Arm posture adjusting system and method for heliostat cleaning vehicle

Abstract

The invention discloses an arm posture adjusting system and method for a heliostat cleaning vehicle, and relates to the technical field of heliostat cleaning. The system comprises a first ultrasonic distance measuring sensor, a second ultrasonic distance measuring sensor, a third ultrasonic distance measuring sensor and a laser distance measuring sensor; the first ultrasonic distance measuring sensor is used for measuring a first distance between the cleaning component and the heliostat, the second ultrasonic distance measuring sensor is used for measuring a second distance between the cleaning component and the heliostat, and the third ultrasonic distance measuring sensor is used for measuring a third distance between the cleaning component and the ground; the laser distance measuring sensor is used for measuring a fourth distance between the cleaning part and the heliostat, and the control part is used for adjusting the posture of the six-degree-of-freedom cleaning arm, so that the first distance, the second distance, the third distance and the fourth distance meet preset conditions. High-precision spatial positioning of the heliostat can be achieved, the arm posture of the heliostat cleaning vehicle is further adjusted, and it is ensured that cleaning operation is accurate and errorless.

Description

Technical Field

[0001] The present application relates to the technical field of heliostat cleaning, and in particular to a heliostat cleaning vehicle arm posture adjustment system and method. Background Art

[0002] Given the unique properties of heliostats, including their significant mirror reflection characteristics, the thinness of the mirror structure, and the design considerations of being not pressure-resistant, as well as the inevitable interference of complex environmental factors such as water, fog, and dust during the cleaning operation, there is an urgent need to promote the transformation of cleaning operations from the traditional manual mode to a highly automated mode, aiming to overcome the shortcomings of low efficiency and major safety hazards of manual operations, so as to improve the intelligence and automation level of heliostat cleaning vehicles.

[0003] Currently, there are two automatic cleaning schemes: (1) An automatic tracking control system and control method for a heliostat cleaning vehicle, the system comprising: a distance sensor is arranged on a cleaning device; the distance sensor is used to detect the distance between the cleaning device and the target heliostat and send the distance to a controller; the controller is used to generate a first control signal and a second control signal according to the distance, and send the first control signal to a flip mechanism and send the second control signal to a telescopic mechanism; the flip mechanism is connected to the cleaning device; the flip mechanism is used to drive the cleaning device to flip to a target flip angle according to the first control signal; the telescopic mechanism is used to drive the flip mechanism and the cleaning device to move horizontally according to the second control signal so that the cleaning device moves to a target cleaning position; the cleaning device cleans the target heliostat at the target cleaning position and the target flip angle, thereby improving the cleaning effect and cleaning efficiency of the heliostat. (2) An adaptive sensing device for cleaning a flat heliostat, comprising: a frame, a cleaning mechanism, a steering wheel, a generator set, a water tank, an electric control cabinet and a cab; wherein the cleaning mechanism comprises: a cleaning frame, a sliding mechanism, a lifting mechanism, a roller brush cover, a roller brush and a roller brush motor; a front-end sensor, a pull-wire switch and a cleaning mechanism sensor are also provided on the cleaning mechanism, so as to realize automatic cleaning of the heliostat in a parking state; the front-end sensor and the cleaning mechanism sensor can sense the position of the heliostat, and automatically adjust the height and angle of the cleaning mechanism by controlling the sliding mechanism to slide along the side bar, controlling the cleaning mechanism to swing left and right, and controlling the lifting mechanism to rise and fall, so as to avoid damage to the heliostat mirror surface by the cleaning mechanism and reduce the risk of damage to the heliostat.

[0004] However, the above-mentioned prior art has poor positioning accuracy for the heliostat, and it is difficult to ensure that the cleaning operation is accurate and correct. Summary of the invention

[0005] The purpose of the present application is to provide a system and method for adjusting the arm posture of a heliostat cleaning vehicle, which can achieve high-precision spatial positioning of the heliostat, further adjust the arm posture of the heliostat cleaning vehicle, and ensure accurate cleaning operations.

[0006] To achieve the above objectives, this application provides the following solutions.

[0007] In a first aspect, the present application provides an arm posture adjustment system for a heliostat cleaning vehicle, the arm posture adjustment system for a heliostat cleaning vehicle comprising: a six-degree-of-freedom cleaning arm, a connecting bracket, a cleaning component, a sensing component, and a control component; the six-degree-of-freedom cleaning arm is mounted on a cleaning vehicle, the connecting bracket is mounted at the end of the six-degree-of-freedom cleaning arm, the cleaning component and the sensing component are both mounted on the connecting bracket, and the control component is communicatively connected with the six-degree-of-freedom cleaning arm, the cleaning component, and the sensing component; The cleaning component is used for cleaning the heliostat; The sensing component includes a first ultrasonic ranging sensor, a second ultrasonic ranging sensor, a third ultrasonic ranging sensor and a laser ranging sensor; the first ultrasonic ranging sensor is installed at the first end of the connecting bracket, and the first ultrasonic ranging sensor is used to measure the first distance between the cleaning component and the heliostat; the second ultrasonic ranging sensor is installed at the second end of the connecting bracket, and the second ultrasonic ranging sensor is used to measure the second distance between the cleaning component and the heliostat; the third ultrasonic ranging sensor is installed at the bottom of the connecting bracket, and the third ultrasonic ranging sensor is used to measure the third distance between the cleaning component and the ground; the laser ranging sensor is installed at the center of the connecting bracket, and the laser ranging sensor is used to measure the fourth distance between the cleaning component and the heliostat; The control component is used to adjust the posture of the six-degree-of-freedom cleaning arm so that the difference between the first distance and the second distance is less than the first preset difference, and the first distance and the second distance are both within the first preset distance range, the difference between the third distance and the ground distance reference value is less than the second preset difference, and the difference between the fourth distance and the center distance reference value is less than the third preset difference.

[0008] In a second aspect, the present application provides a method for adjusting the arm posture of a heliostat cleaning vehicle, which is applied to the above-mentioned heliostat cleaning vehicle arm posture adjustment system. The method for adjusting the arm posture of a heliostat cleaning vehicle comprises: Acquire a first distance measured by the first ultrasonic ranging sensor, a second distance measured by the second ultrasonic ranging sensor, a third distance measured by the third ultrasonic ranging sensor, and a fourth distance measured by the laser ranging sensor; The posture of the six-degree-of-freedom cleaning arm is adjusted so that the difference between the first distance and the second distance is less than the first preset difference, and the first distance and the second distance are both within the first preset distance range, the difference between the third distance and the ground distance reference value is less than the second preset difference, and the difference between the fourth distance and the center distance reference value is less than the third preset difference.

[0009] According to the specific embodiments provided in this application, this application discloses the following technical effects: The present application provides a system and method for adjusting the arm posture of a heliostat cleaning vehicle, comprising: a six-degree-of-freedom cleaning arm, a connecting bracket, a cleaning component, a sensing component and a control component, wherein the sensing component comprises a first ultrasonic ranging sensor, a second ultrasonic ranging sensor, a third ultrasonic ranging sensor and a laser ranging sensor, wherein the first ultrasonic ranging sensor is used to measure a first distance between the cleaning component and the heliostat, the second ultrasonic ranging sensor is used to measure a second distance between the cleaning component and the heliostat, the third ultrasonic ranging sensor is used to measure a third distance between the cleaning component and the ground, the laser ranging sensor is used to measure a fourth distance between the cleaning component and the heliostat, and the control component is used to adjust the posture of the six-degree-of-freedom cleaning arm so that the difference between the first distance and the second distance is less than a first preset difference, and the first distance and the second distance are both within the first preset distance range, the difference between the third distance and a ground distance reference value is less than the second preset difference, and the difference between the fourth distance and a center distance reference value is less than the third preset difference. The present application can achieve high-precision spatial positioning of the heliostat by designing a first ultrasonic ranging sensor, a second ultrasonic ranging sensor, a third ultrasonic ranging sensor, a laser ranging sensor and a control component, and further adjust the arm posture of the heliostat cleaning vehicle to ensure accurate cleaning operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0011] Figure 1 This is a structural schematic diagram of a heliostat cleaning vehicle arm posture adjustment system provided in Example 1 of the present application.

[0012] Figure 2 Schematic diagram of the measurement principle of the three-channel ultrasonic ranging sensor and the one-channel laser ranging sensor provided in Example 1 of the present application.

[0013] Figure 3 Schematic diagram of the measurement principle of the 2-way electromagnetic ultrasonic sensor provided in Example 1 of the present application.

[0014] Figure 4 A schematic flow chart of a method for adjusting the arm posture of a heliostat cleaning vehicle provided in Example 2 of the present application.

[0015] Reference numerals: 1-six-degree-of-freedom cleaning arm; 2-connecting bracket; 3-nozzle; 4-roller brush; 5-first ultrasonic ranging sensor; 6-second ultrasonic ranging sensor; 7-third ultrasonic ranging sensor; 8-laser ranging sensor; 9-first electromagnetic ultrasonic sensor; 10-second electromagnetic ultrasonic sensor; 11-heliostat; 12-ranging range; 13-roller brush projection. DETAILED DESCRIPTION

[0016] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0017] Example 1.

[0018] This embodiment provides a heliostat cleaning vehicle arm posture adjustment system. Figure 1 As shown, the arm posture adjustment system of the heliostat cleaning vehicle includes: a six-degree-of-freedom cleaning arm 1, a connecting bracket 2, a cleaning component, a sensor component and a control component. The six-degree-of-freedom cleaning arm 1 is installed on the cleaning vehicle, the connecting bracket 2 is installed at the end of the six-degree-of-freedom cleaning arm 1, the cleaning component and the sensor component are both installed on the connecting bracket 2, and the control component is communicatively connected with the six-degree-of-freedom cleaning arm 1, the cleaning component and the sensor component.

[0019] In the prior art, when cleaning heliostats, the cleaning arms used are mostly two degrees of freedom or three degrees of freedom. This embodiment uses a six-degree-of-freedom cleaning arm 1, which not only has basic flipping and telescopic functions, but also can achieve fine adjustment of the relative angle between the cleaning vehicle and the heliostat mirror surface, and supports dynamic fine adjustment of the fit between the roller brush 4 and the heliostat mirror surface during the cleaning process. In this embodiment, the six-degree-of-freedom cleaning arm 1 includes: a base, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod and a sixth connecting rod, and a connecting bracket 2 is installed at the free end of the sixth connecting rod. The base is connected to the first connecting rod through a first joint, the first connecting rod is connected to the second connecting rod through a second joint, the second connecting rod is connected to the third connecting rod through a third joint, the third connecting rod is connected to the fourth connecting rod through a fourth joint, the fourth connecting rod is connected to the fifth connecting rod through a fifth joint, and the fifth connecting rod is connected to the sixth connecting rod through a sixth joint. Among them, the first joint, the second joint, the third joint, the fourth joint, the fifth joint and the sixth joint are all rotatable joints. In this embodiment, the first joint is specifically recorded as a rotation joint, the second joint is recorded as a pitch joint, the third joint, the fourth joint and the fifth joint are all recorded as translation joints, and the sixth joint is recorded as a wrist joint. The first joint is used to fine-tune the parallelism between the cleaning vehicle body and the heliostat mirror surface, and the second joint to the sixth joint are used to adjust the position and posture of the cleaning component, that is, to adjust the position and posture of the roller brush 4.

[0020] The cleaning component is used to clean the heliostat. In this embodiment, the cleaning component includes a nozzle 3 and a roller brush 4. The nozzle 3 is used to spray a cleaning liquid onto the heliostat. The roller brush 4 is used to clean the heliostat with the cleaning liquid. The cleaning liquid can be selected according to user needs, such as water. The roller brush 4 rolls on the mirror surface of the heliostat to clean the heliostat with the cleaning liquid.

[0021] The sensing component includes a first ultrasonic distance measuring sensor 5 (i.e. Figure 1 In )、The second ultrasonic distance measuring sensor 6 (i.e. Figure 1 In )、the third ultrasonic ranging sensor 7 (i.e. Figure 1 In ) and laser ranging sensor 8 (i.e. Figure 1 In ). The first ultrasonic ranging sensor 5 is installed at the first end of the connecting bracket 2, and the first ultrasonic ranging sensor 5 is used to measure the first distance between the cleaning component and the heliostat. The second ultrasonic ranging sensor 6 is installed at the second end of the connecting bracket 2, and the second ultrasonic ranging sensor 6 is used to measure the second distance between the cleaning component and the heliostat. The third ultrasonic ranging sensor 7 is installed at the bottom of the connecting bracket 2, and the third ultrasonic ranging sensor 7 is used to measure the third distance between the cleaning component and the ground. The laser ranging sensor 8 is installed at the center of the connecting bracket 2, and the laser ranging sensor 8 is used to measure the fourth distance between the cleaning component and the heliostat.

[0022] The sensing components of this embodiment include three ultrasonic ranging sensors and one laser ranging sensor. The three ultrasonic ranging sensors are used to achieve the initial locking of the roller brush 4 on the heliostat and to achieve the roller brush 4 being perpendicular to the ground. The one laser ranging sensor is used to further adjust the distance between the roller brush 4 and the heliostat to achieve the roller brush 4 in place.

[0023] The control component is used to adjust the posture of the six-degree-of-freedom cleaning arm 1 so that the difference between the first distance and the second distance is less than the first preset difference, and the first distance and the second distance are both within the first preset distance range, the difference between the third distance and the ground distance reference value is less than the second preset difference, and the difference between the fourth distance and the center distance reference value is less than the third preset difference.

[0024] The process of adjusting the posture of the six-degree-of-freedom cleaning arm 1 by the control component of this embodiment is divided into two steps: Figure 2 As shown, Figure 2In the figure, 11 is a heliostat, 12 is a ranging range, 13 is a roller brush projection, T1, T2, T3, and T4 are transmitting probes of the first ultrasonic ranging sensor 5, the second ultrasonic ranging sensor 6, the third ultrasonic ranging sensor 7, and the laser ranging sensor 8, respectively, and R1, R2, R3, and R4 are receiving probes of the first ultrasonic ranging sensor 5, the second ultrasonic ranging sensor 6, the third ultrasonic ranging sensor 7, and the laser ranging sensor 8, respectively, as follows.

[0025] (1) Mirror body locking.

[0026] After the cleaning vehicle is in place, the six-degree-of-freedom cleaning arm 1 is kept in a retracted state, and the roller brush 4 is in a state perpendicular to the ground. The first ultrasonic distance sensor 5, the second ultrasonic distance sensor 6 and the third ultrasonic distance sensor 7 respectively read the first distance between the roller brush 4 and the upper half of the mirror surface of the heliostat 11 , the second distance between the roller brush 4 and the lower half of the heliostat 11 and the third distance between the roller brush 4 and the ground , considering the angle between transmitting and receiving ultrasound during long-distance measurement (corresponding to the first ultrasonic ranging sensor 5), (corresponding to the second ultrasonic ranging sensor 6), (corresponding to the third ultrasonic distance measuring sensor 7) The influence on the measurement accuracy only requires adjusting the x-axis component of the position adjustment amount of the cleaning component relative to the base and the y-axis component of the position adjustment of the cleaning component relative to the base , obtain the adjustment angle of each joint of the six-degree-of-freedom cleaning arm 1, and adjust the posture of the six-degree-of-freedom cleaning arm 1 so that , Satisfy condition s1: , is the lower limit of the distance between the roller brush 4 and the mirror surface of the heliostat 11, is the upper limit of the distance between the roller brush 4 and the mirror surface of the heliostat 11, and The first preset distance range is formed, and the z-axis component of the position adjustment amount of the cleaning component relative to the base is further adjusted. , obtain the adjustment angle of each joint of the six-degree-of-freedom cleaning arm 1, and adjust the posture of the six-degree-of-freedom cleaning arm 1 so that Satisfy condition s2: , It is the reference value of the distance between the short side of the roller brush 4 and the ground, that is, the ground distance reference value.

[0027] (2) Put the roller brush into place.

[0028] After the mirror body is locked, the laser distance sensor 8 can reliably read the fourth distance between the geometric center of the roller brush 4 and the mirror surface of the heliostat 11 , and the measurement will not fail due to mirror reflection. Keep the cleaning vehicle body and roller brush 4 unchanged, and adjust the x-axis component of the position adjustment amount of the cleaning component relative to the base. and the y-axis component of the position adjustment of the cleaning component relative to the base , obtain the adjustment angle of each joint of the six-degree-of-freedom cleaning arm 1, and adjust the posture of the six-degree-of-freedom cleaning arm 1 so that Satisfy condition s3: , is the reference value of the distance between the center of the roller brush 4 and the mirror surface of the heliostat 11, that is, the center distance reference value. Angle of transmitting and receiving ultrasound The measurement error caused by the reduction of the measurement distance can eventually be ignored. At the same time, this embodiment can further compare the measurement error caused by the measurement distance. and As a result, when the sensors are located on the same line , and When the result is closest, it means that the roller brush 4 is parallel to the mirror surface and perpendicular to the bottom edge of the mirror surface. At this time, the roller brush is in place and closed. , and , so as not to affect subsequent measurements.

[0029] Based on this, in this embodiment, the control component is used to take the x-axis component of the position adjustment amount of the cleaning component relative to the base and the y-axis component of the position adjustment amount of the cleaning component relative to the base as input, use the joint inverse motion equation to determine the adjustment angles of the six joints, and adjust the posture of the six-degree-of-freedom cleaning arm 1 based on the adjustment angles of the six joints until the difference between the first distance and the second distance is less than the first preset difference, and the first distance and the second distance are both within the first preset distance range; take the z-axis component of the position adjustment amount of the cleaning component relative to the base as input, use the joint inverse motion equation to determine the adjustment angles of the five joints, and adjust the posture of the six-degree-of-freedom cleaning arm 1 based on the adjustment angles of the five joints until the difference between the third distance and the ground distance reference value is less than to a second preset difference; under the constraint that the ratio of the x-axis component of the position adjustment amount of the cleaning component relative to the base to the y-axis component of the position adjustment amount of the cleaning component relative to the base remains unchanged, the x-axis component of the position adjustment amount of the cleaning component relative to the base and the y-axis component of the position adjustment amount of the cleaning component relative to the base are used as input, and the adjustment angles of the five joints are determined by using the joint inverse motion equation, and the posture of the six-degree-of-freedom cleaning arm 1 is adjusted based on the adjustment angles of the five joints until the difference between the fourth distance and the center distance reference value is less than the third preset difference; wherein the six joints include a first joint, a second joint, a third joint, a fourth joint, a fifth joint and a sixth joint; the five joints include a second joint, a third joint, a fourth joint, a fifth joint and a sixth joint.

[0030] This embodiment uses an ultrasonic ranging sensor , and Realize the spatial position locking of heliostat and support laser ranging sensor The heliostat is precisely positioned by using mirror reflection. Compared with the prior art, the four roller brushes can lock the heliostat more accurately and reliably, thereby achieving high-precision spatial positioning of the heliostat.

[0031] After completing the high-precision spatial positioning of the heliostat, the heliostat cleaning process can be further performed. At this time, the control component controls the cleaning component to start cleaning the heliostat, and the cleaning vehicle can be in a driving state. In this embodiment, the sensing component also includes a first electromagnetic ultrasonic sensor 9 (i.e. Figure 1 In ) and the second electromagnetic ultrasonic sensor 10 (ie Figure 1 In ), the first electromagnetic ultrasonic sensor 9 and the second electromagnetic ultrasonic sensor 10 are both installed on the connecting bracket 2, the first electromagnetic ultrasonic sensor 9 is located between the first ultrasonic ranging sensor 5 and the laser ranging sensor 8, the second electromagnetic ultrasonic sensor 10 is located between the second ultrasonic ranging sensor 6 and the laser ranging sensor 8, and the distance from the first electromagnetic ultrasonic sensor 9 to the laser ranging sensor 8 is equal to the distance from the second electromagnetic ultrasonic sensor 10 to the laser ranging sensor 8.

[0032] The first electromagnetic ultrasonic sensor 9 is used to measure a first lift-off distance between the cleaning component and the heliostat.

[0033] The second electromagnetic ultrasonic sensor 10 is used to measure a second lift-off distance between the cleaning component and the heliostat.

[0034] The control component is used to adjust the posture of the six-degree-of-freedom cleaning arm 1 during the driving of the cleaning vehicle, so that the difference between the first lifting distance and the second lifting distance is less than the fourth preset difference, and the first lifting distance and the second lifting distance are both within the second preset distance range.

[0035] In this embodiment, two electromagnetic ultrasonic sensors are designed. The two electromagnetic ultrasonic sensors are symmetrically installed with the laser ranging sensor 8 as the center, and are used to detect the parallelism between the roller brush 4 and the heliostat. The roller brush is fine-tuned based on the two electromagnetic ultrasonic sensors.

[0036] like Figure 3 As shown, Figure 3 In the figure, 11 is a heliostat, 13 is a roller brush projection, T5 and T6 are transmitting probes of the first electromagnetic ultrasonic sensor 9 and the second electromagnetic ultrasonic sensor 10, respectively, and R5 and R6 are receiving probes of the first electromagnetic ultrasonic sensor 9 and the second electromagnetic ultrasonic sensor 10, respectively. The specific process of roller brush fine-tuning is as follows: after the roller brush is in place, the first electromagnetic ultrasonic sensor 9 and the second electromagnetic ultrasonic sensor 10 respectively read the variables related to the fit between the two ends of the roller brush 4 and the mirror surface of the heliostat 11, and obtain the first lifting distance and the second lift-off distance , the first lift-off distance and the second lift-off distance The sensor can be used to map the lift-off distance of a certain area of ​​the mirror surface, analyze the posture fit of the roller brush 4, and dynamically fine-tune the roller brush 4 head swing phenomenon during the cleaning process. , are the x-axis component, y-axis component and z-axis component of the angle adjustment amount of the roller brush 4 along the short side, The x-axis component, y-axis component and z-axis component of the angle adjustment amount of the roller brush 4 along the long side are respectively obtained, and the adjustment angle of each joint of the six-degree-of-freedom cleaning arm 1 is obtained, and the posture of the six-degree-of-freedom cleaning arm 1 is adjusted so that , Condition s4 is met during cleaning: , The lower limit of the distance between the four diagonals of the roller brush and the mirror surface, The upper limit of the distance between the four diagonal roller brushes and the mirror surface. and A second preset distance range is formed, so that the cross section of the roller brush 4 is made parallel to the mirror surface by adjusting the six-degree-of-freedom cleaning arm 1, thereby adjusting the fit of the roller brush 4 to the mirror surface.

[0037] The electromagnetic ultrasonic sensor can be applied to conductive and magnetic heliostat materials. The propagation speed and propagation time of ultrasonic waves in the heliostat are used to measure the thickness of the mirror body. The distance between the probe of the electromagnetic ultrasonic sensor and the heliostat body is the lift-off distance. When the lift-off distance changes, the amplitude of the echo signal will be affected. The thickness of the mirror body is read by the electromagnetic ultrasonic sensor. When the thickness remains unchanged, the combination of the amplitude of the echo signal and the lift-off distance is read multiple times to obtain an approximate corresponding relationship between the two. During normal operation, the lift-off distance at this time is determined by reading the amplitude of the echo signal, thereby determining the first lift-off distance and the second lift-off distance.

[0038] Based on this, in this embodiment, the control component is used to take the x-axis component of the angle adjustment amount of the cleaning component along the long side, the y-axis component of the angle adjustment amount of the cleaning component along the long side, the z-axis component of the angle adjustment amount of the cleaning component along the long side, the x-axis component of the angle adjustment amount of the cleaning component along the short side, the y-axis component of the angle adjustment amount of the cleaning component along the short side and the z-axis component of the angle adjustment amount of the cleaning component along the short side as input during the driving process of the cleaning vehicle, and use the joint inverse motion equation to determine the adjustment angle of the sixth joint, and adjust the posture of the six-degree-of-freedom cleaning arm 1 based on the adjustment angle of the sixth joint until the difference between the first lifting distance and the second lifting distance is less than the fourth preset difference, and the first lifting distance and the second lifting distance are both within the second preset distance range.

[0039] In this embodiment, when adjusting the arm posture, since the six-degree-of-freedom cleaning arm 1 adopts a six-degree-of-freedom chain structure, each joint is rotatable. Joints , the adjustment angle of each joint is expressed as ,link Located in joints With joints The length of each connecting rod is expressed as ,in, The arm posture adjustment parameters include: the position adjustment amount of the roller brush 4 relative to the base , Angle adjustment of roller brush 4 along the short side , Roller brush 4 rotation angle adjustment , Angle adjustment of roller brush 4 along the long side , the arm posture adjustment parameter is of absolute value type. The initial value of the posture of the six-degree-of-freedom cleaning arm 1 is determined by the design and installation method. The coordinate origin can be set to the base of the six-degree-of-freedom cleaning arm 1, and the zero point position of the absolute value encoder of each joint is read. At this time, the position and posture of the roller brush 4 relative to the base are , which can be used as the zero point of the washing arm posture and saved in the control component. The position and posture of the roller brush 4 are adjusted according to the requirements of each posture adjustment. The angle calculated from the bottom layer of the control component is based on the zero point of the washing arm posture as a reference value. However, in the development of the continuous fine-tuning algorithm of the washing arm, the switching of two adjacent postures will be more intuitive at the application level by superimposing the posture increment on the previous posture.

[0040] In this embodiment, the calculation formula for the adjustment angle of each joint of the cleaning arm, that is, the joint inverse motion equation is: (1) (2) (3) (4) (5) (6) (7) (8) (9) To simplify writing, we usually use the symbol express ,use express ,use express ,use express , , The quadrant selection process is based on the zero point of the cleaning arm posture. At the same time, it is necessary to ensure that each joint will not interfere with the heliostat mirror surface to ensure the safety of posture adjustment. In the above formula, is the adjustment angle of the first joint; The y-axis component of the position adjustment of the cleaning component relative to the base; is the x-axis component of the position adjustment of the cleaning component relative to the base; is the sum of the adjustment angles of the second joint, the third joint and the fourth joint; The z-axis component of the rotation angle adjustment of the cleaning component; is the cosine value of the adjustment angle of the first joint; The x-axis component of the rotation angle adjustment of the cleaning component; is the sine value of the adjustment angle of the first joint; The y-axis component of the rotation angle adjustment of the cleaning component; is the cosine value of the adjustment angle of the third joint; is the cosine value of the sum of the adjustment angles of the second joint, the third joint, and the fourth joint; is the length of the fourth connecting rod; The z-axis component of the position adjustment of the cleaning component relative to the base; is the sine value of the sum of the adjustment angles of the second joint, the third joint and the fourth joint; is the length of the second connecting rod; is the length of the third connecting rod; is the sine value of the adjustment angle of the third joint; is the adjustment angle of the third joint; is the adjustment angle of the second joint; is the adjustment angle of the fourth joint; is the adjustment angle of the fifth joint; is the adjustment angle of the sixth joint; The x-axis component of the angular adjustment amount of the cleaning component along the long side; The y-axis component of the angular adjustment amount of the cleaning component along the long side; The z-axis component of the angular adjustment amount of the cleaning component along the long side; The x-axis component of the angle adjustment of the cleaning component along the short side; The y-axis component of the angle adjustment of the cleaning component along the short side; It is the z-axis component of the angular adjustment of the cleaning component along the short side.

[0041] In order to improve the cleaning efficiency of the roller brush 4, this embodiment proposes a method for automatically fine-tuning the fit between the roller brush 4 and the mirror surface. Through laser and electromagnetic ultrasonic collaborative detection, it is suitable for short-distance environments with water mist interference. In order to realize the automatic cleaning operation of the vehicle while driving after the mirror body is locked, a six-degree-of-freedom chain cleaning arm is taken as an example to provide an inverse kinematic solution method that is conducive to programming, so as to realize the state control of the three position axes and three posture axes of the roller brush 4, and solve the problem that the existing technology only provides 2 to 3 degrees of freedom and can only realize control in the parking cleaning mode. Of course, the six-degree-of-freedom cleaning arm 1 of this embodiment can also adopt other innovative structures, but this embodiment focuses on the in-depth explanation of the six-degree-of-freedom chain structure and provides a detailed inverse kinematic solution method, which can provide flexible control capabilities for the six-degree-of-freedom cleaning arm 1 during the dynamic operation of the cleaning vehicle, and facilitate the roller brush 4 to perform fine fine-tuning operations, thereby ensuring the efficiency and accuracy of the cleaning operation.

[0042] This embodiment solves two key technical problems: one is to achieve high-precision spatial positioning of the cleaning vehicle, the six-degree-of-freedom cleaning arm 1 and the roller brush 4 on the heliostat to ensure accurate cleaning operations; the other is to explore the flexible fitting strategy of the roller brush 4 during the cleaning process to balance cleaning efficiency and mirror safety and achieve coordinated control of the two. In order to improve cleaning efficiency and flexibility, a fast inverse solution algorithm for the six-degree-of-freedom cleaning arm 1 is introduced to optimize the dynamic control strategy of the cleaning arm of the cleaning vehicle in the dynamic motion mode to ensure that the cleaning operation can be completed efficiently, safely and accurately in a complex and changeable working environment. Compared with the prior art, this embodiment provides an adjustment of the arm posture of the six-degree-of-freedom chain cleaning arm based on the fusion of acoustic, optical and magnetic sensors, so that the roller brush 4 automatically aligns with the heliostat mirror surface, and supports automatic fine-tuning of the fit between the roller brush 4 and the mirror surface during the cleaning process, wherein acoustic, optical and magnetic represent the three sensing methods of ultrasound, laser and electromagnetic ultrasound, respectively.

[0043] This embodiment adopts the traditional roller brush 4 structure, combined with laser and electromagnetic ultrasonic non-destructive testing technology, which can not only improve the accuracy of the cleaning process, but also show more significant advantages and prospects from multiple dimensions such as the difficulty of equipment implementation, the extension of service life and the guarantee of operation safety. Optionally, this embodiment can also innovate the roller brush 4 structure into a static rag form, and integrate a precise internal pressure sensor array to achieve fine and flexible cleaning control of the heliostat mirror surface.

[0044] This embodiment proposes a heliostat cleaning vehicle arm posture adjustment scheme, which adopts ultrasonic and laser collaborative detection technology to achieve the adjustment of the six-degree-of-freedom cleaning arm 1 and the roller brush 4 posture, and combines laser and electromagnetic ultrasonic detection technology to achieve precise positioning and dynamic fine-tuning of surface fit during the cleaning process, optimize the cleaning effect and improve safety, and provide a fast solution method for the inverse motion of each joint of the six-degree-of-freedom chain cleaning arm, which can realize the forward movement of the cleaning vehicle and control the fast dynamic adjustment of the six-degree-of-freedom cleaning arm 1 and the roller brush 4 posture.

[0045] Example 2.

[0046] This embodiment provides a method for adjusting the arm posture of a heliostat cleaning vehicle, which is applied to the arm posture adjustment system of a heliostat cleaning vehicle described in Example 1. Figure 4 As shown, the heliostat cleaning vehicle arm posture adjustment method includes the following steps.

[0047] S1: Acquire a first distance measured by a first ultrasonic ranging sensor, a second distance measured by a second ultrasonic ranging sensor, a third distance measured by a third ultrasonic ranging sensor, and a fourth distance measured by a laser ranging sensor.

[0048] S2: Adjust the posture of the six-degree-of-freedom cleaning arm so that the difference between the first distance and the second distance is less than the first preset difference, and the first distance and the second distance are both within the first preset distance range, the difference between the third distance and the ground distance reference value is less than the second preset difference, and the difference between the fourth distance and the center distance reference value is less than the third preset difference.

[0049] In S2, the posture of the six-degree-of-freedom cleaning arm is adjusted so that the difference between the first distance and the second distance is less than the first preset difference, and the first distance and the second distance are both within the first preset distance range, the difference between the third distance and the ground distance reference value is less than the second preset difference, and the difference between the fourth distance and the center distance reference value is less than the third preset difference, which specifically includes the following steps.

[0050] (1) Taking the x-axis component of the position adjustment amount of the cleaning component relative to the base and the y-axis component of the position adjustment amount of the cleaning component relative to the base as input, the adjustment angles of the six joints are determined using the joint inverse motion equation; wherein the six joints include the first joint, the second joint, the third joint, the fourth joint, the fifth joint and the sixth joint of the six-degree-of-freedom cleaning arm.

[0051] (2) The posture of the six-degree-of-freedom cleaning arm is adjusted based on the adjustment angles of the six joints.

[0052] (3) Determine whether the difference between the first distance and the second distance is less than a first preset difference, and whether the first distance and the second distance are both within a first preset distance range, and obtain a first determination result.

[0053] (4) If the result of the first judgment is no, adjust the x-axis component of the position adjustment amount of the cleaning component relative to the base and the y-axis component of the position adjustment amount of the cleaning component relative to the base, and return to the step of "using the x-axis component of the position adjustment amount of the cleaning component relative to the base and the y-axis component of the position adjustment amount of the cleaning component relative to the base as input, and using the joint inverse kinematics equation to determine the adjustment angles of the six joints."

[0054] (5) If the first judgment result is yes, the z-axis component of the position adjustment amount of the cleaning component relative to the base is used as input, and the adjustment angles of the five joints are determined using the joint inverse motion equation; wherein the five joints include the second joint, the third joint, the fourth joint, the fifth joint and the sixth joint of the six-degree-of-freedom cleaning arm.

[0055] (6) The posture of the six-degree-of-freedom cleaning arm is adjusted based on the adjustment angles of the five joints.

[0056] (7) Determine whether the difference between the third distance and the ground distance reference value is less than a second preset difference, and obtain a second determination result.

[0057] (8) If the second judgment result is no, adjust the z-axis component of the position adjustment amount of the cleaning component relative to the base, and return to the step of "using the z-axis component of the position adjustment amount of the cleaning component relative to the base as input and using the joint inverse kinematics equation to determine the adjustment angles of the five joints."

[0058] (9) If the second judgment result is yes, the x-axis component of the position adjustment amount of the cleaning component relative to the base and the y-axis component of the position adjustment amount of the cleaning component relative to the base are used as inputs to determine the adjustment angles of the five joints using the joint inverse kinematic equation.

[0059] (10) The posture of the six-degree-of-freedom cleaning arm is adjusted based on the adjustment angles of the five joints.

[0060] (11) Determine whether the difference between the fourth distance and the center distance reference value is less than a third preset difference, and obtain a third determination result.

[0061] (12) If the result of the third judgment is no, then under the constraint that the ratio of the x-axis component of the position adjustment amount of the cleaning component relative to the base to the y-axis component of the position adjustment amount of the cleaning component relative to the base remains unchanged, adjust the x-axis component of the position adjustment amount of the cleaning component relative to the base and the y-axis component of the position adjustment amount of the cleaning component relative to the base, and return to the step of "taking the x-axis component of the position adjustment amount of the cleaning component relative to the base and the y-axis component of the position adjustment amount of the cleaning component relative to the base as input, and using the joint inverse motion equation to determine the adjustment angles of the five joints."

[0062] (13) If the third judgment result is yes, then end.

[0063] The arm posture adjustment method of the heliostat cleaning vehicle of this embodiment further includes the following steps.

[0064] (1) Obtaining a first lift-off distance measured by a first electromagnetic ultrasonic sensor and a second lift-off distance measured by a second electromagnetic ultrasonic sensor.

[0065] (2) During the driving process of the cleaning vehicle, the x-axis component of the angle adjustment amount of the cleaning component along the long side, the y-axis component of the angle adjustment amount of the cleaning component along the long side, the z-axis component of the angle adjustment amount of the cleaning component along the long side, the x-axis component of the angle adjustment amount of the cleaning component along the short side, the y-axis component of the angle adjustment amount of the cleaning component along the short side and the z-axis component of the angle adjustment amount of the cleaning component along the short side are used as inputs, and the adjustment angle of the sixth joint of the six-degree-of-freedom cleaning arm is determined using the joint inverse kinematic equation.

[0066] (3) The posture of the six-degree-of-freedom cleaning arm is adjusted based on the adjustment angle of the sixth joint.

[0067] (4) Determine whether the difference between the first lift-off distance and the second lift-off distance is less than a fourth preset difference, and whether the first lift-off distance and the second lift-off distance are both within a second preset distance range.

[0068] (5) If not, adjust the x-axis component of the angle adjustment amount of the cleaning component along the long side, the y-axis component of the angle adjustment amount of the cleaning component along the long side, the z-axis component of the angle adjustment amount of the cleaning component along the long side, the x-axis component of the angle adjustment amount of the cleaning component along the short side, the y-axis component of the angle adjustment amount of the cleaning component along the short side, and the z-axis component of the angle adjustment amount of the cleaning component along the short side, and return to the step of "taking the x-axis component of the angle adjustment amount of the cleaning component along the long side, the y-axis component of the angle adjustment amount of the cleaning component along the long side, the z-axis component of the angle adjustment amount of the cleaning component along the long side, the x-axis component of the angle adjustment amount of the cleaning component along the short side, the y-axis component of the angle adjustment amount of the cleaning component along the short side, and the z-axis component of the angle adjustment amount of the cleaning component along the short side as input, and using the joint inverse kinematic equation to determine the adjustment angle of the sixth joint of the six-degree-of-freedom cleaning arm."

[0069] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0070] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A heliostat cleaning vehicle arm posture adjustment system, characterized in that: The arm posture adjustment system of the heliostat cleaning vehicle comprises: a six-degree-of-freedom cleaning arm, a connecting bracket, a cleaning component, a sensor component and a control component; the six-degree-of-freedom cleaning arm is installed on the cleaning vehicle, the connecting bracket is installed at the end of the six-degree-of-freedom cleaning arm, the cleaning component and the sensor component are both installed on the connecting bracket, and the control component is communicatively connected with the six-degree-of-freedom cleaning arm, the cleaning component and the sensor component; The cleaning component is used for cleaning the heliostat; The sensing component includes a first ultrasonic ranging sensor, a second ultrasonic ranging sensor, a third ultrasonic ranging sensor and a laser ranging sensor; the first ultrasonic ranging sensor is installed at the first end of the connecting bracket, and the first ultrasonic ranging sensor is used to measure the first distance between the cleaning component and the heliostat; the second ultrasonic ranging sensor is installed at the second end of the connecting bracket, and the second ultrasonic ranging sensor is used to measure the second distance between the cleaning component and the heliostat; the third ultrasonic ranging sensor is installed at the bottom of the connecting bracket, and the third ultrasonic ranging sensor is used to measure the third distance between the cleaning component and the ground; the laser ranging sensor is installed at the center of the connecting bracket, and the laser ranging sensor is used to measure the fourth distance between the cleaning component and the heliostat; The control component is used to adjust the posture of the six-degree-of-freedom cleaning arm so that the difference between the first distance and the second distance is less than the first preset difference, and the first distance and the second distance are both within the first preset distance range, the difference between the third distance and the ground distance reference value is less than the second preset difference, and the difference between the fourth distance and the center distance reference value is less than the third preset difference.

2. The arm posture adjustment system of the heliostat cleaning vehicle according to claim 1, characterized in that: The six-degree-of-freedom cleaning arm comprises: a base, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod and a sixth connecting rod, and a connecting bracket is installed at the free end of the sixth connecting rod; The base is connected to the first connecting rod through a first joint, the first connecting rod is connected to the second connecting rod through a second joint, the second connecting rod is connected to the third connecting rod through a third joint, the third connecting rod is connected to the fourth connecting rod through a fourth joint, the fourth connecting rod is connected to the fifth connecting rod through a fifth joint, and the fifth connecting rod is connected to the sixth connecting rod through a sixth joint; Among them, the first joint, the second joint, the third joint, the fourth joint, the fifth joint and the sixth joint are all rotatable joints.

3. The arm posture adjustment system of the heliostat cleaning vehicle according to claim 1, characterized in that: The cleaning component includes a nozzle and a roller brush. The nozzle is used to spray cleaning fluid onto the heliostat, and the roller brush is used to clean the heliostat with the cleaning fluid.

4. The arm posture adjustment system of the heliostat cleaning vehicle according to claim 2, characterized in that: The control component is used to take the x-axis component of the position adjustment amount of the cleaning component relative to the base and the y-axis component of the position adjustment amount of the cleaning component relative to the base as input, determine the adjustment angles of the six joints by using the joint inverse motion equation, and adjust the posture of the six-degree-of-freedom cleaning arm based on the adjustment angles of the six joints until the difference between the first distance and the second distance is less than the first preset difference, and the first distance and the second distance are both within the first preset distance range; Taking the z-axis component of the position adjustment of the cleaning component relative to the base as input, determining the adjustment angles of the five joints using the joint inverse motion equation, and adjusting the posture of the six-degree-of-freedom cleaning arm based on the adjustment angles of the five joints until the difference between the third distance and the ground distance reference value is less than the second preset difference; Under the constraint that the ratio of the x-axis component of the position adjustment amount of the cleaning component relative to the base to the y-axis component of the position adjustment amount of the cleaning component relative to the base remains unchanged, the x-axis component of the position adjustment amount of the cleaning component relative to the base and the y-axis component of the position adjustment amount of the cleaning component relative to the base are used as inputs, the adjustment angles of the five joints are determined using the joint inverse motion equation, and the posture of the six-degree-of-freedom cleaning arm is adjusted based on the adjustment angles of the five joints until the difference between the fourth distance and the center distance reference value is less than the third preset difference; wherein the six joints include a first joint, a second joint, a third joint, a fourth joint, a fifth joint and a sixth joint; The five joints include the second joint, the third joint, the fourth joint, the fifth joint and the sixth joint.

5. The arm posture adjustment system of the heliostat cleaning vehicle according to claim 2, characterized in that: The sensing component also includes a first electromagnetic ultrasonic sensor and a second electromagnetic ultrasonic sensor; the first electromagnetic ultrasonic sensor and the second electromagnetic ultrasonic sensor are both mounted on a connecting bracket, the first electromagnetic ultrasonic sensor is located between the first ultrasonic ranging sensor and the laser ranging sensor, the second electromagnetic ultrasonic sensor is located between the second ultrasonic ranging sensor and the laser ranging sensor, and the distance from the first electromagnetic ultrasonic sensor to the laser ranging sensor is equal to the distance from the second electromagnetic ultrasonic sensor to the laser ranging sensor; The first electromagnetic ultrasonic sensor is used to measure a first lift-off distance between the cleaning component and the heliostat; The second electromagnetic ultrasonic sensor is used to measure a second lift-off distance between the cleaning component and the heliostat; The control component is used to adjust the posture of the six-degree-of-freedom cleaning arm during the driving of the cleaning vehicle, so that the difference between the first lifting distance and the second lifting distance is less than the fourth preset difference, and the first lifting distance and the second lifting distance are both within the second preset distance range.

6. The arm posture adjustment system of the heliostat cleaning vehicle according to claim 5, characterized in that: The control component is used to take the x-axis component of the angle adjustment amount of the cleaning component along the long side, the y-axis component of the angle adjustment amount of the cleaning component along the long side, the z-axis component of the angle adjustment amount of the cleaning component along the long side, the x-axis component of the angle adjustment amount of the cleaning component along the short side, the y-axis component of the angle adjustment amount of the cleaning component along the short side and the z-axis component of the angle adjustment amount of the cleaning component along the short side as input during the driving process of the cleaning vehicle, determine the adjustment angle of the sixth joint by using the joint inverse motion equation, and adjust the posture of the six-degree-of-freedom cleaning arm based on the adjustment angle of the sixth joint until the difference between the first lifting distance and the second lifting distance is less than the fourth preset difference, and the first lifting distance and the second lifting distance are both within the second preset distance range.

7. The arm posture adjustment system of the heliostat cleaning vehicle according to claim 4 or 6, characterized in that: The inverse kinematic equation of the joint is: ； ； ； ； ； ； ； ； ； in, is the adjustment angle of the first joint; The y-axis component of the position adjustment of the cleaning component relative to the base; is the x-axis component of the position adjustment of the cleaning component relative to the base; is the sum of the adjustment angles of the second joint, the third joint and the fourth joint; The z-axis component of the rotation angle adjustment of the cleaning component; is the cosine value of the adjustment angle of the first joint; The x-axis component of the rotation angle adjustment of the cleaning component; is the sine value of the adjustment angle of the first joint; The y-axis component of the rotation angle adjustment of the cleaning component; is the cosine value of the adjustment angle of the third joint; is the cosine value of the sum of the adjustment angles of the second joint, the third joint, and the fourth joint; is the length of the fourth connecting rod; The z-axis component of the position adjustment of the cleaning component relative to the base; is the sine value of the sum of the adjustment angles of the second joint, the third joint and the fourth joint; is the length of the second connecting rod; is the length of the third connecting rod; is the sine value of the adjustment angle of the third joint; is the adjustment angle of the third joint; is the adjustment angle of the second joint; is the adjustment angle of the fourth joint; is the adjustment angle of the fifth joint; is the adjustment angle of the sixth joint; The x-axis component of the angular adjustment amount of the cleaning component along the long side; The y-axis component of the angular adjustment amount of the cleaning component along the long side; The z-axis component of the angular adjustment amount of the cleaning component along the long side; The x-axis component of the angle adjustment of the cleaning component along the short side; The y-axis component of the angle adjustment of the cleaning component along the short side; It is the z-axis component of the angular adjustment of the cleaning component along the short side.

8. A method for adjusting the arm posture of a heliostat cleaning vehicle, applied to the arm posture adjustment system of a heliostat cleaning vehicle according to any one of claims 1 to 7, characterized in that: The heliostat cleaning vehicle arm posture adjustment method comprises: Acquire a first distance measured by the first ultrasonic ranging sensor, a second distance measured by the second ultrasonic ranging sensor, a third distance measured by the third ultrasonic ranging sensor, and a fourth distance measured by the laser ranging sensor; The posture of the six-degree-of-freedom cleaning arm is adjusted so that the difference between the first distance and the second distance is less than the first preset difference, and the first distance and the second distance are both within the first preset distance range, the difference between the third distance and the ground distance reference value is less than the second preset difference, and the difference between the fourth distance and the center distance reference value is less than the third preset difference.

9. The method for adjusting the arm posture of a heliostat cleaning vehicle according to claim 8, characterized in that: The posture of the six-degree-of-freedom cleaning arm is adjusted so that the difference between the first distance and the second distance is less than the first preset difference, and the first distance and the second distance are both within the first preset distance range, the difference between the third distance and the ground distance reference value is less than the second preset difference, and the difference between the fourth distance and the center distance reference value is less than the third preset difference, specifically including: Taking the x-axis component of the position adjustment amount of the cleaning component relative to the base and the y-axis component of the position adjustment amount of the cleaning component relative to the base as input, the adjustment angles of the six joints are determined using the joint inverse motion equation; wherein the six joints include the first joint, the second joint, the third joint, the fourth joint, the fifth joint and the sixth joint of the six-degree-of-freedom cleaning arm; The posture of the six-degree-of-freedom cleaning arm is adjusted based on the adjustment angles of the six joints; Determine whether the difference between the first distance and the second distance is less than a first preset difference, and whether the first distance and the second distance are both within a first preset distance range, to obtain a first determination result; If the first judgment result is no, then adjust the x-axis component of the position adjustment amount of the cleaning component relative to the base and the y-axis component of the position adjustment amount of the cleaning component relative to the base, and return to the step of "using the x-axis component of the position adjustment amount of the cleaning component relative to the base and the y-axis component of the position adjustment amount of the cleaning component relative to the base as input, and using the joint inverse motion equation to determine the adjustment angles of the six joints"; If the first judgment result is yes, the z-axis component of the position adjustment amount of the cleaning component relative to the base is used as input, and the adjustment angles of the five joints are determined using the joint inverse motion equation; wherein the five joints include the second joint, the third joint, the fourth joint, the fifth joint and the sixth joint of the six-degree-of-freedom cleaning arm; The posture of the six-degree-of-freedom cleaning arm is adjusted based on the adjustment angles of the five joints; Determine whether the difference between the third distance and the ground distance reference value is less than a second preset difference, and obtain a second determination result; If the second judgment result is no, the z-axis component of the position adjustment amount of the cleaning component relative to the base is adjusted, and the process returns to the step of "using the z-axis component of the position adjustment amount of the cleaning component relative to the base as input and using the joint inverse motion equation to determine the adjustment angles of the five joints"; If the second judgment result is yes, the x-axis component of the position adjustment amount of the cleaning component relative to the base and the y-axis component of the position adjustment amount of the cleaning component relative to the base are used as inputs, and the adjustment angles of the five joints are determined using the joint inverse kinematic equations; The posture of the six-degree-of-freedom cleaning arm is adjusted based on the adjustment angles of the five joints; Determine whether the difference between the fourth distance and the center distance reference value is less than a third preset difference, and obtain a third determination result; If the third judgment result is no, then under the constraint that the ratio of the x-axis component of the position adjustment amount of the cleaning component relative to the base to the y-axis component of the position adjustment amount of the cleaning component relative to the base remains unchanged, the x-axis component of the position adjustment amount of the cleaning component relative to the base and the y-axis component of the position adjustment amount of the cleaning component relative to the base are adjusted, and the step of "using the x-axis component of the position adjustment amount of the cleaning component relative to the base and the y-axis component of the position adjustment amount of the cleaning component relative to the base as input and determining the adjustment angles of the five joints using the joint inverse motion equation" is returned; If the third judgment result is yes, then the process ends.

10. The method for adjusting the arm posture of a heliostat cleaning vehicle according to claim 8, characterized in that: The heliostat cleaning vehicle arm posture adjustment method further comprises: Acquire a first lift-off distance measured by the first electromagnetic ultrasonic sensor and a second lift-off distance measured by the second electromagnetic ultrasonic sensor; During the driving process of the cleaning vehicle, the adjustment angle of the sixth joint of the six-degree-of-freedom cleaning arm is determined by using the joint inverse motion equation, taking the x-axis component of the angle adjustment amount of the cleaning component along the long side, the y-axis component of the angle adjustment amount of the cleaning component along the long side, the z-axis component of the angle adjustment amount of the cleaning component along the long side, the x-axis component of the angle adjustment amount of the cleaning component along the short side, the y-axis component of the angle adjustment amount of the cleaning component along the short side and the z-axis component of the angle adjustment amount of the cleaning component along the short side as input; The posture of the six-degree-of-freedom cleaning arm is adjusted based on the adjustment angle of the sixth joint; Determine whether the difference between the first lift-off distance and the second lift-off distance is less than a fourth preset difference, and whether the first lift-off distance and the second lift-off distance are both within a second preset distance range; If not, adjust the x-axis component of the angle adjustment amount of the cleaning part along the long side, the y-axis component of the angle adjustment amount of the cleaning part along the long side, the z-axis component of the angle adjustment amount of the cleaning part along the long side, the x-axis component of the angle adjustment amount of the cleaning part along the short side, the y-axis component of the angle adjustment amount of the cleaning part along the short side and the z-axis component of the angle adjustment amount of the cleaning part along the short side, and return to the step of "taking the x-axis component of the angle adjustment amount of the cleaning part along the long side, the y-axis component of the angle adjustment amount of the cleaning part along the long side, the z-axis component of the angle adjustment amount of the cleaning part along the long side, the x-axis component of the angle adjustment amount of the cleaning part along the short side, the y-axis component of the angle adjustment amount of the cleaning part along the short side and the z-axis component of the angle adjustment amount of the cleaning part along the short side as input, and using the joint inverse motion equation to determine the adjustment angle of the sixth joint of the six-degree-of-freedom cleaning arm".

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