A linear actuator cleaning method and system for photo-thermal power generation

Abstract

The application relates to a linear actuator cleaning method and system for photo-thermal power generation, and relates to the field of linear actuators, which comprises the following steps: collecting detection image information in response to an action precursor signal of a linear actuator; determining whether preset foreign matter features are contained in the detection image information; when the detection image information contains the foreign matter features, identifying the foreign matter features from the detection image information to obtain a foreign matter type; generating a foreign matter treatment method based on the foreign matter type; and controlling a preset foreign matter treatment device to remove the foreign matter features in the foreign matter treatment method. The application has the effect of reducing the frequency of equipment failure.

Description

Technical Field

[0001] The present invention relates to the field of linear actuators, and in particular to a linear actuator cleaning method and system for photothermal power generation. Background Art

[0002] Solar thermal power generation refers to the technology of using heat energy generated by solar radiation to generate electricity. A linear actuator is a mechanical device that converts energy such as electricity, air pressure, and hydraulic pressure into linear motion.

[0003] Currently, linear actuators play a critical role in CSP systems, such as precisely adjusting the angle of the concentrator to ensure efficient convergence of sunlight onto the receiver. However, since CSP plants are often built in areas with abundant sunlight but harsh environments, such as deserts and Gobi deserts, linear actuators are constantly exposed to complex conditions such as dust and high temperatures, making them susceptible to contamination and corrosion. Therefore, regular manual inspection and cleaning of linear actuators is essential.

[0004] Regular manual inspection and cleaning not only consumes a lot of manpower and material resources, but also has a long cleaning cycle, making it difficult to achieve real-time monitoring and timely cleaning. This makes it easy for linear actuators to be stuck by foreign objects during use, thereby increasing the frequency of equipment failures, which needs to be improved. Summary of the Invention

[0005] In order to reduce the frequency of equipment failure, the present invention provides a linear actuator cleaning method and system for solar thermal power generation.

[0006] In a first aspect, the present invention provides a method for cleaning a linear actuator for solar thermal power generation, which adopts the following technical solution:

[0007] A method for cleaning a linear actuator for solar thermal power generation, comprising:

[0008] Step 100: Responding to an action precursor signal of a linear actuator to collect detection image information;

[0009] Step 101: Determine whether the detected image information contains a preset foreign body feature;

[0010] Step 102: When the detection image information contains foreign body features, the foreign body features are identified from the detection image information to obtain the type of the foreign body;

[0011] Step 103: Generate a foreign matter treatment method based on the foreign matter type;

[0012] Step 104: Control the preset foreign matter processing device to remove foreign matter from the foreign matter feature using a foreign matter processing method.

[0013] By adopting this technical solution, the system first collects and detects image information in response to action precursor signals, then determines whether foreign object features are present in the image. If so, the foreign object type is identified and a treatment method is generated accordingly. Finally, the foreign object handling device is controlled to remove the foreign object. This proactive monitoring and cleaning method overcomes the limitations of traditional manual inspections, long cleaning cycles, and the difficulty of real-time monitoring. It can promptly detect and handle foreign objects on the linear actuator, preventing them from becoming stuck and reducing the frequency of equipment failures.

[0014] Optional foreign body handling methods include:

[0015] Step 200: When the foreign object type is a preset mud and sand foreign object, the foreign object position is generated in response to the detected image information, the foreign object characteristics and the preset reference object;

[0016] Step 201: Obtaining a blowing direction based on the position of the foreign object and a preset position of the blowing device;

[0017] Step 202: Collect the foreign body size of the foreign body characteristics;

[0018] Step 203: Retrieving the blowing force value corresponding to the size of the foreign object from a preset blowing database;

[0019] Step 204: Control the preset blowing device to blow air at the foreign matter features with a blowing force value and blowing direction, and collect post-blowing image information after blowing;

[0020] Step 205: When the image information after blowing still contains foreign body features, control the preset foreign body pushing plate to remove the foreign body using a preset foreign body pushing method.

[0021] Optional foreign body removal methods include:

[0022] Step 300: Retrieve device number information of a shooting device used to collect detection image information;

[0023] Step 301: Obtaining the device installation location based on the device number information;

[0024] Step 302: Obtaining the relative position of the foreign object based on the device installation position;

[0025] Step 303: generating a moving direction in response to the relative position of the foreign object;

[0026] Step 304: Generate a pushing start point and a pushing end point based on the detected image information, foreign object features, and the pushing direction;

[0027] Step 305: When the pushing direction is the preset upward pushing direction, a push plate angle is generated based on the size of the foreign object, and the foreign object push plate is controlled to adjust its angle to be consistent with the push plate angle;

[0028] Step 306: After the foreign matter push plate adjusts its angle to be consistent with the push plate angle, the foreign matter push plate is controlled to move toward the pushing starting point, and after arriving at the pushing starting point, it is pushed toward the pushing end point to complete the foreign matter removal.

[0029] Optionally, a foreign body heating removal method is also included:

[0030] Step 400: Collecting the foreign matter humidity value of the foreign matter feature;

[0031] Step 401: When the foreign matter humidity value exceeds a preset reference humidity value, a heating temperature value is generated according to the foreign matter humidity value;

[0032] Step 402: Responding to the pushing start point and the pushing end point to obtain a heating distance;

[0033] Step 403: Generate a heating movement speed based on the heating temperature value, the foreign object size, and the heating distance;

[0034] Step 404: Control the preset heating ring to move to the pushing starting point to heat at the heating temperature value, and after heating, move toward the pushing end point at the heating moving speed until the heating ring reaches the pushing end point.

[0035] Optionally, the following steps may be performed after the foreign body has been removed:

[0036] Step 500: After the foreign matter is removed, image information of the linear actuator after removal is collected;

[0037] Step 501: determining whether the post-clearance image information contains a preset sediment residue feature;

[0038] Step 502: When the post-clearance image information contains a sediment residual feature, the sediment residual feature is frame-selected from the post-clearance image information to obtain a sediment residual area;

[0039] Step 503: generating a cleaning start point and a cleaning end point based on the sediment residual area;

[0040] Step 504: Control the preset sediment cleaning ring to move to the cleaning starting point, and after reaching the cleaning starting point, control the cleaning isolation cloth preset on the sediment cleaning ring to open;

[0041] Step 505: After the cleaning isolation cloth is opened, the sediment cleaning ring is controlled to clean toward the cleaning end point according to the preset cleaning parameters until the cleaning end point is reached.

[0042] Optionally, the foreign matter handling method also includes:

[0043] Step 600: When the foreign object type is a preset wrapped foreign object, the foreign object features are identified from the detected image information to select the foreign object attachment outline;

[0044] Step 601: Determine whether the foreign body attachment profile is a preset complete wrapping profile;

[0045] Step 602: when the foreign body attachment contour is not a completely wrapped contour, obtaining an attachment vacancy position and a clamping removal position based on the foreign body attachment contour;

[0046] Step 603: Collect current wind direction information;

[0047] Step 604: generating a foreign object rotation angle in response to current wind direction information and the attachment vacancy position;

[0048] Step 605: Control the preset rotating clamping ring to move to the clamping and removing position, clamp and rotate the foreign object feature at the foreign object rotation angle, and after the rotation is completed, control the rotating clamping ring to reset.

[0049] Optionally, a complete package removal method is also included:

[0050] Step 701: When the foreign body attachment contour is a completely wrapped contour, surrounding image information of the foreign body features is collected;

[0051] Step 702: performing edge recognition on the foreign body features in the surrounding image information to obtain the unfolding starting line and the foreign body wrapping direction;

[0052] Step 703: Obtaining an insertion position and insertion direction based on the unfolding starting line and the foreign body wrapping direction;

[0053] Step 704: Collect current wind direction information;

[0054] Step 705: generating a foreign object rotation vector in response to current wind direction information, insertion position, and insertion direction;

[0055] Step 706: Control the preset foreign object removal plug to go to the insertion position and insert in the insertion direction, and then control the foreign object removal plug to drive the foreign object feature to rotate with the foreign object rotation vector.

[0056] Optionally, a clamping method for rotating the clamping ring is also included:

[0057] Step 800: Obtaining the external extension size of the foreign body based on the foreign body attachment contour;

[0058] Step 801: generating a required expansion size of the rotating clamping ring based on the external expansion size of the foreign body;

[0059] Step 802: generating an antenna insertion position in response to attaching a vacant position;

[0060] Step 803: generating an insertion rotation angle of the rotating clamping ring based on the antenna insertion position and a preset reference antenna position;

[0061] Step 804: Control the rotation of the clamping ring to adjust the size to the required expansion size, and rotate it at the insertion rotation angle;

[0062] Step 805: After the rotation is completed, the rotating clamping ring is controlled to move to the clamping removal position, and the feeler preset on the rotating clamping ring is controlled to be inserted into the feeler insertion position, and then the foreign object feature is clamped and rotated at the foreign object rotation angle.

[0063] In a second aspect, the present application provides a linear actuator cleaning system for solar thermal power generation, which adopts the following technical solutions:

[0064] A linear actuator cleaning system for solar thermal power generation, comprising:

[0065] An acquisition module, used for acquiring detection image information;

[0066] A memory for storing a program for any one of the above-mentioned linear actuator cleaning methods for solar thermal power generation;

[0067] The processor is configured to load, execute, and implement the program stored in the memory.

[0068] In summary, this application includes at least one of the following beneficial technical effects:

[0069] 1. The system first responds to action-premonition signals to collect and detect image information, then determines whether there are foreign object features in the image. If so, it identifies the foreign object type and generates a treatment method accordingly, finally controlling the foreign object handling device to remove the foreign object. This proactive monitoring and cleaning method breaks away from the limitations of traditional manual inspections and cleaning cycles, which are long and difficult to monitor in real time. It can promptly detect and handle foreign objects on the linear actuator, preventing them from getting stuck and reducing the frequency of equipment failures.

[0070] 2. When the moisture content of the foreign matter exceeds the baseline value, the heating distance is determined by understanding the heating temperature, the starting point, and the end point of the push. The heating movement speed is then generated based on the heating temperature, foreign matter size, and heating distance. Finally, the heating ring is controlled to heat at a specific temperature at the starting point and move at a set speed toward the end point. This reduces the moisture content of the foreign matter through heating and drying, making it easier to remove. At the same time, the heating temperature and movement speed are properly controlled to avoid damage to the linear actuator, further improving the foreign matter removal effect.

[0071] 3. When the foreign object is wrapped, the object's attachment outline is first identified from the detection image information to determine whether it is completely wrapped. If not, the attachment gap and clamping removal position are determined, and the current wind direction information is collected. The wind direction and attachment gap are combined to generate the foreign object's rotation angle. The clamping ring is then controlled to move to the clamping removal position, clamping and rotating the foreign object according to this angle, and then resets after completion. This fully considers the characteristics of wrapped foreign objects and external environmental factors. By rotating the foreign object, it is easier to clean, avoiding the problem of foreign objects being difficult to remove due to being wrapped or attached to the linear actuator, further improving the efficiency and effectiveness of foreign object cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] Figure 1 This is a schematic diagram of the process of removing sediment and foreign matter by a foreign matter pusher;

[0073] Figure 2 1. It is a schematic diagram of the process of rotating the clamping ring to remove the wrapped foreign matter;

[0074] Figure 3 The present invention is a flow chart of a method for cleaning a linear actuator for solar thermal power generation.

[0075] The parts indicated by the numerical labels in the above figures are as follows: 1. Linear actuator; 2. Foreign object push plate; 3. Heating ring; 4. Rotating clamping ring; 5. Mud and sand foreign objects; 6. Wrapped foreign objects; 7. Tentacles. DETAILED DESCRIPTION

[0076] The present invention is further described in detail below with reference to the accompanying drawings and embodiments.

[0077] Reference Figure 1 、 Figure 2 and Figure 3 The present application discloses a method for cleaning a linear actuator for solar thermal power generation, comprising the following steps:

[0078] Step 100 : Responding to the motion precursor signal of the linear actuator 1 to collect detection image information.

[0079] The pre-action signal is a signal sent when the linear actuator 1 is about to undergo extension or retraction adjustment. This signal is transmitted by a pre-configured signal transceiver on the linear actuator 1. The detection image information is an image of the portion of the linear actuator 1 undergoing extension or retraction adjustment. This detection image information is captured by a pre-configured camera on the linear actuator 1. After the pre-action signal is transmitted by the signal transceiver on the linear actuator 1, the detection image information must be captured for subsequent steps.

[0080] Step 101: Determine whether the detected image information contains preset foreign body features.

[0081] The foreign matter feature refers to a feature of a foreign matter that is attached to the part of the linear actuator 1 that is adjusted in extension and retraction. The foreign matter feature is set by a person skilled in the art in advance, and is not described herein. Whether a foreign matter exists on the part of the linear actuator 1 that is adjusted in extension and retraction is known by judging whether the foreign matter feature is contained in the detection image information.

[0082] Step 102: When the detection image information contains the foreign matter feature, the foreign matter feature is identified from the detection image information to obtain a foreign matter type.

[0083] The foreign matter type refers to a type of foreign matter that is attached to the part of the linear actuator 1 that is adjusted in extension and retraction. The foreign matter type includes a silt foreign matter 5 and a wrapped foreign matter 6. The silt foreign matter 5 refers to a solid particle that is attached to the extension and retraction part of the linear actuator 1 after being mixed by fine sand, dust and water due to external environment contamination. The wrapped foreign matter 6 refers to an object that is wrapped or covered on the extension and retraction structure of the linear actuator 1 by various packaging materials (such as plastic film, paper, cloth fiber, etc.) due to accidental involvement in the working scene.

[0084] The foreign matter type can be obtained by scanning and identifying the foreign matter feature in the detection image information. The image recognition technology is well known in the art, and is not described herein.

[0085] When the detection image information contains the foreign matter feature, it indicates that a foreign matter exists on the part of the linear actuator 1 that is adjusted in extension and retraction, and the foreign matter feature needs to be identified from the detection image information to obtain the foreign matter type.

[0086] Step 103: Generating a foreign matter processing method based on the foreign matter type.

[0087] The foreign matter processing method refers to a method for removing a foreign matter that is attached to the part of the linear actuator 1 that is adjusted in extension and retraction. The specific foreign matter processing method is described in detail in subsequent steps 200 to 205 and steps 600 to 605, and is not described herein.

[0088] The foreign matter processing method corresponding to the foreign matter type can be matched by a preset processing database. The database stores different foreign matter processing methods corresponding to different foreign matter types, and the processing database is formed by a person skilled in the art recording after sequentially testing different foreign matter processing methods corresponding to different foreign matter types, and is not described herein.

[0089] Step 104: Controlling a preset foreign matter processing device to remove the foreign matter feature by the foreign matter processing method.

[0090] The foreign matter processing device refers to a device for removing a foreign matter. The foreign matter processing device is controlled to remove the foreign matter feature by the foreign matter processing method, so that the linear actuator 1 can be operated subsequently.

[0091] Referring to Figure 1 The foreign matter processing method comprises the following steps:

[0092] Step 200: When the foreign matter type is the preset silt foreign matter 5, a foreign matter position is generated in response to the detection image information, the foreign matter feature, and the preset reference object.

[0093] The reference object refers to an object used to assist in comparing the size and position of each feature in the image in reality. The size and position of the reference object are both set by a person skilled in the art in advance, and are not described here. The foreign matter position refers to the position of the silt foreign matter 5 on the linear actuator 1. The actual foreign matter position is obtained by first identifying the positions of the foreign matter feature and the reference object in the detection image information, and then comparing the size and position of the reference object in the detection image information with the actual size and position of the reference object to obtain the image scale, and then comparing to obtain the actual foreign matter position.

[0094] When the foreign matter type is the silt foreign matter 5, the foreign matter position needs to be identified first for subsequent steps.

[0095] Step 201: Obtain a blowing direction based on the foreign matter position and a preset blowing device position.

[0096] The blowing device position refers to the position of the blowing device mounted on the linear actuator 1. The blowing device refers to a device used to blow away the silt foreign matter 5 on the linear actuator 1. The blowing device position is set by a person skilled in the art in advance, and is not described here. The blowing direction refers to the direction of the blowing device when blowing. Since the blowing device needs to blow towards the foreign matter position, the blowing direction can be obtained by comparing the positional relationship between the foreign matter position and the blowing device position.

[0097] Step 202: Obtain a foreign matter size of the foreign matter feature.

[0098] The foreign matter size refers to the size of the silt foreign matter 5 on the linear actuator 1. The foreign matter size is obtained by scanning with a preset infrared scanner on the linear actuator 1.

[0099] Step 203: Retrieve a blowing intensity value corresponding to the foreign matter size from a preset blowing database.

[0100] The blowing intensity value refers to the intensity of the blowing device when blowing away the silt foreign matter 5. The blowing intensity value corresponding to the foreign matter size can be matched by the blowing database, which stores different blowing intensity values corresponding to different foreign matter sizes. The blowing database is formed by a person skilled in the art recording the different blowing intensity values corresponding to different foreign matter sizes after sequentially testing them, and is not described here.

[0101] Step 204: control the preset blowing device to blow the foreign matter feature with the blowing strength value and blowing direction, and collect the post-blowing image information after blowing.

[0102] The post-blowing image information refers to the image of the sand foreign matter 5 after being blown by the blowing device. The post-blowing image information is obtained by the camera.

[0103] The blowing device is controlled to blow the foreign matter feature with the blowing strength value and blowing direction, and the post-blowing image information is collected after blowing, for subsequent steps.

[0104] Step 205: when the post-blowing image information still contains the foreign matter feature, control the preset foreign matter push plate 2 to remove the foreign matter by the preset foreign matter pushing method.

[0105] The foreign matter push plate 2 refers to a push plate for removing foreign matter that cannot be removed by blowing. The foreign matter pushing method refers to a method for removing foreign matter that cannot be removed by blowing. The specific foreign matter pushing method is described in detail in subsequent steps 300 to 306, and will not be repeated here.

[0106] When the post-blowing image information still contains the foreign matter feature, it means that the foreign matter on the linear actuator 1 cannot be removed by blowing, and the foreign matter push plate 2 needs to be controlled to remove the sand foreign matter 5 on the linear actuator 1 by the foreign matter pushing method.

[0107] Referring to Figure 1 , the foreign matter pushing method includes the following steps:

[0108] Step 300: retrieve the device number information of the camera for collecting the detection image information.

[0109] The camera refers to the camera for collecting the detection image information. The device number information refers to the number of the camera. Each camera on the linear actuator 1 has its corresponding number. The specific number is set by the person skilled in the art in advance, and will not be repeated here. The device number information of the camera for collecting the detection image information can be retrieved through the preset number database. The number database stores the device number information corresponding to each camera. The number database is formed by sequentially recording the device number information of different cameras by the person skilled in the art, and will not be repeated here.

[0110] Step 301: obtain the device installation position based on the device number information.

[0111] The device installation location refers to the position where the camera is installed on the linear actuator 1. A preset installation database can be used to match device installation locations to device numbers. This database contains different device installation locations corresponding to different device numbers. The installation database is created by those skilled in the art by sequentially recording different device installation locations corresponding to different device numbers, and is not detailed here.

[0112] Step 302: Obtain the relative position of the foreign object based on the device installation position.

[0113] The relative position of the foreign object refers to the relative position between the mud and sand foreign object 5 and the camera. By understanding the camera's mounting position, we can determine the camera's shooting direction and, therefore, the position of the mud and sand foreign object 5 relative to the camera. This allows us to determine the relative position of the foreign object. For example, when the camera is pointing upward, the mud and sand foreign object 5 is located above the camera. When the camera is pointing upward, the telescopic adjustment portion of the linear actuator 1 needs to retract toward the camera (downward), allowing the telescopic adjustment portion of the linear actuator 1 to enter the interior of the linear actuator 1, completing the retraction adjustment. When the camera is pointing downward, the linear actuator 1 retracts toward the telescopic adjustment portion (i.e., the camera gradually moves closer to the ground), allowing the telescopic adjustment portion of the linear actuator 1 to be retracted into the interior of the linear actuator 1, completing the retraction adjustment.

[0114] Step 303: Generate a moving direction in response to the relative position of the foreign object.

[0115] The pushing direction refers to the direction in which the foreign matter pushing plate 2 pushes when removing the mud and sand foreign matter 5. Since the mud and sand foreign matter 5 needs to be pushed away from the shooting device, the pushing direction can be known by understanding the relative position between the mud and sand foreign matter 5 and the shooting device.

[0116] Step 304: Generate a pushing start point and a pushing end point based on the detected image information, the foreign object features, and the pushing direction.

[0117] The push start point is the location where the foreign object push plate 2 first contacts and begins applying force to dislodge the mud and sand foreign object 5. The push end point is the target location reached after the foreign object has been successfully removed from the area to be cleaned by the linear actuator 1. By identifying the foreign object features in the detected image information, the upper and lower ends of the mud and sand foreign object 5 can be determined. By understanding the push direction, these ends can be defined to determine the push start point and push end point. If the push direction is upward, the lower end of the mud and sand foreign object 5 is defined as the push start point, and the upper end as the push end point.

[0118] Step 305 : When the pushing direction is the preset upward pushing direction, a push plate angle is generated based on the size of the foreign object, and the foreign object push plate 2 is controlled to adjust its angle to be consistent with the push plate angle.

[0119] The push plate angle refers to the angle between the push plate surface and the vertical direction when the foreign object push plate 2 pushes the mud and sand foreign object 5 upward. A preset angle database is used to match the push plate angle to the foreign object size. This database stores different push plate angles corresponding to different foreign object sizes. This angle database was created by technicians in this field through sequential testing and recording of different push plate angles corresponding to different foreign object sizes. A detailed description is omitted here.

[0120] When the pushing direction is upward, it means that the mud and sand foreign matter 5 is located above the shooting device. In order to prevent the mud and sand from falling into the linear actuator 1 when removing the mud and sand, it is necessary to match the push plate angle first, and then control the foreign matter push plate 2 to adjust the angle to be consistent with the push plate angle for subsequent steps.

[0121] Step 306: After the foreign matter push plate 2 adjusts its angle to be consistent with the push plate angle, the foreign matter push plate 2 is controlled to move toward the pushing starting point, and after arriving at the pushing starting point, it is pushed toward the pushing end point to complete the foreign matter removal.

[0122] When the foreign object push plate 2 adjusts its angle to be consistent with the push plate angle, the foreign object push plate 2 is controlled to move to the pushing starting point, and when the foreign object push plate 2 reaches the pushing starting point, the foreign object push plate 2 is controlled to push toward the pushing end point, thereby completing the foreign object removal.

[0123] Reference Figure 1 The foreign matter heating removal method includes the following steps:

[0124] Step 400: Collect the foreign matter humidity value of the foreign matter characteristic.

[0125] The foreign matter humidity value refers to the humidity value contained in the mud, sand, and foreign matter 5 attached to the telescopic portion of the linear actuator 1. The foreign matter humidity value is obtained by a humidity sensor.

[0126] Step 401: When the foreign matter humidity value exceeds a preset reference humidity value, a heating temperature value is generated according to the foreign matter humidity value.

[0127] The reference humidity value refers to the humidity value used to compare whether the foreign body humidity value is too high. The reference humidity value is set in advance by those skilled in the art and will not be described in detail here. The heating temperature value refers to the temperature value used to heat and dry the mud and sand foreign matter 5. The heating temperature value corresponding to the foreign body humidity value can be matched using a preset heating database, which stores different heating temperature values ​​corresponding to different foreign body humidity values. The heating database is formed by those skilled in the art conducting sequential tests on different heating temperature values ​​corresponding to different foreign body humidity values ​​and recording them, and will not be described in detail here.

[0128] When the foreign matter humidity value exceeds the reference humidity value, it indicates that the sediment foreign matter 5 is too wet. The heating temperature value must be matched first for subsequent steps.

[0129] Step 402: Obtaining a heating distance in response to the pushing start point and the pushing end point.

[0130] The heating distance refers to the distance over which the mud and sand foreign matter 5 is heated and dried. The heating distance can be obtained by calculating the distance between the starting point and the end point of the push. The point-to-point distance formula is common knowledge in the art and will not be described in detail here.

[0131] Step 403: Generate a heating movement speed based on the heating temperature value, the foreign object size, and the heating distance.

[0132] The heating movement speed refers to the speed at which the heating device moves when heating and drying the mud and sand foreign matter 5. The heating device refers to the heating ring 3 used to heat and dry the mud and sand foreign matter 5. A preset movement database can be used to match the heating movement speed corresponding to the heating temperature value, foreign matter size, and heating distance. This database stores different heating movement speeds corresponding to different heating temperature values, foreign matter sizes, and heating distances. This movement database was created by those skilled in the art through sequential testing and recording of different heating movement speeds corresponding to different heating temperature values, foreign matter sizes, and heating distances. A detailed description is omitted here.

[0133] When the object size and heating distance are fixed, a higher heating temperature value results in a faster heating speed. When the heating temperature and heating distance are fixed, a larger object requires more time and heat, so the heating speed generally slows down. When the heating temperature and object size are fixed, a smaller heating distance results in higher heat transfer efficiency, and a faster heating speed is required to prevent overheating.

[0134] Step 404: Control the preset heating ring 3 to move to the pushing starting point to heat at the heating temperature value, and after heating, move to the pushing end point at the heating moving speed until the heating ring 3 reaches the pushing end point.

[0135] The heating ring 3 is controlled to move to the pushing starting point and start heating at the heating temperature value. After starting heating, the heating ring 3 is controlled to move toward the pushing end point at the heating moving speed until the heating ring 3 reaches the pushing end point, thereby completing the drying of the mud and sand foreign matter 5 so that it can be removed later.

[0136] Reference Figure 1 , also includes the steps after the foreign body removal is completed:

[0137] Step 500 : After the foreign matter is removed, image information of the linear actuator 1 after removal is collected.

[0138] The post-removal image information refers to the image after the mud and sand foreign matter 5 is removed. The post-removal image information is obtained by taking a photo with a camera. After the foreign matter removal is completed, the post-removal image information of the linear actuator 1 needs to be collected for subsequent steps.

[0139] Step 501: Determine whether the removed image information contains a preset sediment residue feature.

[0140] The residual sediment feature refers to the appearance feature of the sediment remaining on the surface of the linear actuator 1 after the sediment foreign matter 5 is removed. The residual sediment feature is set in advance by those skilled in the art and will not be described in detail here.

[0141] By determining whether the removed image information contains features of residual sediment, it is possible to determine whether there is any residual sediment on the linear actuator 1 .

[0142] Step 502: When the post-clearance image information contains a sediment residual feature, the sediment residual feature is frame-selected from the post-clearance image information to obtain a sediment residual area.

[0143] The residual sediment area refers to the area on the linear actuator 1 where residual sediment features are present. The residual sediment area can be obtained by scanning and selecting the residual sediment features in the post-cleaning image information. Image recognition technology is common knowledge in the art and will not be described in detail here.

[0144] If the image information after removal contains residual sediment features, it means that there is still sediment left on the linear actuator 1. The residual sediment area needs to be matched first for subsequent steps.

[0145] Step 503: Generate a cleaning start point and a cleaning end point based on the sediment residual area.

[0146] The cleaning start point is the location where the silt cleaning ring first contacts and begins cleaning the residual silt feature. The cleaning end point is the target location the silt cleaning ring should reach after the residual silt feature has been successfully removed from the area of ​​the linear actuator 1 to be cleaned. By understanding the residual silt area, the upper and lower ends of the residual silt area can be determined. The silt cleaning ring uses the end closest to itself as the cleaning start point and the other end as the cleaning end point. The silt cleaning ring is a circular ring used to clean and remove residual silt features. A cleaning brush is installed inside the silt cleaning ring.

[0147] Step 504: Control the preset mud and sand cleaning ring to go to the cleaning starting point, and after arriving at the cleaning starting point, control the cleaning isolation cloth preset on the mud and sand cleaning ring to be opened.

[0148] The cleaning isolation cloth refers to an isolation cloth used to prevent mud, sand, and dust from entering the linear actuator 1 when the mud cleaning ring cleans the residual mud.

[0149] The sediment cleaning ring is controlled to go to the cleaning starting point, and when the sediment cleaning ring reaches the cleaning starting point, the cleaning isolation cloth is controlled to be opened for subsequent steps.

[0150] Step 505: After the cleaning isolation cloth is opened, the sediment cleaning ring is controlled to clean toward the cleaning end point according to the preset cleaning parameters until the cleaning end point is reached.

[0151] The cleaning parameters refer to the force and speed at which the sediment cleaning ring cleans the residual sediment. The cleaning parameters are set in advance by those skilled in the art and will not be described in detail here.

[0152] When the cleaning isolation cloth is opened, the sediment cleaning ring is controlled to clean towards the cleaning end point according to the cleaning parameters until it reaches the cleaning end point.

[0153] Reference Figure 2 , the foreign body processing method further includes the following steps:

[0154] Step 600: When the foreign object type is the preset wrapped foreign object 6, the foreign object features are identified from the detection image information to frame the foreign object attachment contour.

[0155] The foreign object attachment profile refers to the shape and range of the outer boundary of the wrapped foreign object 6 when it is attached to the portion of the linear actuator 1 that is undergoing telescopic adjustment. The foreign object attachment profile can be obtained by scanning and identifying foreign object features in the detected image information. Image recognition technology is common knowledge in the art and will not be discussed in detail here.

[0156] When the foreign object type is a wrapped foreign object 6, it is necessary to detect the foreign object features in the image information to frame the foreign object attachment outline for subsequent steps.

[0157] Step 601: Determine whether the foreign body attachment contour is a preset complete wrapping contour.

[0158] A fully enveloping profile refers to a profile where the foreign object 6 completely surrounds and covers the telescopic portion of the linear actuator 1, forming a closed, continuous profile. This profile completely obscures the portion of the linear actuator 1, leaving no portion of the linear actuator 1 directly exposed. The fully enveloping profile is pre-determined by those skilled in the art and is not detailed here.

[0159] By judging whether the foreign matter attachment contour is a completely wrapped contour, it is determined whether the portion of the linear actuator 1 blocked by the foreign matter is completely blocked.

[0160] Step 602: When the foreign matter attachment contour is not a completely wrapped contour, an attachment vacancy position and a clamping removal position are obtained based on the foreign matter attachment contour.

[0161] The "attachment gap" refers to the side portion of the linear actuator 1 that is not covered by the wrapped foreign object 6. The "clamping and removal position" is where a clamping tool is placed to remove the wrapped foreign object 6 that is not completely wrapped around the linear actuator 1. By grayscaling the inspection image, pixels with grayscale values ​​above or below a preset threshold are segmented based on the grayscale difference between the wrapped foreign object 6 and the surface of the linear actuator 1. Regions above the threshold are considered to contain the foreign object 6, while regions below the threshold are considered to be uncovered areas on the surface of the linear actuator 1, i.e., the attachment gap. The specific thresholds are set by those skilled in the art and are not detailed here. Since the attachment gap is clamped to remove the foreign object, it is the attachment gap that serves as the clamping and removal position.

[0162] When the foreign body attachment contour is not a completely wrapped contour, it means that the wrapped foreign body 6 does not completely block the portion of the linear actuator 1 covered by the foreign body. It is necessary to first match the attachment vacancy position and the clamping removal position for subsequent steps.

[0163] Step 603: Collect current wind direction information.

[0164] The current wind direction information refers to the direction of the current natural wind. The current wind direction information is measured by a preset wind direction sensor.

[0165] Step 604: Generate a foreign object rotation angle in response to the current wind direction information and the attachment vacancy position.

[0166] The foreign object rotation angle refers to the angle by which the foreign object needs to be rotated to facilitate removal of the wrapped foreign object 6. A preset rotation database can be used to match the foreign object rotation angle corresponding to the current wind direction information and the attachment vacancy position. The database stores different foreign object rotation angles corresponding to different current wind direction information and attachment vacancy positions. The rotation database is generated by those skilled in the art through sequential testing and recording of different foreign object rotation angles corresponding to different current wind direction information and attachment vacancy positions, and will not be described in detail here.

[0167] Step 605: Control the preset rotating clamping ring 4 to move to the clamping and removing position, clamp and rotate the foreign object feature at the foreign object rotation angle, and after the rotation is completed, control the rotating clamping ring 4 to return to its original position.

[0168] The rotating clamping ring 4 is an object used to clamp and rotate the wrapped foreign body 6 whose attachment contour is not a completely wrapped contour.

[0169] The rotating clamping ring 4 is controlled to move toward the clamping and removal position. Once there, it is controlled to rotate according to the foreign object's rotation angle, gripping and rotating the foreign object 6 so that the enclosed foreign object 6 can naturally separate from the linear actuator 1 under the action of wind. When the rotation is completed, the rotating clamping ring 4 is controlled to return to its original position, thereby preventing the rotating clamping ring 4 from blocking the enclosed foreign object 6 from separating from the linear actuator 1.

[0170] Reference Figure 2 , the complete package removal method includes the following steps:

[0171] Step 700: When the foreign body attachment contour is a completely wrapped contour, surrounding image information of the foreign body features is collected.

[0172] The surrounding image information refers to an image obtained by photographing the wrapped foreign object 6 around the linear actuator 1 when the wrapped foreign object 6 completely wraps around the linear actuator 1. The surrounding image information is obtained by photographing with a camera.

[0173] When the foreign body attachment contour is a completely wrapped contour, it is necessary to collect surrounding image information of the foreign body features for subsequent steps.

[0174] Step 701: Perform edge recognition on the foreign body features in the surrounding image information to obtain the unfolding starting line and the foreign body wrapping direction.

[0175] The "unfolding starting line" is the optimal starting point for attempting to unfold and remove a completely wrapped foreign object from the linear actuator 1. The foreign object wrapping direction refers to the direction in which the foreign object wraps around the linear actuator 1. The "unfolding starting line" is determined by edge recognition of the foreign object's features in the wrapping image information. Analysis of the wrapping image information reveals whether the foreign object wraps around the linear actuator 1 in a clockwise or counterclockwise direction, thereby determining the foreign object wrapping direction. Image recognition technology is common knowledge in the art and will not be elaborated upon here.

[0176] Step 702: Obtain an insertion position and insertion direction based on the unfolding starting line and the foreign body wrapping direction.

[0177] The insertion position refers to the specific location at which the tool is inserted between the foreign object and the linear actuator 1, passing through the expansion start line. The insertion direction refers to the direction in which the tool is inserted between the foreign object and the linear actuator 1. Since the tool must be inserted between the foreign object and the linear actuator 1 through the expansion start line, the position along the expansion start line is the insertion position. Since the foreign object must be wrapped and separated from the linear actuator 1, the insertion direction is the direction opposite to the wrapping direction.

[0178] Step 703: Collect current wind direction information.

[0179] This step is similar to the above step 603 and will not be described in detail here.

[0180] Step 704: Generate a foreign object rotation vector in response to the current wind direction information, the insertion position, and the insertion direction.

[0181] The foreign object rotation vector refers to the direction and angle of rotation of the foreign object removal insert after it is inserted between the encased foreign object 6 and the linear actuator 1. The foreign object removal insert is a tool used to be inserted between the encased foreign object 6 and the linear actuator 1 to remove the encased foreign object 6. A preset vector database can be used to match the foreign object rotation vector corresponding to the current wind direction information, insertion position, and insertion direction. This database stores different foreign object rotation vectors corresponding to different current wind directions, insertion positions, and insertion directions. This vector database is generated by those skilled in the art through sequential testing of different foreign object rotation vectors corresponding to different current wind directions, insertion positions, and insertion directions, and is not further described here.

[0182] Step 705: Control the preset foreign object removal plug to go to the insertion position and insert in the insertion direction, and then control the foreign object removal plug to drive the foreign object feature to rotate with the foreign object rotation vector.

[0183] The foreign object removal plug is controlled to move to the insertion position, and when it reaches the insertion position, the foreign object removal plug is controlled to be inserted in the insertion direction between the wrapped foreign object 6 and the linear actuator 1, and then the foreign object removal plug is controlled to rotate with the foreign object rotation vector to drive the foreign object feature to rotate, thereby relying on natural wind to remove the wrapped foreign object 6.

[0184] Reference Figure 2 The clamping method of the rotating clamping ring 4 includes the following steps:

[0185] Step 800: Obtain the external expansion size of the foreign matter based on the foreign matter attachment contour.

[0186] The outer extension of a foreign object refers to the size of the space occupied by the outermost boundary of the foreign object 6 when it is attached to the linear actuator 1. This outer extension can be determined by measuring the outline of the foreign object from the detected image information. Image measurement technology is well known in the art and will not be described in detail here.

[0187] Step 801 : Generate the required expansion size of the rotating clamping ring 4 based on the external expansion size of the foreign object.

[0188] The required expansion size refers to the size to which the rotating clamping ring 4 needs to expand. Because the rotating clamping ring 4 needs to completely enclose the foreign object, the required expansion size is calculated by adding a preset value to the foreign object's expansion size. The specific added value is set by those skilled in the art and is not detailed here.

[0189] Step 802: Generate an antenna insertion position in response to attaching a vacant position.

[0190] The antenna insertion position refers to the specific location where the antenna 7 on the rotating clamping ring 4 is inserted between the foreign object and the linear actuator 1. The attachment gap is the area on the linear actuator 1 not covered by foreign objects. Selecting these locations for the antenna 7 can better utilize the space and avoid damage to the linear actuator 1. Therefore, the attachment gap is the antenna insertion position.

[0191] Step 803 : Generate an insertion rotation angle of the rotating clamping ring 4 based on the antenna insertion position and a preset reference antenna position.

[0192] The reference antenna position is a reference starting position for the antenna 7 on the rotating clamping ring 4. The reference antenna position is pre-set by those skilled in the art and is not described here. The insertion rotation angle refers to the angle required to rotate the clamping ring 4 from the reference antenna position to the antenna insertion position. The insertion rotation angle is calculated by calculating the angular difference between the antenna insertion position and the reference antenna position.

[0193] Step 804: Control the rotation of the clamping ring 4 to adjust the size to be consistent with the required expansion size, and rotate it at the insertion rotation angle.

[0194] The rotating clamping ring 4 is controlled to adjust its own size to be consistent with the required expansion size, and the rotating clamping ring 4 is controlled to rotate at the insertion rotation angle for subsequent steps.

[0195] Step 805: After the rotation is completed, the rotating clamping ring 4 is controlled to move to the clamping removal position, and the feeler 7 preset on the rotating clamping ring 4 is controlled to be inserted into the feeler insertion position, and then the foreign object feature is clamped and rotated at the foreign object rotation angle.

[0196] The antenna 7 refers to an object that is inserted into the antenna insertion position to drive the wrapped foreign object 6 to move synchronously.

[0197] After the rotation is completed, the rotating clamping ring 4 is controlled to move to the clamping removal position, and the tentacles 7 are controlled to be inserted into the tentacles insertion position. Finally, the rotating clamping ring 4 is controlled to rotate at the foreign body rotation angle, while clamping and rotating the foreign body features.

[0198] Based on the same inventive concept, an embodiment of the present invention provides a linear actuator cleaning system for solar thermal power generation, comprising:

[0199] An acquisition module is used to collect detection image information, foreign object size, image information after blowing, foreign object humidity value, image information after removal, current wind direction information, and surrounding image information;

[0200] A memory for storing a program for a linear actuator cleaning method for solar thermal power generation;

[0201] The processor is configured to load, execute, and implement the program stored in the memory.

[0202] Those skilled in the art will clearly understand that for the sake of convenience and brevity, the division of the above-mentioned functional modules is only used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working processes of the above-mentioned systems, devices, and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0203] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiment. All technical solutions based on the concept of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, various improvements and modifications that do not depart from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A method for cleaning a linear actuator for solar thermal power generation, characterized in that: include: Step 100: Responding to an action precursor signal of the linear actuator (1) to collect detection image information; Step 101: Determine whether the detected image information contains a preset foreign body feature; Step 102: When the detection image information contains foreign body features, the foreign body features are identified from the detection image information to obtain the type of the foreign body; Step 103: Generate a foreign matter treatment method based on the foreign matter type; Step 104: Control the preset foreign matter processing device to remove foreign matter based on the foreign matter feature using the foreign matter processing method; Foreign body handling methods include: Step 200: When the foreign matter type is the preset mud and sand foreign matter (5), generating the foreign matter position in response to the detected image information, the foreign matter characteristics and the preset reference object; Step 201: Obtaining a blowing direction based on the position of the foreign object and a preset position of the blowing device; Step 202: Collect the foreign body size of the foreign body characteristics; Step 203: Retrieving the blowing force value corresponding to the size of the foreign object from a preset blowing database; Step 204: Control the preset blowing device to blow air at the foreign matter features with a blowing force value and blowing direction, and collect post-blowing image information after blowing; Step 205: When the image information after blowing still contains foreign body features, controlling the preset foreign body pushing plate (2) to remove the foreign body using a preset foreign body pushing method; Foreign body removal methods include: Step 300: Retrieve device number information of a shooting device used to collect detection image information; Step 301: Obtaining the device installation location based on the device number information; Step 302: Obtaining the relative position of the foreign object based on the device installation position; Step 303: generating a moving direction in response to the relative position of the foreign object; Step 304: Generate a pushing start point and a pushing end point based on the detected image information, foreign object features, and the pushing direction; Step 305: When the pushing direction is the preset upward pushing direction, a push plate angle is generated based on the size of the foreign object, and the foreign object push plate (2) is controlled to adjust the angle to be consistent with the push plate angle; Step 306: After the foreign matter push plate (2) adjusts its angle to be consistent with the push plate angle, the foreign matter push plate (2) is controlled to move toward the pushing starting point, and after arriving at the pushing starting point, it is pushed toward the pushing end point, thereby completing the foreign matter removal.

2. A method for cleaning a linear actuator for solar thermal power generation according to claim 1, characterized in that: Also includes foreign body heating removal method: Step 400: Collecting the foreign matter humidity value of the foreign matter feature; Step 401: When the foreign matter humidity value exceeds a preset reference humidity value, a heating temperature value is generated according to the foreign matter humidity value; Step 402: Responding to the pushing start point and the pushing end point to obtain a heating distance; Step 403: Generate a heating movement speed based on the heating temperature value, the foreign object size, and the heating distance; Step 404: Control the preset heating ring (3) to move to the pushing starting point to heat at the heating temperature value, and after heating, move to the pushing end point at the heating moving speed until the heating ring (3) reaches the pushing end point.

3. The method for cleaning a linear actuator for solar thermal power generation according to claim 1, characterized in that: It also includes the steps after foreign body removal: Step 500: After the foreign matter is removed, image information of the linear actuator (1) is collected; Step 501: determining whether the post-clearance image information contains a preset sediment residue feature; Step 502: When the post-clearance image information contains a sediment residual feature, the sediment residual feature is frame-selected from the post-clearance image information to obtain a sediment residual area; Step 503: generating a cleaning start point and a cleaning end point based on the sediment residual area; Step 504: Control the preset sediment cleaning ring to move to the cleaning starting point, and after reaching the cleaning starting point, control the cleaning isolation cloth preset on the sediment cleaning ring to open; Step 505: After the cleaning isolation cloth is opened, the sediment cleaning ring is controlled to clean toward the cleaning end point according to the preset cleaning parameters until the cleaning end point is reached.

4. The method for cleaning a linear actuator for solar thermal power generation according to claim 1, characterized in that: Foreign body handling methods also include: Step 600: When the foreign body type is the preset wrapped foreign body (6), the foreign body features are identified from the detected image information to frame the foreign body attachment contour; Step 601: Determine whether the foreign body attachment profile is a preset complete wrapping profile; Step 602: when the foreign body attachment contour is not a completely wrapped contour, obtaining an attachment vacancy position and a clamping removal position based on the foreign body attachment contour; Step 603: Collect current wind direction information; Step 604: generating a foreign object rotation angle in response to current wind direction information and the attachment vacancy position; Step 605: Control the preset rotating clamping ring (4) to move to the clamping and removing position, clamp and rotate the foreign object feature at the foreign object rotation angle, and after the rotation is completed, control the rotating clamping ring (4) to reset.

5. A method for cleaning a linear actuator for solar thermal power generation according to claim 4, characterized in that: Also includes a complete package removal method: Step 701: When the foreign body attachment contour is a completely wrapped contour, surrounding image information of the foreign body features is collected; Step 702: performing edge recognition on the foreign body features in the surrounding image information to obtain the unfolding starting line and the foreign body wrapping direction; Step 703: Obtaining an insertion position and insertion direction based on the unfolding starting line and the foreign body wrapping direction; Step 704: Collect current wind direction information; Step 705: generating a foreign object rotation vector in response to current wind direction information, insertion position, and insertion direction; Step 706: Control the preset foreign object removal plug to go to the insertion position and insert in the insertion direction, and then control the foreign object removal plug to drive the foreign object feature to rotate with the foreign object rotation vector.

6. A method for cleaning a linear actuator for solar thermal power generation according to claim 4, characterized in that: Also included is a clamping method for rotating the clamping ring (4): Step 800: Obtaining the external extension size of the foreign body based on the foreign body attachment contour; Step 801: generating a required expansion size of the rotating clamping ring (4) based on the external expansion size of the foreign body; Step 802: generating an antenna insertion position in response to attaching a vacant position; Step 803: generating an insertion rotation angle of the rotating clamping ring (4) based on the antenna insertion position and a preset reference antenna position; Step 804: Control the rotating clamping ring (4) to adjust the size to be consistent with the required expansion size, and rotate it at the insertion rotation angle; Step 805: After the rotation is completed, the rotating clamping ring (4) is controlled to move to the clamping removal position, and the feeler (7) preset on the rotating clamping ring (4) is controlled to be inserted into the feeler insertion position, and then the foreign body feature is clamped and rotated at the foreign body rotation angle.

7. A linear actuator cleaning system for solar thermal power generation, characterized in that: include: An acquisition module, used for acquiring detection image information; A memory for storing a program of a linear actuator cleaning method for solar thermal power generation according to any one of claims 1 to 6; The processor is configured to load, execute, and implement the program stored in the memory.

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