Heliostat cleaning machine with multi-rotor unmanned aerial vehicle as carrier and cleaning method of heliostat cleaning machine

Abstract

The invention provides a heliostat cleaning machine with a multi-rotor unmanned aerial vehicle as a carrier and a cleaning method of the heliostat cleaning machine. The heliostat cleaning machine comprises a heliostat cleaning machine body and an unmanned aerial vehicle conveying system. The heliostat cleaning machine comprises a base, a top cover connected with the base in a sealed mode is assembled on the base, a cavity is formed between the top cover and the base, and a cleaning mechanism assembly used for containing a middle sweeping mechanism and a rotary bottom cleaning mechanism is arranged in the cavity. One unmanned aerial vehicle conveying system is provided with 1-3 heliostat cleaning machines for cooperation to clean the heliostats, so that the utilization rate of the unmanned aerial vehicle conveying system and the working efficiency of the heliostat cleaning machines can be greatly improved, and the cost consumption of the unmanned aerial vehicle conveying system in all aspects is greatly reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of heliostat cleaning, and in particular relates to a heliostat cleaning machine using a multi-rotor unmanned aerial vehicle as a carrier and a cleaning method thereof. Background Art

[0002] Heliostats are a crucial component of tower-type solar thermal systems. They utilize solar thermal energy by reflecting and focusing sunlight onto the surface of a receiver, where it heats the working fluid. Efficient cleaning of heliostats is a core maintenance task during daily operation. Currently, heliostat cleaning primarily involves using a diesel truck chassis equipped with a hydraulic robotic arm to drive a spray cleaning mechanism, or by using a drone rigidly connected to a cleaning robot for high-pressure spray cleaning.

[0003] However, since the load of the drone is a key factor affecting its endurance, using drones equipped with cleaning equipment (high-pressure water pumps, water tanks, etc.) will significantly increase the load, resulting in accelerated battery consumption. Most drones have a single flight time of 30-40 minutes, which greatly affects the utilization rate and work efficiency of the drone.

[0004] If the vehicle is not equipped with cleaning equipment (high-pressure water pump, water tank, etc.), the stain cleaning effect will be insufficient.

[0005] Patent publication number CN 119368493 A discloses an unmanned heliostat cleaning system and method. The system includes a cleaning vehicle managed and controlled by a cleaning vehicle management computer, a heliostat adjustment system, an RFID identification system for identifying the heliostats, an automatic charging system, and an automatic water replenishment system. While this unmanned heliostat cleaning system and method ensure cleanliness of the heliostats, the automatic water replenishment system installed on a drone significantly increases the drone's load, leading to accelerated battery drain and significantly impacting the drone's utilization and efficiency.

[0006] In view of this, how to solve the defects existing in the above technical solutions has become one of the problems to be solved urgently in the field of heliostat cleaning technology. Summary of the Invention

[0007] In view of the problems existing in the background technology, the present invention provides a heliostat cleaning machine using a multi-rotor drone as a carrier, comprising:

[0008] Heliostat cleaning machine;

[0009] A drone delivery system for transporting heliostat cleaning machines;

[0010] The heliostat cleaning machine is provided with a first magnet of a protruding device,

[0011] The drone delivery system is provided with a sweeper receiver for accommodating the heliostat cleaning machine, and the sweeper receiver is provided with a second electromagnet for connecting to the drone delivery system;

[0012] The heliostat cleaning machine and the drone delivery system are respectively provided with a first antenna and a second antenna;

[0013] The heliostat cleaning machine is provided with a sensor assembly, and the sensor assembly is arranged in multiple groups, and the sensor assembly includes an anti-fall sensor and an infrared ranging sensor;

[0014] The heliostat cleaning machine includes a base,

[0015] The base is equipped with a top cover which is sealed therewith.

[0016] A cavity is provided between the top cover and the base.

[0017] The cavity is provided with a cleaning mechanism assembly for accommodating a middle sweeping mechanism and a rotating bottom cleaning mechanism.

[0018] Optionally, the rotary bottom cleaning mechanism includes a motor box;

[0019] And the motor box is arranged in the cavity;

[0020] At least one cleaning motor is provided in the motor box.

[0021] The motor shaft of the cleaning motor passes through the motor box and the base,

[0022] And connected to the bottom cleaning plate;

[0023] A replacement cleaning piece with a soft flocculant is installed on the end surface of the bottom cleaning disc away from the motor box.

[0024] And the length of the soft flocculent part of the replacement cleaning part is greater than 6mm.

[0025] Optionally, the middle sweeping mechanism includes a dust collection box for accommodating pollutants.

[0026] A dust collector is provided on one side of the dust collection box and is in communication with the dust collection box;

[0027] The middle sweep mechanism also includes a middle sweep motor,

[0028] The bevel gear transmission system is driven by the middle sweeping motor to drive the roller brush arranged on the brush roller to rotate, thereby enabling it to sweep the sand and dust into the dust collection box.

[0029] Optionally, the roller brush includes a brush plate,

[0030] The brush plates are arranged in multiple groups and are evenly distributed along the circumference of the brush roller.

[0031] At least one group of first rubber strips is arranged on any group of brush plates along their axial direction.

[0032] Optionally, the heliostat cleaning machine further includes a multi-degree-of-freedom coupling wheel mechanism for driving the heliostat to move.

[0033] The multi-degree-of-freedom coupling wheel mechanism includes a multi-degree-of-freedom coupling wheel motor arranged in the cavity,

[0034] The driving shaft of the multi-degree-of-freedom coupling wheel motor passes through the base and extends out to be connected to the multi-degree-of-freedom coupling wheel transmission shaft of the multi-degree-of-freedom coupling wheel;

[0035] The multi-degree-of-freedom coupling wheel comprises a hub,

[0036] The two sides of the wheel hub are fixedly connected to the front cover.

[0037] A ball bearing is provided between the two groups of front covers.

[0038] The balls are covered and fixed by two sets of front covers.

[0039] Optionally, the front cover includes concave mounting cavities evenly distributed along its circumference.

[0040] One of the mounting cavities is provided with positioning holes for the high-strength fastening bolts to pass through.

[0041] The two sets of front cover mounting cavities have arc-shaped surfaces for the arc-shaped ends of the balls to fit into.

[0042] A resisting end surface is provided toward the center of the front cover;

[0043] The thickness of the abutting end surface is 1 / 3 of the thickness of the mounting cavity;

[0044] The movement direction of the ball is set at a 45° angle to the rear.

[0045] Optionally, a second rubber strip is provided on the brush plate of the brush roller.

[0046] Brushes are provided on both sides of the second rubber strip.

[0047] The brush is arranged on the brush plate of the brush roller.

[0048] The scraping edge of the second rubber strip and the tip of the brush are arranged in a V-shape in space;

[0049] The brush is made of artificial fiber with a relatively soft texture.

[0050] Optionally, four collision switches are installed on the top of the interior of the sweeper receiver.

[0051] Four protruding points are additionally provided on the top of the heliostat cleaning machine for use in conjunction with the collision switch;

[0052] The centers of the four protruding points coincide with the center of the first electromagnet.

[0053] Optionally, the base and the top cover are made of ABS anti-static material.

[0054] The base and the top cover are rectangular shells with dimensions of 350mm×300mm×100mm.

[0055] A cleaning method for a heliostat cleaning machine using a multi-rotor drone as a carrier is applied to the heliostat cleaning machine, wherein a drone delivery system is used in conjunction with 1-3 heliostat cleaning machines to clean the heliostats;

[0056] The specific steps include:

[0057] Step 1: Use the drone delivery system to bring the heliostat cleaning machine to the designated heliostat mirror surface to be cleaned.

[0058] When the infrared ranging sensor detects the reference boundary of the heliostat mirror surface, the heliostat cleaning machine is moved to the reference boundary of the heliostat through the drone delivery system;

[0059] Step 2: The drone transport system flies away from the heliostat mirror surface and simultaneously sends a signal to the control center. The control center determines the working status of the heliostat cleaning machine. If there is an idle heliostat cleaning machine, it will move to another heliostat cleaning machine and proceed to step 3.

[0060] If there is no idle heliostat cleaning machine, the drone delivery system will land on one side and wait;

[0061] Step 3: When the heliostat cleaning machine moves to the heliostat's reference boundary - the heliostat mirror surface mark M, the heliostat cleaning machine's anti-fall sensor determines the distance between the monitoring ground and the heliostat mirror surface;

[0062] and transmits the detected distance to the processor;

[0063] Determine, by a processor, whether the detection height exceeds a safety threshold;

[0064] If the height is detected to exceed the safety threshold, the anti-fall sensor will send a signal and transmit the signal to the control system, which will control the heliostat cleaning machine to turn or retreat to prevent the equipment from falling from a height;

[0065] If it is detected that the height does not exceed the safety threshold, proceed to the next step;

[0066] The mark M is set on the edge corner of the heliostat mirror;

[0067] Step 4: When the heliostat cleaning machine moves to the mark M, the heliostat cleaning machine is controlled to start moving at a constant speed according to the pre-set route A;

[0068] Step 5: The heliostat cleaning machine starts moving at a constant speed according to the pre-set route A.

[0069] The motor shaft of the middle sweep motor drives the bevel gear transmission system, and the bevel gear transmission system drives the brush roller to rotate, driving the first rubber strip of the roller brush on the brush roller to rotate, and then the rotating first rubber strip sweeps the dust on the heliostat mirror surface into the dust collection box, and cooperates with a vacuum cleaner to ensure that the dust can effectively enter the dust collection box;

[0070] At the same time, the cleaning motor drives the bottom cleaning disk to clean the heliostat mirror surface again to ensure the cleanliness of the heliostat mirror surface and prevent the occurrence of insufficient cleaning effect;

[0071] Step 6: After completing the cleaning of a heliostat mirror, the heliostat cleaning machine sends a signal to the control center, which then dispatches the drone delivery system.

[0072] The high-precision RTK positioning module calculates the distance between the heliostat mirrors and sends it to the control center.

[0073] When the drone delivery system falls to the heliostat mirror surface, the heliostat cleaning machine automatically moves to the cleaning machine receiver of the drone delivery system.

[0074] When the heliostat cleaning machine automatically moves into the cleaning machine receiver, the four raised points on the top of the heliostat cleaning machine touch the touch switch in the cleaning receiver;

[0075] At this time, the touch switch is activated, and the electromagnets (the first electromagnet and the second electromagnet) are energized.

[0076] The first electromagnet of the heliostat cleaning machine is attracted by the second electromagnet of the cleaning receiver and fixed in the cleaning receiver;

[0077] The drone delivery system carries the heliostat cleaning machine to the next mirror to be cleaned for operation, and repeats this process back and forth.

[0078] In summary, the beneficial effects of the present invention are:

[0079] (1) According to the present invention, one UAV conveying system is equipped with 1 to 3 heliostat cleaning machines to clean the heliostats, thereby greatly improving the utilization rate of the UAV conveying system and the working efficiency of the heliostat cleaning machines, and greatly reducing the consumption of various costs of the UAV conveying system.

[0080] (2) The present invention combines the middle sweeping mechanism and the rotating bottom cleaning mechanism to form a cleaning mechanism assembly, thereby ensuring that the main body weight of the heliostat cleaning machine using the multi-rotor drone as a carrier does not exceed 6 kg, and can meet the cleaning effect even if the cleaning equipment (high-pressure water pump, water tank, etc.) is removed and dry cleaning is performed while still meeting the cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0081] Figure 1 This is a structural schematic diagram of a drone delivery system for a heliostat cleaning machine using a multi-rotor drone as a carrier according to an embodiment of the present invention;

[0082] Figure 2 This is an exploded view of a heliostat cleaning machine according to one embodiment of the present invention using a multi-rotor drone as a carrier;

[0083] Figure 3 This is a front view of a heliostat cleaning machine according to one embodiment of the present invention using a multi-rotor drone as a carrier;

[0084] Figure 4 This is a schematic diagram of the overall structure of a heliostat cleaning machine according to one embodiment of the present invention using a multi-rotor drone as a carrier;

[0085] Figure 5 This is a schematic diagram of the overall structure of a multi-degree-of-freedom coupling wheel mechanism of an embodiment of a heliostat cleaning machine using a multi-rotor UAV as a carrier according to the present invention;

[0086] Figure 6 This is a schematic diagram of the front cover structure of a heliostat cleaning machine using a multi-rotor drone as a carrier according to an embodiment of the present invention;

[0087] Figure 7 This is a schematic diagram of the overall structure of the sweeping mechanism of an embodiment of a heliostat cleaning machine using a multi-rotor drone as a carrier according to the present invention;

[0088] Figure 8 For the present invention Figure 7 A magnified view of the structure at position I in the middle;

[0089] Figure 9 This is a schematic diagram of the overall structure of the sweeping mechanism in another direction in one embodiment of a heliostat cleaning machine using a multi-rotor drone as a carrier according to the present invention;

[0090] Figure 10This is a structural schematic diagram of another embodiment of a heliostat cleaning machine using a multi-rotor drone as a carrier according to the present invention;

[0091] Figure 11 This is a motion analysis diagram of a multi-degree-of-freedom coupling wheel of a heliostat cleaning machine using a multi-rotor drone as a carrier according to the present invention;

[0092] Figure 12 This is a diagram of sensor assembly parallel correction for an embodiment of a heliostat cleaning machine using a multi-rotor drone as a carrier according to the present invention.

[0093] Reference numerals:

[0094] 10. Top cover; 101. First antenna; 102. First electromagnet;

[0095] 201, brush motor; 202, brush; 203, motor box; 204, battery pack;

[0096] 30. Base;

[0097] 40. Multi-degree-of-freedom coupling wheel mechanism; 401. Multi-degree-of-freedom coupling wheel motor; 403. Motor bracket; 404. Power assembler;

[0098] 405, multi-degree-of-freedom coupling wheel; 4051, front cover; 4052, wheel hub; 4053, ball bearing; 4054, arcuate surface; 4055, contact end surface; 4056, positioning hole;

[0099] 406. Multi-degree-of-freedom coupled wheel drive shaft;

[0100] 60, middle sweeping mechanism; 601, middle sweeping motor; 6011, motor shaft; 602, brush roller; 603, bevel gear transmission system; 6031, first bevel gear; 6032, second bevel gear;

[0101] 604, roller brush; 6041, first rubber strip; 6042, brush plate; 6043, brush; 6044, second rubber strip;

[0102] 605, connector; 606, connector;

[0103] 607, dust box;

[0104] 608, vacuum cleaner;

[0105] 701, anti-fall sensor; 702, infrared ranging sensor;

[0106] 80. Dust box;

[0107] 901. Second electromagnet; 902. Second antenna; 903. UAV delivery system housing; 904. Support arm; 905. Power system; 906. Tripod; 907. Sweeper receiver. DETAILED DESCRIPTION

[0108] In order to make the objectives, technical solutions, and advantages of the present invention more clear, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Although exemplary embodiments are disclosed in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to facilitate a more thorough understanding of the present invention and to fully convey the concept of the present invention to those skilled in the art.

[0109] In the description of this specification, the description with reference to the terms "certain embodiments", "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification and features of different embodiments or examples, unless they are contradictory.

[0110] In the present invention, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The term "plurality" refers to two or more, unless expressly limited otherwise. Terms such as "installed," "connected," "connected," and "fixed" should be interpreted broadly. For example, "connected" can mean a fixed connection, a detachable connection, or an integral connection; "connected" can mean a direct connection or an indirect connection through an intermediary. Those skilled in the art will understand the specific meanings of these terms in the present invention based on specific circumstances.

[0111] Example 1

[0112] Since the load of a drone is a key factor affecting its endurance, using a drone equipped with cleaning equipment (high-pressure water pumps, water tanks, etc.) will significantly increase the load, resulting in accelerated battery consumption. Most drones have a single flight time of 30-40 minutes, which greatly affects the utilization and work efficiency of the drone. If the drone is not equipped with cleaning equipment (high-pressure water pumps, water tanks, etc.), the stain cleaning effect will be insufficient.

[0113] In order to solve the above technical problems, Figure 1-11 As shown, this embodiment provides a heliostat cleaning machine using a multi-rotor drone as a carrier, including a drone conveying system for transporting the heliostat cleaning machine. The drone conveying system is responsible for transporting the heliostat cleaning machine, wherein the heliostat cleaning machine is responsible for cleaning the heliostat mirror surface;

[0114] The heliostat cleaning machine is provided with a first magnet 102 of a protruding device, and the drone conveying system is provided with a sweeper receiver 907 for accommodating the heliostat cleaning machine, and the sweeper receiver 907 is provided with a second electromagnet 901 for connecting to the drone conveying system.

[0115] In this embodiment, those skilled in the art should be able to understand that the cleaning container 907 and the heliostat cleaning machine of the present invention are connected by a magnetic tray (by configuring a second electromagnet to connect the cleaning machine container and the first electromagnet to form a magnetic tray connection), thereby replacing the traditional rigid connection, making it more stable and safe.

[0116] The drone delivery system further includes a drone delivery system housing 903, and the drone delivery system housing 903 is provided with at least one set of arms 904 having a power system 905 along its circumference, and the arms 904 are provided with a second antenna 902;

[0117] The bottom end surface of the UAV conveying system casing 903 is provided with a tripod 906 connected thereto, and is fixedly connected to the cleaning container 907 through the tripod 906. The fixed connection method can adopt various fixed connections such as welding.

[0118] Furthermore, the heliostat cleaning machine includes a base 30, and the base 30 is equipped with a top cover 10 that is sealed therewith, and a cavity for accommodating a middle sweeping mechanism 60 is provided between the top cover 10 and the base 30. The middle sweeping mechanism 60 is the core dust collection device of the heliostat cleaning machine, which is mainly used to sweep dust and garbage into a dust collection box.

[0119] In this embodiment, the base and the top cover are both made of ABS anti-static material to prevent dust from being adsorbed onto the housing due to electrostatic attraction during cleaning. The base and the top cover are rectangular shells with dimensions of 350mm×300mm×100mm.

[0120] Furthermore, a motor box 203 is provided in the cavity between the top cover 10 and the base 30, and at least one group of cleaning motors 201 is provided in the motor box 203, and the motor shaft of the cleaning motor 201 passes through the motor box 203 and the base 30, and is connected to the bottom cleaning plate 202.

[0121] Furthermore, the cleaning motor 201 is a GP series 24GP-2430 micro reduction motor with a rated voltage of 12V, a speed of 200r / min, a rated input power of 2.8W, a rated torque of 0.7N·m, and a maximum torque of 2.2N·m.

[0122] m, and weighs 0.108kg.

[0123] Furthermore, a replacement cleaning piece with soft flocculants is installed on the end surface of the bottom cleaning plate 202 away from the motor box 203, and the length of the soft flocculants of the replacement cleaning piece is greater than 6 mm, preferably 12 mm.

[0124] In this embodiment, those skilled in the art should be able to understand that the length of the soft flocculant is also an important parameter for the dirt holding capacity of the heliostat cleaning machine. When the length of the soft flocculant is 12 mm, the dust can be effectively collected into the soft flocculant. Moreover, since the 12 mm soft flocculant has a greater depth, it is not easy for the soft flocculant to fall off, causing secondary pollution.

[0125] In actual applications, since most of the pollutants on heliostats are sand and dust, which is not easy to stick to, when using dry cleaning to clean sand and dust, the movement of the cleaning machine will easily spread the pollution due to its inherent characteristics. Therefore, in order to improve the utilization rate and work efficiency of drones, the lack of cleaning equipment (high-pressure water pump, water tank, etc.) will not lead to insufficient cleaning effect. Figure 1-11 Said middle sweeping mechanism 60 further comprises a dust collecting box 607 for accommodating pollutants, and a dust collector 608 is provided on one side of said dust collecting box 607 in communication therewith;

[0126] The middle sweeping mechanism 60 includes a middle sweeping motor 601 , which drives a bevel gear transmission system 603 to drive a roller brush 604 disposed on a brush roller 602 to rotate, thereby enabling the roller brush 604 to sweep sand and dust into a dust collecting box 607 .

[0127] Furthermore, the middle sweep motor 601 is preferably a GP series 36GP-3626 conventional shaft reduction motor, with a rated voltage of 24V, a speed of 6000r / min before deceleration, 180r / min after deceleration, a rated power of 10V, a rated torque of 0.28N·m, a limit torque of 1.2N·m, and a weight of 0.275kg.

[0128] In actual application, in order to effectively sweep the sand and dust into the dust collection box 607, the brush roller 602 of the middle sweeping mechanism 60 must reach a certain rotation speed. When the rotation speed of the brush roller 602 is about 320 r / min, the friction coefficient between the roller brush 604 and the heliostat mirror surface is 0.1, and the sand and dust can be effectively swept into the dust collection box 607.

[0129] Furthermore, the bevel gear transmission system 603 includes a first bevel gear 6031, and the first bevel gear 6031 is meshed and connected to the second bevel gear 6032, the gear shaft of the first bevel gear 6031 is connected to the brush roller 602, and the other end of the gear shaft of the first bevel gear 6031 is connected to the motor shaft 6011 through a connecting member 606, and the connecting member 606 can be a connecting member used to connect two sets of shafts, such as a coupling.

[0130] In this embodiment, by starting the middle sweep motor 601, the motor shaft 6011 of the middle sweep motor 601 drives the bevel gear transmission system 603 to rotate, and the bevel gear transmission system 603 drives the brush roller 602 to rotate, thereby realizing the rotation of the roller brush 604 on the brush roller.

[0131] Furthermore, in actual application, in order to save internal space of the cleaning machine, the vacuum cleaner and the middle sweeping motor 6 are located on the same side, and in order to prevent the dust accumulated over time during the cleaning process from affecting the middle sweeping motor, a dustproof box can be added to the outside of the middle sweeping motor.

[0132] Furthermore, the roller brush 604 includes brush plates 6042 , and the brush plates 6042 are arranged in multiple groups and evenly distributed along the circumference of the brush roller 602 , and at least one group of first rubber strips 6041 is arranged on any group of brush plates 6042 along its axial direction.

[0133] In this embodiment, the middle sweep motor 601 is started, and the motor shaft 6011 of the middle sweep motor 601 drives the bevel gear transmission system 603 to rotate. The bevel gear transmission system 603 drives the brush roller 602 to rotate, thereby rotating the first rubber strip 6041 of the roller brush 604 on the brush roller. The rotating first rubber strip 6041 then sweeps dust on the heliostat mirror surface into the dust collection box, and a vacuum cleaner is used to ensure that the dust can effectively enter the dust collection box.

[0134] In actual application, due to the complex trajectory of the heliostat cleaning machine, turning and rotating are common, so it is difficult for ordinary wheels to complete the turning in a small space. In order to solve the above technical problems, please refer to Figure 1-11As shown, the heliostat cleaning machine also includes a multi-degree-of-freedom coupling wheel mechanism 40 for driving the movement thereof. The multi-degree-of-freedom coupling wheel mechanism 40 includes a plurality of multi-degree-of-freedom coupling wheel motors 401 disposed in a cavity. The multi-degree-of-freedom coupling wheel motors 401 are preferably stepping motors, and the drive shaft of the multi-degree-of-freedom coupling wheel motor 401 passes through the base 30 and extends out to be connected to the multi-degree-of-freedom coupling wheel transmission shaft 406 of the multi-degree-of-freedom coupling wheel 405; the multi-degree-of-freedom coupling wheel 405 includes a hub 4052, and both sides of the hub 4052 are fixedly connected to the front cover 4051 by fastening screws. A ball 4053 is disposed between the two sets of the front covers 4051, and the ball 4053 is fixed by the two sets of front covers.

[0135] In this embodiment, by arranging the multi-degree-of-freedom coupling wheel outside the base, the use of the cavity (internal space) is greatly saved, and it is easy to install and replace. The entire outer shell and internal shell components are made of plastic material, which is conducive to reducing the dead weight and reducing costs.

[0136] Furthermore, a battery pack 204 is provided in the cavity. The battery pack 204 is preferably a 50000mAh large-capacity lithium battery. The battery pack 204 provides energy for the freedom coupling wheel motor, thereby driving the overall body weighing about 6kg.

[0137] Furthermore, the front cover 4051 includes concave mounting cavities evenly distributed along its circumference, and one group of the mounting cavities is provided with positioning holes 4056 for the high-strength fastening bolts to pass through.

[0138] The installation cavities of the two sets of front covers 4051 are provided with arcuate surfaces 4054 for the arcuate ends of the balls 4053 to fit with, and a contact end surface 4055 is provided toward the center of the front cover.

[0139] The thickness of the interference end face 4055 is 1 / 3 of the thickness of the installation cavity, and the arc surface 4054 fits with the arc end of the ball, and at the same time fits with the top end face of the ball through the interference end face 4055, so as to clamp the ball, and at the same time, a high-strength fastening bolt is passed through the positioning hole 4056 and extended into the threaded hole of the ball for threaded connection, thereby achieving the fixation of the ball.

[0140] Furthermore, the movement direction of the ball 4053 is set at a 45° angle to the rear.

[0141] In this embodiment, the skilled person in the art should be able to understand that since the movement direction of the ball is 45°

[0142] When the multi-degree-of-freedom coupling wheel 405 moves forward, a lateral force is generated. However, when both sides move together, the force components are offset, thereby completing the forward or backward movement.

[0143] As for lateral motion, when the diagonal multi-degree-of-freedom coupling wheels move in the same direction and the multi-degree-of-freedom coupling wheels in the same row move in the opposite direction, the longitudinal force will be offset, thereby achieving horizontal motion;

[0144] For oblique motion, only the two diagonal multi-degree-of-freedom coupling wheels need to be driven, and the other two multi-degree-of-freedom coupling wheels do not need to be driven;

[0145] Rotational motion can be achieved by moving the multi-degree-of-freedom coupling wheels in the same row in the same direction and the diagonal multi-degree-of-freedom coupling wheels in the opposite direction.

[0146] Its movement patterns, such as Figure 11 As shown,

[0147] like Figure 11 11-①, four wheels in the same direction, to achieve forward or backward;

[0148] like Figure 11 In 11-②, the diagonal wheels have the same steering, while the adjacent wheels have opposite steering to achieve left and right translation.

[0149] like Figure 11 In 11-③, the two diagonal wheels have the same rotation direction, while the adjacent two wheels cannot rotate, thus achieving oblique angle translation;

[0150] like Figure 11 In 11-④, the two wheels on the same side move in the same direction, while the other two wheels remain stationary, achieving rotation with the corner as the center of the circle;

[0151] like Figure 11 In 11-⑤, the two wheels on the same side rotate in the same direction, while the other two wheels rotate in the opposite direction, thus achieving central rotation;

[0152] like Figure 11 In 11-⑥, the front or rear wheels rotate in opposite directions to achieve rotation with the center of the front or rear sideline as the center of the circle.

[0153] The multi-degree-of-freedom coupled wheels can achieve omnidirectional walking functions. In addition to the most common forward and backward movements, it can also move horizontally, left and right, and diagonally, and can even rotate 360° on the spot. This greatly solves the problem of difficult turning encountered by the cleaning robot during operation.

[0154] In this embodiment, those skilled in the art will appreciate that, by adding an arcuate surface and a contact end surface, and because the thickness of the contact end surface 4055 is 1 / 3 of the thickness of the mounting cavity, the present invention can completely fit the arcuate end of the ball through the arcuate surface, and at the same time, the contact end surface can tightly fit the top of the ball, thereby constraining the axial displacement of the ball, allowing the ball to roll along a preset 45° path, avoiding large displacement and ensuring the direction of movement. Simultaneously, the provision of the contact end surface allows the ball to provide a reverse support torque when subjected to an oblique friction force (such as a lateral translation or rotation mode), resisting the torsional tendency of the ball due to the component force.

[0155] Furthermore, the top cover 10 and the support arm 904 of the heliostat cleaning machine are respectively provided with a first antenna and a second antenna 902. By adding communication antennas (the first antenna and the second antenna), communication with the control center can be achieved, real-time data transmission can be realized, and instructions issued by the control center can be received in real time.

[0156] Furthermore, a sensor assembly is provided on the base 30 of the heliostat cleaning machine, and the sensor assembly is provided in multiple groups. The sensor assembly includes an anti-fall sensor 701 and an infrared ranging sensor 702 to prevent the machine from falling from the edge of the heliostat mirror surface and to perform high-precision positioning;

[0157] The infrared distance sensor 702 uses advanced and mature integrated circuits for high energy saving, with an annual power consumption of only 2 to 3 degrees. The measurement range is 10 to 80 cm, and the baud rate is adjusted to 9600.

[0158] The anti-fall sensor 701 is installed on the outer edge of the robot in front of the multi-degree-of-freedom coupling wheel, with a height of 2 to 10 cm (not less than 2 cm) from the mirror. It can be installed at a small angle of 8°-65°, preferably 17.5° to ensure a certain detection distance.

[0159] A cleaning method for a heliostat cleaning machine using a multi-rotor drone as a carrier is applied to the heliostat cleaning machine. The method uses a drone delivery system in conjunction with 1-3 heliostat cleaning machines to clean the heliostats. The method specifically includes the following steps:

[0160] Step 1: Use the drone delivery system to bring the heliostat cleaning machine to the designated heliostat mirror surface to be cleaned.

[0161] When the infrared ranging sensor detects the reference boundary of the heliostat mirror surface, the heliostat cleaning machine is moved to the reference boundary of the heliostat through the drone delivery system;

[0162] Step 2: The drone transport system flies away from the heliostat mirror surface and simultaneously sends a signal to the control center. The control center determines the working status of the heliostat cleaning machine. If there is an idle heliostat cleaning machine, it will move to another heliostat cleaning machine and proceed to step 3.

[0163] If there is no idle heliostat cleaning machine, the drone delivery system will land on one side and wait;

[0164] Step 3: When the heliostat cleaning machine moves to the reference boundary of the heliostat (mark M on the heliostat surface), the anti-fall sensor of the heliostat cleaning machine determines the distance between the monitoring ground and the heliostat surface;

[0165] and transmits the detected distance to the processor;

[0166] Determine, by a processor, whether the detection height exceeds a safety threshold;

[0167] If the height is detected to exceed the safety threshold, the anti-fall sensor will send a signal and transmit the signal to the control system, which will control the heliostat cleaning machine to turn or retreat to prevent the equipment from falling from a height;

[0168] If it is detected that the height does not exceed the safety threshold, proceed to the next step;

[0169] The mark M is set on the edge corner of the heliostat mirror;

[0170] Step 4: When the heliostat cleaning machine moves to the mark M, the heliostat cleaning machine is controlled to start moving at a constant speed according to the pre-set route A;

[0171] Step 5: The heliostat cleaning machine begins to move at a constant speed along the pre-set route A. The motor shaft 6011 of the sweep motor 601 drives the bevel gear transmission system 603 to rotate. The bevel gear transmission system 603 also drives the brush roller 602 to rotate, thereby rotating the first rubber strip 6041 of the roller brush 604 on the brush roller. The rotating first rubber strip 6041 sweeps dust off the heliostat mirror surface into the dust collection box. A vacuum cleaner is used to ensure that the dust effectively enters the dust collection box.

[0172] At the same time, the cleaning motor drives the bottom cleaning disk to clean the heliostat mirror surface again to ensure the cleanliness of the heliostat mirror surface and prevent the occurrence of insufficient cleaning effect;

[0173] Step 6: After completing the cleaning of a heliostat mirror, the heliostat cleaning machine sends a signal to the control center, which then dispatches the drone delivery system.

[0174] The high-precision RTK positioning module calculates the distance between the heliostat mirrors and sends it to the control center.

[0175] When the drone delivery system falls to the heliostat mirror surface, the heliostat cleaning machine automatically moves to the cleaning machine receiver of the drone delivery system. The drone delivery system carries the heliostat cleaning machine to the next mirror surface to be cleaned for operation, and repeats this process.

[0176] In this embodiment, those skilled in the art will appreciate that setting route A in advance for the heliostat cleaning machine is the optimal solution for accuracy, efficiency, and equipment reliability, with the following advantages:

[0177] Full coverage, eliminating blind spots through path overlap; high uniformity, continuous motion for stable cleaning pressure, low loss, and smooth steering to reduce mechanical shock.

[0178] When the cleaning machine is delivered to the mirror surface by the drone, the heliostat cleaning machine takes Route A. Route A specifically refers to:

[0179] After the heliostat cleaning machine leaves the drone delivery system and moves to mark M, it is instructed to move straight ahead until the infrared ranging sensor detects a distance of approximately 10 cm from the heliostat boundary, then stops. The heliostat cleaning machine is then instructed to use its multi-degree-of-freedom coupling wheels to move straight ahead parallel to the right, find the right boundary, and stop when it is 10 cm away.

[0180] At this time, the heliostat cleaning machine stops at the corner of the mirror surface (the corner here refers to any corner of the heliostat mirror surface), and then starts cleaning. It moves along a straight line to the next boundary in front, then rotates 90 degrees clockwise and moves forward 30 cm.

[0181] Then rotate 90° clockwise again and go straight to the next boundary;

[0182] Then rotate 90° counterclockwise, walk 30cm forward and rotate 90° counterclockwise again.

[0183] And go straight to the next border, repeat in sequence,

[0184] Stop cleaning when the sensor component senses that the displacement of that small section is less than 30cm.

[0185] In this embodiment, to ensure that the heliostat cleaning machine is correctly adjusted in angle after leaving the drone, it is necessary to install 2 to 3 sensor components on each side of the heliostat cleaning machine to complete the angle correction. When moving in a straight line, after the first sensor component senses the boundary, it stops and rotates a certain angle. After the remaining sensor components all sense the boundary, the edge of the cleaning machine is now parallel to the edge of the heliostat mirror surface. Figure 12 shown.

[0186] Those skilled in the art should be able to understand that since the load of a drone is a key factor affecting its endurance, using a drone equipped with cleaning equipment (high-pressure water pumps, water tanks, etc.) will significantly increase the load, resulting in accelerated battery consumption. Most drones have a single flight time of 30-40 minutes, which greatly affects the utilization and work efficiency of the drone. If the drone is not equipped with cleaning equipment (high-pressure water pumps, water tanks, etc.), the stain cleaning effect will be insufficient.

[0187] Therefore, the drone delivery system should be as light as possible (≤6kg). Therefore, when designing a heliostat cleaning machine with a multi-rotor drone as the carrier, it is necessary to meet both weight requirements and cleaning effect requirements. Therefore, it is not appropriate to meet the weight requirements and cleaning effect requirements by simply removing the cleaning equipment (high-pressure water pumps, water tanks, etc.).

[0188] The heliostat cleaning machine provided in this embodiment, which uses a multi-rotor drone as a carrier, combines a middle sweep mechanism and a rotating bottom cleaning mechanism to form a cleaning mechanism assembly, thereby ensuring that the main body weight of the heliostat cleaning machine using a multi-rotor drone as a carrier does not exceed 6 kg, and can meet the cleaning effect even if the cleaning equipment (high-pressure water pump, water tank, etc.) is removed and dry cleaning is performed. In actual application, since the stains on the heliostat mirror surface are sand and dust, and there is very little organic pollution, the heliostat mirror surface is cleaned by combining the middle sweep mechanism and the rotating bottom cleaning mechanism to form a cleaning mechanism assembly, so that the mirror surface after cleaning can achieve an ideal cleaning effect. The various parameters and cleanliness of the heliostat cleaning machine using a multi-rotor drone as a carrier are shown in Table 1:

[0189] Table 1 - Requirement parameters

[0190]

[0191]

[0192] In this embodiment, except for the motor, related sensors, and connecting components, which are made of metal, the remaining components are primarily made of plastic or fabric to ensure lightweight construction. The base weighs approximately 1kg, the top cover approximately 1.5kg, the motor approximately 1kg, the four multi-degree-of-freedom coupling wheels approximately 1kg, and the remaining cleaning components and housing approximately 1.5kg in total. The total weight of the cleaning machine is approximately 6kg.

[0193] Example 2

[0194] In actual application, the hair is easily entangled due to the concave metal ends on both sides of the brush roller 602 shaft end, and the entangled hair is difficult to remove due to the small space and difficult operation. In order to solve the above technical problems, improvements are made on the basis of embodiment 1, such as Figure 10 As shown;

[0195] A second rubber strip 6044 is provided on the brush plate of the brush roller 602, and brushes 6043 are provided on both sides of the second rubber strip 6044, and the brushes are provided on the brush plate of the brush roller.

[0196] The scraping edge of the second rubber strip 6044 and the tip of the brush 6043 are arranged in a V-shape in space;

[0197] The brush is made of soft synthetic fibers. During rotation, the second rubber strip and the tip of the brush form a "V"-shaped channel that converges toward the center. The push of the rubber strip and the sweeping motion of the brush effectively gather both large and fine dust particles toward the center of the roller brush. This convergence also reduces the chance of hair entanglement and accumulation on one side of the bristles, making it easier to concentrate and process the hair. The powerful suction behind the roller brush allows the dust to be drawn into the dust collection bin.

[0198] In this embodiment, the second rubber strip and the brush arranged in a "V" shape effectively prevent hair from getting entangled on both sides of the brush roller, thereby facilitating overall cleaning. The coordinated use of the brush and the rubber strip can improve the efficiency of dust removal. The brush is made of a softer synthetic fiber to ensure that it does not scratch the glossy heliostat surface.

[0199] Example 3

[0200] To ensure that the heliostat cleaning machine stops properly in the sweeper receiver 907 and that the second magnet 901 and the first magnet 102 mate, the present invention installs four collision switches at the top of the sweeper receiver 907 and adds four raised points on the top of the heliostat cleaning machine for use with the collision switches. When the four collision switches are activated simultaneously, the suction of the electromagnets (the first and second electromagnets) is triggered. At this point, the first electromagnet of the heliostat cleaning machine and the second electromagnet of the drone conveying system are positioned symmetrically with each other, ensuring that the heliostat cleaning machine stops properly in the sweeper receiver.

[0201] Furthermore, when the four protruding points are set, in order to enable the first electromagnet of the heliostat cleaning machine to mate with the second electromagnet of the cleaning machine receiver, the centers of the four protruding points coincide with the center of the first electromagnet 102 .

[0202] Furthermore, the collision switch is a normally open stroke micro switch, which has good contact conductivity, sensitive response, and long service life, and closes the circuit when a collision occurs.

[0203] In this embodiment, those skilled in the art should be able to understand that when all four touch switches are triggered, the electromagnets (the first electromagnet and the second electromagnet) are energized, and the first electromagnet of the heliostat cleaning machine is attracted by the second electromagnet of the cleaning receiver and fixed in the cleaning receiver.

[0204] Specifically, the relay coil is powered on or off by controlling the touch switch, and the contacts inside the sensor component (anti-fall sensor or infrared ranging sensor) are connected to the electromagnet (the first electromagnet or the second electromagnet). When the coil is energized, the contacts are attracted, and a large current flows to the electromagnet to make it work.

[0205] Finally, it should be noted that the above embodiments are intended to illustrate the technical solutions of the present invention only and are not intended to be limiting. Although the present invention has been described in detail with reference to the embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions to the technical solutions of the present invention do not depart from the spirit and scope of the technical solutions of the present invention and are intended to be encompassed by the claims of the present invention.

Claims

1. A heliostat cleaning machine using a multi-rotor drone as a carrier, characterized in that: include: Heliostat cleaning machine; A drone delivery system for transporting heliostat cleaning machines; The heliostat cleaning machine is provided with a first magnet of a protruding device, The drone delivery system is provided with a cleaning machine receiver for accommodating the heliostat cleaning machine, and The sweeper receiver is provided with a second electromagnet for connecting to the drone delivery system; The heliostat cleaning machine and the drone delivery system are respectively provided with a first antenna and a second antenna; The heliostat cleaning machine is provided with a sensor assembly. The sensor assembly includes an anti-fall sensor and an infrared ranging sensor; The heliostat cleaning machine includes a base, The base is equipped with a top cover which is sealed therewith. A cavity is provided between the top cover and the base. The cavity is provided with a cleaning mechanism assembly for accommodating a middle sweeping mechanism and a rotating bottom cleaning mechanism.

2. The heliostat cleaning machine using a multi-rotor drone as a carrier according to claim 1, characterized in that: The rotary bottom cleaning mechanism includes a motor box; And the motor box is arranged in the cavity; At least one cleaning motor is provided in the motor box. The motor shaft of the cleaning motor passes through the motor box and the base, And connected to the bottom cleaning plate; A replacement cleaning piece with soft flocculants is installed on the end surface of the bottom cleaning disk away from the motor box, and the length of the soft flocculants of the replacement cleaning piece is greater than 6 mm.

3. The heliostat cleaning machine using a multi-rotor drone as a carrier according to claim 1, characterized in that: The middle sweeping mechanism includes a dust collecting box for containing pollutants, A dust collector is provided on one side of the dust collection box and is in communication with the dust collection box; The middle sweep mechanism also includes a middle sweep motor, The bevel gear transmission system is driven by the middle sweeping motor to drive the roller brush arranged on the brush roller to rotate, thereby enabling it to sweep the sand and dust into the dust collection box.

4. The heliostat cleaning machine using a multi-rotor drone as a carrier according to claim 3, characterized in that: The roller brush includes a brush plate, The brush plates are arranged in multiple groups and are evenly distributed along the circumference of the brush roller. At least one group of first rubber strips is arranged on any group of brush plates along their axial direction.

5. The heliostat cleaning machine using a multi-rotor drone as a carrier according to claim 1, characterized in that: The heliostat cleaning machine also includes a multi-degree-of-freedom coupling wheel mechanism for driving the heliostat to move. The multi-degree-of-freedom coupling wheel mechanism includes a multi-degree-of-freedom coupling wheel motor arranged in the cavity, The driving shaft of the multi-degree-of-freedom coupling wheel motor passes through the base and extends out to be connected to the multi-degree-of-freedom coupling wheel transmission shaft of the multi-degree-of-freedom coupling wheel; The multi-degree-of-freedom coupling wheel comprises a hub, The two sides of the wheel hub are fixedly connected to the front cover. A ball bearing is provided between the two groups of front covers. The balls are covered and fixed by two sets of front covers.

6. The heliostat cleaning machine using a multi-rotor drone as a carrier according to claim 5, characterized in that: The front cover includes concave mounting cavities uniformly distributed along its circumference. One of the mounting cavities is provided with positioning holes for the high-strength fastening bolts to pass through. The two sets of front cover mounting cavities have arc-shaped surfaces for the arc-shaped ends of the balls to fit into. A resisting end surface is provided toward the center of the front cover; The thickness of the abutting end surface is 1 / 3 of the thickness of the mounting cavity; The movement direction of the ball is set at a 45° angle to the rear.

7. The heliostat cleaning machine using a multi-rotor drone as a carrier according to claim 3, characterized in that: A second rubber strip is provided on the brush plate of the brush roller. Brushes are provided on both sides of the second rubber strip. The brush is arranged on the brush plate of the brush roller. The scraping edge of the second rubber strip and the tip of the brush are arranged in a V-shape in space; The brush is made of artificial fiber with a relatively soft texture.

8. The heliostat cleaning machine using a multi-rotor drone as a carrier according to claim 1, characterized in that: Four collision switches are installed on the top of the cleaning machine storage container. Four protruding points are additionally provided on the top of the heliostat cleaning machine for use in conjunction with the collision switch; The centers of the four protruding points coincide with the center of the first electromagnet.

9. The heliostat cleaning machine using a multi-rotor drone as a carrier according to claim 1, characterized in that: The base and the top cover are both made of ABS anti-static material. The base and the top cover are rectangular shells with dimensions of 350mm×300mm×100mm.

10. A method for cleaning a heliostat cleaning machine using a multi-rotor drone as a carrier, applied to a heliostat cleaning machine, wherein a drone delivery system is used in conjunction with 1-3 heliostat cleaning machines to clean the heliostats; characterized in that: The specific steps include: Step 1: Use the drone delivery system to bring the heliostat cleaning machine to the designated heliostat mirror surface to be cleaned. When the infrared ranging sensor detects the reference boundary of the heliostat mirror surface, the heliostat cleaning machine is moved to the reference boundary of the heliostat through the drone delivery system; Step 2: The drone transport system flies away from the heliostat mirror surface and simultaneously sends a signal to the control center. The control center determines the working status of the heliostat cleaning machine. If there is an idle heliostat cleaning machine, it will move to another heliostat cleaning machine and proceed to step 3. If there is no idle heliostat cleaning machine, the drone delivery system will land on one side and wait; Step 3: When the heliostat cleaning machine moves to the heliostat's reference boundary - the heliostat mirror surface mark M, the heliostat cleaning machine's anti-fall sensor determines the distance between the monitoring ground and the heliostat mirror surface; and transmits the detected distance to the processor; Determine, by a processor, whether the detection height exceeds a safety threshold; If the height is detected to exceed the safety threshold, the anti-fall sensor will send a signal and transmit the signal to the control system, which will control the heliostat cleaning machine to turn or retreat to prevent the equipment from falling from a height; If it is detected that the height does not exceed the safety threshold, proceed to the next step; The mark M is set on the edge corner of the heliostat mirror; Step 4: When the heliostat cleaning machine moves to the mark M, the heliostat cleaning machine is controlled to start moving at a constant speed according to the pre-set route A; Step 5: The heliostat cleaning machine starts moving at a constant speed according to the pre-set route A. The motor shaft of the middle sweep motor drives the bevel gear transmission system, and the bevel gear transmission system drives the brush roller to rotate, driving the first rubber strip of the roller brush on the brush roller to rotate, and then the rotating first rubber strip sweeps the dust on the heliostat mirror surface into the dust collection box, and cooperates with a vacuum cleaner to ensure that the dust can effectively enter the dust collection box; At the same time, the cleaning motor drives the bottom cleaning disk to clean the heliostat mirror surface again to ensure the cleanliness of the heliostat mirror surface and prevent the occurrence of insufficient cleaning effect; Step 6: After completing the cleaning of a heliostat mirror, the heliostat cleaning machine sends a signal to the control center, which then dispatches the drone delivery system. The high-precision RTK positioning module calculates the distance between the heliostat mirrors and sends it to the control center. When the drone delivery system falls to the heliostat mirror surface, the heliostat cleaning machine automatically moves to the cleaning machine receiver of the drone delivery system. The drone delivery system carries the heliostat cleaning machine to the next mirror to be cleaned for operation, and repeats this process back and forth.

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