Heliostat group cleaning vehicle and cleaning control system

Abstract

The invention relates to the technical field of heliostat group cleaning devices, and discloses a heliostat group cleaning trolley which comprises a main body, a rotating and connecting device fixedly installed at the bottom of the main body, a crawler belt connected to the bottom of the rotating and connecting device and a cleaning assembly arranged above the main body. The cleaning assembly comprises a cleaning mechanism arranged above the main body, the cleaning mechanism comprises a first motor arranged above the main body, the cleaning mechanism is connected with a scraping mechanism, the side face of the cleaning mechanism is connected with an adjusting mechanism, and the adjusting mechanism is located above the main body. The surface of the heliostat group can be cleaned through the bristles, impurities on the surface of the bristles can be scraped off through the wave plate by arranging the scraping mechanism, the cleaning effect of the bristles on the surface of the heliostat group is improved, and the heliostat groups at different positions can be conveniently cleaned by arranging the adjusting mechanism and rotating the angle of the rectangular plate.

Description

Technical Field

[0001] The present invention relates to the technical field of heliostat group cleaning devices, and in particular to a heliostat group cleaning vehicle and a cleaning control system. Background Art

[0002] A heliostat is an optical device that reflects light from the sun or other celestial bodies in a fixed direction. It is also called a star-fixing mirror. Its function is similar to that of a coelostat, but it uses a flat mirror placed in an equatorial device that can move in the declination direction.

[0003] With the continuous development of solar thermal power generation technology, heliostats, as an important part of the concentrating system, have a mirror surface cleanliness that directly affects the efficiency of light absorption and reflection. Traditional manual cleaning methods are not only inefficient but also costly, and it is difficult to meet the cleaning needs of large-scale heliostat groups. Therefore, it is particularly important to develop an automated and intelligent cleaning vehicle and control system. To this end, we proposed a heliostat group cleaning vehicle and cleaning control system. Summary of the invention

[0004] A heliostat group cleaning vehicle and a cleaning control system of the present invention realize the automated cleaning of the heliostat group, significantly improve the cleaning efficiency, reduce the labor cost and the difficulty of operation and maintenance, and at the same time, through seamless docking, ensure the minimum interference of the cleaning operation on the normal operation of the heliostats, thereby improving the overall operation efficiency and stability of the solar thermal power generation system.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solutions: a heliostat group cleaning vehicle, comprising a main body;

[0006] A rotating and connecting device fixedly mounted on the bottom of the main body;

[0007] A crawler connected to the bottom of the rotating and connecting device;

[0008] And a cleaning component arranged above the main body, the cleaning component includes a cleaning mechanism arranged above the main body, the cleaning mechanism includes a motor 1 arranged above the main body, the output end of the motor 1 is fixedly installed with an output shaft 1, the other end of the output shaft 1 is fixedly installed with a U-shaped plate, the top of the U-shaped plate is fixedly installed with a motor 2, the output end of the motor 2 is fixedly installed with a screw rod, the screw rod movably penetrates the outer wall of the U-shaped plate and extends to the inside of the U-shaped plate, the other end of the screw rod is rotatably connected to the inner wall of the U-shaped plate, the outer wall of the screw rod is threadedly connected with a socket block, the side wall of the socket block is fixedly installed with a fixing frame, the end surface of the fixing frame is fixedly installed with a motor 3, the output end of the motor 3 is fixedly installed with a transmission shaft, the outer wall of the other end of the transmission shaft is rotatably connected to the inner wall of the fixing frame through a bearing, A cleaning roller is fixedly installed on the outer wall, and bristles are fixedly installed on the outer wall of the cleaning roller. By setting a cleaning mechanism, when it is necessary to clean the surface of the heliostat group, the operator can turn on the motor 1 to cause the output shaft 1 to rotate, and cause the U-shaped plate to rotate, so as to adjust the cleaning position of the heliostat group. After the cleaning position of the heliostat group is adjusted, the operator can turn on the motor 3 to cause the transmission shaft to rotate, and cause the cleaning roller and the bristles to rotate accordingly, so as to clean the surface of the heliostat group. When cleaning the heliostat group, the operator needs to turn on the motor 2 to cause the screw rod to rotate, cause the socket block to move laterally along the outer wall of the screw rod, cause the fixed frame to move, and cause the bristles to reciprocate and clean the surface of the heliostat group, thereby improving the cleaning effect and cleaning efficiency of the surface of the heliostat group.

[0009] The cleaning mechanism is connected to a scraping mechanism;

[0010] The side of the cleaning mechanism is connected with an adjusting mechanism, and the adjusting mechanism is located above the main body. By setting the cleaning mechanism, the surface of the heliostat group can be cleaned by the bristles. By setting the scraping mechanism, impurities on the surface of the bristles can be scraped off by the wave plate, thereby improving the effect of the bristles on the surface of the heliostat group. By setting the adjusting mechanism, the angle of the rectangular plate can be rotated to facilitate the cleaning of the heliostat group at different positions.

[0011] Preferably, the scraping mechanism comprises a U-shaped plate slidably arranged on the inner wall of the side surface of the U-shaped plate, and is slidably connected to a plug column, the other end of the plug column is fixedly installed with an L-shaped block 1, the other end of the L-shaped block 1 is fixedly installed with a wave plate, the side wall of the L-shaped block 1 is slidably connected to a limiting block, the other end of the limiting block is fixedly connected to the side wall of the U-shaped plate, the side wall of the L-shaped block 1 is fixedly installed with a fixing block, the inner wall of the fixing block is threadedly connected with a screw, and the top outer wall of the screw is fixedly installed with a rotating block, the side wall of the U-shaped plate is provided with a rectangular groove, the other end of the screw is rotatably connected with a rectangular block, the outer wall of the rectangular block is slidably connected to the inner wall of the rectangular groove, and the scraping mechanism is provided In addition to the mechanism, after the surface cleaning of the heliostat group is completed, the operator can insert the plug into the inner wall of the side of the U-shaped plate to make the side wall of the limit block fit with the side wall of the L-shaped block one, and then tighten the rotating block to rotate the screw, so as to move the rectangular block downward and insert the rectangular block into the inner wall of the rectangular groove to fix the position of the L-shaped block one. After the sleeve block moves to the side of the wave plate, the motor two is turned off to stop the screw from rotating. During the rotation of the cleaning roller, the bristles will be squeezed with the side wall of the wave plate during rotation, so as to clean the impurities attached to the surface of the bristles during the cleaning process, so that the bristles can more effectively clean the surface of the heliostat group.

[0012] Preferably, the adjustment mechanism includes a cab and a control room fixedly mounted on the outer wall of the main body, an information transmission device is fixedly mounted on the top of the cab and the control room, a motor four is fixedly mounted on the bottom of the inner wall of the main body, an output shaft two is fixedly mounted on the output end of the motor four, a turntable is fixedly mounted on the top of the output shaft two, the outer wall of the turntable is slidably connected to the top inner wall of the main body, a support frame is fixedly mounted on the top of the turntable, a rectangular plate is fixedly mounted on the top of the support frame, an electric push rod one is movably mounted on the top of the rectangular plate through a hinge, a movable frame one is movably mounted on the other end of the electric push rod one through a hinge, one end of the movable frame one is movably connected to the top of the rectangular plate through a hinge, and the other end side wall of the movable frame one is movably mounted through a hinge A movable frame 2 is provided, an L-shaped block 2 is fixedly installed on the side wall of the movable frame 1, an electric push rod 2 is movably installed on the side wall of the L-shaped block 2 through a hinge, and the other end of the electric push rod 2 is movably connected to the side wall of the movable frame 2 through a hinge. By setting an adjustment mechanism, when it is necessary to adjust the cleaning of heliostat groups at different positions, the operator can turn on the motor 4 to cause the output shaft 2, the turntable, the support frame and the rectangular plate to rotate, so as to adjust the cleaning position of the heliostat group. When it is necessary to clean heliostat groups of different heights, the operator can turn on the electric push rod 1 to cause the movable frame 1 to rotate, and then turn on the electric push rod 2 to cause the movable frame 2 to rotate, so as to adjust the height of the cleaning roller and clean the heliostat groups of different heights.

[0013] A cleaning control system, the above-mentioned heliostat group cleaning vehicle, comprises:

[0014] A heliostat group control system controls the opening and closing of the heliostats based on instructions; the heliostat group control system is also used to send feedback signals;

[0015] A cleaning vehicle control system, used to control the cleaning vehicle to clean the heliostat group according to a predetermined route; the cleaning vehicle control system is also used to send signals, including arrival position signals and cleaning completion signals;

[0016] A docking system, used to receive signals from the cleaning vehicle control system and send instructions to the heliostat group control system, including requesting to receive cleaning instructions and completing cleaning instructions;

[0017] The cleaning vehicle control system comprises:

[0018] A cleaning vehicle control module, used to control the cleaning vehicle to clean a designated heliostat;

[0019] The cleaning vehicle path planning module is used to plan the cleaning route of the cleaning vehicle, that is, to generate a predetermined route;

[0020] A cleaning vehicle positioning module is used to indicate the location of the cleaning vehicle;

[0021] The cleaning vehicle docking module is used to send and receive signals, wherein the sent signals include arrival position signals and cleaning completion signals; and the received signals include feedback signals;

[0022] The method of controlling the cleaning vehicle to clean the heliostat group is:

[0023] receiving feedback signals;

[0024] Control the cleaning vehicle to clean the designated heliostat

[0025] The heliostat group control system includes a heliostat cleaning control module, a heliostat daily operation control module and a heliostat maintenance control module.

[0026] Preferably, the method for the cleaning vehicle path planning module to plan a predetermined route is:

[0027] Get the heliostat group layout;

[0028] Acquire the position of the cleaning vehicle based on the cleaning vehicle positioning module;

[0029] The scheduled route is planned based on the heliostat cluster layout and the cleaning vehicle location.

[0030] Preferably, the heliostat group control system includes a heliostat group control module and a heliostat group docking module;

[0031] The heliostat group control module is used to control the opening and closing of the heliostat group; the heliostat group docking module is used to receive instructions and send feedback signals.

[0032] Preferably, the method for the heliostat group control module to control the opening and closing of the heliostat group is:

[0033] receiving a cleaning request instruction from the docking system;

[0034] The heliostat group control module controls the designated heliostat to shut down;

[0035] receiving a cleaning completion instruction from the docking system;

[0036] The heliostat group control module controls the start-up of the designated heliostat.

[0037] Preferably, when the cleaning vehicle docking module sends a cleaning completion signal, the cleaning vehicle path planning module controls the cleaning vehicle to move to an adjacent heliostat, and the cleaning vehicle docking module sends a position arrival signal again.

[0038] Preferably, the cleaning vehicle control system further comprises a cleaning monitoring module, and the cleaning monitoring module is used to adjust cleaning parameters according to the cleaning effect; the cleaning parameters include the speed, angle and amount of cleaning agent of the cleaning roller;

[0039] The method for the cleaning monitoring module to adjust the cleaning parameters according to the cleaning effect is:

[0040] Acquire a cleaning effect index in real time; the cleaning effect index is the glossiness of the cleaned surface of the heliostat;

[0041] comparing the cleaning effectiveness index with a threshold value;

[0042] If the cleaning effect index is less than the threshold within the preset time, the cleaning parameters are adjusted;

[0043] Within the preset time, if the cleaning effect index is not less than the threshold, the cleaning parameters will not be adjusted.

[0044] Preferably, when the cleaning effect index is not less than a threshold value within the preset time, the cleaning vehicle docking module sends a cleaning completion signal to the docking system, and the docking system generates a cleaning completion instruction based on the cleaning completion signal.

[0045] The present invention provides a heliostat group cleaning vehicle. The heliostat group cleaning vehicle has the following beneficial effects:

[0046] (1) The heliostat cleaning vehicle is provided with a cleaning mechanism. When the surface of the heliostat group needs to be cleaned, the operator can start the motor 1 to rotate the output shaft 1 and the U-shaped plate to adjust the cleaning position of the heliostat group. After the cleaning position of the heliostat group is adjusted, the operator can start the motor 3 to rotate the transmission shaft, and the cleaning roller and the brush to rotate accordingly, so as to clean the surface of the heliostat group. When cleaning the heliostat group, the operator needs to start the motor 2 to rotate the screw rod, the sleeve block to move laterally along the outer wall of the screw rod, the fixing frame to move, and the brush to reciprocate and clean the surface of the heliostat group, thereby improving the cleaning effect and cleaning efficiency of the surface of the heliostat group.

[0047] (2) The heliostat cleaning vehicle is provided with a scraping mechanism. After the surface of the heliostat group is cleaned, the operator can insert the plug into the inner wall of the side of the U-shaped plate to make the side wall of the limit block fit with the side wall of the L-shaped block 1, and then tighten the rotating block to make the screw rotate, so that the rectangular block moves downward and is inserted into the inner wall of the rectangular groove to fix the position of the L-shaped block 1. After the sleeve block moves to the side of the wave plate, the motor 2 is turned off to stop the screw from rotating. During the rotation of the cleaning roller, the bristles are squeezed against the side wall of the wave plate during the rotation, so that impurities attached to the surface of the bristles during the cleaning process are cleaned, so that the bristles can more effectively clean the surface of the heliostat group.

[0048] (3) The heliostat cleaning vehicle is provided with an adjustment mechanism. When it is necessary to adjust the cleaning of heliostat groups at different positions, the operator can start the motor 4 to cause the output shaft 2, the turntable, the support frame and the rectangular plate to rotate, so as to adjust the cleaning position of the heliostat group. When it is necessary to clean heliostat groups at different heights, the operator can start the electric push rod 1 to cause the movable frame 1 to rotate, and then start the electric push rod 2 to cause the movable frame 2 to rotate, so as to adjust the height of the cleaning roller and clean the heliostat groups at different heights. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0050] Figure 2 It is a schematic diagram of the structure of the cleaning component in the present invention;

[0051] Figure 3 It is a schematic diagram of the structure of the cleaning mechanism in the present invention;

[0052] Figure 4 for Figure 3 A partial enlarged view of the middle A;

[0053] Figure 5 It is a structural schematic diagram of the scraping mechanism in the present invention;

[0054] Figure 6 for Figure 5 A partial enlarged view of point B in the middle;

[0055] Figure 7 It is a partial cross-sectional view of the adjustment mechanism in the present invention;

[0056] Figure 8 It is a partial structural schematic diagram of the regulating mechanism in the present invention;

[0057] Fig. 9 It is a flow chart of the heliostat group control system in the present invention;

[0058] Fig.10 It is a flow chart of the cleaning control system in the present invention.

[0059] In the figure: 1, main body; 2, rotating and connecting device; 3, crawler; 4, cleaning assembly; 41, cleaning mechanism; 411, motor 1; 412, output shaft 1; 413, U-shaped plate; 414, motor 2; 415, screw rod; 416, socket block; 417, fixed frame; 418, motor 3; 419, transmission shaft; 4110, cleaning roller; 4111, brush; 42, scraping mechanism; 421, plug column; 422, L-shaped block 1; 423, limit block; 424, Corrugated plate; 425, rectangular groove; 426, fixed block; 427, screw; 428, rotating block; 429, rectangular block; 43, adjusting mechanism; 431, cab and control room; 432, information transmission device; 433, motor four; 434, output shaft two; 435, turntable; 436, support frame; 437, rectangular plate; 438, electric push rod one; 439, movable frame one; 4310, movable frame two; 4311, L-shaped block two; 4312, electric push rod two. DETAILED DESCRIPTION

[0060] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, specific embodiments of the present invention are now described with reference to the accompanying drawings.

[0061] Example 1

[0062] A preferred embodiment of a heliostat group cleaning vehicle and a cleaning control system provided by the present invention is as follows: Figures 1 to 10 As shown: a heliostat group cleaning vehicle, comprising a main body 1;

[0063] A rotating and connecting device 2 fixedly mounted on the bottom of the main body 1;

[0064] A crawler belt 3 connected to the bottom of the rotating and connecting device 2;

[0065] and a cleaning assembly 4 arranged above the main body 1, the cleaning assembly 4 comprising a cleaning mechanism 41 arranged above the main body 1, the cleaning mechanism 41 comprising a motor 1 411 arranged above the main body 1, an output shaft 1 412 fixedly mounted on the output end of the motor 1 411, a U-shaped plate 413 fixedly mounted on the other end of the output shaft 1 412, a motor 2 414 fixedly mounted on the top of the U-shaped plate 413, a screw 415 fixedly mounted on the output end of the motor 2 414, the screw 415 movably penetrates the outer wall of the U-shaped plate 413 and extends to the inside of the U-shaped plate 413 The other end of the screw rod 415 is rotatably connected to the inner wall of the U-shaped plate 413, the outer wall of the screw rod 415 is threadedly connected with a socket block 416, the side wall of the socket block 416 is fixedly installed with a fixing frame 417, the end surface of the fixing frame 417 is fixedly installed with a motor 3 418, the output end of the motor 3 418 is fixedly installed with a transmission shaft 419, the outer wall of the other end of the transmission shaft 419 is rotatably connected to the inner wall of the fixing frame 417 through a bearing, the outer wall of the transmission shaft 419 is fixedly installed with a cleaning roller 4110, and the outer wall of the cleaning roller 4110 is fixedly installed with bristles 4111;

[0066] The cleaning mechanism 41 is connected to a scraping mechanism 42;

[0067] An adjusting mechanism 43 is connected to the side of the cleaning mechanism 41, and the adjusting mechanism 43 is located above the main body 1. By setting the cleaning mechanism 41, the surface of the heliostat group can be cleaned by the bristles 4111. By setting the scraping mechanism 42, the impurities on the surface of the bristles 4111 can be scraped off by the wave plate 424, thereby improving the cleaning effect of the bristles 4111 on the surface of the heliostat group. By setting the adjusting mechanism 43, the angle of the rectangular plate 437 can be rotated to facilitate the cleaning of the heliostat group at different positions.

[0068] Vehicle structure: The crawler design is adopted as shown in the figure to ensure good passability and stability on complex terrain. The vehicle body is equipped with a rotating and connecting device to adjust the direction and position of the cleaning roller to adapt to heliostats with different arrangements and layouts.

[0069] Cleaning device: The cleaning roller is installed on the support frame through the connecting fixture, and the support frame is connected to the main body through the connecting shaft to form a flexible cleaning operation unit. The surface of the cleaning roller is covered with soft and wear-resistant cleaning material, which can effectively remove dust and dirt on the surface of the heliostat.

[0070] Cab and control room: The operation interface and control system are integrated. The operator can precisely control the cleaning vehicle through the control panel or remote terminal in the control room to achieve automated operation.

[0071] Information transmission device: responsible for transmitting the running status, location information, cleaning effect and other data of the cleaning vehicle to the central control system in real time to realize remote monitoring and data analysis.

[0072] In this embodiment, by providing the cleaning mechanism 41, when the surface of the heliostat group needs to be cleaned, the operator can turn on the motor 1 411 to cause the output shaft 1 412 to rotate, and cause the U-shaped plate 413 to rotate, so as to adjust the cleaning position of the heliostat group. After the cleaning position of the heliostat group is adjusted, the operator can turn on the motor 3 418 to cause the transmission shaft 419 to rotate, and cause the cleaning roller 4110 and the brush 4111 to rotate accordingly, so as to clean the surface of the heliostat group. When cleaning the heliostat group, the operator needs to turn on the motor 2 414 to cause the screw rod 415 to rotate, cause the socket block 416 to move laterally along the outer wall of the screw rod 415, cause the fixing frame 417 to move, and cause the brush 4111 to reciprocate and clean the surface of the heliostat group, thereby improving the cleaning effect and cleaning efficiency of the surface of the heliostat group.

[0073] Example 2

[0074] Based on Example 1, a preferred embodiment of a heliostat group cleaning vehicle and a cleaning control system provided by the present invention is as follows: Figures 1 to 10 As shown: the scraping mechanism 42 includes a U-shaped plate 413 slidably set on the inner wall of the side of the U-shaped plate 413, and is slidably connected to a plug column 421. The other end of the plug column 421 is fixedly installed with an L-shaped block 422, and the other end of the L-shaped block 422 is fixedly installed with a wave plate 424. The side wall of the L-shaped block 422 is slidably connected to a limiting block 423, and the other end of the limiting block 423 is fixedly connected to the side wall of the U-shaped plate 413. The side wall of the L-shaped block 422 is fixedly installed with a fixed block 426, and the inner wall of the fixed block 426 is threadedly connected with a screw 427. The top outer wall of the screw 427 is fixedly installed with a rotating block 428. The side wall of the U-shaped plate 413 is provided with a rectangular groove 425, and the other end of the screw 427 is rotatably connected with a rectangular block 429. The outer wall of the rectangular block 429 is slidably connected to the inner wall of the rectangular groove 425.

[0075] In this embodiment, after the surface cleaning of the heliostat group is completed, the operator can insert the plug 421 into the side inner wall of the U-shaped plate 413 to make the side wall of the limit block 423 fit with the side wall of the L-shaped block 422, and then tighten the rotating block 428 to make the screw 427 rotate, so as to make the rectangular block 429 move downward, and make the rectangular block 429 insert into the inner wall of the rectangular groove 425, so as to fix the position of the L-shaped block 422. After the sleeve block 416 moves to the side of the wave plate 424, the motor 414 is turned off to make the screw 415 stop rotating. During the rotation of the cleaning roller 4110, the bristles 4111 will be squeezed with the side wall of the wave plate 424 during rotation, so as to clean the impurities attached to the surface of the bristles 4111 during the cleaning process, so that the bristles 4111 can more effectively clean the surface of the heliostat group.

[0076] Example 3

[0077] On the basis of Example 1 and Example 2, a preferred embodiment of a heliostat group cleaning vehicle and a cleaning control system provided by the present invention is as follows: Figures 1 to 10 As shown: the adjustment mechanism 43 includes a cab and a control room 431 fixedly mounted on the outer wall of the main body 1, an information transmission device 432 is fixedly mounted on the top of the cab and the control room 431, a motor 433 is fixedly mounted on the bottom of the inner wall of the main body 1, an output shaft 434 is fixedly mounted on the output end of the motor 433, a turntable 435 is fixedly mounted on the top of the output shaft 434, the outer wall of the turntable 435 is slidably connected to the top inner wall of the main body 1, a support frame 436 is fixedly mounted on the top of the support frame 436, and a rectangular plate 437 is fixedly mounted on the top of the rectangular plate 437. An electric push rod 438 is movably installed on the top of the movable frame 439 through a hinge, and a movable frame 439 is movably installed on the other end of the electric push rod 438 through a hinge. One end of the movable frame 439 is movably connected to the top of the rectangular plate 437 through a hinge, and a movable frame 4310 is movably installed on the side wall of the other end of the movable frame 439 through a hinge. An L-shaped block 4311 is fixedly installed on the side wall of the movable frame 439, and an electric push rod 4312 is movably installed on the side wall of the L-shaped block 4311 through a hinge. The other end of the electric push rod 4312 is movably connected to the side wall of the movable frame 4310 through a hinge.

[0078] In this embodiment, by providing the adjustment mechanism 43, when it is necessary to adjust the cleaning of heliostat groups at different positions, the operator can start the motor 433 to cause the output shaft 2 434, the turntable 435, the support frame 436 and the rectangular plate 437 to rotate, so as to adjust the cleaning position of the heliostat group. When it is necessary to clean heliostat groups at different heights, the operator can start the electric push rod 1 438 to cause the movable frame 1 439 to rotate, and then start the electric push rod 2 4312 to cause the movable frame 2 4310 to rotate, so as to adjust the height of the cleaning roller 4110 and clean the heliostat groups at different heights.

[0079] Furthermore, a cleaning control system adopts the above heliostat group cleaning vehicle, comprising:

[0080] The heliostat group control system controls the opening and closing of the heliostats based on instructions; the heliostat group control system is also used to send feedback signals;

[0081] A cleaning vehicle control system is used to control the cleaning vehicle to clean the heliostat group according to a predetermined route; the cleaning vehicle control system is also used to send signals, including arrival position signals and cleaning completion signals;

[0082] A docking system, used to receive signals from the cleaning vehicle control system and send instructions to the heliostat group control system, including requesting to receive cleaning instructions and completing cleaning instructions;

[0083] The cleaning vehicle control system includes:

[0084] A cleaning vehicle control module, used to control the cleaning vehicle to clean a designated heliostat;

[0085] The cleaning vehicle path planning module is used to plan the cleaning route of the cleaning vehicle, that is, to generate a predetermined route; the cleaning vehicle positioning module is used to indicate the location of the cleaning vehicle;

[0086] The cleaning vehicle docking module is used to send and receive signals. The sent signals include arrival position signals and cleaning completion signals; the received signals include feedback signals;

[0087] The method of controlling the cleaning vehicle to clean the heliostat group is:

[0088] receiving feedback signals;

[0089] Control the cleaning vehicle to clean the designated heliostat

[0090] The heliostat group control system includes a heliostat cleaning control module, a heliostat daily operation control module and a heliostat maintenance control module.

[0091] Furthermore, the cleaning vehicle path planning module plans the predetermined route in the following manner:

[0092] Get the heliostat group layout;

[0093] Acquire the position of the cleaning vehicle based on the cleaning vehicle positioning module;

[0094] The scheduled route is planned based on the heliostat cluster layout and the cleaning vehicle location.

[0095] Further, the heliostat group control system includes a heliostat group control module and a heliostat group docking module;

[0096] The heliostat group control module is used to control the opening and closing of the heliostat group; the heliostat group docking module is used to receive instructions and send feedback signals.

[0097] Furthermore, the method for the heliostat group control module to control the opening and closing of the heliostat group is:

[0098] receiving a cleaning request instruction from the docking system;

[0099] The heliostat group control module controls the designated heliostat to shut down;

[0100] receiving a cleaning completion instruction from the docking system;

[0101] The heliostat group control module controls the start-up of the designated heliostat.

[0102] Further, when the cleaning vehicle docking module sends a cleaning completion signal, the cleaning vehicle path planning module controls the cleaning vehicle to move to an adjacent heliostat, and the cleaning vehicle docking module sends a position arrival signal again.

[0103] Furthermore, the cleaning vehicle control system also includes a cleaning monitoring module, which is used to adjust cleaning parameters according to the cleaning effect; the cleaning parameters include the speed, angle and amount of cleaning agent of the cleaning roller;

[0104] The method by which the cleaning monitoring module adjusts the cleaning parameters according to the cleaning effect is as follows:

[0105] Acquire the cleaning effect index in real time; the cleaning effect index is the glossiness of the cleaned surface of the heliostat;

[0106] comparing the cleaning effectiveness index with a threshold value;

[0107] If the cleaning effect index is less than the threshold within the preset time, the cleaning parameters are adjusted;

[0108] Within the preset time, if the cleaning effect index is not less than the threshold, the cleaning parameters will not be adjusted.

[0109] Furthermore, when the cleaning effect index is not less than a threshold value within a preset time, the cleaning vehicle docking module sends a cleaning completion signal to the docking system, and the docking system generates a cleaning completion instruction based on the cleaning completion signal.

[0110] Working principle: When the surface of the heliostat group needs to be cleaned, the operator can turn on the motor 1 411 to rotate the output shaft 1 412 and the U-shaped plate 413 to adjust the cleaning position of the heliostat group. After the cleaning position of the heliostat group is adjusted, the operator can turn on the motor 3 418 to rotate the transmission shaft 419, and the cleaning roller 4110 and the brush 4111 rotate accordingly to clean the surface of the heliostat group. When cleaning the heliostat group, the operator needs to turn on the motor 2 414. The screw rod 415 is caused to rotate, the sleeve block 416 is caused to move laterally along the outer wall of the screw rod 415, the fixing frame 417 is caused to move, and the bristles 4111 are caused to reciprocately clean the surface of the heliostat group, thereby improving the cleaning effect and cleaning efficiency of the surface of the heliostat group. When it is necessary to adjust the cleaning of the heliostat group at different positions, the operator can start the motor 433 to cause the output shaft 2 434, the rotating disk 435, the supporting frame 436 and the rectangular plate 437 to rotate, so as to adjust the cleaning position of the heliostat group. When cleaning the heliostat group, the operator can turn on the electric push rod 1 438 to rotate the movable frame 1 439, and then turn on the electric push rod 2 4312 to rotate the movable frame 2 4310, so as to adjust the height of the cleaning roller 4110 and clean the heliostat groups with different heights. After cleaning the surface of the heliostat group, the operator can insert the plug 421 into the side inner wall of the U-shaped plate 413 to make the side wall of the limit block 423 fit with the side wall of the L-shaped block 1 422, and then tighten the rotating block 428 to make the screw 427 rotate. The L-shaped block 422 is fixed by rotating the rectangular block 429 downward and inserted into the inner wall of the rectangular groove 425. After the sleeve block 416 moves to the side of the wave plate 424, the motor 414 is turned off to stop the screw rod 415. During the rotation of the cleaning roller 4110, the bristles 4111 are squeezed with the side wall of the wave plate 424 during the rotation, so as to clean the impurities attached to the surface of the bristles 4111 during the cleaning process, so that the bristles 4111 can more effectively clean the surface of the heliostat group.

[0111] The above description is only an illustrative specific implementation mode of the present invention and is not intended to limit the scope of the present invention. Any equivalent changes and modifications made by any technician in the field without departing from the concept and principle of the present invention should fall within the scope of protection of the present invention. It should also be noted that the various components of the present invention are not limited to the above-mentioned overall application. The various technical features described in the specification of the present invention can be selected one by one or multiple ones can be selected and used in combination according to actual needs. Therefore, the present invention should naturally cover other combinations and specific applications related to this case.

Claims

1. A heliostat group cleaning vehicle, comprising a main body (1); A rotating and connecting device (2) fixedly mounted on the bottom of the main body (1); A crawler belt (3) connected to the bottom of the rotating and connecting device (2); and a cleaning component (4) arranged above the main body (1), characterized in that: The cleaning assembly (4) comprises a cleaning mechanism (41) arranged above the main body (1), the cleaning mechanism (41) comprising a motor 1 (411) arranged above the main body (1), an output shaft 1 (412) being fixedly mounted on the output end of the motor 1 (411), a U-shaped plate (413) being fixedly mounted on the other end of the output shaft 1 (412), a motor 2 (414) being fixedly mounted on the top of the U-shaped plate (413), a screw rod (415) being fixedly mounted on the output end of the motor 2 (414), the screw rod (415) being movably penetrating the outer wall of the U-shaped plate (413) and extending to the interior of the U-shaped plate (413), the screw rod (415) being fixedly mounted on the output end of the motor 2 (414), ) is rotatably connected to the inner wall of the U-shaped plate (413); the outer wall of the screw rod (415) is threadedly connected to a sleeve block (416); a fixing frame (417) is fixedly mounted on the side wall of the sleeve block (416); a motor three (418) is fixedly mounted on the end surface of the fixing frame (417); a transmission shaft (419) is fixedly mounted on the output end of the motor three (418); the outer wall of the other end of the transmission shaft (419) is rotatably connected to the inner wall of the fixing frame (417) via a bearing; a cleaning roller (4110) is fixedly mounted on the outer wall of the transmission shaft (419); and bristles (4111) are fixedly mounted on the outer wall of the cleaning roller (4110); The cleaning mechanism (41) is connected to a scraping mechanism (42); The side surface of the cleaning mechanism (41) is connected to an adjusting mechanism (43), and the adjusting mechanism (43) is located above the main body (1).

2. The heliostat group cleaning vehicle according to claim 1, characterized in that: The scraping mechanism (42) comprises a U-shaped plate (413) slidably arranged on the inner wall of the side of the U-shaped plate (413), the U-shaped plate (413) being slidably connected to a plug post (421), the other end of the plug post (421) being fixedly installed with an L-shaped block (422), the other end of the L-shaped block (422) being fixedly installed with a wave plate (424), the side wall of the L-shaped block (422) being slidably connected to a limit block (423), the other end of the limit block (423) being fixedly connected to the side wall of the U-shaped plate (413). The side wall of the L-shaped block (422) is fixedly mounted with a fixed block (426), the inner wall of the fixed block (426) is threadedly connected with a screw rod (427), the top outer wall of the screw rod (427) is fixedly mounted with a rotating block (428), the side wall of the U-shaped plate (413) is provided with a rectangular groove (425), the other end of the screw rod (427) is rotatably connected with a rectangular block (429), and the outer wall of the rectangular block (429) is slidably connected with the inner wall of the rectangular groove (425).

3. The heliostat group cleaning vehicle according to claim 1, characterized in that: The regulating mechanism (43) comprises a cab and a control room (431) fixedly mounted on the outer wall of the main body (1); an information transmission device (432) is fixedly mounted on the top of the cab and the control room (431); a motor (433) is fixedly mounted on the bottom of the inner wall of the main body (1); an output shaft (434) is fixedly mounted on the output end of the motor (433); a turntable (435) is fixedly mounted on the top of the output shaft (434); the outer wall of the turntable (435) is slidably connected to the inner wall of the top of the main body (1); a support frame (436) is fixedly mounted on the top of the support frame (436); a rectangular plate (437) is fixedly mounted on the top of the rectangular plate The top of the rectangular plate (437) is movably mounted with an electric push rod 1 (438) through a hinge, and the other end of the electric push rod 1 (438) is movably mounted with a movable frame 1 (439) through a hinge. One end of the movable frame 1 (439) is movably connected to the top of the rectangular plate (437) through a hinge, and the other end of the movable frame 1 (439) is movably mounted with a movable frame 2 (4310) through a hinge on the side wall. The side wall of the movable frame 1 (439) is fixedly mounted with an L-shaped block 2 (4311), and the side wall of the L-shaped block 2 (4311) is movably mounted with an electric push rod 2 (4312) through a hinge. The other end of the electric push rod 2 (4312) is movably connected to the side wall of the movable frame 2 (4310) through a hinge.

4. A cleaning control system, using a heliostat group cleaning vehicle according to claims 1-3, characterized in that: include: A heliostat group control system controls the opening and closing of the heliostats based on instructions; the heliostat group control system is also used to send feedback signals; A cleaning vehicle control system, used to control the cleaning vehicle to clean the heliostat group according to a predetermined route; the cleaning vehicle control system is also used to send signals, including arrival position signals and cleaning completion signals; A docking system, used to receive signals from the cleaning vehicle control system and send instructions to the heliostat group control system, including requesting to receive cleaning instructions and completing cleaning instructions; The cleaning vehicle control system comprises: A cleaning vehicle control module, used to control the cleaning vehicle to clean a designated heliostat; The cleaning vehicle path planning module is used to plan the cleaning route of the cleaning vehicle, that is, to generate a predetermined route; A cleaning vehicle positioning module is used to indicate the location of the cleaning vehicle; The cleaning vehicle docking module is used to send and receive signals, wherein the sent signals include arrival position signals and cleaning completion signals; and the received signals include feedback signals; The method of controlling the cleaning vehicle to clean the heliostat group is: receiving feedback signals; Control the cleaning vehicle to clean the designated heliostat The heliostat group control system includes a heliostat cleaning control module, a heliostat daily operation control module and a heliostat maintenance control module.

5. A cleaning control system according to claim 4, characterized in that: The method for the cleaning vehicle path planning module to plan a predetermined route is: Get the heliostat group layout; Acquire the position of the cleaning vehicle based on the cleaning vehicle positioning module; The scheduled route is planned based on the heliostat cluster layout and the cleaning vehicle location.

6. A cleaning control system according to claim 5, characterized in that: The heliostat group control system includes a heliostat group control module and a heliostat group docking module; The heliostat group control module is used to control the opening and closing of the heliostat group; the heliostat group docking module is used to receive instructions and send feedback signals.

7. A cleaning control system according to claim 5, characterized in that: The method for the heliostat group control module to control the opening and closing of the heliostat group is: receiving a cleaning request instruction from the docking system; The heliostat group control module controls the designated heliostat to shut down; receiving a cleaning completion instruction from the docking system; The heliostat group control module controls the start-up of the designated heliostat.

8. A cleaning control system according to claim 5, characterized in that: When the cleaning vehicle docking module sends a cleaning completion signal, the cleaning vehicle path planning module controls the cleaning vehicle to move to an adjacent heliostat, and the cleaning vehicle docking module sends an arrival position signal again.

9. A cleaning control system according to claim 5, characterized in that: The cleaning vehicle control system further comprises a cleaning monitoring module, which is used to adjust cleaning parameters according to the cleaning effect; the cleaning parameters include the speed, angle and amount of cleaning agent of the cleaning roller; The method for the cleaning monitoring module to adjust the cleaning parameters according to the cleaning effect is: Acquire a cleaning effect index in real time; the cleaning effect index is the glossiness of the cleaned surface of the heliostat; comparing the cleaning effectiveness index with a threshold value; If the cleaning effect index is less than the threshold within the preset time, the cleaning parameters are adjusted; Within the preset time, if the cleaning effect index is not less than the threshold, the cleaning parameters will not be adjusted.

10. A cleaning control system according to claim 9, characterized in that: When the cleaning effect index is not less than the threshold value within the preset time, the cleaning vehicle docking module sends a cleaning completion signal to the docking system, and the docking system generates a cleaning completion instruction based on the cleaning completion signal.

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