; the torque limiter 208 and the guide rod inclination sensor 209 are both connected to the control cabinet 6 .

The torque limiter 208 is provided at the root of the hydraulic telescopic arm 201 , and the root of the hydraulic telescopic arm 201 is the location where the hydraulic telescopic arm 201 is connected to the rotating turntable 206 . Since each heliostat mirror is at a different angle, the hydraulic telescopic arm 201 has different telescopic and lifting amplitudes. During the telescopic and lifting process of the hydraulic telescopic arm 201, the effective force arm will continue to become smaller. When the torque caused by the lifting height or amplitude angle of the hydraulic telescopic arm 201 exceeds the torque limit value at the root of the hydraulic telescopic arm 201 , the control cabinet 6 will receive the feedback signal from the torque limiter 208 and Remind workers to stop working.

The guide rod inclination sensor 209 is used to detect the inclination angle of the guide rod 202 to prevent equipment damage caused by excessive swing angle during the adjustment of the guide rod 202 by the x-axis electric cylinder 205. or security issues. In addition, after the cleaning operation is completed, if the guide rod 202 is still in an inclined state, the control cabinet 6 will receive the feedback signal from the guide rod inclination sensor 209 and issue an alarm to remind the operator to move the guide rod 202 Restore to the initial position to avoid equipment damage or safety accidents.

The photoelectric sensor 7 is used to detect the cleanliness of the heliostat mirror. According to the difference in light reflectivity of the heliostat mirror before cleaning and after cleaning, the photoelectric sensor 7 is used to realize pre-wash detection and post-wash detection. For example, a plurality of the photoelectric sensors 7 are arranged in a rectangular array on the upper and lower sides of the cleaning arm 3 . The heliostat mirror is cleaned in a top-down manner. When the cleaning arm 3 starts from the top and moves downward while cleaning the heliostat, the photoelectric sensor 7 on the upper side of the cleaning arm 3 moves during the walking process. The post-cleaning result can be detected, and the photoelectric sensor 7 on the lower side of the cleaning arm 3 can detect the pre-cleaning result. The control cabinet 6 can control the pair of cleaning arms 3 based on the detection result of the photoelectric sensor 7. Focus on cleaning the areas that have not been cleaned, and skip the cleaned areas, thereby realizing intelligent cleaning of the heliostat, reducing operating time and reducing the waste of cleaning water.

The control cabinet 6 is used to receive signals fed back by various sensors and control the actions of each mechanism. For example, the control cabinet 6 can be a computer, a server, an industrial computer, a microcontroller, a PLC (Programmable Logic Controller, a programmable logic controller), a DSP (digital signal processor, a digital signal processor), or an FPGA (Field Programmable Gate Array). , field programmable logic gate array), ASIC (Application-specific integrated circuit, application-specific integrated circuit) and other devices with storage and computing functions, the embodiments of the present application do not limit this.

In an illustrative embodiment, as shown in Figure 1, the cleaning arm 3 includes: a cleaning frame 301, a cleaning brush 302, a coupling 303, a brush motor 304, a scraper 305, a fan 306, a fan Pipe 307, nozzle 308 and strip water pipe 309, wherein the cleaning frame 301 is connected to the transmission mechanism 2; the cleaning brush 302, coupling 303, brush motor 304, scraper 305, fan 306, The air duct 307 and the strip water pipe 309 are both arranged on the cleaning frame 301; the cleaning brush 302 is connected to the brush motor 304 through the coupling 303; the fan 306 and the air duct 307 Connection; the strip water pipe 309 is connected to the water supply mechanism 4; the nozzle 308 is provided on the strip water pipe 309.

The cleaning frame 301 is a rectangular parallelepiped, and can be made of steel bars, aluminum alloys and other materials.

The cleaning brush 302 is in the shape of a long strip and is used to clean the heliostat. The cleaning brush 302 is arranged at the bottom of the cleaning frame 301 and traverses 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 in the shape of a long strip and is arranged above the cleaning brush 302. For example, the strip-shaped water pipe 309 can be a steel pipe. A plurality of nozzles 308 are provided on the strip-shaped water pipe 309 . In summer, the nozzle 308 is used to spray clean water on the surface of the heliostat, and the cleaning brush 302 rotates and uses the bristles to clean. At the same time, a scraper 305 is disposed above the nozzle 308 for scraping away residual water stagnation.

The fan 306 is disposed on the top of the cleaning frame 301 for supplying air to the air duct 307 . The air duct 307 is in the shape of multiple strips and is located below the fan 306 . The daily temperature in winter is usually about -30°C, and water will freeze quickly if used for washing. Therefore, the fan 306 supplies air, and the air duct 307 is used for cleaning by blowing.

In an illustrative embodiment, the cleaning arm 3 also includes: a distance sensor 310, a brush rotation speed sensor 311, a pressure sensor 312, a cleaning inclination sensor 313 and a flow sensor 408, wherein the distance sensor 310 is disposed on On the cleaning frame 301; the brush rotation speed sensor 311 is provided on the cleaning brush 302; the pressure sensor 312 is provided on the air duct 307; the cleaning inclination sensor 313 is provided on the cleaning frame 301; the flow sensor 408 is arranged on the strip water pipe 309; the distance sensor 310, brush rotation speed sensor 311, pressure sensor 312, cleaning inclination sensor 313 and flow sensor 408 are all connected to the control cabinet 6 .

The distance sensor 310 is used to monitor the distance between the cleaning frame 301 and the heliostat mirror surface to be cleaned. For example, the distance sensor 310 can be an ultrasonic sensor. The distance between the cleaning frame 301 and the heliostat mirror to be cleaned is monitored at all times by a plurality of distance sensors 310 provided on the cleaning frame 301 to ensure that the cleaning brush 302 and the heliostat mirror are kept within an effective distance. Since the heliostat mirror cannot be completely vertical to the ground when installed, by setting the distance sensor 310, the control cabinet 6 will receive the distance data between the cleaning frame 301 and the heliostat mirror in real time, and adjust the distance between the cleaning frame 301 and the heliostat mirror in real time. The distance between the heliostat mirror and the heliostat mirror ensures that the cleaning brush 302 can effectively clean the heliostat mirror, reducing the number of repeated cleanings and improving the cleaning efficiency.

The brush rotation speed sensor 311 is used to monitor the working status of the cleaning brush 302. Since cleaning is mostly performed at a high altitude, it is difficult for operators to observe the working status of the cleaning brush 302. A brush rotation speed sensor 311 is provided at the rotating shaft of the cleaning brush 302 to monitor the working status of the cleaning brush 302 in real time. If the cleaning brush 302 stops running or the rotation speed is too low to reach the rotation speed required by the cleaning standard, the control cabinet 6 The feedback signal from the brush rotation speed sensor 311 will be received and the operator will be reminded to stop the operation and retract the cleaning arm 3 for troubleshooting.

The flow sensor 408 is used to monitor the water supply in the strip water pipe 309 . The water output is monitored in real time through several flow sensors 408 provided on the strip water pipe 309 to ensure that the cleaning medium meets the cleaning needs.

The pressure sensor 312 is used to monitor the air supply condition in the air duct 307 . The air outlet volume is monitored in real time through several pressure sensors 312 provided on the air duct 307 to ensure that the cleaning medium meets the cleaning needs.

The cleaning inclination sensor 313 is used to detect the inclination angle of the cleaning arm 3 to prevent equipment damage or damage caused by an excessive swing angle during the adjustment of the cleaning arm 3 by the y-axis electric cylinder 204. Security Question. In addition, after the cleaning operation is completed, if the cleaning arm 3 is still in a tilted state, the control cabinet 6 will receive the feedback signal from the cleaning tilt angle sensor 313 and issue an alarm to remind the operator to restore the cleaning arm 3 Return to the initial position to avoid equipment damage or safety accidents.

In an illustrative embodiment, the water supply mechanism 4 includes: a water tank 401, a water pump 402, a water pipe 403 and a hose reel 404, wherein the water tank 401 is provided on the engineering vehicle 1; the water pump 402 It is arranged on the water tank 401; the hose reel 404 is arranged on the engineering vehicle 1; the water pipe 403 is wound on the hose reel 404, and one end of the water pipe 403 is connected to the water pump 402, and the other end of the water pipe 403 is connected to the water pump 402. One end is connected to the cleaning arm 3.

The water tank 401 is used to load cleaning water. The cleaning water is supplied to the cleaning arm 3 through the water pump 402 and the water pipe 403.

The hose reel 404 is used to automatically retract and retract the water pipe 403 when the cleaning arm 3 moves to ensure that the water pipe 403 is at a suitable length.

In an illustrative embodiment, the water supply mechanism 4 also includes: a coil rotation speed sensor 405, a liquid level sensor 406, a water inlet switch 407 and a flow sensor 408, wherein the coil rotation speed sensor 405 is disposed at a certain location. The hose reel 404; the liquid level sensor 406 and the water inlet switch 407 are set on the water tank 401; the flow sensor 408 is set on the water pump 402; the reel speed sensor 405, the liquid level sensor 406, the water inlet switch 407 and the flow sensor 408 are all connected to the control cabinet 6.

The hose reel speed sensor 405 is used to monitor the rotation speed of the hose reel 404 to avoid equipment damage caused by excessive speed of the hose reel 404 when the cleaning arm 3 moves too fast.

The liquid level sensor 406 is used to monitor the amount of water in the water tank 401 . When the water level in the water tank 401 is lower than the effective water level, the control cabinet 6 will receive the feedback signal from the liquid level sensor 406 and remind the operator to perform water filling operations. The operator can open the water filling port through the water inlet switch 407 provided on the control cabinet 6 linkage control water tank 401. For example, the water inlet switch 407 can use an electromagnet.

The flow sensor 408 is used to monitor the water supply in the water pump 402 and monitor the water output in real time to ensure that the cleaning medium meets the cleaning needs.

In an illustrative embodiment, the engineering vehicle 1 further includes: a hydraulic prop 102 , the hydraulic prop 102 is provided on both sides of the engineering vehicle 1 , and the hydraulic prop 102 is connected to the hydraulic station 101 .

Since the embodiment provided in this application only operates on one side, heliostats are often installed in areas with uneven ground such as the Gobi Desert. In order to ensure safety during cleaning operations, two sets of hydraulic pillars 102 are provided on both sides of the engineering vehicle 1 to stabilize the vehicle body during cleaning operations.

In an illustrative embodiment, the engineering vehicle 1 further includes: a pillar inclination sensor 103 , which is provided on the hydraulic pillar 102 , and is connected to the control cabinet 6 connect.

The pillar inclination sensor 103 is used to monitor the inclination angle of the engineering vehicle 1 to avoid the problem of tilting to one side during work. If the inclination angle is too large, there may be a risk of rollover. A plurality of the inclination angle sensors 103 of the pillars are provided at the hydraulic strut 102 to monitor the inclination angle of the vehicle body in real time. If the inclination angle is too large, the control cabinet 6 will receive the feedback signal from the pillar inclination sensor 103 and notify the operator to stop the operation to avoid major safety accidents.

In an exemplary embodiment, the power supply mechanism 5 includes: a generator and a power supply circuit, and the generator is connected to the power output shaft of the engineering vehicle 1 . The power supply circuit is connected to the engineering vehicle 1, transmission mechanism 2, cleaning arm 3, water supply mechanism 4, control cabinet 6 and photoelectric sensor 7 respectively.

Heliostats are often installed in areas with poor environments such as the Gobi Desert. For example, the generator can use a diesel generator to provide better power.

This application provides an intelligent cleaning and sensing detection system for heliostats, including: 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 transmission mechanism 2 uses a five-axis linkage method to drive the cleaning arm 3. The five-axis linkage method can be adapted to different heliostat mirror surfaces and has a high scope of application. According to the difference in light reflectivity of the heliostat mirror before cleaning and after cleaning, the photoelectric sensor 7 is used to realize pre-wash detection and post-wash detection. The control cabinet 6 can control the cleaning arm 3 to focus on cleaning the uncleaned areas and skip the cleaned areas according to the detection results of the photoelectric sensor 7, thereby realizing intelligent cleaning of the heliostat and reducing work. time and reduce waste of cleaning water. Using various sensors such as pillar inclination sensor 103, guide rod inclination sensor 209, distance sensor 310, brush speed sensor 311, pressure sensor 312, cleaning inclination sensor 313, coil speed sensor 405, liquid level sensor 406, flow sensor 408, etc. It ensures that the device can operate safely and stably, and realizes adaptive adjustment and intelligent cleaning of the heliostat.

Similar parts between the embodiments provided in this application can be referred to each other. The specific implementations provided above are just a few examples under the general concept of this application and do not constitute a limitation on the protection scope of this application. For those skilled in the art, any other embodiments extended based on the solution of this application without any creative effort shall fall within the protection scope of this application.

Claims

An intelligent cleaning and sensing detection system for heliostats, which is characterized by including: an engineering vehicle (1), a transmission mechanism (2), a cleaning arm (3), a water supply mechanism (4), a power supply mechanism (5), and a control cabinet (6) and photoelectric sensor (7), where,

The engineering vehicle (1) includes: a hydraulic station (101) and a trailer,

The hydraulic station (101), transmission mechanism (2), water supply mechanism (4), power supply mechanism (5) and control cabinet (6) are all installed on the trailer;

The hydraulic station (101) is connected to the transmission mechanism (2);

The transmission mechanism (2) is connected to the cleaning arm (3), and the transmission mechanism (2) drives the cleaning arm (3) using five-axis linkage;

The cleaning arm (3) is connected to the water supply mechanism (4);

The photoelectric sensor (7) is arranged on the cleaning arm (3);

The power supply mechanism (5) is connected to the engineering vehicle (1), transmission mechanism (2), cleaning arm (3), water supply mechanism (4), control cabinet (6) and photoelectric sensor (7) respectively;

The control cabinet (6) is connected to the engineering vehicle (1), transmission mechanism (2), cleaning arm (3), water supply mechanism (4), power supply mechanism (5) and photoelectric sensor (7) respectively.
A heliostat intelligent cleaning sensor detection system according to claim 1, characterized in that the transmission mechanism (2) includes: a hydraulic telescopic arm (201), a guide rod (202), and a connecting rod (203) , y-axis electric cylinder (204), x-axis electric cylinder (205), rotating turntable (206) and lifting hydraulic cylinder (207), among which,

The rotating turntable (206) is provided on the engineering vehicle (1);

The hydraulic telescopic arm (201) is provided on the rotating turntable (206), and the lifting hydraulic cylinder (207) is provided on the rotating turntable (206);

The lifting hydraulic cylinder (207) is connected to the hydraulic telescopic arm (201);

One end of the connecting rod (203) is connected to the hydraulic telescopic arm (201), and the other end is hinged to the guide rod (202);

The guide rod (202) has a T-shaped structure, and the head of the guide rod (202) is hingedly connected to 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 to the tail of the guide rod (202), and the other end is hinged to the connecting rod (203).
A heliostat intelligent cleaning sensor detection system according to claim 2, characterized in that the transmission mechanism (2) further includes: a torque limiter (208) and a guide rod inclination sensor (209),

The torque limiter (208) is provided on the hydraulic telescopic arm (201);

The guide rod inclination sensor (209) is arranged on the guide rod (202);

The torque limiter (208) and the guide rod inclination sensor (209) are both connected to the control cabinet (6).
An intelligent cleaning sensor detection system for heliostats according to claim 1, characterized in that the cleaning arm (3) includes: a cleaning frame (301), a cleaning brush (302), a coupling (303) ), brush motor (304), scraper (305), fan (306), air duct (307), nozzle (308) and strip water pipe (309), among which,

The cleaning frame (301) is connected to the transmission mechanism (2);

The cleaning brush (302), coupling (303), brush motor (304), scraper (305), fan (306), air duct (307) and strip water pipe (309) are all arranged at the location. on the cleaning frame (301);

The cleaning brush (302) is connected to the brush motor (304) through the coupling (303);

The fan (306) is connected to the air duct (307);

The strip water pipe (309) is connected to the water supply mechanism (4);

The nozzle (308) is provided on the strip water pipe (309).
A heliostat intelligent cleaning sensor detection system according to claim 4, characterized in that the cleaning arm (3) further includes: a distance sensor (310), a brush rotation speed sensor (311), a pressure sensor ( 312), cleaning the inclination sensor (313) and the flow sensor (408), among which,

The distance sensor (310) is provided on the cleaning frame (301);

The brush rotation speed sensor (311) is provided on the cleaning brush (302);

The pressure sensor (312) is provided on the air duct (307);

The cleaning inclination sensor (313) is provided on the cleaning frame (301);

The flow sensor (408) is arranged on the strip water pipe (309);

The distance sensor (310), brush rotation speed sensor (311), pressure sensor (312), cleaning inclination sensor (313) and flow sensor (408) are all connected to the control cabinet (6).
A heliostat intelligent cleaning sensor detection system according to claim 1, characterized in that the water supply mechanism (4) includes: a water tank (401), a water pump (402), a water pipe (403) and a hose reel (404), among which,

The water tank (401) is installed on the engineering vehicle (1);

The water pump (402) is provided on the water tank (401);

The hose reel (404) is installed on the engineering vehicle (1);

The water pipe (403) is wound around the hose reel (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).
A heliostat intelligent cleaning sensor detection system according to claim 6, characterized in that the water supply mechanism (4) also includes: a coil rotation speed sensor (405), a liquid level sensor (406), a water inlet switch (407) and flow sensor (408), where,

The reel rotation speed sensor (405) is provided on the reel (404);

The liquid level sensor (406) and water inlet switch (407) are provided on the water tank (401);

The flow sensor (408) is provided on the water pump (402);

The coil speed sensor (405), liquid level sensor (406), water inlet switch (407) and flow sensor (408) are all connected to the control cabinet (6).
A heliostat intelligent cleaning sensor detection system according to claim 1, characterized in that the engineering vehicle (1) further includes: a hydraulic prop (102), the hydraulic prop (102) is arranged on the On both sides of the engineering vehicle (1), the hydraulic support (102) is connected to the hydraulic station (101).
A heliostat intelligent cleaning sensor detection system according to claim 8, characterized in that the engineering vehicle (1) further includes: a pillar inclination sensor (103), and the pillar inclination sensor (103) is arranged on On the hydraulic pillar (102), the pillar inclination sensor (103) is connected to the control cabinet (6).
A heliostat intelligent cleaning sensor detection system according to claim 1, characterized in that the power supply mechanism (5) includes: a generator and a power supply circuit, and the generator is connected to the engineering vehicle (1) PTO shaft;

The power supply circuit is connected to the engineering vehicle (1), transmission mechanism (2), cleaning arm (3), water supply mechanism (4), control cabinet (6) and photoelectric sensor (7) respectively.