Heliostat cleaning equipment control method, device, equipment, medium and product

Abstract

The present application discloses a method, device, equipment, medium, and product for controlling heliostat cleaning equipment, relating to the field of solar thermal utilization technology. The method comprises: controlling the heliostat cleaning equipment to start moving from the innermost cleaning channel of the entire mirror field, and cyclically performing a navigation operation until the operation is completed. The navigation operation comprises: determining a relative position relationship based on a first value and a second value obtained; determining a target steering angle of the heliostat cleaning equipment based on a current marking state and / or a relative position relationship; during the movement of the heliostat cleaning equipment based on the target steering angle, determining whether the heliostat cleaning equipment is currently located in the outermost cleaning channel; if not, controlling the next navigation operation; if so, and if the travel circle switching state of the heliostat cleaning equipment is "travel circle switching completed," not entering the next navigation operation. The present application controls the heliostat cleaning equipment to automatically move, thereby reducing manual labor and saving power station maintenance costs.

Description

Technical Field

[0001] The present application relates to the field of solar thermal utilization technology, and in particular to a heliostat cleaning equipment control method, device, equipment, medium and product. Background Art

[0002] Heliostats, also known as star-fixing mirrors, are optical devices that reflect sunlight or other celestial light in a fixed direction. They are widely used in solar thermal power plants. A large number of heliostats concentrate sunlight onto a single heat sink, where the working fluid in the sink is used to harness the solar thermal energy. Heliostats are typically installed in outdoor environments such as Gobi and deserts. After a period of use, dust and other contaminants accumulate on the reflective surface, affecting its efficiency. Therefore, cleaning the reflective surface is necessary as needed.

[0003] Currently, when cleaning a large number of heliostats within a full field, existing navigation systems, such as QR code tags, electromagnetic induction tags, and radio frequency identification tags, are susceptible to data loss due to strong sunlight. This can lead to inaccurate coordinate data or positioning failures during the cleaning process. To ensure accurate operation of the cleaning equipment, not only does the navigation tags need to be frequently maintained and updated, increasing manual labor, but navigation also requires strong real-time data processing and data storage capabilities, increasing power station maintenance costs. Therefore, a full-field heliostat cleaning method that reduces manual labor and power station maintenance costs is urgently needed. Summary of the Invention

[0004] In view of the above-mentioned defects or deficiencies in the related art, the purpose of this application is to provide a heliostat cleaning equipment control method, device, equipment, medium and product, which can control the heliostat cleaning equipment to move automatically, thereby reducing manual labor and saving power station maintenance costs.

[0005] To achieve the above objectives, this application provides the following solutions:

[0006] In a first aspect, the present application provides a method for controlling a heliostat cleaning device, wherein the heliostats in the entire mirror field are distributed in a circular array, and marking devices are provided on the heliostats located at the edge of each circle of the circular array; the number of the marking devices is the same as the number of circles of the circular array;

[0007] The heliostat cleaning device control method includes: controlling the heliostat cleaning device to start from the innermost cleaning channel of the entire mirror field and traverse all cleaning channels in the entire mirror field in turn, wherein the number of all cleaning channels is the same as the number of circles of the annular array; and cyclically performing a navigation operation while the heliostat cleaning device traverses all cleaning channels in the entire mirror field until the operation is completed;

[0008] The navigation operation includes: obtaining a first value collected by a first ultrasonic sensor and a second value collected by a second ultrasonic sensor; the first ultrasonic sensor and the second ultrasonic sensor are both disposed at an end of the heliostat cleaning device performing a cleaning operation; determining a relative positional relationship between the heliostat cleaning device and a current heliostat mirror surface based on the first and second values; determining a current mark state based on the current position of the heliostat cleaning device, and determining a target steering angle for the heliostat cleaning device based on the current mark state and / or the relative positional relationship; determining whether the heliostat cleaning device is currently located in the outermost cleaning channel of the entire mirror field during movement of the heliostat cleaning device based on the target steering angle; controlling the next navigation operation to proceed if the heliostat cleaning device is not currently located in the outermost cleaning channel of the entire mirror field; and not proceeding to the next navigation operation if the heliostat cleaning device is currently located in the outermost cleaning channel of the entire mirror field and the travel circle switching status of the heliostat cleaning device is "travel circle switching completed."

[0009] Optionally, determining the relative positional relationship between the heliostat cleaning device and the current heliostat mirror surface based on the first value and the second value includes: judging whether the first value and the second value are located in a mirror surface interval corresponding to the heliostat; when the first value is located in the mirror surface interval and the second value is not located in the mirror surface interval, the relative positional relationship is an entering mirror surface relationship; when the first value and the second value are both located in the mirror surface interval, the relative positional relationship is an in-mirror surface relationship; when the first value is not located in the mirror surface interval and the second value is located in the mirror surface interval, the relative positional relationship is an leaving mirror surface relationship; when both the first value and the second value are not located in the mirror surface interval, the relative positional relationship is an out-of-mirror surface relationship.

[0010] Optionally, determining the current marking state based on the current position of the heliostat cleaning device includes: obtaining a third value collected by a distance measurement module provided in the heliostat cleaning device; the third value includes a distance value between the distance measurement module and each of the marking devices; screening out a first target value within a preset distance interval from a plurality of the distance values, and taking the minimum distance value among the first target values as a second target value; when the second target value exists, the current position of the heliostat cleaning device is “at the marking device M j Within the range", the current marking state is recorded as F M = j; wherein j ≤ n, n is the number of circles of the annular array; when the second target value does not exist, the current position of the heliostat cleaning device is "not within the range of any marking device", and the current marking state is recorded as FM =0.

[0011] Optionally, determining the target steering angle of the heliostat cleaning device based on the current marking state and / or the relative position relationship includes: when the relative position relationship is an entering mirror relationship, the target steering angle is a first angle value, and the heliostat cleaning device keeps moving straight in the current direction; when the relative position relationship is in a mirror relationship, the target steering angle is a second angle value, and the heliostat cleaning device cleans the current heliostat; when the relative position relationship is leaving the mirror relationship, the target steering angle is a third angle value, and the heliostat cleaning device keeps moving straight in the current direction; when the relative position relationship is in an out-of-mirror relationship and the current marking state F M =0, the target steering angle is a fourth angle value, and the heliostat cleaning device moves between the heliostats in the same circle of the entire mirror field; when the relative position relationship is in an out-of-mirror relationship and the current marking state F M >0, determining the target steering angle based on the acquired heading steering angle value and the angle value of the end of the heliostat cleaning device leaving the mirror surface during the cleaning operation; the heading steering angle value is collected by a posture sensor provided on the heliostat cleaning device.

[0012] Optionally, the determining the target steering angle based on the acquired heading steering angle value and the angle value at which the end of the heliostat cleaning device performing the cleaning operation leaves the mirror surface includes: when the difference between the heading steering angle value and the angle value at which the end of the heliostat cleaning device performing the cleaning operation leaves the mirror surface is less than a preset rotation angle, the target steering angle is a fifth angle value; when the difference between the heading steering angle value and the angle value at which the end of the heliostat cleaning device performing the cleaning operation leaves the mirror surface is greater than or equal to the preset rotation angle, the target steering angle is a sixth angle value; and the current state of the heliostat cleaning device is "completed leaving the current travel circle", the travel circle switching state F of the heliostat cleaning device is changed. C =1.

[0013] Optionally, the determining of the target steering angle based on the acquired heading steering angle value and the angle value of the end of the heliostat cleaning device leaving the mirror surface during the cleaning operation further includes: switching the state F of the heliostat cleaning device in the travel circle. C= 1, when the difference between the heading steering angle value and the angle value of the end of the heliostat cleaning device leaving the mirror surface during the cleaning operation is greater than or equal to zero, the target steering angle is the seventh angle value; when the difference between the heading steering angle value and the angle value of the end of the heliostat cleaning device leaving the mirror surface during the cleaning operation is less than zero, the target steering angle is the eighth angle value; and the current state of the heliostat cleaning device is "travel circle switching completed", the travel circle switching state F of the heliostat cleaning device is C = 0; and update the current number of circles of the heliostat cleaning device, the current position of the heliostat cleaning device is "not within the range of any marking device", and update the current marking state to F M =0.

[0014] In a second aspect, the present application provides a heliostat cleaning equipment control device, the heliostat cleaning equipment control device being mounted on the heliostat cleaning equipment, the heliostat cleaning equipment being applied to a full mirror field in which heliostats are distributed in a circular array, marking devices being provided on the heliostats at the edge of each circle of the circular array within the full mirror field; the number of the marking devices being the same as the number of circles of the circular array; the heliostat cleaning equipment control device being configured to control the heliostat cleaning equipment to proceed from the innermost cleaning channel of the full mirror field and to sequentially traverse all cleaning channels within the full mirror field, the number of the total cleaning channels being the same as the number of circles of the circular array; and cyclically performing a navigation operation while the heliostat cleaning equipment traverses all cleaning channels within the full mirror field until the operation is completed;

[0015] Wherein, when performing the navigation operation, the heliostat cleaning equipment control device includes:

[0016] an acquisition module, configured to acquire a first value collected by a first ultrasonic sensor and a second value collected by a second ultrasonic sensor; the first ultrasonic sensor and the second ultrasonic sensor are both disposed at an end of the heliostat cleaning device performing a cleaning operation;

[0017] a first calculation module, configured to determine a relative position relationship between the heliostat cleaning device and a current heliostat mirror surface based on the first value and the second value;

[0018] a second calculation module, configured to determine a current marking state based on a current position of the heliostat cleaning device, and determine a target steering angle of the heliostat cleaning device based on the current marking state and / or the relative position relationship;

[0019] and a judgment module configured to judge whether the heliostat cleaning device is currently located in the outermost cleaning channel of the entire mirror field during movement of the heliostat cleaning device based on the target steering angle; control the next navigation operation to be performed when the heliostat cleaning device is not currently located in the outermost cleaning channel of the entire mirror field; and not perform the next navigation operation when the heliostat cleaning device is currently located in the outermost cleaning channel of the entire mirror field and the travel circle switching state of the heliostat cleaning device is "travel circle switching completed."

[0020] In a third aspect, the present application provides a computer device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of any one of the above-described heliostat cleaning device control methods.

[0021] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any one of the above-mentioned methods for controlling a heliostat cleaning device.

[0022] In a fifth aspect, the present application provides a computer program product, comprising a computer program, which, when executed by a processor, implements the steps of any one of the above-mentioned methods for controlling a heliostat cleaning device.

[0023] According to the specific embodiments provided in this application, this application discloses the following technical effects:

[0024] The present application provides a method, apparatus, device, medium, and product for controlling heliostat cleaning equipment. On the one hand, by providing marking devices on heliostats at the edge of each circle within a full mirror field distributed in a circular array, the heliostat cleaning equipment can be assisted in identifying the travel circle switching position, facilitating the heliostat cleaning equipment to enter the next travel circle, and achieving the purpose of sequentially traversing all cleaning channels within the full mirror field, thereby reducing manual labor. Furthermore, the marking devices are only present on the heliostats at the edge of each circle, requiring fewer heliostats to be installed, thereby reducing installation costs and subsequent maintenance costs. Furthermore, the relative positional relationship between the heliostat cleaning equipment and the current heliostat mirror surface is determined based on the collected first and second values. The target steering angle of the heliostat cleaning equipment is determined based on the relative positional relationship and / or the current marking state. This allows the precise coordinate position information between the heliostat cleaning equipment and the heliostats in the prior art to be replaced by the relative positional relationship, thereby reducing the requirements for ranging or positioning accuracy, thereby reducing the requirements for real-time data processing capabilities and data storage capacity, and reducing subsequent power station maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. 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 creative work.

[0026] Figure 1 A flowchart of a heliostat cleaning device control method provided in one embodiment of the present application;

[0027] Figure 2 A schematic diagram of the distribution positions of heliostats in a full mirror field provided in one embodiment of the present application;

[0028] Figure 3 A schematic diagram of the installation of a marking device provided in one embodiment of the present application;

[0029] Figure 4 A schematic diagram of the positions of various sensors of a heliostat cleaning device provided in one embodiment of the present application;

[0030] Figure 5 A schematic diagram showing the relationship between the heliostat cleaning equipment provided in one embodiment of the present application and the current heliostat entering the mirror surface;

[0031] Figure 6 A schematic diagram of a heliostat cleaning device provided in an embodiment of the present application and a current heliostat in a mirror-surface relationship;

[0032] Figure 7 A schematic diagram of the relationship between the heliostat cleaning device provided in one embodiment of the present application and the heliostat currently leaving the mirror surface;

[0033] Figure 8 A schematic diagram of the relationship between the heliostat cleaning device provided in one embodiment of the present application and the current heliostat outside the mirror surface;

[0034] Figure 9 A schematic diagram of a route for a heliostat cleaning device leaving a current travel circle provided by an embodiment of the present application;

[0035] Figure 10 A schematic diagram of the route of the heliostat cleaning device according to one embodiment of the present application entering the next travel circle;

[0036] Figure 11 A flowchart of a heliostat cleaning device control method provided in one embodiment of the present application;

[0037] Figure 12 A schematic diagram of the functional modules of a heliostat cleaning equipment control device provided in one embodiment of the present application;

[0038] Figure 13A schematic diagram of the structure of a computer device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0040] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0041] In an exemplary embodiment, Figure 1 As shown, a method for controlling heliostat cleaning equipment is provided. The method is executed individually or jointly by a terminal device or server with computing capabilities, wherein the terminal device or server is in communication with the heliostat cleaning equipment. The method includes controlling the heliostat cleaning equipment to start from the innermost cleaning channel of the entire mirror field and sequentially traverse all cleaning channels within the entire mirror field, wherein the total number of cleaning channels is the same as the number of circles in the annular array; and while the heliostat cleaning equipment traverses all cleaning channels within the entire mirror field, cyclically performing navigation operations until the operation is completed.

[0042] For example, Figure 2 As shown, the dots in the figure represent heliostats, which are arranged in a circular array within the entire mirror field. The circular array arrangement of heliostats within the entire mirror field helps to simplify the route planning of the heliostat cleaning equipment. The dotted lines in the figure represent the cleaning channel for the heliostat cleaning equipment to travel, that is, the travel circle. In the embodiment of the present application, the heliostat cleaning equipment travels along the cleaning channel in circles to perform the cleaning operation. Marking devices M are provided on the heliostats located at the edge of each circle of the circular array within the entire mirror field. j , such as marking device M j It can be marking device M1, marking device M2, marking device M3, marking device M4. Wherein, j≤n, n is the number of circles of the annular array, such as Figure 2 The circular array of heliostats in the central mirror field has four circles, which means that there are four marking devices and four cleaning channels.

[0043] It should be noted that the marking device M j Set on the heliostat at the edge of each circle of the annular array within the full mirror field, for example Figure 3 As shown, the marking device M jIt is specifically installed on the mirror column of the heliostat and will not affect the cleaning of the heliostat mirror surface. Among them, the marking device is composed of a positioning ultra-wideband ranging module and a battery module. The battery module is a storage battery that provides power for the positioning ultra-wideband ranging module. The positioning ultra-wideband ranging module uses ultra-wideband to communicate with the heliostat cleaning equipment, which can adapt to relatively strong sunlight and reduce the number of replacements and maintenance costs. In addition, the position of the marking device is the travel circle switching position, which is used to assist the heliostat cleaning equipment in positioning and steering, so that the heliostat cleaning equipment can enter the next travel circle and achieve the purpose of traversing all cleaning channels in the entire mirror field in turn. Among them, the above-mentioned navigation operation includes the following steps S110 to S140, specifically:

[0044] Step S110 , obtaining a first value collected by the first ultrasonic sensor and a second value collected by the second ultrasonic sensor.

[0045] In an example embodiment, Figure 4 As shown, a first ultrasonic sensor and a second ultrasonic sensor are provided at the end of the heliostat cleaning device where the cleaning operation is performed. The first ultrasonic sensor and the second ultrasonic sensor are located at the same height on the end of the heliostat cleaning device where the cleaning operation is performed. This facilitates acquisition of the horizontal distance between the first ultrasonic sensor and the second ultrasonic sensor and the heliostat, providing relatively accurate data support for subsequent determination of the phase position relationship between the heliostat cleaning device and the current heliostat.

[0046] Step S120 : determining the relative position relationship between the heliostat cleaning device and the current heliostat mirror surface based on the first value and the second value.

[0047] In an exemplary embodiment, the heliostat cleaning device moves in a direction (e.g. Figure 4 As shown in the figure, the mirror interval corresponding to the heliostat is established. For example, the mirror interval corresponding to the heliostat is defined as [L Lo , L Hi ]; define the first value collected by the first ultrasonic sensor as L F ; Define the second value collected by the second ultrasonic sensor as L R .

[0048] When the heliostat cleaning device traverses all cleaning channels in the entire mirror field, the above step S120 may include: determining whether the first value and the second value are within the mirror surface interval [L Lo , L Hi ];

[0049] When the first value L F Located in the mirror interval, the second value L R Not located in the mirror interval, the relative position relationship is to enter the mirror relationship; that is, Figure 5 As shown, the first value L F Greater than L Lo and less than L Hi , the second value L R Less than L Lo , the right side of the heliostat cleaning device is within the mirror range, and it is judged to have entered the mirror relationship.

[0050] When the first value and the second value are both in the mirror interval, the relative position relationship is in a mirror relationship, that is, Figure 6 As shown, the first value L F Greater than L Lo and less than L Hi , the second value L R Greater than L Lo and less than L Hi , the right side and the left side of the heliostat cleaning equipment are both within the mirror range, and are judged to be in a mirror relationship.

[0051] When the first value is not in the mirror interval and the second value is in the mirror interval, the relative position relationship is out of the mirror relationship; that is, Figure 7 As shown, the first value L F Greater than L Hi , the second value L R Greater than L Lo and less than L Hi ,The right side of the heliostat cleaning device is not within the mirror range, and it is judged to be out of the mirror relationship;

[0052] When the first value and the second value are both outside the mirror interval, the relative position relationship is outside the mirror; Figure 8 As shown, the first value L F Less than L Lo , the second value L R Greater than L Hi , the right and left sides of the heliostat cleaning equipment are not within the mirror range, and are judged to be outside the mirror surface.

[0053] By determining the relative position relationship between the heliostat cleaning device and the current heliostat mirror surface using the collected first and second values, the precise coordinate position information between the heliostat cleaning device and the heliostat in the prior art can be replaced by the relative position relationship, thereby reducing the need for ranging or positioning accuracy, thereby reducing the need for real-time data processing capabilities and data storage capacity, and reducing subsequent maintenance costs.

[0054] Step S130 : determining a current marking state based on the current position of the heliostat cleaning device, and determining a target steering angle of the heliostat cleaning device based on the current marking state and / or the relative position relationship.

[0055] In the exemplary embodiment, the current marking state is information about the current position of the heliostat cleaning device after the heliostat cleaning device recognizes the marking device. The current marking state includes "not within the range of any marking device" and "within the range of any marking device". j (j>0) range”; when the heliostat cleaning equipment is defined as “not within the range of any marking device”, F M = 0, defines the heliostat cleaning equipment as "in the marking device M j When the range is "F M =j (j>0).

[0056] In one embodiment, the above-mentioned step S130 of determining the current marking state based on the current position of the heliostat cleaning device may include: obtaining a third value collected by a distance measurement module provided in the heliostat cleaning device; the third value includes a distance value between the distance measurement module and each marking device; screening a first target value within a preset distance interval from the multiple distance values, and taking the minimum distance value among the first target values as a second target value; when the second target value exists, the current position of the heliostat cleaning device is “at the marking device M”. j Within the range", the current marking state is recorded as F M = j; where j ≤ n, n is the number of circles of the annular array; when the second target value does not exist, the current position of the heliostat cleaning device is "not within the range of any marking device", and the current marking state is recorded as F M =0.

[0057] It can be understood that the heliostat cleaning device is provided with a distance measurement module, which communicates with the positioning ultra-wideband distance measurement module of each marking device to measure the distance between the current position of the heliostat cleaning device and each marking device to obtain S1, S2, ..., S n , filter S1, S2, ..., S n If there is a value that meets the requirement, the minimum value S is selected from the values within the preset distance interval. j , and set the current mark state F M =j, if there is no value that meets the requirements, set the current mark state F M =0.

[0058] It should be noted that the preset distance interval is [S Lo , S Hi ]; among them, S Lo and S Hi The value of is set according to the number of heliostats and the number of marking devices on each traveling circle in the entire mirror field, or according to the size of the entire mirror field, that is, S Lo and S HiThe specific value of is set according to actual needs and is not limited in the embodiments of the present application.

[0059] In a specific embodiment, the step S130 of "determining the target steering angle of the heliostat cleaning device based on the current marking state and / or the relative position relationship" may include: when the relative position relationship is in a mirror relationship, the target steering angle is a first angle value, and the heliostat cleaning device maintains the current direction and moves straight; when the relative position relationship is in a mirror relationship, the target steering angle is a second angle value, and the heliostat cleaning device cleans the current heliostat; when the relative position relationship is out of the mirror relationship, the target steering angle is a third angle value, and the heliostat cleaning device maintains the current direction and moves straight; when the relative position relationship is in an out-of-mirror relationship and the current marking state F M =0, the target steering angle is the fourth angle value, and the heliostat cleaning equipment moves between the heliostats in the same circle of the entire mirror field; when the relative position relationship is in the out-of-mirror relationship and the current marking state F M >0, determine the target steering angle based on the acquired heading steering angle value and the angle value of the end of the heliostat cleaning device performing the cleaning operation away from the mirror surface.

[0060] It can be understood that the heliostat cleaning equipment is provided with an attitude sensor for detecting the angle of the heliostat cleaning equipment during the cleaning operation or the angle at which the end of the cleaning equipment leaves the heliostat mirror surface. The rotation angle of the attitude sensor on the horizontal plane at the moment the cleaning equipment leaves the mirror surface is defined as the exit direction angle. That is, the exit direction angle is the angle at which the end of the heliostat cleaning equipment leaves the mirror surface during the cleaning operation, denoted as Q. The attitude sensor measures the heading steering angle of the heliostat cleaning equipment during its travel, denoted as A. The target steering angle is defined as P. Therefore:

[0061] like Figure 5 The relative position relationship shown is that when entering the mirror relationship, the heliostat cleaning device maintains the current direction and moves straight, and the target steering angle P is assigned to 0, that is, the first angle value is equal to 0.

[0062] like Figure 6 The relative position relationship shown is when the heliostat cleaning equipment cleans the heliostat mirror surface. At this time, the target steering angle P is assigned to T*(L F -L R ), that is, the second angle value is equal to T*(L F -L R ); where L F is the first value, L R is the second value; T is the angle adjustment coefficient of the heliostat cleaning equipment during the cleaning operation.

[0063] like Figure 7The relative position relationship shown is when leaving the mirror surface. The heliostat cleaning equipment maintains its current direction and moves straight ahead. The target steering angle P is assigned to 0, that is, the third angle value is equal to 0. The heading steering angle value A collected by the attitude sensor is assigned to the mirror direction angle Q to prevent the end of the heliostat cleaning equipment from damaging the mirror surface when it leaves the mirror surface during cleaning.

[0064] like Figure 8 When the relative position relationship shown is outside the mirror surface, the heliostat cleaning equipment may encounter two situations: one is that the heliostat cleaning equipment moves within the same travel circle, and the other is that the heliostat cleaning equipment leaves the current travel circle or enters the next travel circle. The following describes the two situations in detail:

[0065] When the heliostat cleaning equipment moves in the same travel circle, the heliostat cleaning equipment moves, and the current marking state F M =0; the target steering angle P is assigned to H*(B k -A+Q), that is, the fourth angle value is H*(B k -A+Q); where H is the inter-mirror travel angle adjustment coefficient within the same travel circle; the deflection target angle during the 1st, 2nd, ..., and nth travel circles of the entire mirror field is denoted as B1, B2, ..., B n ; B k The target deflection angle of the heliostat cleaning device during the kth travel circle.

[0066] When the heliostat cleaning device leaves the current travel circle or enters the next travel circle, the heliostat cleaning device moves and the current mark state F M >0, it is necessary to judge the route of the heliostat cleaning equipment, that is, to determine the target steering angle based on the obtained heading steering angle value and the angle value of the end of the heliostat cleaning equipment leaving the mirror surface during the cleaning operation.

[0067] like Figure 9 As shown, the current mark state F M >0, and the heliostat cleaning device leaves the current travel circle, the above-mentioned determination of the target steering angle based on the obtained heading steering angle value and the angle value of the end of the heliostat cleaning device performing the cleaning operation away from the mirror surface may include: when the difference between the heading steering angle value and the angle value of the end of the heliostat cleaning device performing the cleaning operation away from the mirror surface is less than a preset rotation angle, the target steering angle is a fifth angle value; when the difference between the heading steering angle value and the angle value of the end of the heliostat cleaning device performing the cleaning operation away from the mirror surface is greater than or equal to the preset rotation angle, the target steering angle is a sixth angle value; and the current state of the heliostat cleaning device is "completed leaving the current travel circle", the travel circle switching state F of the heliostat cleaning device is changed to F.C =1.

[0068] It is understandable that the preset rotation angle is defined as the rotation angle C of the heliostat cleaning device switching to the next travel circle. k , if AQ is less than C k , assign the target steering angle P to D, that is, the fifth angle is D; if AQ is greater than or equal to C k , assign the target steering angle P to 0, that is, the sixth angle value is 0, and switch the state F of the traveling circle C The value assigned is 1, which means that the heliostat cleaning device "completes leaving the current travel circle".

[0069] It should be noted that the rotation angles for switching from the first moving circle, the second moving circle, ..., the n-1th moving circle to the next moving circle in the entire mirror field are recorded as C1, C2, ..., C n-1 If the number of circles of the heliostat cleaning equipment is k, then C k is the rotation angle of the heliostat cleaning device when switching from the kth traveling circle to the next traveling circle; D is the steering target angle of the switching process from the current traveling circle to the next traveling circle.

[0070] like Figure 10 As shown, the current mark state F M >0, the moving circle switches to state F C =1, that is, the traveling circle switches to state F C When the value is 1 and the heliostat cleaning device enters the next travel circle, determining the target steering angle based on the obtained heading steering angle value and the angle value of the end of the heliostat cleaning device performing the cleaning operation away from the mirror surface may include: switching the state F of the heliostat cleaning device in the travel circle C = 1, when the difference between the heading steering angle value and the angle value of the end of the heliostat cleaning device leaving the mirror surface during the cleaning operation is greater than or equal to zero, the target steering angle is the seventh angle value; when the difference between the heading steering angle value A and the angle value of the end of the heliostat cleaning device leaving the mirror surface during the cleaning operation is less than zero, the target steering angle is the eighth angle value; and the current state of the heliostat cleaning device is "travel circle switching completed", the travel circle switching state F of the heliostat cleaning device is C =0; and update the current travel circle number of the heliostat cleaning device. The current position of the heliostat cleaning device is "not within the range of any marking device", and update the current marking state to F M =0.

[0071] It can be understood that if AQ is greater than or equal to 0, the target steering angle P is assigned a value of -D, that is, the seventh angle value is -D; if AQ is less than 0, the target steering angle P is assigned a value of 0, that is, the eighth angle value is 0, and the traveling circle switching state F is CAssign a value of 0, that is, the heliostat cleaning equipment "completes the travel circle switch", according to the current mark state F M Value, update the current travel circle number k of the heliostat cleaning equipment, the updated k value is j+1, the current mark state F M The value assigned is 0, which means that the heliostat cleaning equipment is “not within the range of any marking device”.

[0072] It should be noted that, in the above embodiment, the preset distance interval S Hi and S Lo , deflection target angle B k , rotation angle C k , the steering target angle D, the angle adjustment coefficient T during the cleaning operation of the heliostat cleaning equipment, and the angle adjustment coefficient H between mirrors in the same travel circle are all pre-set parameters, that is, within the above preset distance interval S Hi and S Lo , deflection target angle B k , rotation angle C k , the steering target angle D, the angle adjustment coefficient T during the cleaning operation of the heliostat cleaning equipment, and the angle adjustment coefficient H between mirrors in the same travel circle are determined by the design requirements of the annular array of heliostats in the entire mirror field and are set according to the actual needs of the user. There is no restriction here.

[0073] Step S140: During the movement of the heliostat cleaning device based on the target steering angle, it is determined whether the heliostat cleaning device is currently located in the outermost cleaning channel of the entire mirror field. If the heliostat cleaning device is not currently located in the outermost cleaning channel of the entire mirror field, control is performed to enter the next navigation operation. If the heliostat cleaning device is currently located in the outermost cleaning channel of the entire mirror field and the travel circle switching status of the heliostat cleaning device is "travel circle switching completed," the next navigation operation is not performed.

[0074] Combined with the above embodiments and Figure 11 It can be understood that when the heliostat cleaning device starts to move from the innermost cleaning channel of the entire mirror field, step S1 is executed: a first value collected by the first ultrasonic sensor and a second value collected by the second ultrasonic sensor are obtained; then step S2 is executed: a relative position relationship between the heliostat cleaning device and the current heliostat is determined based on the first value and the second value; then step S3 is executed: a target turning angle is determined based on the relative position relationship. Specifically, if the relative position relationship is an entry into a mirror relationship, step S31 is executed, and the heliostat cleaning device maintains the current direction and moves straight; if the relative position relationship is in a mirror relationship, step S32 is executed, and the heliostat cleaning device operates; if the relative position relationship is out of the mirror relationship, step S33 is executed, and the heliostat cleaning device maintains the current direction and moves straight; if the relative position relationship is an out of the mirror relationship and F M= 0, then execute step S34, the heliostat cleaning device moves between the heliostats in the same circle; if the relative position relationship is outside the mirror surface and F M >0、F C = 0, then execute step S35, the heliostat cleaning device leaves the current travel circle; if the relative position relationship is outside the mirror surface and F M >0、F C =1, then execute step S36, and the heliostat cleaning device enters the next line feeding circle; after each execution of the above steps S31, S32, S33, S34, S35 or S36, execute step S4 to determine whether the heliostat cleaning device is currently located in the outermost cleaning channel of the entire mirror field and F C =0, if not, continue to execute step S1, if so, end the navigation operation.

[0075] It should be noted that, in the embodiment of the present application, step S36 is executed, the heliostat cleaning device enters the next travel circle, and the current travel circle k of the heliostat cleaning device is updated. That is, after entering the next travel circle, the current travel circle k of the heliostat cleaning device is j+1; and when the current travel circle number k of the heliostat cleaning device is equal to the number n of the circular array of the entire mirror field, the heliostat cleaning device is currently located in the outermost cleaning channel.

[0076] Embodiments of the present application provide a method for controlling heliostat cleaning equipment. On the one hand, by providing marking devices on heliostats at the edge of each circle within a full mirror field distributed in a circular array, the method not only assists the heliostat cleaning equipment in identifying the travel circle switching position, facilitating the heliostat cleaning equipment to enter the next travel circle, but also achieves the purpose of sequentially traversing all cleaning channels within the full mirror field, thereby reducing manual labor. Furthermore, the marking devices are only present on the heliostats at the edge of each circle, requiring fewer heliostats to be installed, thereby reducing installation costs and subsequent maintenance costs. Furthermore, the method determines the relative position relationship between the heliostat cleaning equipment and the current heliostat mirror surface based on the collected first and second values. The target steering angle of the heliostat cleaning equipment is determined based on the relative position relationship and / or the current marking state. This method replaces the precise coordinate position information between the heliostat cleaning equipment and the heliostats in the prior art with the relative position relationship, thereby reducing the requirements for ranging or positioning accuracy, thereby reducing the requirements for real-time data processing capabilities and data storage capacity, and further reducing the subsequent maintenance costs of the power station.

[0077] Based on the same inventive concept, embodiments of the present application also provide a heliostat cleaning device control apparatus for implementing the aforementioned heliostat cleaning device control method. The solution provided by this apparatus is similar to the solution described in the aforementioned method. Therefore, the specific limitations of one or more embodiments of the heliostat cleaning device control apparatus provided below can be found in the aforementioned limitations of the heliostat cleaning device control method and will not be further elaborated here.

[0078] In an exemplary embodiment, Figure 12 As shown, a heliostat cleaning equipment control device is provided. The heliostat cleaning equipment control device 200 is mounted on the heliostat cleaning equipment. The heliostat cleaning equipment is applied to an entire mirror field in which heliostats are arranged in a circular array. Marking devices are provided on the heliostats at the edge of each circle of the circular array within the entire mirror field. The number of marking devices is the same as the number of circles in the circular array. The heliostat cleaning equipment control device 200 is used to control the heliostat cleaning equipment to start from the innermost cleaning channel of the entire mirror field and traverse all cleaning channels in the entire mirror field in sequence. The number of all cleaning channels is the same as the number of circles in the circular array. As the heliostat cleaning equipment traverses all cleaning channels in the entire mirror field, the heliostat cleaning equipment control device is used to cyclically perform navigation operations until the operation is completed.

[0079] When performing the navigation operation, the heliostat cleaning equipment control device 200 includes:

[0080] An acquisition module 210 is configured to acquire a first value collected by a first ultrasonic sensor and a second value collected by a second ultrasonic sensor; the first ultrasonic sensor and the second ultrasonic sensor are both disposed at an end of the heliostat cleaning device performing a cleaning operation;

[0081] A first calculation module 220 is configured to determine a relative position relationship between the heliostat cleaning device and the current heliostat mirror surface based on the first value and the second value;

[0082] A second calculation module 230 is configured to determine a current marking state based on a current position of the heliostat cleaning device, and determine a target steering angle of the heliostat cleaning device based on the current marking state and / or relative position relationship;

[0083] The judgment module 240 is configured to determine whether the heliostat cleaning device is currently located in the outermost cleaning channel of the entire mirror field during movement of the heliostat cleaning device based on the target steering angle; control the next navigation operation when the heliostat cleaning device is not currently located in the outermost cleaning channel of the entire mirror field; and not control the next navigation operation when the heliostat cleaning device is currently located in the outermost cleaning channel of the entire mirror field and the travel circle switching status of the heliostat cleaning device is "travel circle switching completed."

[0084] As an optional implementation, the first calculation module 220 is specifically configured to determine whether the first value and the second value are located in a mirror surface interval corresponding to the heliostat; when the first value is located in the mirror surface interval and the second value is not located in the mirror surface interval, the relative position relationship is an entering mirror surface relationship; when both the first value and the second value are located in the mirror surface interval, the relative position relationship is an in-mirror surface relationship; when the first value is not located in the mirror surface interval and the second value is located in the mirror surface interval, the relative position relationship is an out-of-mirror surface relationship; and when both the first value and the second value are not located in the mirror surface interval, the relative position relationship is an out-of-mirror surface relationship.

[0085] As an optional embodiment, the second calculation module 230 is specifically configured to obtain a third value collected by a distance measurement module provided in the heliostat cleaning device; the third value includes a distance value between the distance measurement module and each marking device; a first target value located within a preset distance interval is selected from the plurality of distance values, and the minimum distance value among the first target values is taken as the second target value; when the second target value exists, the current position of the heliostat cleaning device is “at the marking device M j Within the range", the current marking state is recorded as F M = j; where j ≤ n, n is the number of circles of the annular array; when the second target value does not exist, the current position of the heliostat cleaning device is "not within the range of any marking device", and the current marking state is recorded as F M =0.

[0086] As an optional implementation manner, the second calculation module 230 is further specifically configured to: when the relative position relationship is in a mirror relationship, the target steering angle is a first angle value, and the heliostat cleaning device maintains the current direction and moves straight; when the relative position relationship is in a mirror relationship, the target steering angle is a second angle value, and the heliostat cleaning device cleans the current heliostat; when the relative position relationship is out of the mirror relationship, the target steering angle is a third angle value, and the heliostat cleaning device maintains the current direction and moves straight; when the relative position relationship is in an out-of-mirror relationship and the current marking state F M =0, the target steering angle is the fourth angle value, and the heliostat cleaning equipment moves between the heliostats in the same circle of the entire mirror field; when the relative position relationship is in the out-of-mirror relationship and the current marking state F M >0, determine the target steering angle based on the acquired heading steering angle value and the angle value of the end of the heliostat cleaning device leaving the mirror surface during the cleaning operation; the heading steering angle value is collected by the attitude sensor set on the heliostat cleaning device.

[0087] As an optional embodiment, the second calculation module 230 is further specifically configured to: when the difference between the heading steering angle value and the angle value at which the end of the heliostat cleaning device performing the cleaning operation leaves the mirror surface is less than a preset rotation angle, the target steering angle is a fifth angle value; when the difference between the heading steering angle value and the angle value at which the end of the heliostat cleaning device performing the cleaning operation leaves the mirror surface is greater than or equal to the preset rotation angle, the target steering angle is a sixth angle value; and the current state of the heliostat cleaning device is "completed leaving the current travel circle", the travel circle switching state F of the heliostat cleaning device is changed to C =1.

[0088] As an optional embodiment, the second calculation module 230 is further specifically configured to switch the state F of the heliostat cleaning device in the travel circle. C = 1, when the difference between the heading steering angle value and the angle value of the end of the heliostat cleaning device leaving the mirror surface during the cleaning operation is greater than or equal to zero, the target steering angle is the seventh angle value; when the difference between the heading steering angle value and the angle value of the end of the heliostat cleaning device leaving the mirror surface during the cleaning operation is less than zero, the target steering angle is the eighth angle value; and the current state of the heliostat cleaning device is "travel circle switching completed", the travel circle switching state F of the heliostat cleaning device is C =0; and update the current travel circle number of the heliostat cleaning device. The current position of the heliostat cleaning device is "not within the range of any marking device", and update the current marking state to F M =0.

[0089] In this embodiment, on the one hand, by providing marking devices on the heliostats at the edge of each circle within the entire mirror field distributed in a circular array, not only can the heliostat cleaning equipment be assisted in identifying the travel circle switching position, facilitating the heliostat cleaning equipment to enter the next travel circle, and achieving the purpose of sequentially traversing all cleaning channels within the entire mirror field, thereby reducing manual labor, but also the marking devices are only present on the heliostats at the edge of each circle, requiring a low number of heliostats to be installed, thereby reducing installation costs and subsequent maintenance costs. On the other hand, the relative position relationship between the heliostat cleaning equipment and the current heliostat mirror surface is determined based on the collected first and second values, and the target steering angle of the heliostat cleaning equipment is determined based on the relative position relationship and / or the current marking state. This allows the precise coordinate position information between the heliostat cleaning equipment and the heliostats in the prior art to be replaced by the relative position relationship, thereby reducing the requirements for ranging or positioning accuracy, thereby reducing the requirements for real-time data processing capabilities and data storage capacity, and further reducing the subsequent maintenance costs of the power station.

[0090] In an exemplary embodiment, a computer device is provided. The computer device may be a server or a terminal. The internal structure diagram thereof may be as follows: Figure 13As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O) and a communication interface. The processor, memory and input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data generated during the travel of the heliostat cleaning device, such as the travel circle switching state F of the heliostat cleaning device. C 、Current mark status F M The input / output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a method for controlling a heliostat cleaning device is implemented.

[0091] Those skilled in the art will understand that Figure 13 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0092] In an exemplary embodiment, a computer device is further provided, including a memory and a processor. The memory stores a computer program, and the processor implements the steps in the above method embodiments when executing the computer program.

[0093] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0094] In an exemplary embodiment, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0095] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0096] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the above-mentioned embodiments. In particular, any reference to memory, database, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM may be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0097] The databases involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processors involved in the various embodiments provided herein may include, but are not limited to, general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic units, data processing logic units based on quantum computing, and the like.

[0098] The technical features of the above embodiments can 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.

[0099] This document uses specific examples to illustrate the principles and implementation methods of this application. The description of the above examples is only intended to help understand the method and core concept of this application. At the same time, for those skilled in the art, based on the concept of this application, there may 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 equipment control method, characterized in that: The heliostats in the entire mirror field are distributed in a circular array, and a marking device is provided on each heliostat located at the edge of each circle of the circular array; the location of the marking device is the travel circle switching position, and the marking device is communicatively connected to the heliostat cleaning device to assist the heliostat cleaning device in positioning and steering; the number of the marking devices is the same as the number of circles in the circular array; The heliostat cleaning equipment control method includes: Controlling the heliostat cleaning device to start from the innermost cleaning channel of the entire mirror field and traverse all cleaning channels in the entire mirror field in turn; the number of all cleaning channels is the same as the number of circles of the annular array; During the process of the heliostat cleaning device traversing all cleaning channels in the entire mirror field, cyclically performing a navigation operation until the operation is completed; The navigation operation includes: Obtaining a first value collected by a first ultrasonic sensor and a second value collected by a second ultrasonic sensor; the first ultrasonic sensor and the second ultrasonic sensor are both disposed at an end of the heliostat cleaning device where a cleaning operation is performed; and the first ultrasonic sensor and the second ultrasonic sensor are located at the same height at the end of the heliostat cleaning device where a cleaning operation is performed; Determining a relative positional relationship between the heliostat cleaning device and a current heliostat mirror surface based on the first value and the second value; determining a current marking state based on a current position of the heliostat cleaning device, and determining a target steering angle of the heliostat cleaning device based on the current marking state and / or the relative position relationship; During the movement of the heliostat cleaning device based on the target steering angle, determining whether the heliostat cleaning device is currently located in the outermost cleaning channel of the entire mirror field; When the heliostat cleaning device is not currently located in the outermost cleaning channel of the entire mirror field, controlling to enter the next navigation operation; When the heliostat cleaning device is currently located in the outermost cleaning channel of the entire mirror field and the travel circle switching state of the heliostat cleaning device is "travel circle switching completed", the next navigation operation is not performed; The determining of the current marking state based on the current position of the heliostat cleaning device includes: Acquire a third value collected by a distance measurement module provided in the heliostat cleaning device; the third value includes a distance value between the distance measurement module and each of the marking devices; Filtering a first target value within a preset distance interval from the plurality of distance values, and taking the minimum distance value among the first target values as the second target value; When the second target value exists, the current position of the heliostat cleaning device " is in the marking device M j Within the range", the current marking state is recorded as F M =j; wherein j≤n, n is the number of turns of the annular array; When the second target value does not exist, the current position of the heliostat cleaning device is "not within the range of any marking device", and the current marking state is recorded as F M =0.

2. The heliostat cleaning equipment control method according to claim 1, characterized in that: The determining, based on the first value and the second value, a relative positional relationship between the heliostat cleaning device and the current heliostat mirror surface includes: determining whether the first value and the second value are located in a mirror surface interval corresponding to a heliostat; When the first value is within the mirror interval and the second value is not within the mirror interval, the relative position relationship is a mirror relationship; When the first value and the second value are both within the mirror interval, the relative position relationship is a mirror relationship; When the first value is not within the mirror interval and the second value is within the mirror interval, the relative position relationship is a non-mirror relationship; When both the first value and the second value are not located in the mirror plane interval, the relative position relationship is an out-of-mirror relationship.

3. The heliostat cleaning equipment control method according to claim 1, characterized in that: The determining a target steering angle of the heliostat cleaning device based on the current marking state and / or the relative position relationship includes: When the relative position relationship is a mirror relationship, the target turning angle is a first angle value, and the heliostat cleaning device maintains the current direction and moves straight; When the relative position relationship is in a mirror relationship and the target steering angle is a second angle value, the heliostat cleaning device cleans the current heliostat; When the relative position relationship is away from the mirror relationship, the target turning angle is a third angle value, and the heliostat cleaning device maintains the current direction and moves straight; When the relative position relationship is in an out-of-mirror relationship and the current marking state F M =0, the target steering angle is a fourth angle value, and the heliostat cleaning device moves between heliostats in the same circle in the entire mirror field; When the relative position relationship is in an out-of-mirror relationship and the current marking state F M >0, determining the target steering angle based on the acquired heading steering angle value and the angle value of the end of the heliostat cleaning device leaving the mirror surface during the cleaning operation; the heading steering angle value is collected by a posture sensor provided on the heliostat cleaning device.

4. The heliostat cleaning equipment control method according to claim 3, characterized in that: The determining the target steering angle based on the acquired heading steering angle value and the angle value at which the end of the heliostat cleaning device performing the cleaning operation leaves the mirror surface includes: When the difference between the heading steering angle value and the angle value at which the end of the heliostat cleaning device leaves the mirror surface during the cleaning operation is less than a preset rotation angle, the target steering angle is a fifth angle value; When the difference between the heading steering angle value and the angle value at which the end of the heliostat cleaning device leaves the mirror surface during the cleaning operation is greater than or equal to the preset rotation angle, the target steering angle is the sixth angle value; and the current state of the heliostat cleaning device is "completed leaving the current travel circle", the travel circle switching state F of the heliostat cleaning device is changed. C =1.

5. The heliostat cleaning equipment control method according to claim 4, characterized in that: The step of determining the target steering angle based on the acquired heading steering angle value and the angle value at which the end of the heliostat cleaning device leaves the mirror surface during the cleaning operation further includes: The travel circle of the heliostat cleaning device switches to state F C =1, when the difference between the heading steering angle value and the angle value at which the end of the heliostat cleaning device leaves the mirror surface during the cleaning operation is greater than or equal to zero, the target steering angle is the seventh angle value; When the difference between the heading steering angle value and the angle value at which the end of the heliostat cleaning device leaves the mirror surface during the cleaning operation is less than zero, the target steering angle is the eighth angle value; and the current state of the heliostat cleaning device is "travel circle switching completed", the travel circle switching state F of the heliostat cleaning device is C = 0; and update the current number of laps of the heliostat cleaning device, the current position of the heliostat cleaning device is "not within the range of any marking device", update the current marking state to F M =0.

6. A heliostat cleaning equipment control device, characterized in that: The heliostat cleaning equipment control device is mounted on the heliostat cleaning equipment. The heliostat cleaning equipment is applied to a full mirror field in which heliostats are distributed in a circular array. Marking devices are provided on the heliostats at the edge of each circle of the circular array within the full mirror field. The marking devices are located at the travel circle switching position. The marking devices are communicatively connected to the heliostat cleaning equipment to assist the heliostat cleaning equipment in positioning and steering. The number of the marking devices is the same as the number of circles in the circular array. The heliostat cleaning equipment control device is used to control the heliostat cleaning equipment to start from the innermost cleaning channel of the entire mirror field and traverse all cleaning channels in the entire mirror field in turn; the number of all cleaning channels is the same as the number of circles of the annular array; while the heliostat cleaning equipment traverses all cleaning channels in the entire mirror field, the navigation operation is cyclically performed until the operation is completed; Wherein, when performing the navigation operation, the heliostat cleaning equipment control device includes: an acquisition module, configured to acquire a first value acquired by a first ultrasonic sensor and a second value acquired by a second ultrasonic sensor; the first ultrasonic sensor and the second ultrasonic sensor are both disposed at an end of the heliostat cleaning device where the cleaning operation is performed; and the first ultrasonic sensor and the second ultrasonic sensor are located at the same height at the end of the heliostat cleaning device where the cleaning operation is performed; a first calculation module, configured to determine a relative position relationship between the heliostat cleaning device and a current heliostat mirror surface based on the first value and the second value; a second calculation module, configured to determine a current marking state based on a current position of the heliostat cleaning device, and determine a target steering angle of the heliostat cleaning device based on the current marking state and / or the relative position relationship; a judgment module configured to judge whether the heliostat cleaning device is currently located in the outermost cleaning channel of the entire mirror field during movement of the heliostat cleaning device based on the target steering angle; control the next navigation operation to be performed when the heliostat cleaning device is not currently located in the outermost cleaning channel of the entire mirror field; and not perform the next navigation operation when the heliostat cleaning device is currently located in the outermost cleaning channel of the entire mirror field and the travel circle switching state of the heliostat cleaning device is "travel circle switching completed"; The second calculation module is specifically configured to: obtain a third value collected by a distance measurement module provided in the heliostat cleaning device; the third value includes a distance value between the distance measurement module and each of the marking devices; select a first target value within a preset distance interval from the plurality of distance values, and take the minimum distance value among the first target values as the second target value; when the second target value exists, the current position of the heliostat cleaning device is "at the marking device M j Within the range", the current marking state is recorded as F M =j; wherein j≤n, n is the number of turns of the annular array; When the second target value does not exist, the current position of the heliostat cleaning device is "not within the range of any marking device", and the current marking state is recorded as F M =0.

7. A computer device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the heliostat cleaning device control method according to any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the heliostat cleaning equipment control method according to any one of claims 1 to 5 are implemented.

9. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the heliostat cleaning equipment control method according to any one of claims 1 to 5 are implemented.

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