A control system and control method for heliostat cleaning and a computing device

Abstract

The application provides a control system and a control method for heliostat cleaning and a computing device, comprising: a background planning module, a background control interface module and a cleaning execution module, wherein the background planning module is used to periodically make a cleaning plan; the cleaning execution module is arranged on a cleaning terminal, the cleaning terminal is arranged on a cleaning vehicle, the cleaning vehicle executes the cleaning of the heliostat according to the cleaning plan until the cleaning plan is completed; the background control interface module receives position information and cleaning progress from the cleaning execution module, and controls the posture of the heliostats to be cleaned and / or the cleaned heliostats according to the position information and the cleaning progress. According to the technical scheme of the application, high precision, high reliability and low operation and maintenance cost of heliostat cleaning can be realized, so that the overall economy and operation stability of the solar thermal power generation control system are improved.

Description

Technical Field

[0001] This invention relates to the field of new energy technology, specifically to a control system, control method, and computing device for cleaning heliostats. Background Technology

[0002] In the operation and maintenance of solar thermal power plants, regular cleaning of heliostats is a crucial step in ensuring the system's efficient operation. Heliostats, by precisely adjusting their angles, reflect and focus sunlight over a large area onto a receiver at the top of the absorber tower, thus achieving photothermal conversion. However, these devices are typically deployed in harsh environments such as the Gobi Desert and other arid, windy, and sandy areas, where their reflective surfaces easily accumulate dust, sand, and other contaminants. As dirt accumulates, the reflectivity of the mirrors decreases significantly, directly affecting the efficiency of light energy collection and consequently reducing the overall power plant's generating capacity. Therefore, it is essential to clean the numerous heliostats in the field periodically or as needed to maintain their optical performance.

[0003] Currently, automated cleaning operations for large-scale heliostat fields generally rely on navigation aids such as QR code labels, electromagnetic induction coils, or radio frequency identification (RFID) tags placed on the ground or supports to guide cleaning robots or vehicles along predetermined paths and accurately locate each heliostat. However, these existing technologies have revealed serious limitations in practical applications. First, these navigation tags are mostly exposed outdoors, subjected to strong sunlight, wind and sand abrasion, temperature fluctuations, and dust cover over long periods, making them prone to aging, fading, damage, or signal attenuation, leading to data reading failures or positioning errors. Second, under direct sunlight, optical QR codes are prone to glare or overexposure, causing visual recognition systems to malfunction; electromagnetic and radio frequency signals may also be affected by environmental interference, impacting recognition stability. These problems directly lead to frequent positioning drift, path errors, and even shutdowns of cleaning equipment during operation, severely affecting cleaning efficiency and coverage.

[0004] A more prominent problem is that, in order to maintain the reliability of the navigation system, maintenance personnel have to invest a significant amount of manpower in regularly inspecting, cleaning, repairing, or replacing malfunctioning navigation tags. This frequent maintenance not only increases labor costs and safety risks but also significantly reduces the automation level of the entire cleaning system, contradicting the original intention of intelligent operation and maintenance. At the same time, the navigation method, which relies on real-time data reading and processing, places high demands on the computing power and storage resources of the cleaning equipment, further increasing equipment costs and system complexity.

[0005] Therefore, a new cleaning solution with strong resistance to environmental interference and low maintenance requirements is needed to achieve high efficiency and low operation and maintenance costs for cleaning the heliostats across the entire field, thereby improving the overall economy and operational stability of the solar thermal power generation control system. Summary of the Invention

[0006] This application aims to provide a control system, control method, and computing device for heliostat cleaning, a novel cleaning solution with strong anti-environmental interference capability and low maintenance requirements, so as to achieve high efficiency and low operation and maintenance cost of cleaning heliostats throughout the entire field, thereby improving the overall economy and operational stability of the solar thermal power generation control system.

[0007] According to one aspect of this application, a control system for cleaning heliostats is provided, comprising: a background planning module, a background control interface module, and a cleaning execution module, wherein... The background planning module is used to periodically develop cleaning plans; The cleaning execution module is deployed on the cleaning terminal, which is set on the cleaning vehicle. The cleaning execution module is used to receive the cleaning plan from the background control interface module, and to execute the cleaning of the heliostat by the cleaning vehicle according to the cleaning plan instructions. The cleaning terminal provides real-time feedback of the current location information of the cleaning vehicle and the cleaning progress to the background control interface module until the cleaning plan is completed. The background control interface module receives location information and cleaning progress from the cleaning execution module, and controls the attitude of the heliostats to be cleaned and / or already cleaned based on the location information and cleaning progress.

[0008] According to some embodiments, the background planning module is configured as follows: The cleaning plan is formulated based on the set standard efficiency value, the gradient of heliostat reflectivity decrease, and / or the location and number of heliostats from the previous cleaning.

[0009] According to some embodiments, the background planning module is further configured as follows: The cleaning plan includes cleaning modes, which include single-vehicle mode and dual-vehicle mode.

[0010] According to some embodiments, the background planning module is further configured as follows: According to the established numbering rules, multiple heliostats arranged in a circular array in the mirror field are numbered, so that each heliostat has a unique fixed code associated with its corresponding position in the mirror field.

[0011] According to some embodiments, the background control interface module is configured as follows: According to the cleaning plan, the angle of the heliostat to be cleaned is controlled to the angle to be cleaned, so as to cooperate with the cleaning vehicle to clean the heliostat.

[0012] According to some embodiments, the background control interface module is further configured as follows: Based on the position information and cleaning progress from the cleaning execution module, the angle of the cleaned heliostat is adjusted to the water control angle.

[0013] According to some embodiments, the background control interface module is further configured as follows: Based on the location information and cleaning progress from the cleaning execution module, the controlled water heliostat is adjusted to restore its pre-cleaning state.

[0014] According to some embodiments, the control system further includes a monitoring module configured to display real-time progress based on the positions of the various cleaning vehicles from the cleaning execution module and the cleaning progress.

[0015] According to some embodiments, the control system further includes an alarm module, which is configured to send equipment self-test commands to the cleaning execution module, the monitoring module, and multiple cleaning terminals to ensure normal communication between the devices. If a communication abnormality occurs, an alarm message is output.

[0016] According to another aspect of this application, a control method for cleaning a heliostat is provided, the control method comprising: Develop a cleaning plan regularly; The cleaning plan is sent to the cleaning terminal installed in the cleaning vehicle; The system receives location information and cleaning progress from the cleaning terminal, and controls the attitude of the heliostats to be cleaned and / or already cleaned based on the location information and cleaning progress.

[0017] According to some embodiments, the periodic development of a cleaning plan includes: The cleaning plan is formulated based on the set standard efficiency value, the gradient of heliostat reflectivity decrease, and / or the location and number of heliostats from the previous cleaning.

[0018] According to another aspect of this application, a computing device is provided, comprising: Processor; and A memory storing a computer program that, when executed by the processor, causes the processor to perform the control method described in any of the preceding claims.

[0019] According to another aspect of this application, a non-transitory computer-readable storage medium is provided, on which computer-readable instructions are stored, which, when executed by a processor, cause the processor to perform the control method as described in any of the preceding claims.

[0020] According to the embodiments of this application, a cleaning plan is formulated through the background planning module, and the background control interface module dynamically adjusts the heliostat attitude according to the real-time position and progress of the cleaning vehicle, guiding the cleaning execution module to automatically complete the cleaning task. This realizes the automation and intelligence of the cleaning operation, improves cleaning efficiency and safety, reduces labor costs, and helps to improve the overall power generation efficiency of the power plant.

[0021] According to an embodiment of the present invention, the attitude of the heliostat is controlled based on the position information and cleaning progress from the cleaning execution module, so as to achieve simultaneous cleaning and adjustment, thereby greatly improving the working time and utilization rate of the heliostat.

[0022] According to an embodiment of the present invention, during the cleaning process, the cleaning vehicle and the heliostat achieve intelligent linkage through a background control interface module. The cleaning vehicle does not directly issue control commands to the heliostat, which can maintain the independence and integrity of the heliostat control system and improve the reliability of the control system.

[0023] According to an embodiment of the present invention, the background control interface module can determine how to adjust the heliostat by receiving the location information and cleaning progress, without the need for other additional information interaction, which can simplify the control system processing and improve the cleaning efficiency.

[0024] According to embodiments of this application, by assigning a unique and fixed code to each heliostat arranged in a ring array within the mirror field, a precise mapping relationship between the equipment and its spatial location is established. This avoids reliance on easily damaged external navigation tags (such as QR codes and RFID), effectively overcomes the interference of harsh environments such as strong light and dust on positioning accuracy, and significantly reduces the frequent maintenance costs caused by tag damage or failure, thereby improving the stability and reliability of the control system. An efficiency evaluation algorithm model based on environmental data and operating status is introduced to dynamically set a "standard efficiency threshold" for each heliostat. Combined with the reflectivity decrease gradient, cleaning decisions are made, realizing a shift from "periodic cleaning" to "on-demand cleaning." This avoids over-cleaning or delayed cleaning, significantly improving the utilization efficiency of cleaning resources and the power plant's light energy capture capability.

[0025] According to some embodiments, the design of this invention supports intelligent decision-making for single-vehicle and dual-vehicle collaborative cleaning modes, flexibly selecting the cleaning method based on the degree of contamination and operating conditions, and optimizing the cleaning path through algorithms to balance operational efficiency and coverage quality. Simultaneously, the control system possesses equipment self-inspection, real-time monitoring, progress feedback, and anomaly alarm functions. Combined with a human-machine interface, it achieves visualized and closed-loop management of the entire cleaning process, enhancing the initiative and response speed of operation and maintenance.

[0026] It should be understood that the above general description and the following detailed description are merely exemplary and do not limit this application. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below.

[0028] Figure 1 A schematic diagram of a control system for cleaning heliostats is shown according to an example embodiment.

[0029] Figure 2 This diagram illustrates the background planning module configuration flowchart of a control system for heliostat cleaning according to an example embodiment.

[0030] Figure 3 A schematic diagram of a control system for cleaning heliostats is shown according to an example embodiment.

[0031] Figure 4 A schematic diagram of a control system for cleaning a heliostat is shown according to another example embodiment.

[0032] Figure 5 The diagram illustrates the execution flow of a control system for cleaning heliostats according to an example embodiment.

[0033] Figure 6 This diagram illustrates a control system cleaning process for cleaning heliostats according to an example embodiment.

[0034] Figure 7 This diagram illustrates a control system cleaning process for cleaning heliostats according to another exemplary embodiment.

[0035] Figure 8 A flowchart of a control method for cleaning a heliostat is shown according to an example embodiment.

[0036] Figure 9 A block diagram of a computing device according to an exemplary embodiment is shown. Detailed Implementation

[0037] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that this application will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted.

[0038] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this application. However, those skilled in the art will recognize that the technical solutions of this application can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this application.

[0039] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0040] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0041] It should be understood that although the terms first, second, third, etc., may be used herein to describe various components, these components should not be limited by these terms. These terms are used to distinguish one component from another. Therefore, the first component discussed below may be referred to as the second component without departing from the teachings of this application. As used herein, the term "and / or" includes all combinations of any one and more of the associated listed items.

[0042] The user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0043] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of exemplary embodiments, and the modules or processes in the drawings are not necessarily essential for implementing this application, and therefore cannot be used to limit the scope of protection of this application.

[0044] Heliostats are constantly exposed to wind-blown sand environments such as deserts and Gobi, causing dust to easily accumulate on their surfaces, leading to decreased reflection efficiency. Regular cleaning is essential to ensure the power plant's power generation efficiency. Currently, cleaning operations rely heavily on ground-mounted QR codes, RFID, or electromagnetic tags for navigation and positioning. However, these tags are prone to aging, damage, or signal failure under strong sunlight, dust cover, and extreme temperature differences, causing inaccurate positioning of the cleaning equipment, path deviations, and even operation interruptions. To maintain normal system operation, frequent manual maintenance of the tags is required, significantly increasing maintenance costs and workload.

[0045] Therefore, a novel navigation and positioning scheme is needed that does not rely on easily damaged external markers, has strong resistance to environmental interference, and requires low maintenance, in order to achieve high precision, high reliability, and low operation and maintenance costs for cleaning heliostats across the entire field, thereby improving the overall economy and operational stability of the solar thermal power generation system. According to the embodiment, by assigning a unique fixed code to each heliostat arranged in a ring array within the field, a precise mapping relationship between the equipment and its spatial location is established. This avoids reliance on easily damaged external navigation tags (such as QR codes and RFID), effectively overcomes the interference of harsh environments such as strong light and dust on positioning accuracy, and significantly reduces the frequent maintenance costs caused by tag damage or failure, thus improving the stability and reliability of the control system. An efficiency evaluation algorithm model based on environmental data and operating status is introduced, dynamically setting a "standard efficiency threshold" for each heliostat, and combining this with the reflectivity decrease gradient for cleaning judgment. This achieves a shift from "periodic cleaning" to "on-demand cleaning," avoiding over-cleaning or delayed cleaning, and significantly improving the utilization efficiency of cleaning resources and the power plant's light capture capability.

[0046] According to some embodiments, the design of this invention supports intelligent decision-making for single-vehicle and dual-vehicle collaborative cleaning modes, flexibly selecting the cleaning method based on the degree of contamination and operating conditions, and optimizing the cleaning path through algorithms to balance operational efficiency and coverage quality. Simultaneously, the control system possesses equipment self-inspection, real-time monitoring, progress feedback, and anomaly alarm functions. Combined with a human-machine interface, it achieves visualized and closed-loop management of the entire cleaning process, enhancing the initiative and response speed of operation and maintenance.

[0047] The following description, in conjunction with the accompanying drawings, illustrates exemplary embodiments of this application.

[0048] Figure 1 A schematic diagram of a control system for cleaning heliostats is shown according to an example embodiment.

[0049] See Figure 1 The figure shows a control system for cleaning heliostats, including: a background planning module 01, a background control interface module 02, and a cleaning execution module 03.

[0050] According to some embodiments, the background planning module 01 is used to periodically formulate cleaning plans. As the "intelligent brain" of the entire cleaning control system, the background planning module 01 automatically checks the cleanliness of all heliostats at regular intervals, determines which mirrors need cleaning, and formulates an efficient and reasonable cleaning plan based on the location, degree of dirt, and number of available cleaning vehicles for each mirror. After formulating the cleaning plan, the background planning module 01 does not directly command the cleaning vehicles; instead, it sends the cleaning plan to the background control interface module 02 via the control system network. Upon receiving the plan, the background control interface module 02 selects cleaning vehicles to clean the corresponding mirrors according to the cleaning plan and arranges specific departure times and / or routes.

[0051] In some embodiments, the future cleaning benefits of each heliostat are calculated based on the changes in heliostat efficiency, and a cleaning plan is formulated based on the future cleaning benefits of all heliostats and the cleaning capacity of the cleaning vehicle. The changes in heliostat efficiency are related to the changes in future pollution levels and the heliostat position coefficient. The changes in future pollution levels are related to future weather and can be obtained based on historical experience values ​​or control system simulations.

[0052] Heliostat efficiency E=ρ η_cos η_atm η_int, where ρ is the specular reflectivity efficiency, related to the degree of pollution; η_cos is the cosine efficiency, related to the geometric angles between the sun, the heliostat, and the receiver tower, as well as the shading between the heliostats, determined by the position of the heliostat relative to the receiver tower and the relative positions between the heliostats; η_atm is the atmospheric attenuation efficiency, related to the distance from the heliostat to the receiver tower; η_int is the cutoff efficiency, referring to the proportion of energy in the reflected light spot that actually hits the receiver surface to the total reflected light spot energy, also related to the distance from the heliostat to the receiver tower. For example, the cosine efficiency, atmospheric attenuation efficiency, and cutoff efficiency of the inner ring heliostat are all higher than those of the outer ring heliostat.

[0053] In existing technologies, cleaning typically begins with the heliostats after the last cleaning position (or, the dirtiest heliostat). This is because the dirtiest mirror experiences the greatest decrease in reflectivity, contributing the most to the total energy loss; prioritizing cleaning the dirtiest mirrors maximizes the instantaneous efficiency of the entire heliostat field. This approach is logically simple and does not require complex optimization algorithms. However, the contribution of the cleanliness level of heliostats at different positions to energy gain varies. Compared to existing technologies, the control method of this invention further improves energy gain by comparing the total future cleaning gains.

[0054] When selecting target heliostats to be cleaned, according to some embodiments, the cleaning area can be determined based on the location of the heliostat with the greatest future cleaning benefit and the travel cost of the cleaning vehicle. The travel cost of the cleaning vehicle refers to the cost incurred by the distance the cleaning vehicle travels and the number of turns, as moving the cleaning vehicle within the heliostat field incurs time and energy costs. For example, if the dirtiest heliostats are scattered throughout the field, the cleaning path may be very long, resulting in high travel costs.

[0055] According to some embodiments, cluster analysis can be performed on the locations of heliostats that will maximize future cleaning benefits to determine the cleaning area of ​​the heliostat with the largest difference between total cleaning benefits and cleaning vehicle travel costs, thus achieving cluster cleaning. According to other embodiments, all heliostats can be divided into multiple radial ring regions starting from the inner ring and multiple circumferential angular regions starting from the southeast, based on the cleaning vehicle's daily cleaning capacity. Then, the difference between total cleaning benefits and cleaning vehicle travel costs for each region is directly calculated, and the region with the largest difference is determined as the cleaning area. Compared to cluster analysis, the latter, although slightly less accurate, is simpler and more efficient. It is easy to understand, and other methods can also be used to determine the heliostat cleaning area; this invention does not limit this approach.

[0056] According to some embodiments, the cleaning plan is determined based on the total revenue within the cleaning plan cycle or the daily revenue. According to other embodiments, multiple cleaning plans can be developed based on future weather, and the most suitable plan is selected on the day of cleaning based on the actual weather. According to still other embodiments, a default cleaning plan can be developed, and when the actual weather differs from the forecast weather by more than a preset range, the default cleaning plan is executed, for example, starting cleaning directly from the dirtiest mirror or directly from the inner ring.

[0057] When optimizing the cleaning plan, the total cost and benefit must be considered. For example, if severe sandstorms are expected in the future, cleaning can be suspended; when cleaning resumes, it can begin directly from the inner heliostats. Similarly, if visibility decreases in the future, and the benefits of cleaning are insufficient to cover the costs, cleaning can also be suspended. Furthermore, if moderate to heavy rain is expected in the future, cleaning can be suspended, utilizing free natural cleaning; when cleaning resumes, it can begin directly from the inner heliostats.

[0058] Although this invention provides some optimized control methods for formulating heliostat cleaning plans, this invention is not limited to these methods, and other feasible cleaning plan formulation schemes can also be adopted.

[0059] According to some embodiments, the cleaning execution module 03 is deployed on the cleaning terminal 0301, which is mounted on the cleaning vehicle. The cleaning execution module 03 receives the cleaning plan from the background control interface module 02 and, according to the cleaning plan, instructs the cleaning vehicle to perform cleaning of the heliostats. The cleaning terminal 0301 provides real-time feedback on the current location information and cleaning progress of the cleaning vehicle to the background control interface module 02 until the cleaning plan is completed. The cleaning execution module 03 is deployed on the cleaning terminal 0301, which is mounted on a specially designed cleaning vehicle to perform specific cleaning tasks. The main responsibility of the cleaning execution module 03 is to receive the cleaning plan from the background control interface module 02 and, based on this plan, guide the cleaning vehicle to perform cleaning operations on the heliostats.

[0060] According to some embodiments, the cleaning terminal uses high-precision differential GPS for accurate positioning. Optionally, a GPS module or a wireless (5G, WIFI, etc.) positioning module can be configured to directly obtain the current location information of the cleaning vehicle. During cleaning, the heliostat needs to be deployed and retracted in real time according to the position of the cleaning vehicle. The differential GPS device realizes the positioning of the cleaning vehicle at the decimeter level, ensuring accurate heliostat deployment and ensuring cleaning safety.

[0061] According to some embodiments, the heliostat intelligent cleaning system employs LoRa technology for remote communication. Since solar thermal power plant mirror fields are generally large, and heliostats exhibit strong interference with wireless signals, data transmission cannot use 5G or other wireless communication methods. Using high-power, low-power LoRa communication technology can effectively solve the wireless communication problem between the intelligent terminal and the intelligent cleaning system's backend within the mirror field.

[0062] Optionally, according to some embodiments, the cleaning terminal also includes a human-machine interface (HMI) through which operators can understand the current cleaning plan execution status or manually select the heliostats to be cleaned. For example, different colors can be used to distinguish the current cleaning status on the HMI of the cleaning terminal. The cleaning truck driver selects the cleaning mode and cleaning loop through the HMI of the cleaning terminal on the cleaning truck and sends instructions (and current GPS data) to the background control interface module 02. Optionally, intelligent voice prompts can be further incorporated into the HMI to assist operators in executing the cleaning plan.

[0063] According to some embodiments, the background control interface module 02 receives position information and cleaning progress from the cleaning execution module 03, and controls the attitude of the heliostats to be cleaned and / or already cleaned based on the position information and cleaning progress. The background control interface module 02 is the core of the entire heliostat cleaning control system, responsible for receiving position information and cleaning progress from the cleaning execution module 03. Based on this data, the background control interface module 02 can dynamically adjust the attitude of the heliostats to be cleaned and already cleaned. Furthermore, this data helps the background control interface module 02 understand the specific location and working status of the cleaning vehicle, ensuring the orderly progress of the cleaning process. The background control interface module 02 not only achieves precise control of the heliostat attitude but also ensures the efficiency and safety of the cleaning process, thereby improving the overall operation and maintenance level and economic benefits of the solar thermal power plant.

[0064] According to some embodiments, the background control interface module 02 can be integrated with the heliostat control system through the device interface of the heliostat control system, and the intelligent level of power plant operation and maintenance can be further improved by creating an intelligent cleaning system management terminal in the heliostat control system.

[0065] Figure 2 This diagram illustrates the background planning module configuration flowchart of a control system for heliostat cleaning according to an example embodiment.

[0066] According to some embodiments, the cleaning plan is formulated based on a set standard efficiency value, the gradient of heliostat reflectivity decrease, and / or the position and number of heliostats cleaned in the previous cleaning. The cleaning plan includes cleaning modes, including single-vehicle mode and dual-vehicle mode. According to some embodiments, the intelligent heliostat cleaning system includes water washing, dry cleaning, single-vehicle cleaning, and dual-vehicle cleaning; daytime and nighttime modes; and full-loop and segmented cleaning (confirming the start and end heliostat numbers). Various modes can be appropriately combined to adapt to the complex cleaning needs of heliostats in the field.

[0067] See Figure 2 The configuration example shown in the figure illustrates the configuration process of the background planning module 01 of a control system for heliostat cleaning.

[0068] In S201, according to the set numbering rules, the multiple heliostats distributed in a circular array in the mirror field are numbered, so that each heliostat has a unique fixed code associated with its corresponding position in the mirror field.

[0069] Generally, in solar thermal power plants, heliostats are typically arranged in concentric rings around the absorber tower within a vast mirror field. To achieve precise positioning and efficient management of each heliostat, a unique and fixed code needs to be assigned to it according to a standardized numbering rule. This numbering rule usually combines the geometry of the mirror field, for example, using a "ring number-serial number" format. The "ring number" indicates which ring the heliostat is in from the inside out, and the "serial number" indicates its sequential position within that ring, clockwise or counterclockwise, starting from a fixed direction (e.g., due north). In this way, each heliostat is assigned a unique code that strictly corresponds to its spatial location, establishing a stable mapping relationship between the heliostat and the mirror field coordinates. Whether during initialization, cleaning path planning, fault location, or operational monitoring, the control center can quickly and accurately locate specific equipment using this code. For example, when generating a cleaning plan, the location information of the corresponding heliostat can be directly retrieved based on the code, avoiding environmental interference and maintenance costs associated with relying on external navigation tags. Meanwhile, this code, as the equipment's "digital identity," runs through the data interaction of the entire cleaning process, ensuring the accuracy and consistency of command issuance, status feedback, and progress tracking. It provides a solid data foundation for the automated and intelligent management of heliostat cleaning and is a key prerequisite for building an efficient and low-maintenance cleaning control system.

[0070] In S203, according to the efficiency evaluation algorithm model, a standard efficiency value is set for each heliostat at a preset time interval.

[0071] According to some embodiments, the operating status of each heliostat within the field is continuously monitored and evaluated based on a pre-built efficiency evaluation algorithm model. This efficiency evaluation algorithm model comprehensively considers local real-time meteorological data (such as wind speed, temperature, humidity, frost conditions, visibility, air dust content, and rainfall), solar irradiance, the heliostat's own location characteristics (such as distance from the receiver tower and its surrounding area), and historical pollution accumulation patterns. Through a combination of data-driven and physical modeling methods, it dynamically calculates the theoretical reflection efficiency level of each heliostat under normal cleaning conditions. Based on this, a "standard efficiency threshold" is automatically generated for each heliostat at set time intervals (e.g., monthly or weekly). This standard efficiency threshold represents the reasonable efficiency range that the heliostat should maintain under current environmental and operating conditions, and is a key benchmark for determining whether cleaning is necessary. Because heliostats in different areas are affected differently by wind and sand deposition, shading, etc., this threshold is not uniform across the entire field but is individually set for each device to ensure the scientific rigor and fairness of the evaluation. Through this periodic update mechanism, the control system can promptly reflect the impact of environmental changes on the rate of mirror contamination, avoiding premature or delayed cleaning due to fixed thresholds. When the actual reflection efficiency of a heliostat is consistently lower than its corresponding standard threshold, it can be determined that surface contamination has affected power generation performance and should be included in the cleaning plan. This intelligent assessment method based on algorithmic models significantly improves the accuracy and responsiveness of cleaning decisions, helps to achieve on-demand cleaning, optimizes operation and maintenance resources, and ensures the long-term efficient operation of the power plant.

[0072] In S205, the cleaning plan is formulated based on the set standard efficiency value, the gradient of heliostat reflectivity decrease, and / or the position and number of heliostats cleaned in the previous cleaning.

[0073] According to some embodiments, the background planning module, based on dynamically setting a standard efficiency value for each heliostat, further considers the actual downward trend of its reflectivity and the location and number of heliostats previously affected to make a comprehensive judgment. By continuously monitoring or periodically collecting reflectivity data from each heliostat, its efficiency decay rate, i.e., the "reflectivity decline gradient," is calculated to assess the severity and speed of contamination. For heliostats whose reflectivity has fallen below the standard efficiency threshold or whose decline gradient exceeds a preset threshold, the control system determines that they have met the cleaning conditions and must be included in the current cleaning task. Further grading can be applied to heliostats whose reflectivity has fallen below the standard efficiency threshold or whose decline gradient exceeds a preset threshold, for example, by adding weighting coefficients to prioritize cleaning heliostats with low efficiency values ​​and / or large decline gradients when generating subsequent cleaning plans.

[0074] According to some embodiments, the cleaning plan includes cleaning modes, including single-vehicle mode and dual-vehicle mode. The cleaning plan not only determines "whether cleaning is needed" but also intelligently decides "how to clean" based on specific working conditions. Generally, either single-vehicle mode or dual-vehicle mode can be used. Specifically, for heliostats with light contamination, small mirror areas, or locations convenient for single-machine operation, single-vehicle mode is used to save resources and improve efficiency; while for heliostats with severe mirror contamination, large areas, or those difficult to thoroughly clean with a single machine due to terrain, obstructions, etc., dual-vehicle collaborative cleaning mode is activated, using two cleaning vehicles working together to ensure cleaning quality and coverage.

[0075] According to some embodiments, by analyzing the efficiency deviation and decline trend of each heliostat, a precise "current set of heliostat numbers to be cleaned" is generated, and a recommended cleaning method is marked for each device. This set of numbers not only clarifies the cleaning target but also includes the execution strategy, providing a complete and executable instruction basis for subsequent cleaning path planning and resource scheduling, realizing intelligent closed-loop management from status assessment to task generation.

[0076] According to the heliostat numbering rules of some embodiments, heliostat No. 1 is located in the far east. A heliostat numbering mapping table maps the number to the location of the heliostat.

[0077] According to some embodiments, after obtaining the set of heliostat numbers to be cleaned that day, the control system automatically generates a cleaning plan for the day through intelligent algorithms. Specifically, the core of generating the cleaning plan is a path optimization algorithm. This algorithm combines the precise location associated with each heliostat's number, the recommended cleaning method (single or dual vehicles), and the current location and operational capabilities of the cleaning vehicles. It comprehensively considers the road layout, obstacle avoidance areas, and work sequence within the heliostat field to calculate the most efficient cleaning route. The algorithm aims to minimize the empty driving distance of the cleaning vehicles, reduce operational conflicts, and balance the workload of each vehicle, thereby improving overall cleaning efficiency. Finally, a detailed cleaning plan is generated, clearly defining the work list, driving path, cleaning sequence, and collaborative tasks for each cleaning vehicle. This not only achieves optimal allocation of cleaning resources but also supports dynamic adjustments, providing an execution basis for subsequent real-time monitoring and progress feedback, ensuring the orderly and efficient progress of the cleaning operations throughout the heliostat field.

[0078] According to some embodiments, optionally, the set of heliostat numbers to be cleaned can also be obtained through manual selection. In addition to the control system automatically generating the list of heliostats to be cleaned, it also supports manual selection to determine the set of heliostat numbers to be cleaned. Maintenance personnel can manually select the heliostats to be cleaned in the human-machine interface based on actual needs such as on-site inspections, special weather events (e.g., after a sandstorm), or equipment malfunction alarms. The control system provides a field layout diagram or a list of numbers, allowing operators to directly select target equipment and specify a cleaning method (single or double vehicle) for each selected heliostat, thus flexibly formulating cleaning tasks. This method compensates for potential lag or omissions in algorithmic judgment, enhancing the control system's responsiveness and operational flexibility. For example, when a sudden and severe dust accumulation occurs in a certain area, or when individual heliostats have been out of operation for a long time due to mechanical failure and require focused cleaning, manual intervention can promptly include these devices in the cleaning plan, ensuring the comprehensiveness and targeted nature of the cleaning operation. The manually selected results and the number set automatically generated by the control system can be used independently or combined, ultimately being uniformly incorporated into the cleaning plan for scheduling and management.

[0079] According to some embodiments, based on the current set of heliostat numbers to be cleaned, an algorithm generates a current cleaning plan, including: confirming the numbers and quantities of cleaning vehicles that can participate in the cleaning plan; detecting whether there are any incomplete cleaning plans in the control system; and using an algorithm model to plan the cleaning routes of cleaning vehicles with different numbers based on the incomplete cleaning plans and the current set of heliostat numbers to be cleaned, thus obtaining the cleaning plan. When generating the current cleaning plan, the numbers and quantities of cleaning vehicles currently available for operation are first confirmed to understand the basic situation of available resources. Subsequently, considering the positions and quantities of heliostats cleaned in the previous operation, the system automatically detects whether there are any remaining incomplete cleaning tasks, ensuring that these unexecuted or interrupted tasks are prioritized for inclusion in the current plan to avoid omissions and ensure the continuity and integrity of the cleaning work. Based on this, the control system activates a path planning algorithm model, comprehensively considering multiple key factors: including previously incomplete cleaning tasks, the newly generated set of heliostat numbers to be cleaned, the cleaning method (single or double vehicle) for each heliostat, the current position of each cleaning vehicle and the spatial layout within the heliostat field, as well as the number of heliostats to be cleaned in each ring of the heliostat field and how many rings can be cleaned with one vehicle's worth of water. The algorithm optimizes calculations to assign reasonable tasks and routes to each cleaning truck, striving to achieve the shortest path, optimal operation time, and minimal or no conflicts between vehicles, while balancing the workload of each vehicle to ensure that all cleaning tasks are executed scientifically and in an orderly manner.

[0080] According to some embodiments, the cleaning execution module 03 is the actual operation unit of the cleaning task and is deployed in the cleaning terminal 0301. The cleaning terminal 0301 receives the cleaning plan from the background control interface module 02 and accurately assigns the specific cleaning tasks to the cleaning vehicles according to the plan. Each cleaning vehicle navigates to the target heliostat position according to the received instructions and performs the corresponding cleaning operation.

[0081] During the cleaning process, the cleaning terminal 0301 continuously collects real-time location information and work progress data from the cleaning vehicle. The backend control interface module 02 can then obtain the current heliostat number being cleaned, the task completion status, and the start and end times of the operation. This communication mechanism allows the control center to dynamically monitor the entire cleaning operation, achieving full-process visual monitoring. For example, according to some embodiments, after the cleaning vehicle notifies the backend control interface module 02 to prepare to start cleaning, the backend control interface module sends a location request, and the cleaning terminal 0301 sends its location information to the backend control interface module 02.

[0082] According to some embodiments, the cleaning vehicle starts cleaning according to the instruction from the cleaning terminal 0301, and the start time of cleaning is recorded. If the time exceeds a predetermined cleaning time threshold (e.g., 25 seconds) and the cleaning vehicle moves, the cleaning terminal sends location information to the backend control interface module.

[0083] According to other embodiments, the cleaning terminal uploads location information in real time, for example, every 1-2 seconds. The background control interface module 02 can record the cleaning end time and the number of the heliostat that has been cleaned based on the location information, and thus control the attitude of the heliostat according to the location information and the cleaning progress, such as adjusting the water control angle or returning it to the pre-cleaning state. During the cleaning process, the background control interface module 02 can determine the heliostats that need to be cleaned according to the cleaning plan or the instructions selected by the cleaning personnel, thereby controlling the fully automatic deployment and retraction of the heliostats, and adjusting the uncleaned heliostats to the cleaning state according to the vehicle positioning, and restoring the cleaned heliostats to the pre-cleaning state, achieving the effect of cleaning and retraction immediately, minimizing the impact of cleaning on the operation of the heliostats, improving the production efficiency of the heliostat field, and also solving the problem of requiring long-term cooperation and supervision by the heliostat field operators during cleaning.

[0084] According to some embodiments, the control system also includes a summary module. After all cleaning tasks are completed, the background summary module can summarize the operation data of each vehicle, generate a complete cleaning report containing information such as total cleaning volume, completion time, and anomaly records, and upload it to the background control interface module 02, forming a task closed loop. Optionally, the background control interface module 02 can be used to display and track the operating trajectory of the cleaning vehicles in real time on the intelligent cleaning system management terminal created in the heliostat control system; monitor the operation of the intelligent cleaning system in real time, record the work of the cleaning vehicles, and display cleaning work statistical reports. This feedback mechanism not only provides data support for subsequent efficiency evaluation and plan optimization but also enhances the traceability and management transparency of the control system.

[0085] Figure 3 A schematic diagram of a control system for cleaning heliostats is shown according to an example embodiment.

[0086] According to some embodiments, see Figure 3 The control system further includes a monitoring module 04, configured to receive the positions and cleaning progress of each cleaning vehicle from the cleaning execution module 03, and display the real-time progress. Through a graphical user interface, the monitoring module 04 can intuitively display the real-time progress of the current cleaning operation, including the operating status and current position of each cleaning vehicle, and the distribution of cleaned and uncleaned heliostats, giving maintenance personnel a clear overview of the overall operation. The monitoring module 04 will clearly present this data in the form of charts, lists, etc., making it easy for users to view key information such as cleaning completion rate, operation time, and anomaly records. This module not only supports data visualization but also serves as an entry point for manual intervention, allowing operators to view, confirm, or adjust the cleaning plan, thereby achieving an effective combination of intelligent control system and manual supervision, improving the convenience and reliability of operation and maintenance management.

[0087] According to some embodiments, the control system further includes an alarm module 05, which is configured to send equipment self-test commands to the cleaning execution module 03 and the monitoring module 04 to ensure normal communication between the devices. If a communication abnormality occurs, an alarm message is output. The alarm module 05 is linked with the background control interface module 02 to respond promptly to abnormal situations in the operation of the control system. When the background control interface module 02 detects various faults or abnormal events during execution, such as communication interruption of the cleaning vehicle, excessive positioning deviation, failure of cleaning task execution, failure of equipment self-test, or stagnation of cleaning progress, it will immediately generate corresponding alarm information and send it to the alarm module 05. After receiving the information, the alarm module 05 will issue a real-time alarm through audible and visual prompts, pop-up warnings, message pushes, etc., to ensure that on-site or remote maintenance personnel can be informed of the problem as soon as possible. The alarm content usually includes the type of abnormality, the time of occurrence, the equipment number involved, and the possible cause, which facilitates rapid location and handling. This module effectively compensates for the limitations of the automated control system in the face of sudden failures, provides a timely and accurate response channel for manual intervention and emergency response, thereby ensuring the safe, stable, and efficient operation of the entire cleaning control system.

[0088] According to some embodiments, the background control interface module 02 is further configured to control the heliostat to be cleaned to the desired cleaning angle according to the cleaning plan, so as to cooperate with the cleaning vehicle in cleaning the heliostat; control the cleaned heliostat to be cleaned to the water control angle according to the position information and cleaning progress from the cleaning execution module 03; and control the water-controlled heliostat to return to its pre-cleaning state according to the position information and cleaning progress from the cleaning execution module 03. The background control interface module 02 is used to precisely control the angle of the heliostat to ensure that the cleaning process is efficient and orderly. Specifically, before cleaning begins, the background control interface module 02 first instructs the heliostat to be cleaned to rotate to an angle that facilitates contact with the cleaning equipment, i.e., the desired cleaning angle, to improve cleaning efficiency and ensure that the surface of each heliostat is thoroughly cleaned. Subsequently, as the cleaning execution module 03 provides real-time feedback on the location information and current cleaning progress of the cleaning vehicle, the background control interface module 02 can update its instructions promptly. For example, once a heliostat completes cleaning, the background control interface module 02 immediately instructs the heliostat to turn to the water control angle, thereby quickly draining the residual water on the mirror surface, preventing water stains from forming, and maintaining the optimal reflectivity of the mirror surface. Finally, after confirming that all water has been effectively removed, the background control interface module 02 readjusts the water-controlled heliostat to restore it to its working angle before cleaning, ensuring that the heliostat can quickly return to normal working status and continue to play its key role in the solar thermal power generation control system. Through such angle adjustment control, not only is cleaning efficiency improved, but the consistency of cleaning quality is also guaranteed. While ensuring the stable operation of the entire solar thermal power plant, the utilization of solar energy resources is maximized, improving overall economic benefits.

[0089] According to some embodiments, generally speaking, heliostats have different commands and states, corresponding to different angles. For example, water control has a specific angle. Each large heliostat is composed of arrayed unit mirrors. For example, in summer, an angle of 15°~20° can be used for water control, which is the fastest and most effective, and the water flow can flow directly down along the slits of each unit mirror without contaminating it. Adjusting to the pre-cleaning state means adjusting the mirror at the pre-cleaning angle. For example, if the mirror was previously in a stored state, it will be adjusted back to the stored state after cleaning; similarly, if it was previously adjusted from a standby state to a cleaning state, it will return to the standby position. Optionally, the background control interface module 02 may also include multiple mobile device control terminals. These control terminals can be directly deployed on the cleaning terminal 0301 of the cleaning vehicle, serving as a key interface for realizing collaborative cleaning operations. During the cleaning operation, after the cleaning vehicle arrives at the target heliostat position, it sends control commands to the background control interface module through the onboard mobile device control terminal, and adjusts the mirror angle in real time through the heliostat central control system.

[0090] Specifically, the control system can precisely adjust the heliostat to the "angle to be cleaned" so that the mirror surface is at the most suitable angle for cleaning fluid coverage and brushing, avoiding water accumulation or cleaning blind spots; during the water spray cleaning stage, it can be further adjusted to the "water control angle" to optimize the water flow direction and drainage efficiency, and reduce residual water stains; after cleaning is completed, the control terminal will instruct the heliostat to return to the "pre-cleaning state", that is, to realign with the heat absorption tower and resume normal power generation operation.

[0091] According to some embodiments, the background control interface module 02 can read configuration from a configuration file. For example, the configuration file can be configured as follows: nightStartHour=17 nightEndHour=6 / / Number of mirrors to ensure the car is clean before washing cleanStatusMirrorCount=10 / / After cleaning, return any mirrors beyond the original cleaning state to their pre-cleaning state. cleanFinishMirrorCount=10 / / After cleaning, adjust the mirror behind the mirror to a water-control angle. cleanFinishMirrorCountForControlWater=2 / / GPS coordinates of the center point centerX=4437565.316centerY=365496.757 / / Distance between the cleaning truck and the mirror distanceMirror=10 / / The cleaning is considered complete if the distance between the cleaning vehicle and the mirror is within 3 meters and the cleaning time exceeds 15 seconds. cleanMirrorTime=15 / / If the entire mirror cleaning cycle takes more than 5 minutes, it will automatically stop. ringCleanFinishTimeout=5.

[0092] This configuration enables seamless coordination between cleaning operations and heliostat attitude adjustments, eliminating the need for external independent control systems or manual intervention. It enhances the automation and safety of the cleaning process, ensuring efficient integration of cleaning results with power plant operation.

[0093] According to some embodiments, the background control interface module 02 is configured to receive the location and cleaning progress of each coded cleaning vehicle from the cleaning execution module 03, and send it to the monitoring module 04 to display the real-time progress to the user. The background control interface module 02 is configured to receive feedback information from the cleaning execution module 03 in real time, including the current location, operating status, and cleaning progress of each numbered cleaning vehicle and its corresponding heliostat. This information is continuously uploaded to the background control interface module 02 via a communication network, enabling it to fully grasp the dynamic execution of the entire cleaning operation. After receiving the above data, the background control interface module 02 synchronously sends the real-time information to the monitoring module 04. The monitoring module 04 uses a visual interface to dynamically display the location trajectory of each cleaning vehicle in the mirror field, the distribution of completed and pending cleaning areas, task completion rate, and overall progress bar in a graphical manner. This allows maintenance personnel to intuitively and clearly understand the real-time progress of the current cleaning operation, achieving transparent management of the cleaning process. It not only facilitates monitoring the operating status of the control system but also enables timely detection and response to abnormal situations, improving the efficiency and decision-making ability of maintenance management and ensuring that the cleaning task is carried out efficiently according to plan.

[0094] According to some embodiments, the background control interface module 02 is further configured to send device self-test commands to the cleaning execution module 03, the monitoring module 04, and multiple mobile device control terminals to ensure normal communication between devices. If a communication abnormality occurs, an alarm message is output. The background control interface module 02 also has system-level device management functions, enabling it to proactively send device self-test commands to the cleaning execution module 03, the monitoring module 04, and multiple mobile device control terminals distributed on each cleaning vehicle before each cleaning task starts or during the operation of the control system. Through this mechanism, the control system can comprehensively detect whether the communication links between each submodule are unobstructed, whether the hardware devices are online and responding normally, and ensure that the entire cleaning control system is in a reliable working state. Generally, when each module receives the self-test command, it will return status confirmation information to the background control interface module 02. The background control interface module 02 judges these feedbacks, and if it finds that a cleaning vehicle, cleaning terminal 0301, or control terminal is unresponsive, has abnormal data, or has a communication interruption, it will immediately identify it as a communication abnormality. At this time, the background control interface module 02 will generate corresponding alarm information and push it to the monitoring module 04 and the alarm module 05. The system will notify the operation and maintenance personnel through interface prompts, audible and visual alarms, etc., so as to troubleshoot the fault in time and avoid delays or errors in the cleaning task due to communication failure. This effectively improves the stability and reliability of the control system, realizes the active monitoring of the equipment operating status, and ensures the orderly and safe operation of the entire cleaning process.

[0095] Figure 4A schematic diagram of a control system for cleaning a heliostat is shown according to another example embodiment.

[0096] See Figure 4 Generally, there are mature and reliable control systems for controlling each heliostat in a heliostat field. These systems adjust the angle of each heliostat according to the angle of sunlight, thereby ensuring that the photothermal control system operates at a high rotation rate. The control system described in this invention can be integrated into the heliostat control system, further enhancing the automation and intelligence level of the entire control system.

[0097] See Figure 4 The background control interface module 02 receives the cleaning plan from the background planning module 01 and transmits it to the cleaning execution module 03. This not only ensures precise execution of the cleaning plan, guaranteeing that the cleaning operation follows the predetermined path and sequence, but also achieves automated management of the cleaning operation through close integration with the heliostat control system. This high degree of integration and automation with the photothermal control system not only improves cleaning efficiency and quality but also significantly reduces labor costs and safety risks.

[0098] This invention achieves automated management of cleaning operations by seamlessly integrating the cleaning control system into the existing heliostat control system. It boasts excellent compatibility and scalability, making it suitable for concentrated solar power (CSP) plants of various sizes. This not only enhances the intelligence level of power plant operation and maintenance but also provides strong support for improving the overall performance of CSP control systems.

[0099] Figure 5 The diagram illustrates the execution flow of a control system for cleaning heliostats according to an example embodiment.

[0100] See Figure 5 The execution process is as follows: First, after the control system starts running, it automatically generates the current cleaning plan, ensuring that all heliostats requiring cleaning and task assignments are clearly defined. Next, the control system performs a self-check on all equipment to confirm that the cleaning vehicle, terminals, and control unit are communicating normally and are in working order; if any abnormality is detected, an alarm will be issued.

[0101] After confirming that the equipment is functioning correctly, the control system sends the generated cleaning plan to the cleaning terminal 0301. The cleaning terminal 0301 receives and parses the plan content to prepare for subsequent tasks. Subsequently, the cleaning terminal 0301 directs each cleaning vehicle to begin cleaning operations according to the designated route and task list. During this process, the cleaning terminal continuously monitors the vehicle location, status, and cleaning progress, and provides real-time feedback to the backend control interface module 02.

[0102] Once all cleaning tasks are completed, the summary module generates a cleaning report containing information such as total cleaning volume, completion time, and anomaly records. Finally, the control system terminates the current cleaning operation and awaits the next task. The entire process achieves closed-loop management from plan generation, task allocation, execution monitoring to result feedback, ensuring that the cleaning operation is carried out efficiently and orderly.

[0103] Figure 6 This diagram illustrates a control system cleaning process for cleaning heliostats according to an example embodiment.

[0104] See Figure 6 In the example of the cleaning process, the spacing between each ring of heliostats in the mirror field is generally not fixed. Typically, the spacing is small within 35 rings. In areas with small spacing, a predetermined ring number threshold can be set for partitioning. For example, optionally, the predetermined ring number threshold can be set to 35. If the cleaning vehicle operates simultaneously in adjacent rings, there is a risk of colliding with the mirrors. Therefore, an algorithm is needed to optimize the cleaning vehicle's path. Optionally, during the cleaning process before ring 35, if a dual-vehicle mode is selected, the control system will control the cleaning vehicles to be spaced two rings apart (or to clean the first n mirrors and the last n mirrors separately to achieve spatial isolation), and then the vehicles enter the field to begin cleaning.

[0105] During cleaning, the algorithm can autonomously set safe operating distances or cleaning intervals. For example, the second cleaning vehicle can be scheduled to enter after the first vehicle has cleaned five sides, then water control can be applied to the remaining sides, and this cycle can continue until the set water control duration ends or a control command to restore the vehicle to its pre-cleaning state is received. In single-vehicle mode, the onboard mobile device can control one or more heliostats to be cleaned to enter the cleaning state, allowing cleaning to begin immediately upon vehicle arrival. When the third side is being cleaned, water control is applied to the first side, and this cycle continues until the set water control duration ends or a control command to restore the vehicle to its pre-cleaning state is received.

[0106] According to some embodiments, before a predetermined ring count threshold, such as before the 35th ring, optionally, for example, the second cleaning vehicle first places two rings of heliostats. The second cleaning vehicle waits for the first cleaning vehicle to complete cleaning a predetermined number (e.g., 5) of heliostats before entering the site to continue cleaning. The second cleaning vehicle sends location information to the back-end control interface module. When the predetermined number (e.g., the third heliostat) has been cleaned, the back-end control interface module controls the first heliostat to control water flow, and this process is repeated cyclically. The second cleaning vehicle continues to send location information, and the back-end control interface module retrieves the heliostats as needed. For example, if there is no vehicle in the current area or no vehicle in the area corresponding to the previous ring, the Nkth heliostat (N is the current heliostat number, k is the heliostat retrieval interval threshold, such as 10) is retrieved. This dual-vehicle collaborative working mode ensures an efficient and orderly cleaning process, and through the back-end control interface module, it achieves precise control and dynamic adjustment of the heliostat attitude, improving overall cleaning efficiency and safety.

[0107] After the predetermined ring count threshold, there are two options: dual-vehicle mode and single-vehicle mode. However, given the larger distance between each ring, the safety distance in the algorithm can be adjusted accordingly. For example, in the cleaning process after ring 35, in single-vehicle mode, two rings of heliostats can be placed first, and then the cleaning work can begin. During the cleaning process, when the third heliostat is being cleaned, the back-end control interface module will automatically control the first heliostat to perform water control, and so on, forming a cyclic cleaning mechanism. Throughout the cleaning process, if there are no other vehicles in the current area or no vehicles in the corresponding area of ​​the previous ring, the back-end control interface module will retrieve the N-10th heliostat (N is the current heliostat number) as required. This series of operations will continue until the stop button is pressed. In dual-vehicle mode, the second cleaning vehicle first places two rings of heliostats, and then waits for the first cleaning vehicle to complete the cleaning of a predetermined number (e.g., 5 heliostats) before entering the area to continue cleaning. Similar to the single-vehicle mode, when the third heliostat is being cleaned, the back-end control interface module will also control the first heliostat to perform water control, forming a cyclic cleaning mechanism. Furthermore, the second cleaning vehicle sends location information to the back-end control interface module, allowing the module to retrieve heliostats as needed, for example, retrieving the N-10th heliostat if there are no vehicles in the current area or the corresponding area of ​​the previous ring. The entire cleaning process will continue until the stop button is pressed. In summary, after ring 35, whether in single-vehicle or dual-vehicle mode, the control system can achieve efficient and orderly heliostat cleaning operations through precise control and coordination, ensuring cleaning effectiveness while improving overall operational efficiency and safety. Users can adjust the settings according to actual site conditions to improve cleaning efficiency while ensuring safety.

[0108] Specifically, during the cleaning process, firstly, a cleaning plan is generated using an algorithm based on the current cleaning time (daytime or nighttime) and the set of heliostat numbers to be cleaned. According to the cleaning plan, the cleaning vehicle begins executing the cleaning plan for the heliostats at their respective positions along a predetermined path. Specifically, the operation can involve controlling the heliostats of a certain number of faces to enter the cleaning state via the mobile device control terminal, either in a single or multiple rotations, according to the cleaning plan. To further improve cleaning efficiency, optionally, the timing of the heliostats entering the cleaning angle and the duration of the cleaning angle can be set. For example, after receiving the control signal from the mobile device control terminal, the background control interface module 02 can control several heliostats following the path of the currently numbered cleaning vehicle to enter the cleaning angle and maintain it for a certain time before entering the water control angle. Then, by setting a reasonable water control angle time, the vehicle finally returns to its pre-cleaning state. Users can select the 02-type backend control interface module according to the actual scenario requirements and the current time period. The entire cleaning process is carried out efficiently and orderly by precisely controlling the steps such as the entry of the mirror vehicle, cleaning, water control and mirror collection, according to different rings and modes.

[0109] According to some embodiments, the design of the present invention can also be applied to the design of computer program products. When the computer program is executed by a processor, it implements the above control method, thereby simplifying the heliostat cleaning management process, improving the accuracy and efficiency of the cleaning work, making the cleaning operation more intelligent, helping to reduce labor costs, and improving the overall operating efficiency of the power plant.

[0110] Figure 7 This diagram illustrates a control system cleaning process for cleaning heliostats according to another exemplary embodiment.

[0111] See Figure 7 The cleaning process flow diagram shows that, firstly, the control system starts up and performs a self-check to ensure that all component communications are functioning correctly. If any anomaly is detected, the control system will issue an alarm, requiring manual intervention to resolve the issue. Once everything is confirmed to be correct, the control system will proceed to the next step.

[0112] Next, the backend planning module 01 formulates a cleaning plan based on the heliostat's reflectivity and efficiency evaluation algorithm. It checks the reflectivity decrease of each mirror, determines which mirrors need cleaning, and specifies the cleaning method (single vehicle or dual vehicles). Furthermore, the control system further confirms the set of heliostat numbers to be cleaned through manual selection. Based on this information, the backend planning module 01 generates a detailed cleaning plan, including the vehicle numbers and quantities involved in the cleaning, and sends it to the backend control interface module 02.

[0113] After receiving the cleaning plan, the background control interface module 02 sends it to the cleaning execution module 03. Specifically, the background control interface module 02 sends a location request to the cleaning terminal 0301 in real time, and the cleaning terminal 0301 feeds back its location information to the background control interface module 02 to ensure that the cleaning vehicle cleans the heliostats according to the specified route and method. During the cleaning process, the cleaning terminal 0301 continuously feeds back its progress to the background control interface module 02 to ensure that everything proceeds according to plan.

[0114] Once all tasks are completed, the summary module generates a cleaning report. In some embodiments, the summary module may obtain information from the backend control interface module for summary operations. Simultaneously, the control system continues to monitor the heliostat's status, preparing for the next cleaning cycle. The entire process is automated and efficient, ensuring the heliostat remains in optimal working condition at all times.

[0115] Throughout the cleaning process, the control system continuously monitors the communication status between the equipment. If a communication anomaly occurs, the control system will automatically output an alarm message and prompt personnel to handle the issue manually via alarm module 05. Furthermore, the control system possesses self-learning and optimization capabilities, allowing it to adjust subsequent cleaning plans based on the actual results of each cleaning session, further improving cleaning efficiency and quality.

[0116] Through the above steps, this heliostat cleaning control system achieves fully automated management of the entire process from planning, task allocation, cleaning execution to result feedback, greatly improving the efficiency and accuracy of the cleaning work.

[0117] Figure 8 A flowchart of a control method for cleaning a heliostat is shown according to an example embodiment.

[0118] See Figure 8 In S801, a cleaning plan is developed regularly.

[0119] According to some embodiments, the cleaning plan is formulated based on the set standard efficiency value and the gradient of heliostat reflectivity decline, and / or the location and number of heliostats cleaned in the last cleaning, so as to ensure the targetedness and effectiveness of the cleaning work and to address the problem of reflectivity decline caused by dust accumulation in a timely manner.

[0120] In S803, the cleaning plan is sent to the cleaning terminal located in the cleaning vehicle.

[0121] According to some embodiments, the prepared cleaning plan is sent to the cleaning terminal installed on the cleaning vehicle. This step ensures that the cleaning vehicle can receive the latest cleaning instructions and is ready to begin executing the specific cleaning task.

[0122] In S805, the location information and cleaning progress from the cleaning terminal are received, and the attitude of the heliostat to be cleaned and / or the one that has been cleaned is controlled according to the location information and the cleaning progress.

[0123] According to some embodiments, during the cleaning process, the background control interface module 02 continuously receives position information and the current cleaning progress from the cleaning execution module 03 (located on the cleaning vehicle). Based on this real-time data, the background control interface module 02 can precisely adjust the attitude of the heliostats to be cleaned or already cleaned to cooperate with the cleaning operation and ensure cleaning quality. For example, before cleaning, the heliostats are turned to an angle that facilitates cleaning; after cleaning, the heliostats are adjusted to an angle that facilitates drainage; and finally, their original working angles are restored.

[0124] According to some embodiments, the design scheme of this invention establishes a precise mapping relationship between the equipment and its spatial location by assigning a unique and fixed code to the heliostats arranged in a ring array in the mirror field. This avoids reliance on easily damaged external navigation tags (such as QR codes and RFID), effectively overcomes the interference of harsh environments such as strong light and dust on positioning accuracy, and significantly reduces the frequent maintenance costs caused by tag damage or failure, thereby improving the stability and reliability of the control system. An efficiency evaluation algorithm model based on environmental data and operating status is introduced to dynamically set a "standard efficiency threshold" for each heliostat and combine it with the reflectivity decrease gradient for cleaning judgment, realizing the transformation from "periodic cleaning" to "on-demand cleaning," avoiding over-cleaning or delayed cleaning, and significantly improving the utilization efficiency of cleaning resources and the power station's light energy capture capability.

[0125] According to some embodiments, the design of this invention supports intelligent decision-making for single-vehicle and dual-vehicle collaborative cleaning modes, flexibly selecting the cleaning method based on the degree of contamination and operating conditions, and optimizing the cleaning path through algorithms to balance operational efficiency and coverage quality. Simultaneously, the control system possesses equipment self-inspection, real-time monitoring, progress feedback, and anomaly alarm functions. Combined with a human-machine interface, it achieves visualized and closed-loop management of the entire cleaning process, enhancing the initiative and response speed of operation and maintenance.

[0126] Figure 9 A block diagram of a computing device according to an example embodiment of this application is shown.

[0127] like Figure 9 As shown, the computing device 30 includes a processor 12 and a memory 14. The computing device 30 may also include a bus 22, a network interface 16, and an I / O interface 18. The processor 12, memory 14, network interface 16, and I / O interface 18 can communicate with each other via the bus 22.

[0128] Processor 12 may include one or more general-purpose CPUs (Central Processing Units), microprocessors, or application-specific integrated circuits, for executing relevant program instructions. According to some embodiments, computing device 30 may also include a high-performance display adapter (GPU) 20 for accelerating processor 12.

[0129] Memory 14 may include a machine-readable medium in the form of volatile memory, such as random access memory (RAM), read-only memory (ROM), and / or cache memory. Memory 14 is used to store one or more programs containing instructions, as well as data. Processor 12 may read the instructions stored in memory 14 to execute the control method described above according to embodiments of this application.

[0130] The computing device 30 can also communicate with one or more networks via the network interface 16. The network interface 16 can be a wireless network interface.

[0131] Bus 22 can include address bus, data bus, control bus, etc. Bus 22 provides a path for exchanging information between components.

[0132] It should be noted that, in specific implementations, the computing device 30 may also include other components necessary for normal operation. Furthermore, those skilled in the art will understand that the device described above may only include the components necessary for implementing the embodiments of this specification, and not necessarily all the components shown in the figures.

[0133] This application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the control method described above. The computer-readable storage medium may include, but is not limited to, any type of disk, including floppy disks, optical disks, DVDs, CD-ROMs, microdrives, as well as magneto-optical disks, ROMs, RAMs, EPROMs, EEPROMs, DRAMs, VRAMs, flash memory devices, magnetic cards or optical cards, nanosystems (including molecular memory ICs), network storage devices, cloud storage devices, or any type of medium or device suitable for storing instructions and / or data.

[0134] This application also provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps of any of the control methods described in the above control method embodiments.

[0135] Those skilled in the art will clearly understand that the technical solutions of this application can be implemented using software and / or hardware. In this specification, "unit" and "module" refer to software and / or hardware capable of independently performing or cooperating with other components to perform a specific function, where the hardware may be, for example, a field-programmable gate array (FPGA), integrated circuit, etc.

[0136] It should be noted that, for the sake of simplicity, the aforementioned control method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0137] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0138] In the several embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some service interface; the indirect coupling or communication connection between apparatuses or units may be electrical or other forms.

[0139] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0140] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0141] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage device. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the control methods of the various embodiments of this application.

[0142] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0143] The exemplary embodiments of this application have been specifically shown and described above. It should be understood that this application is not limited to the detailed structures, arrangements, or implementation methods described herein; rather, this application is intended to cover various modifications and equivalent arrangements contained within the spirit and scope of the appended provisions.

Claims

1. A control system for cleaning heliostats, characterized in that, include: The backend planning module, the backend control interface module, and the cleaning execution module are included. The background planning module is used to periodically develop cleaning plans; The cleaning execution module is deployed on the cleaning terminal, which is set on the cleaning vehicle. The cleaning execution module is used to receive the cleaning plan from the background control interface module and to execute the cleaning of the heliostat according to the cleaning plan instructions of the cleaning vehicle. The cleaning terminal provides real-time feedback of the current location information of the cleaning vehicle and the cleaning progress to the background control interface module until the cleaning plan is completed. The cleaning vehicle obtains its current location information directly through a GPS module or a wireless positioning module. The background control interface module receives location information and cleaning progress from the cleaning execution module, records the cleaning end time and the number of the heliostat that has been cleaned based on the location information, and controls the attitude of the heliostats to be cleaned and / or those that have been cleaned based on the location information and the cleaning progress. The background planning module is configured as follows: Based on the set standard efficiency value, the gradient of heliostat reflectivity decrease, and / or the location and number of heliostats cleaned in the previous cleaning, a cleaning plan is formulated. The standard efficiency value is set individually for each piece of equipment. All heliostats requiring cleaning are divided into multiple radial ring regions starting from the inner ring and multiple circumferential angle regions starting from the southeast, according to the cleaning truck's daily cleaning capacity. Then, the difference between the total cleaning revenue and the cleaning truck's travel cost for each region is directly calculated, and the region with the maximum value is determined as the cleaning area. According to the established numbering rules, multiple heliostats arranged in a circular array in the field are numbered, so that each heliostat has a unique and fixed code associated with its corresponding position in the field, and a stable mapping relationship is established between the heliostat and the field coordinates. The cleaning plan includes cleaning modes, which include single-vehicle mode and dual-vehicle mode.

2. The control system according to claim 1, characterized in that, The background control interface module is configured as follows: According to the cleaning plan, the angle of the heliostat to be cleaned is controlled to the angle to be cleaned, so as to cooperate with the cleaning vehicle to clean the heliostat.

3. The control system according to claim 2, characterized in that, The background control interface module is also configured as follows: Based on the position information and cleaning progress from the cleaning execution module, the angle of the cleaned heliostat is adjusted to the water control angle.

4. The control system according to claim 3, characterized in that, The background control interface module is also configured as follows: Based on the location information and cleaning progress from the cleaning execution module, the controlled water heliostat is adjusted to restore its pre-cleaning state.

5. The control system according to claim 1, characterized in that, The control system also includes a monitoring module, which is configured to display real-time progress based on the location of each cleaning vehicle from the cleaning execution module and the cleaning progress.

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