Heliostat unmanned cleaning system and cleaning method thereof

Abstract

The invention provides a heliostat unmanned cleaning system and a cleaning method, and solves the problems of complex operation, high operation control difficulty, low working efficiency and incapability of highly automatic cleaning of heliostat cleaning equipment which is manually controlled in a heliostat field. According to the technical scheme, the system comprises a cleaning vehicle which is managed and controlled through cleaning vehicle management calculation, a heliostat adjusting system, an RFID recognition system used for recognizing heliostats, an automatic charging system and an automatic water supplementing system. An automatic cleaning subsystem of the cleaning vehicle is provided with a six-axis mechanical arm, a cleaning mechanism, a Beidou positioning navigation subsystem, a limited automatic driving subsystem and a heliostat recognition subsystem. According to the cleaning method, the RFID reader-writer on the RFID system is used for scanning the RFID chips arranged on the heliostat support on the periphery to position the accurate position of the cleaning vehicle, unmanned and automatic heliostat cleaning is basically achieved, dependence on manpower is greatly reduced through unmanned cleaning, and the heliostat cleaning cleanliness is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of solar thermal power generation, and in particular to an unmanned cleaning system and a cleaning method for a heliostat, which are suitable for cleaning and maintenance of a heliostat field. Background Art

[0002] Tower-type solar thermal power plants and power stations use a heat collection tower set in the middle of the site. A central receiver is installed on the top of the heat collection tower, and many large solar reflectors, namely heliostats, are installed around it. Each heliostat is equipped with a tracking mechanism to accurately reflect sunlight to the central receiver on the top of the tower, convert the absorbed solar energy into heat energy, and then transfer the heat energy to the working fluid to collect heat energy, drive the generator, and finally output it in the form of electrical energy. In daily operation, the heat collection tower and heliostat field are at the core. Among them, safe and efficient cleaning of the heliostat plant is one of the core tasks of daily maintenance.

[0003] At present, the main cleaning method of CSP power plants is to install a hydraulic mechanical arm on the chassis of a diesel truck to drive the spray cleaning mechanism, and the driver drives the truck for cleaning. The heliostat field is located in the desert Gobi area, where the environment is relatively harsh. The problems in the cleaning process of heliostats are: the trucks have high fuel consumption and high emission pollution; in order not to interfere with daytime power generation, the cleaning work is mostly carried out at night, and the drivers and cleaning staff have high work intensity and are prone to fatigue; the differences in driving habits and fatigue levels of the staff lead to large differences in cleaning efficiency and cleaning effects; professional truck drivers are needed, but there is a shortage of talent and it is difficult to recruit workers, resulting in high cleaning construction costs.

[0004] The patent document with the announcement number CN115569877A discloses a heliostat cleaning vehicle, which includes: a vehicle body, a control cabinet, a water supply mechanism, a generator set, a cleaning mechanism and a mechanical arm. The operator drives the vehicle body and controls the mechanical arm and the cleaning mechanism to clean the heliostat, which reduces the workload of the cleaning staff, but still requires professional cleaning staff to perform complex operations on the cleaning vehicle. The cleaning staff is required to perform complex operations in controlling the vehicle driving route, the heliostat cleaning quality, water supply and power supply, etc., which makes it difficult to maintain high-efficiency cleaning operations for a long time, especially for nighttime cleaning operations. The patent document with the announcement number CN105268670B discloses a heliostat cleaning mechanism, whose control mechanism is mainly a CMC chip provided with an input interface module, a program storage module, a processing core, a motion control module and a motor drive module. By providing a water spray mechanism and a brush roller mechanism, although the automatic control cleaning process of the heliostat cleaning mechanism is improved, the automatic control program of the water spray mechanism cleaning process is improved, but the cleaning process is still mainly operated by the staff, and a small amount of the cleaning process is automatically controlled. Summary of the invention

[0005] The purpose of the present invention is to provide an unmanned heliostat cleaning system and a cleaning method thereof, which solves the problems of complex operation, great control difficulty, low working efficiency and inability to highly automated cleaning of manually controlled heliostat cleaning equipment in a heliostat field. The system can perform unmanned and automated heliostat cleaning, greatly reducing dependence on manual labor and ensuring the cleanliness of the heliostat cleaning.

[0006] The technical solution adopted by the present invention is: the unmanned heliostat cleaning system includes a cleaning vehicle that is managed and controlled by a cleaning vehicle management calculation, and the cleaning vehicle is provided with an automatic cleaning subsystem with a cleaning mechanism. The technical key points are: it also includes a heliostat adjustment system, an RFID identification system for identifying the heliostat, an automatic charging system and an automatic water replenishment system; The body of the cleaning vehicle is a new energy unmanned cleaning vehicle, the automatic cleaning subsystem is a cleaning mechanism provided with a six-axis mechanical arm with a 3D vision system controlled by an automatic cleaning subsystem controller and an electric cleaning brush connected to a high-pressure water spray system, and the automatic cleaning subsystem controller is a programmable logic controller provided with a human-machine interface of the cleaning system; the cleaning vehicle is also provided with a Beidou positioning and navigation subsystem, a limited automatic driving subsystem and a heliostat recognition subsystem; the Beidou positioning and navigation subsystem includes: a Beidou signal receiver, a remote communication module, and a Beidou signal processing program module; the limited automatic driving subsystem includes: a path planning module and an automatic obstacle avoidance module set by the automatic driving controller of the cleaning vehicle; the heliostat recognition subsystem includes: a vehicle-mounted laser radar and a point cloud processing module for identifying heliostats; The heliostat adjustment system is provided with a heliostat angle adjustment subsystem for adjusting the heliostat posture, a cleaning vehicle position calculation subsystem for processing the position information sent by the cleaning vehicle and calculating the cleaning vehicle position, and a heliostat posture planning subsystem for adjusting the heliostat to a suitable cleaning posture in advance according to the cleaning vehicle position; The RFID identification system includes: an RFID chip placed on the heliostat bracket for numbering each heliostat, a heliostat information RFID reader placed on the cleaning vehicle, a wireless communication module placed on the cleaning vehicle for sending RFID information and the working status of the cleaning vehicle to the power plant control room, and a wireless signal receiving module placed in the power plant control room; The automatic charging system comprises: a charging pile arranged at an automatic charging station of a heliostat field, a charging position safety detection sensor for positioning a cleaning vehicle, and a charging status interaction interface of the cleaning vehicle; The automatic water replenishment system comprises: an electrically controlled water replenishment valve arranged at an automatic water replenishment station, a water replenishment position safety detection sensor for positioning a cleaning vehicle, and a water replenishment interactive interface for the cleaning vehicle.

[0007] The Beidou positioning and navigation subsystem is provided with a vehicle-mounted Beidou signal receiver for positioning the cleaning vehicle, an RS485 communication module and a Beidou signal processing program module.

[0008] The path planning module of the autonomous driving controller of the limited autonomous driving subsystem includes a cleaning path planning program module, an automatic water replenishment path planning program module and an automatic charging path planning program module; the automatic obstacle avoidance module includes a set millimeter wave radar and ultrasonic radar.

[0009] The heliostat adjustment system is provided with a heliostat angle adjustment subsystem, a cleaning vehicle position calculation subsystem and a heliostat attitude planning subsystem; the heliostat angle adjustment subsystem is used to adjust the attitude of the heliostat; the cleaning vehicle position calculation subsystem is used to process the position information sent by the cleaning vehicle and calculate the cleaning vehicle position; the heliostat attitude planning subsystem is used to adjust the heliostat to a suitable cleaning attitude in advance according to the cleaning vehicle position, determine the number of rings and the specific position of the heliostat field where the cleaning vehicle is located, and adjust the attitude of the corresponding heliostat on the cleaning path in advance so that the heliostat is in the cleaning attitude.

[0010] The cleaning method of the heliostat unmanned cleaning system comprises the following working steps: S1. The cleaning vehicle management computer receives the cleaning tasks issued by the power plant control room through the Ethernet switch, and calculates the number of cleaning vehicles required and the specific cleaning path of each cleaning vehicle; S2. Operate the man-machine interface of the cleaning vehicle management computer according to the cleaning task to issue work instructions, and send the cleaning path to the cleaning vehicle, automatic water replenishment station and automatic charging station via the wireless communication module; S3, the cleaning vehicle receives the work instruction via the remote communication module, starts the engine and drives, uses the radar to detect obstacles in real time, and drives into the heliostat field according to the received cleaning path trajectory; S4. After receiving the task instruction, the automatic water filling station prepares for water filling service; after receiving the task instruction, the automatic charging station connects to the charging pile and prepares for charging service; S5, the single-line laser radar on the cleaning vehicle detects that the cleaning vehicle reaches the set distance from the first heliostat and stops; S6, using the RFID reader on the RFID identification system of the cleaning vehicle to scan the RFID chips placed on the heliostat brackets around, the RFID information of the scanned heliostats around is analyzed by the automatic cleaning subsystem controller, and then transmitted to the cleaning vehicle management computer via the remote communication module, the cleaning vehicle management computer obtains the precise position of the cleaning vehicle according to the RFID information, calculates the specific ring number position and starting position of the heliostat to be cleaned in the heliostat field, and then requests the power plant control room to adjust the heliostat in front of the cleaning vehicle to a posture suitable for cleaning through the Ethernet switch; S7, the on-board automatic cleaning subsystem of the cleaning vehicle starts working, and uses the 3D vision system to accurately detect the position and posture of the heliostat; the programmable logic controller of the automatic cleaning subsystem controller controls the six-axis robotic arm to completely fit the electric cleaning brush to the heliostat mirror surface according to the measured heliostat position and posture data; the on-board laser radar is used to detect the heliostat, so that the cleaning vehicle body always keeps driving in a parallel direction with the heliostat, and at the same time controls the electronically controlled water valve of the high-pressure water spraying system to open, the high-pressure nozzle starts to spray water, and the six-axis robotic arm drives the electric cleaning brush to wash the heliostat; S8. During the cleaning process, when the water volume of the cleaning vehicle is insufficient, the cleaning vehicle automatically drives to the electrically controlled water replenishment valve of the automatic water replenishment station, and the cleaning vehicle docks with the electrically controlled water replenishment valve within the range of the water replenishment position safety detection sensor to replenish water; when the power of the cleaning vehicle is insufficient, it automatically drives to the charging interface of the automatic charging station to charge, and the cleaning vehicle safely docks with the charging interface within the range of the charging position safety detection sensor to charge; after the water replenishment and charging are completed, the cleaning vehicle returns to the planned route and continues the cleaning work; the operator observes the vehicle operation status through the human-machine interface of the cleaning vehicle management computer, and if an abnormality occurs, the abnormal vehicle is remotely parked through the human-machine interface; S9. After cleaning is completed, the cleaning vehicle automatically drives away from the mirror field according to the planned path.

[0011] The advantages and positive effects of the present invention are as follows: since the unmanned heliostat cleaning system adopts a new energy unmanned cleaning vehicle as the cleaning vehicle body, uses an electric vehicle chassis, and uses electric energy with extremely low cost for power plants, pollution and energy consumption are greatly reduced; and through combined connection with a heliostat adjustment system, an RFID identification system for identifying heliostats, an automatic charging system and an automatic water replenishment system, and a cleaning vehicle management computer, a unified automatic control cleaning system is formed; wherein the cleaning vehicle is provided with an automatic cleaning subsystem, a Beidou positioning and navigation subsystem, a limited automatic driving subsystem, and a heliostat identification subsystem, and can plan the cleaning vehicle The cleaning mechanism of the cleaning vehicle is controlled by instructions to automatically clean the heliostat; the heliostat adjustment system is set to automatically adjust the heliostat to a suitable cleaning posture in advance to cooperate with the cleaning; the RFID identification system is set to accurately control the cleaning position of the cleaning vehicle and the number of corresponding heliostats; the automatic charging system and the automatic water replenishment system are set to enable the cleaning vehicle to automatically replenish water and electricity services; the cleaning vehicle management computer is set to manage and monitor various subsystems, and the unmanned cleaning method is adopted to automatically coordinate the main work links in the cleaning process of the cleaning vehicle, greatly reducing the workload of the operator. Therefore, by adopting the unmanned cleaning system and unmanned cleaning method for heliostats, the unmanned and automated cleaning of heliostats is basically realized, and the unmanned cleaning improves the degree of automation, greatly reduces the dependence on manual labor, and ensures the cleanliness of the heliostat cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The present invention is further described below in conjunction with the accompanying drawings.

[0013] Figure 1 It is a schematic diagram of the overall architecture of the unmanned heliostat cleaning system of the present invention; Figure 2 It is the overall connection principle diagram of the unmanned heliostat cleaning system of the present invention; Figure 3 A schematic structural diagram of a cleaning vehicle of an unmanned cleaning system for heliostats according to the present invention; Figure 4 It is a schematic diagram of the subsystems of the cleaning vehicle of the unmanned heliostat cleaning system of the present invention; Figure 5 It is a principle diagram of the heliostat adjustment system of the heliostat unmanned cleaning system of the present invention; Figure 6 It is a structural schematic diagram of the automatic charging system of the unmanned heliostat cleaning system of the present invention; Figure 7 It is a schematic diagram of the automatic charging system of the unmanned heliostat cleaning system of the present invention; Figure 8 It is a structural schematic diagram of the automatic water replenishment system of the unmanned heliostat cleaning system of the present invention; Fig. 9 The schematic diagram of the automatic water replenishment system of the unmanned heliostat cleaning system of the present invention is shown in FIG.

[0014] Description of the serial numbers in the figure: 10 heliostat field, 11 heliostat, 12 cleaning vehicle control room; 100 cleaning vehicle management computer, 101 industrial computer, 102 industrial computer human-machine interface, 103 wireless communication module, 104 Ethernet switch; 200 cleaning vehicle, 210 automatic cleaning subsystem, 211 six-axis robotic arm, 212 electric cleaning brush, 213 high-pressure water spray system, 214 3D vision system, 215 automatic cleaning subsystem controller, 216 electric-controlled water valve, 217 high-pressure water pump, 218 high-pressure water pipeline, 219 cleaning system human-machine interface; 220 Beidou positioning and navigation subsystem, 221 Beidou signal receiver, 222 remote communication module, 223 Beidou signal processing program module; 230 limited autonomous driving subsystem, 231 cleaning path planning program module, 232 automatic obstacle avoidance module, 233 automatic water replenishment path planning program module, 234 automatic charging path planning program module, 235 autonomous driving controller, 236 millimeter wave radar, 237 ultrasonic radar; 240 heliostat identification subsystem, 241 single-line laser radar, 242 point cloud processing module; 300 heliostat adjustment system, 301 heliostat angle adjustment subsystem, 302 cleaning vehicle position calculation subsystem, 303 heliostat attitude planning subsystem; 400 RFID identification system, 401 RFID chip, 402 RFID reader, 403 cleaning vehicle wireless communication module; 500 automatic charging system, 501 charging pile, 502 charging position safety detection sensor, 503 charging station controller, 504 cleaning vehicle charging interactive interface; 600 automatic water replenishment system, 601 electronically controlled water replenishment valve, 602 water replenishment position safety detection sensor, 603 water replenishment station controller, 604 cleaning vehicle water replenishment interactive interface. DETAILED DESCRIPTION

[0015] according to Figure 1-9 The specific scheme of the present invention is described in detail, as shown in Example 1. Figure 1 and Figure 2 As shown, an unmanned heliostat cleaning system includes: a cleaning vehicle management computer 100, a cleaning vehicle 200, a heliostat adjustment system 300, an RFID identification system 400 for identifying a heliostat, an automatic charging system 500 and an automatic water replenishment system 600.

[0016] The cleaning vehicle management computer 100 mainly includes an industrial computer 101 with an industrial computer human-machine interface 102 which is arranged in the cleaning vehicle control room 12. It transmits signals and sends control instructions to the cleaning vehicle 200, the heliostat adjustment system 300, the RFID identification system 400, the automatic charging system 500 and the automatic water replenishment system 600 through a wireless communication module 103 and an Ethernet switch 104.

[0017] The industrial computer 101 is a conventional device for managing and controlling cleaning vehicles in a solar thermal power plant. The cleaning task display interface is set through the cleaning task receiving and parsing program and the cleaning task issuing program. The cleaning vehicle status collection and monitoring program sets the cleaning vehicle status display and remote operation interface. The water replenishment station monitoring program sets the water replenishment station status display and remote operation interface. The charging station monitoring program sets the charging station status display and remote operation interface.

[0018] The wireless communication module 103 can use a lora wireless communication module with a communication distance of 5km and a communication speed of 9600KB / s, which is used for remote communication with the cleaning vehicle, remote monitoring of the cleaning vehicle status, issuing task instructions to the cleaning vehicle, transmitting cleaning trajectories, and emergency remote control. The LAN Ethernet switch 104 is used to communicate with the main control system of the solar thermal power plant and receive cleaning tasks.

[0019] like Figure 3 and Figure 4As shown, the cleaning vehicle 200 is a new energy unmanned cleaning vehicle, which uses a commercially available new energy unmanned vehicle, is used to carry a water tank and various functional equipment systems, and is controlled by receiving signal commands transmitted by the cleaning vehicle management computer 100. The cleaning vehicle is provided with an automatic cleaning subsystem 210, a Beidou positioning and navigation subsystem 220, a limited automatic driving subsystem 230, and a heliostat recognition subsystem 240.

[0020] The automatic cleaning subsystem 210 is a cleaning mechanism provided with a six-axis mechanical arm 211 with a 3D vision system 214 controlled by an automatic cleaning subsystem controller 215 and an electric cleaning brush 212 connected to a high-pressure water spray system 213. The automatic cleaning subsystem controller 215 is a programmable logic controller provided with a cleaning system human-machine interface 219, and is provided with a wireless communication module, which can be connected to the wireless communication module 103 of the cleaning vehicle management computer, and is used for the cleaning vehicle to receive cleaning tasks and upload vehicle status and location information; the six-axis mechanical arm 211 can adopt a mature industrial robot available on the market, and the action posture of the mechanical arm is controlled by the mechanical arm electronic control system; the high-pressure water spray system 213 for flushing, the electric cleaning brush 212 for scrubbing, and the 3D vision system 214 for precise positioning of the mechanical arm are installed at the end of the six-axis mechanical arm 211. The high-pressure water spray system 213 can use a 15kw high-pressure water pump 217 to connect the high-pressure water pipeline 218. The front-end nozzle is equipped with several high-pressure nozzles, and the water inlet is controlled by the electronically controlled water valve 216. The 3D vision system 214 mainly uses a 3D binocular laser vision sensor, a 3D vision processor and a 3D vision sensor, with a field of view of 30°, a field of view depth of 5m, and a detection accuracy of 5mm. The water tank is equipped with a low water level sensor for detecting water shortage and a high water level sensor for detecting that the water tank is full.

[0021] The Beidou positioning and navigation subsystem 220 uses a vehicle-mounted Beidou signal receiver 221 to locate the cleaning vehicle during the cleaning of the heliostat through an RS485 communication module as a remote communication module 222 and a Beidou signal processing program module 223 .

[0022] The limited automatic driving subsystem 230 includes an automatic driving controller 235 and an automatic obstacle avoidance module 232 set on the cleaning vehicle 200. The automatic driving controller can adopt the automatic driving controller on the new energy unmanned driving cleaning vehicle, such as the ita4000 series automatic driving controller of Advantech brand, which is provided with a cleaning path planning program module 231, an automatic water replenishment path planning program module 233 and an automatic charging path planning program module 234. The automatic obstacle avoidance module 232 can be composed of three millimeter wave radars 236 and twelve ultrasonic radars 237. The millimeter wave radar is used for long-distance obstacle detection, and the ultrasonic radar is used for short-distance obstacle detection. It can also be combined with a single-line laser radar 241 to form accurate obstacle detection and positioning, and drive safely through the program control of the automatic obstacle avoidance module. The limited automatic driving subsystem can fix the driving track of the cleaning vehicle. After automatic charging and automatic water replenishment, it will automatically continue the unfinished track; after automatic water replenishment and automatic charging, it will return and drive out of the heliostat field at a fixed position in each circular channel in the heliostat field, greatly reducing the complexity of track planning.

[0023] The heliostat identification subsystem 240 uses a vehicle-mounted single-line laser radar 241 and a point cloud processing module 242. The vehicle-mounted single-line laser radar 241 can be used to detect the distance from the heliostat to the vehicle, and the point cloud processing module 242 is used to extract the heliostat outline and calculate the heliostat posture and position.

[0024] Heliostat adjustment system 300, such as Figure 5 As shown, it can be integrated into the control room of a CSP plant, and is provided with a heliostat angle adjustment subsystem 301, a cleaning vehicle position calculation subsystem 302, and a heliostat attitude planning subsystem 303. The heliostat angle adjustment subsystem 301 is used to adjust the heliostat attitude and is integrated into the control room of a CSP plant. The CSP plant has its own heliostat real-time light tracking system; the cleaning vehicle position calculation subsystem 302 is used to process the position information sent by the cleaning vehicle and calculate the cleaning vehicle position. Figure 1 As shown, the heliostats 11 in the heliostat field 10 are usually arranged in multiple groups of rings from the inside to the outside. The cleaning vehicle 200 sends the RFID data of the four heliostats scanned on the surroundings to the cleaning vehicle control room 12 through the cleaning vehicle wireless communication module 403. The four heliostats include: two adjacent inner rings and two adjacent outer rings. The cleaning vehicle is located in a quadrilateral formed by the four heliostats. The heliostat posture planning subsystem 303 is used to adjust the heliostat to a suitable cleaning posture in advance according to the position of the cleaning vehicle. After determining the number of rings and the specific position of the heliostat field where the cleaning vehicle is located, the corresponding heliostat posture on the cleaning path is adjusted in advance to make the heliostat in the cleaning posture.

[0025] The RFID identification system 400 mainly includes: an RFID chip 401 and an RFID reader 402. An RFID chip 401 is provided on the bracket of each heliostat to number each heliostat; an RFID reader 402 for reading heliostat information is provided on the top of the cleaning vehicle cab, and the RFID information and the working status of the cleaning vehicle are sent to the control room of the solar thermal power plant through the cleaning vehicle wireless communication module 403. The RFID reader 402 can simultaneously read the RFID chip information on the four to eight heliostat brackets closest to the cleaning vehicle.

[0026] Automatic charging system 500, such as Figure 6 and Figure 7 As shown, an automatic charging station is set up at the edge of the heliostat field. The automatic charging station is provided with a charging pile 501 controlled by a charging station controller 503 and a charging position safety detection sensor 502. The Ethernet switch is used as a cleaning vehicle charging interaction interface 504 to transmit a real-time charging status signal to the cleaning vehicle. The charging position safety detection sensor 502 is used to accurately locate the cleaning vehicle after it approaches the automatic charging station. The charging pile is provided with a charging interface corresponding to the cleaning vehicle.

[0027] Automatic water replenishment system 600, such as Figure 8 and Fig. 9 As shown, an automatic water replenishment station is set up near the heliostat field. The automatic water replenishment station is provided with an electric-controlled water replenishment valve 601 and a water replenishment position safety detection sensor 602 controlled by an automatic water replenishment station controller 603, and transmits a real-time water replenishment status signal with the cleaning vehicle through an Ethernet switch serving as a cleaning vehicle water replenishment interaction interface 604. The cleaning vehicle detects the water level in the water tank and sends a water replenishment status signal through a high and low water level detection sensor, and the water replenishment position safety detection sensor 602 is used to accurately locate the cleaning vehicle after it approaches the automatic charging station. The electric-controlled water replenishment valve 601 is used to control the water replenishment port of the water tank of the water replenishment station to be connected with the water tank of the cleaning vehicle for water supply.

[0028] Embodiment 2: A cleaning method of an unmanned heliostat cleaning system, using the unmanned heliostat cleaning system of embodiment 1 to clean heliostats in a heliostat field, comprising the following working steps: S1. The main control room of the CSP power plant issues a cleaning task to the cleaning vehicle management computer 100 in the cleaning vehicle control room through the Ethernet switch 104. After receiving the cleaning task, the industrial computer 101 of the cleaning vehicle management computer calculates the required number of cleaning vehicles and the specific cleaning path of each cleaning vehicle through the cleaning task receiving and parsing program; S2. According to the cleaning task, the safety operator operates the industrial computer human-machine interface 102 of the cleaning vehicle management computer 100 to issue a work instruction, and sends the cleaning path to the cleaning vehicle 200, the automatic water replenishment station and the automatic charging station via the wireless communication module 103; S3, the cleaning vehicle 200 in the standby state receives the work instruction via the remote communication module, starts the engine and drives, uses the millimeter wave radar 236, the ultrasonic radar 237 and the single-line laser radar 241 to detect obstacles in real time, and drives into the heliostat field 10 according to the received cleaning path trajectory, and the cleaning path is the driving channel between the inner ring and the outer ring of the heliostat field; S4. After receiving the task instruction via the Ethernet switch of the cleaning vehicle water replenishment interactive interface 604, the automatic water replenishment station in the standby state connects to the electronically controlled water replenishment valve 601 to prepare for water replenishment service; after receiving the task instruction, the automatic charging station in the standby state connects to the charging pile 501 via the Ethernet switch of the cleaning vehicle charging interactive interface 504 to prepare for charging service; S5, the single-line laser radar 241 on the cleaning vehicle 200 detects that the cleaning vehicle reaches a set distance from the first heliostat and stops, and the set distance is three meters; S6. Use the RFID reader 402 on the RFID identification system 400 of the cleaning vehicle 200 to scan the RFID chips 401 placed on the heliostat brackets around. The scanning range is the two heliostats closest to the inner ring and the outer ring. Extract the RFID chip information of the heliostats including the serial number and the number of rings. After the RFID information of the scanned four heliostats is parsed by the automatic cleaning subsystem controller 215, it is transmitted to the cleaning vehicle management computer 100 via the cleaning vehicle wireless communication module 403. The cleaning vehicle management computer obtains the precise position of the cleaning vehicle according to the RFID information, calculates the specific ring number position and the starting position of the heliostat to be cleaned, and then requests the control room of the CSP plant to adjust the heliostat in front of the cleaning vehicle to a posture suitable for cleaning through the Ethernet switch. S7, the heliostat angle is adjusted. During the cleaning process, the front heliostats will adjust their postures in advance. When the cleaning vehicle 200 drives to the edge of the heliostat, it stops and waits for 2 seconds. The automatic cleaning subsystem on the cleaning vehicle starts to work and uses the 3D vision system 214 to accurately detect the position and posture of the heliostat. The programmable logic controller of the automatic cleaning subsystem controller 215 controls the six-axis robot arm 211 to completely fit the electric cleaning brush 212 to the heliostat mirror surface according to the measured heliostat position and posture data. The cleaning vehicle uses two single-line laser radars 241 to detect the heliostat, so that the cleaning vehicle body always keeps driving in a parallel direction with the heliostat. At the same time, the electric control water valve 216 of the high-pressure water spraying system 213 is controlled to open, and the high-pressure nozzle starts to spray water. The six-axis robot arm 211 drives the electric cleaning brush 212 to wash the heliostat. S8. During the cleaning process, when the water volume of the cleaning vehicle is insufficient, the cleaning vehicle automatically drives to the electrically controlled water replenishment valve 601 of the automatic water replenishment station, and the cleaning vehicle is within the range of the water replenishment position safety detection sensor 502, docking with the electrically controlled water replenishment valve 601 for water replenishment; when the power of the unmanned cleaning vehicle is less than 20%, the cleaning vehicle automatically drives to the charging interface of the charging pile 501 of the automatic charging station for charging, and the cleaning vehicle is within the range of the charging position safety detection sensor 502, and the charging interface is safely docked for charging; after water replenishment and charging are completed, the cleaning vehicle returns to the planned path and continues the cleaning work; the safety operator observes the vehicle operation status through the human-machine interface of the cleaning vehicle management computer 100, and if an abnormality occurs, the abnormal vehicle is remotely parked through the human-machine interface; S9. After cleaning is completed, the cleaning vehicle automatically drives away from the mirror field according to the planned path.

[0029] By adopting the unmanned cleaning system and unmanned cleaning method for heliostat, unmanned and automated cleaning of heliostat is basically achieved, and unmanned cleaning greatly reduces the dependence on manual labor and ensures the cleanliness of heliostat cleaning.

[0030] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

[0031] In summary, the purpose of the present invention is achieved.

Claims

1. An unmanned cleaning system for heliostats, comprising: A cleaning vehicle managed and controlled by a cleaning vehicle management calculation, wherein the cleaning vehicle is provided with an automatic cleaning subsystem with a cleaning mechanism, characterized in that it also includes a heliostat adjustment system, an RFID identification system for identifying the heliostat, an automatic charging system and an automatic water replenishment system; The body of the cleaning vehicle is a new energy unmanned cleaning vehicle, the automatic cleaning subsystem is a cleaning mechanism provided with a six-axis mechanical arm with a 3D vision system controlled by an automatic cleaning subsystem controller and an electric cleaning brush connected to a high-pressure water spray system, and the automatic cleaning subsystem controller is a programmable logic controller provided with a human-machine interface of the cleaning system; the cleaning vehicle is also provided with a Beidou positioning and navigation subsystem, a limited automatic driving subsystem and a heliostat recognition subsystem; the Beidou positioning and navigation subsystem includes: a Beidou signal receiver, a remote communication module, and a Beidou signal processing program module; the limited automatic driving subsystem includes: a path planning module and an automatic obstacle avoidance module set by the automatic driving controller of the cleaning vehicle; the heliostat recognition subsystem includes: a vehicle-mounted laser radar and a point cloud processing module for identifying heliostats; The heliostat adjustment system is provided with a heliostat angle adjustment subsystem for adjusting the heliostat posture, a cleaning vehicle position calculation subsystem for processing the position information sent by the cleaning vehicle and calculating the cleaning vehicle position, and a heliostat posture planning subsystem for adjusting the heliostat to a suitable cleaning posture in advance according to the cleaning vehicle position; The RFID identification system includes: an RFID chip placed on a heliostat support for numbering each heliostat, a heliostat information RFID reader placed on a cleaning vehicle, a wireless communication module placed on the cleaning vehicle for sending RFID information and the working status of the cleaning vehicle to a power plant control room, and a wireless receiving module placed in the power plant control room; The automatic charging system comprises: a charging pile arranged at an automatic charging station of a heliostat field, a charging position safety detection sensor for positioning a cleaning vehicle, and a charging status interaction interface of the cleaning vehicle; The automatic water replenishment system comprises: an electrically controlled water replenishment valve arranged at an automatic water replenishment station, a water replenishment position safety detection sensor for positioning a cleaning vehicle, and a water replenishment interactive interface for the cleaning vehicle.

2. The unmanned heliostat cleaning system according to claim 1, characterized in that: The Beidou positioning and navigation subsystem is provided with a vehicle-mounted Beidou signal receiver, an RS485 communication module and a Beidou signal processing program module for positioning the cleaning vehicle.

3. The unmanned heliostat cleaning system according to claim 1, characterized in that: The path planning module of the autonomous driving controller of the limited autonomous driving subsystem includes a cleaning path planning program module, an automatic water replenishment path planning program module and an automatic charging path planning program module; the automatic obstacle avoidance module includes a set millimeter wave radar and ultrasonic radar.

4. The unmanned heliostat cleaning system according to claim 1, characterized in that: The heliostat adjustment system is provided with a heliostat angle adjustment subsystem, a cleaning vehicle position calculation subsystem and a heliostat attitude planning subsystem; the heliostat angle adjustment subsystem is used to adjust the attitude of the heliostat; the cleaning vehicle position calculation subsystem is used to process the position information sent by the cleaning vehicle and calculate the cleaning vehicle position; the heliostat attitude planning subsystem is used to adjust the heliostat to a suitable cleaning attitude in advance according to the cleaning vehicle position, determine the number of rings and the specific position of the heliostat field where the cleaning vehicle is located, and adjust the attitude of the corresponding heliostat on the cleaning path in advance so that the heliostat is in the cleaning attitude.

5. A cleaning method for an unmanned heliostat cleaning system, characterized in that: The following steps are included: S1. The cleaning vehicle management computer receives the cleaning tasks issued by the power plant control room through the Ethernet switch, and calculates the number of cleaning vehicles required and the specific cleaning path of each cleaning vehicle; S2. Operate the man-machine interface of the cleaning vehicle management computer according to the cleaning task to issue work instructions, and send the cleaning path to the cleaning vehicle, automatic water replenishment station and automatic charging station via the wireless communication module; S3, the cleaning vehicle receives the work instruction via the remote communication module, starts the engine and drives, uses the radar to detect obstacles in real time, and drives into the heliostat field according to the received cleaning path trajectory; S4. After receiving the task instruction, the automatic water filling station prepares for water filling service; after receiving the task instruction, the automatic charging station connects to the charging pile and prepares for charging service; S5, the single-line laser radar on the cleaning vehicle detects that the cleaning vehicle reaches the set distance from the first heliostat and stops; S6, using the RFID reader on the RFID identification system of the cleaning vehicle to scan the RFID chips placed on the heliostat brackets around, the RFID information of the scanned heliostats around is analyzed by the automatic cleaning subsystem controller, and then transmitted to the cleaning vehicle management computer via the remote communication module. The cleaning vehicle management computer obtains the precise position of the cleaning vehicle according to the RFID information, calculates the specific ring number position and starting position of the heliostat to be cleaned in the heliostat field, and then requests the control room of the CSP power plant to adjust the heliostat in front of the cleaning vehicle to a posture suitable for cleaning through the Ethernet switch; S7, the on-board automatic cleaning subsystem of the cleaning vehicle starts working, and uses the 3D vision system to accurately detect the position and posture of the heliostat; the programmable logic controller of the automatic cleaning subsystem controller controls the six-axis robotic arm to completely fit the electric cleaning brush to the heliostat mirror surface according to the measured heliostat position and posture data; the on-board laser radar is used to detect the heliostat, so that the cleaning vehicle body always keeps driving in a parallel direction with the heliostat, and at the same time controls the electronically controlled water valve of the high-pressure water spraying system to open, the high-pressure nozzle starts to spray water, and the six-axis robotic arm drives the electric cleaning brush to wash the heliostat; S8. During the cleaning process, when the water volume of the cleaning vehicle is insufficient, the cleaning vehicle automatically drives to the electrically controlled water replenishment valve of the automatic water replenishment station, and the cleaning vehicle docks with the electrically controlled water replenishment valve within the range of the water replenishment position safety detection sensor to replenish water; when the power of the cleaning vehicle is insufficient, it automatically drives to the charging interface of the automatic charging station to charge, and the cleaning vehicle safely docks with the charging interface within the range of the charging position safety detection sensor to charge; after the water replenishment and charging are completed, the cleaning vehicle returns to the planned route and continues the cleaning work; the operator observes the vehicle operation status through the human-machine interface of the cleaning vehicle management computer, and if an abnormality occurs, the abnormal vehicle is remotely parked through the human-machine interface; S9. After cleaning is completed, the cleaning vehicle automatically drives away from the mirror field according to the planned path.

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