Cleaning system, cleaning method and cleaning method for reflecting surface of heliostat

Abstract

The invention provides a cleaning system, a cleaning method and a cleaning method for a reflecting surface of a heliostat. The cleaning system comprises a cleaning device and a marker, the cleaning device comprises a cleaning device body, a first detection mechanism, a second detection mechanism, an included angle detection mechanism and a main control module. The cleaning device body is configured to move on a to-be-cleaned surface and clean the to-be-cleaned surface; the first detection mechanism, the second detection mechanism and the included angle detection mechanism are all in signal connection with the main control module, and the main control module is configured to control movement of the cleaning device body according to received signals. According to the cleaning system provided by the invention, the to-be-cleaned surface cooperates with the cleaning device, and the marker is taken as a reference, so that path guidance and cleaning track online correction of the cleaning device body are realized, the situation that the cleaning device body misses cleaning of some areas in the to-be-cleaned surface can be avoided, and the cleanliness of the to-be-cleaned surface is effectively improved.

Description

Technical Field

[0001] This invention relates to the field of cleaning technology, and in particular to a cleaning system, a cleaning method, and a method for cleaning the reflecting surface of a heliostat. Background Technology

[0002] Tower-type solar thermal energy utilization technology is an emerging solar energy utilization technology. It involves converting a low-temperature thermal storage medium into a high-temperature thermal storage medium using a tower-type solar thermal collector system. This high-temperature thermal storage medium is then transported to a heat-using system to release heat, thus utilizing solar energy. Each solar thermal collector system includes a heliostat field and corresponding receivers. In one implementation, the receiver is located at the top of an absorber tower (approximately 200m high), and the heliostats in the heliostat field project reflected sunlight onto the receiver. In another implementation, the receiver is located on the ground, and the heliostats in the heliostat field project reflected sunlight onto the reflective surface of a secondary reflector tower (approximately 70m high), which then projects the sunlight onto the receiver. Currently, the main application of tower-type solar thermal energy utilization technology is in tower-type solar thermal power generation systems.

[0003] The heliostat includes a reflecting surface, a reflecting surface support bracket, and a reflecting surface drive mechanism for adjusting the attitude of the reflecting surface. The reflectivity of the reflecting surface directly determines the light-gathering efficiency of the heliostat, and the reflectivity of the reflecting surface is strongly correlated with the cleanliness of the reflecting surface. In order to ensure that the heliostat can efficiently gather sunlight, the reflecting surface of the heliostat needs to be cleaned. Summary of the Invention

[0004] This invention provides a cleaning system, a cleaning method, and a cleaning method for the reflective surface of a heliostat. By having the surface to be cleaned (which can be the reflective surface of a heliostat) cooperate with the cleaning device and using a marker as a reference, the path guidance and online correction of the cleaning trajectory of the cleaning device body are realized. This allows the cleaning device body to clean the surface to be cleaned according to the target cleaning path, thereby avoiding the situation where the cleaning device misses certain areas of the surface to be cleaned and effectively improving the cleanliness of the surface to be cleaned.

[0005] According to one aspect of the present invention, a cleaning system is provided, comprising a cleaning device and a marker;

[0006] The cleaning device includes a cleaning device body, a first detection mechanism, a second detection mechanism, an angle detection mechanism, and a main control module;

[0007] The cleaning device body is configured to move on the surface to be cleaned and clean the surface to be cleaned;

[0008] The first detection mechanism is disposed on the body of the cleaning device and is used to detect the relative position between the first detection mechanism and the marker, so as to guide the current actual target movement direction of the body of the cleaning device on the surface to be cleaned;

[0009] The second detection mechanism is disposed on the body of the cleaning device; the second detection mechanism includes a plurality of detection modules, and the plurality of detection modules are arranged circumferentially along the body of the cleaning device, and the detection modules are used to detect the edge of the surface to be cleaned;

[0010] The included angle detection mechanism is disposed on the body of the cleaning device. The included angle detection mechanism is used to detect the value of the included angle between the straight line of the current actual target movement direction of the body of the cleaning device on the surface to be cleaned and the straight line of the projection of the ray of the first detection mechanism pointing to the marker on the surface to be cleaned.

[0011] The first detection mechanism, the second detection mechanism, and the included angle detection mechanism are all signal connected to the main control module, which is configured to control the movement of the cleaning device body according to the received signals.

[0012] Optionally, each of the detection modules includes at least two detection components, each of the detection components including an outer detection unit and an inner detection unit, to distinguish the edges and gaps of the surface to be cleaned.

[0013] Optionally, the first detection mechanism includes a rotatable camera; or, the first detection mechanism includes at least two cameras, and at least one camera is always able to detect the marker during the cleaning process of the cleaning device body cleaning the surface to be cleaned.

[0014] According to another aspect of the present invention, a cleaning method for a surface to be cleaned is provided, wherein the surface to be cleaned is cleaned using the cleaning system described above;

[0015] The cleaning method includes:

[0016] The cleaning device body starts from the cleaning starting point and cleans the surface to be cleaned. The target cleaning path of the cleaning device body on the surface to be cleaned is a polygonal line. When the cleaning device body moves along any path segment in the first path segment set, if the current actual target movement direction of the cleaning device body on the surface to be cleaned deviates from the target cleaning path, a correction method is used to correct the current actual target movement direction of the cleaning device body on the surface to be cleaned. Each line segment in the polygonal line corresponds to a path segment. The target cleaning path includes the first path segment set and the second path segment set. When the cleaning device body moves along any path segment in the first path segment set, the second detection mechanism cannot always detect the edge of the surface to be cleaned during the movement of the cleaning device body. When the cleaning device body moves along any path segment in the second path segment set, the second detection mechanism can always detect the edge of the surface to be cleaned during the movement of the cleaning device body.

[0017] The correction method includes:

[0018] S1: Taking any one of the path segments in the first path segment set as the first target path segment, when the cleaning device body is located at the starting point of the first target path segment and is about to move along the first target path segment, and the current actual target movement direction of the cleaning device body on the surface to be cleaned is the same as the pointing direction of the first target path segment, the first detection mechanism is used to detect the marker.

[0019] S2: If the angle between the projection of the ray from the first detection mechanism to the marker onto the surface to be cleaned and the line containing the current actual target movement direction of the cleaning device body on the surface to be cleaned is greater than the corresponding first preset threshold, then proceed to step S3; if the angle between the projection of the ray from the first detection mechanism to the marker onto the surface to be cleaned and the line containing the current actual target movement direction of the cleaning device body on the surface to be cleaned is less than or equal to the first preset threshold, then proceed to step S4.

[0020] S3: While keeping the first detection mechanism always pointing to the marker, rotate the surface to be cleaned so that the angle between the projection of the ray of the first detection mechanism pointing to the marker on the surface to be cleaned and the line of the current actual target movement direction of the cleaning device body on the surface to be cleaned is less than or equal to the first preset threshold, and then execute step S4.

[0021] S4: While keeping the first detection mechanism always pointing towards the marker, the cleaning device body begins to move along the current actual target movement direction of the cleaning device body on the surface to be cleaned. During the movement of the cleaning device body, if the angle between the straight line of the current actual target movement direction of the cleaning device body on the surface to be cleaned and the straight line of the projection of the ray of the first detection mechanism pointing towards the marker on the surface to be cleaned is greater than the corresponding second preset threshold, the current actual target movement direction of the cleaning device body on the surface to be cleaned is adjusted so that the angle between the straight line of the current actual target movement direction of the cleaning device body on the surface to be cleaned and the straight line of the projection of the ray of the first detection mechanism pointing towards the marker on the surface to be cleaned is less than or equal to the second preset threshold, thereby correcting the current actual target movement direction of the cleaning device body on the surface to be cleaned.

[0022] Optionally, when the cleaning device body moves along the path segment in the second path segment set, the second detection mechanism continuously detects the edge of the surface to be cleaned, so as to keep the cleaning device body moving along the edge of the surface to be cleaned continuously detected by the second detection mechanism.

[0023] According to another aspect of the present invention, a method for cleaning the reflecting surface of a heliostat is provided, wherein the cleaning method is the cleaning method described above.

[0024] The heliostat includes a reflecting surface, a reflecting surface support for supporting the reflecting surface, an azimuth angle driving device for adjusting the azimuth angle of the reflecting surface, and a pitch angle driving device for adjusting the pitch angle of the reflecting surface.

[0025] The reflective surface comprises a single, complete mirror; or, the reflective surface is formed by a combination of several mirrors.

[0026] The reflective surface is the surface to be cleaned.

[0027] The cleaning system provided in this embodiment of the invention uses a first detection mechanism to detect the relative position between itself and a marker, guiding the current actual target movement direction of the cleaning device body. An angle detection mechanism detects the angle between the straight line of the current actual target movement direction of the cleaning device body and the straight line where the projection of the ray from the first detection mechanism pointing to the marker onto the surface to be cleaned is located. When the angle exceeds a preset threshold, the surface to be cleaned or the cleaning device body adjusts its posture to ensure that the ray from the first detection mechanism pointing to the marker meets the requirements for guiding the movement of the cleaning device body, or to correct the current actual target movement direction of the cleaning device body. A second detection mechanism detects the edge of the surface to be cleaned to determine the current posture or position of the cleaning device body, achieving cleaning of all areas of the surface to be cleaned. This technical solution, through the cooperation of the surface to be cleaned (which can be the reflecting surface of a heliostat) and the cleaning device, using a marker as a reference, achieves path guidance and online correction of the cleaning trajectory for the cleaning device body. This allows the cleaning device body to clean the surface to be cleaned according to the target cleaning path, thus avoiding missed areas and effectively improving the cleanliness of the surface to be cleaned.

[0028] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a schematic diagram of a cleaning device provided in an embodiment of the present invention;

[0031] Figure 2 A schematic diagram of the structure of a marker provided in an embodiment of the present invention;

[0032] Figure 3 This is a schematic diagram of the structure of a surface to be cleaned according to an embodiment of the present invention;

[0033] Figure 4 This is a three-dimensional structural diagram of a cleaning device provided in an embodiment of the present invention;

[0034] Figure 5 This is a schematic diagram of a target cleaning path provided in an embodiment of the present invention;

[0035] Figure 6 This is a schematic diagram of the structure when the main body of the cleaning device is located at the starting point of a certain path segment in the first path segment set;

[0036] Figure 7 This is a schematic diagram of the structure after rotating the surface to be cleaned in step S3;

[0037] Figure 8 This is a schematic diagram of the structure of a cleaning device body initially placed on a surface to be cleaned, according to an embodiment of the present invention.

[0038] Figure 9 A schematic diagram of the original state structure of the surface to be cleaned;

[0039] Figure 10 This is a schematic diagram of the structure for adjusting the surface to be cleaned to its initial state.

[0040] Figure 11 A schematic diagram of the structure of the cleaning device when it is about to set off to find the starting point of the cleaning process after the main body of the cleaning device has been adjusted to the correct position.

[0041] Figure 12 This is a schematic diagram of the structure of the cleaning device body after it reaches the cleaning starting point.

[0042] 1-Marker, 2-Surface to be cleaned, 3-Cleaning device body, 5-Central axis of the heat absorption tower, 6-Center line passing through two first reference points, 7-Edge of the surface to be cleaned, 8-Gap, 9, 9'-Current actual target movement direction, 10-Ray, 11-First detection mechanism, 12-Angle detection mechanism, 13-Mounting base, 14-Second detection mechanism, 15, 16, 17-Path segment, 131-First mounting hole, 132-Second mounting hole, 141-Detection module, 1411-Outer detection unit, 1412-Inner detection unit. Detailed Implementation

[0043] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0044] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0045] Example 1

[0046] To address the problem in existing technologies where the surface to be cleaned (2) easily deviates from the target cleaning path, resulting in incomplete cleaning, this invention provides a cleaning system including a cleaning device and a marker 1; (Refer to...) Figure 1 and Figure 4 The cleaning device includes a cleaning device body 3, a first detection mechanism 11, a second detection mechanism 14, an angle detection mechanism 12, and a main control module ( Figure 1 and Figure 4 (not shown in the image); the cleaning device body 3 is configured to move on the surface 2 to be cleaned and to clean the surface 2.

[0047] In specific implementation, the cleaning device body 3 includes a carrier, a moving mechanism, and a cleaning mechanism. The moving mechanism is installed at the bottom of the carrier and is used to move the carrier on the surface to be cleaned 2. The moving mechanism can use Mecanum wheels, with four sets in total. The Mecanum wheels are used to move the carrier normally on the surface to be cleaned 2 and to adjust the direction of movement. The cleaning mechanism is configured to clean the surface to be cleaned 2 that it passes through. Specifically, the cleaning mechanism can use cleaning rollers, with two sets in total, one in front and one in back, respectively located at the front and rear ends of the bottom of the carrier. The cleaning rollers are used for normal cleaning operations on the surface to be cleaned 2. Of course, in other embodiments, the moving mechanism can also use other existing mechanisms that can move the carrier normally on the cleaning surface and adjust the direction of movement. The cleaning device body 3 can be selected in different shapes according to different working conditions, and there is no limitation here. For example, the cleaning device body 3 can be in the shape of a quadrangular prism, cylinder, frustum, cone, or other irregular shapes. The type and number of the moving mechanism and the cleaning mechanism can also be designed according to the actual situation.

[0048] For example, Figure 2This is a schematic diagram of the structure of a marker 1 provided in an embodiment of the present invention. Optionally, the marker 1 does not move relative to the ground. The marker 1 can be directly fixed to the ground or set on other components that do not move relative to the ground. When cleaning the surface 2 to be cleaned, with the marker 1 in a constant position as a reference, when the deviation between the current actual target movement direction of the cleaning device body 3 and the preset target movement direction exceeds a preset threshold, the posture of the cleaning device body 3 can be adjusted according to the marker 1 to achieve real-time correction. In specific implementations, the marker 1 can optionally include any one of a marker pole, a heat absorption tower, a secondary reflection tower, a tower crane, a power transmission tower, or a wind turbine. Figure 2 The diagram schematically shows marker 1 as a heat absorption tower, in which... Figure 2 The image above shows the front view of the heat absorption tower. Figure 2 The image below shows a top view of the heat absorption tower.

[0049] For example, Figure 3 This is a schematic diagram of the structure of a surface 2 to be cleaned according to an embodiment of the present invention. The surface 2 to be cleaned can be a complete surface or a surface formed by combining several smaller surfaces. Specifically, in this embodiment, the surface 2 to be cleaned can be the reflecting surface of a heliostat. A heliostat is a device that reflects sunlight onto a heat absorber through a reflecting surface, and the heliostat can adjust the orientation (i.e., attitude) of the reflecting surface according to the position of the sun, thereby accurately reflecting sunlight onto the heat absorber; wherein, the reflecting surface can be a complete reflective mirror or a reflecting surface formed by combining several reflective mirrors. Figure 3 The diagram schematically illustrates that the surface 2 to be cleaned is composed of several small faces, with gaps 8 between adjacent small faces. These gaps 8 can be defined as gaps in the surface 2 to be cleaned, and the edges 7 of the surface 2 to be cleaned can be defined as edges of the surface 2 to be cleaned. Optionally, the shape of the surface 2 to be cleaned can be rectangular, square, or other shapes.

[0050] The first detection mechanism 11 is disposed on the cleaning device body 3 and is used to detect the relative position between the first detection mechanism 11 and the marker 1, so as to guide the current actual target movement direction of the cleaning device body 3 on the surface to be cleaned 2. For example, in one embodiment, the first detection mechanism 11 includes a rotatable camera. Specifically, the first detection mechanism 11 may include a camera and a camera driving mechanism, which can drive the camera to rotate to detect the heat absorption tower (i.e., marker 1). In other embodiments, the first detection mechanism 11 includes at least two cameras, and at least one camera is always able to detect the marker 1 during the cleaning process of the cleaning device body 3 cleaning the surface 2 to be cleaned. By setting two or more cameras and arranging each camera in a different orientation, the marker 1 can be detected throughout the entire cleaning process of the cleaning device body 3 cleaning the surface 2 to be cleaned without the need for a camera drive mechanism to drive the camera rotation. This reduces costs and the complexity of camera control. Furthermore, when there are multiple surfaces 2 to be cleaned, since the positions of the multiple surfaces 2 to be cleaned relative to the marker 1 are different, if only one non-rotatable camera is set, the cleaning device may encounter problems when cleaning some surfaces 2. In cases where marker 1 cannot be detected, the first detection mechanism 11 includes at least two cameras. During the cleaning process of the cleaning device body 3 on the surface to be cleaned 2, at least one camera is always able to detect marker 1. This ensures that the first detection mechanism 11 can detect marker 1 even when the cleaning device is cleaning different surfaces to be cleaned 2. For example, the first detection mechanism 11 includes two cameras with a 180° field of view. One camera is positioned in front of the cleaning device body 3 to acquire images from the front, and the other is positioned behind the cleaning device body 3 to acquire images from the rear. This ensures that during the cleaning process of the cleaning device body 3 on the surface to be cleaned 2, at least one camera is always able to detect the heat absorption tower. In another embodiment, the first detection mechanism 11 may include three cameras with a 120° field of view, four cameras with a 90° field of view, or other numbers of cameras, as long as at least one camera is always able to detect the heat absorption tower (i.e., marker 1) during the cleaning process of the cleaning device body 3 on the surface to be cleaned 2. The specific implementation can be designed according to actual conditions.

[0051] refer to Figure 1 and Figure 4 The second detection mechanism 14 is disposed on the cleaning device body 3; the second detection mechanism 14 includes a plurality of detection modules 141, and the plurality of detection modules 141 are arranged circumferentially along the cleaning device body 3, and the detection modules 141 are used to detect the edge of the surface 2 to be cleaned; for example, Figure 1 and Figure 4The diagram shows that the second detection mechanism 14 includes four detection modules 141 disposed on the four sides of the cleaning device body 3. When the cleaning device body 3 moves to the edge of the surface 2 to be cleaned, the signal detected by the detection module 141 changes, thereby determining that the cleaning device body 3 has reached the edge of the surface 2 to be cleaned. In other embodiments, the number and position of the detection modules 141 can be designed according to actual conditions. Preferably, the number and position of the detection modules 141 on the cleaning device body 3 correspond to the number and position of the edges of the surface 2 to be cleaned, so that when the cleaning device body 3 reaches or approaches any edge of the surface 2 to be cleaned, a corresponding detection module 141 can detect the edge of the surface 2 to be cleaned.

[0052] refer to Figure 1 Angle detection mechanism 12 is disposed on the cleaning device body 3. Angle detection mechanism 12 is used to detect the angle between the straight line containing the current actual target movement direction (9, 9') of the cleaning device body 3 on the surface to be cleaned 2 and the straight line containing the projection of the ray 10 pointing to the marker 1 from the first detection mechanism 11 onto the surface to be cleaned 2. The ray 10 pointing to the marker 1 from the first detection mechanism 11 refers to a virtual ray pointing from a preset point in the first detection mechanism 11 to a preset point in the marker 1. Specifically, when the first detection mechanism 11 includes a camera, the preset point in the first detection mechanism 11 can be the center of the camera's line of sight. Angle detection mechanism 12 can include an angle sensor. It should be noted that when the angle between the current actual target movement direction of the cleaning device body 3 on the surface to be cleaned 2 and the projection of the ray 10 pointing to the marker 1 from the first detection mechanism 11 onto the surface to be cleaned 2 is less than or equal to 90°, the angle between the cleaning device body 3 and the target movement direction (9, 9') of the target movement direction (9' ... The angle between the straight line containing the current actual target movement direction and the straight line containing the projection of the ray 10 pointing from the first detection mechanism 11 to the marker 1 onto the surface to be cleaned 2 refers to the angle between the current actual target movement direction of the cleaning device body 3 on the surface to be cleaned 2 and the projection of the ray 10 pointing from the first detection mechanism 11 to the marker 1 onto the surface to be cleaned 2. When the angle between the current actual target movement direction of the cleaning device body 3 on the surface to be cleaned 2 and the projection of the ray 10 pointing from the first detection mechanism 11 to the marker 1 onto the surface to be cleaned 2 is greater than 90°, the angle between the straight line containing the current actual target movement direction of the cleaning device body 3 on the surface to be cleaned 2 and the straight line containing the projection of the ray 10 pointing from the first detection mechanism 11 to the marker 1 onto the surface to be cleaned 2 refers to the supplementary angle of the angle between the current actual target movement direction of the cleaning device body 3 on the surface to be cleaned 2 and the projection of the ray 10 pointing from the first detection mechanism 11 to the marker 1 onto the surface to be cleaned 2.

[0053] In this embodiment, the main control module is also integrated inside the cleaning device body 3. The first detection mechanism 11, the second detection mechanism 14, and the angle detection mechanism 12 are all signal-connected to the main control module. The main control module is configured to control the movement of the cleaning device body 3 according to the received signals. The cleaning device body 3 may also have a built-in wireless communication module. The control signals for controlling the movement of the cleaning device body 3 can be sent to the cleaning device wirelessly. The main control module parses the control signals and controls the movement of the cleaning device body 3. In addition to receiving external control signals, the main control module also receives signals from the first detection mechanism 11, the second detection mechanism 14, and the angle detection mechanism 12 in real time, and comprehensively processes these signals to control the cleaning device body 3, thereby achieving the cleaning of the surface 2 to be cleaned.

[0054] The technical solution of this invention, through the cooperation between the surface to be cleaned 2 and the cleaning device, and with the marker 1 as a reference, guides and corrects the current actual target movement direction of the cleaning device body 3, so that the cleaning device can clean the surface to be cleaned 2 (which can be the reflecting surface of the heliostat) according to the target cleaning path, thereby avoiding the situation where the cleaning device misses some areas in the surface to be cleaned 2, and effectively improving the cleanliness of the surface to be cleaned 2.

[0055] Figure 4 This is a three-dimensional structural diagram of a cleaning device provided in an embodiment of the present invention, with reference to... Figure 4 Optionally, each detection module 141 includes at least two detection components configured to detect the edge of the surface 2 to be cleaned. Each detection component includes an outer detection unit 1411. When all the outer detection units 1411 in any detection module 141 simultaneously detect the edge of the surface 2 to be cleaned, the projection of the line connecting all the outer detection units 1411 in each detection module 141 onto the surface 2 to be cleaned is parallel or coincident with the edge of the surface 2 to be cleaned corresponding to that detection module 141. By providing at least two detection components in each detection module 141, not only can the edge of the surface 2 to be cleaned be detected, but also the direction of its extension can be determined, thus providing a reference for the movement of the cleaning device body 3.

[0056] Continue to refer to Figure 4Furthermore, each detection component also includes an inner detection unit 1412; the projection of the line connecting all the outer detection units 1411 in the same detection module 141 onto the horizontal plane is a first projection line, and the projection of the line connecting all the inner detection units 1412 in the same detection module 141 onto the horizontal plane is a second projection line; in the same detection module 141, the first projection line is parallel to the second projection line; in the same detection component, the outer detection unit 1411 is farther away from the cleaning device body 3 than the inner detection unit 1412. By simultaneously setting an inner detection unit 1412 and an outer detection unit 1411 in each detection component, and setting the distance between the inner detection unit 1412 and the outer detection unit 1411 to be greater than the width of the gap 8, when there is a gap 8 on the surface 2 to be cleaned (such as the surface 2 to be cleaned is not a complete surface, but a surface composed of several small surface units), the gap 8 in the surface 2 to be cleaned and the edge of the surface 2 to be cleaned can be distinguished. Specifically, when the outer detection unit 1411 in the same detection component detects the surface 2 to be cleaned, and the inner detection unit 1412 detects an edge, then the edge detected by the inner detection unit 1412 at this time is the edge of the gap 8 in the surface 2 to be cleaned, not the edge of the surface 2 to be cleaned; when the outer detection unit 1411 in the same detection component does not detect the surface 2 to be cleaned, and the inner detection unit 1412 detects an edge, then the edge detected by the inner detection unit 1412 at this time is the edge of the surface 2 to be cleaned.

[0057] Continue to refer to Figure 4 In this embodiment, the cleaning device body 3 is further provided with a flying mechanism; the flying mechanism is configured to transfer the cleaning device body 3 to different surfaces 2 to be cleaned. Furthermore, in this embodiment, referring to... Figure 4 Two detection components are respectively provided on each side of the cleaning device body 3. Each detection component includes a mounting base 13, an inner detection unit 1412, and an outer detection unit 1411. Each mounting base 13 has a first mounting hole 131 and a second mounting hole 132. A number of outer detection units 1411 are correspondingly arranged in the first mounting hole 131, and a number of inner detection units 1412 are correspondingly arranged in the second mounting hole 132. Of course, the number of detection components provided on each side of the cleaning device body 3 can be more than two, but can be three, four or more. The specific number of detection components is not limited. Preferably, the number and position of the detection modules on the cleaning device body 3 correspond to the number and position of the edges of the surface 2 to be cleaned, so that when the cleaning device body 3 reaches or approaches any edge of the surface 2 to be cleaned, a corresponding detection module 141 can detect the edge of the surface 2 to be cleaned. Of course, in other embodiments, the detection module 141 can also be installed on the top surface or the bottom surface of the cleaning device body 3, as long as it can detect the edge of the surface 2 to be cleaned.

[0058] In this embodiment, the external detection unit 1411 is selected from at least one of a laser position sensor, a lidar sensor, an ultrasonic sensor, or an image vision device; the internal detection unit 1412 is selected from at least one of a laser position sensor, a lidar sensor, an ultrasonic sensor, or an image vision device. In specific implementations, the external detection unit 1411 and the internal detection unit 1412 can be selected from the same type of sensor, such as an ultrasonic sensor, to simplify the structure and data processing. The design can be tailored to the specific implementation requirements.

[0059] In this embodiment, the main body 3 of the cleaning device has a polygonal prism structure. The projection of the line connecting all the inner detection units 1412 in any detection module 141 onto the surface to be cleaned 2 is parallel to the corresponding side of the detection module 141 on the main body 3. With this configuration, when all the inner detection units 1412 in a detection module 141 detect the edge of the surface to be cleaned 2, the corresponding side of the detection module 141 on the main body 3 is parallel to the edge of the surface to be cleaned detected by the detection module 141, thereby enabling the current posture of the main body 3 to be known. The projection of the line connecting the inner detection unit 1412 and the outer detection unit 1411 of any detection component onto the surface to be cleaned 2 is perpendicular to the corresponding side of the detection component on the main body 3.

[0060] For details, please refer to [link / reference]. Figure 4 The main body 3 of the cleaning device has a cubic or cuboid structure, and its top view (ignoring the flight structure) is a square or rectangle. Each mounting base 13 has the same structure, and eight mounting bases 13 are fixedly installed on the four sides of the main body 3. Each of the four sides has two mounting bases 13. The line connecting the two inner detection units 1412 in the same detection module 141 (i.e., on the same side) is parallel to the corresponding side of the main body 3 where the detection module 141 is located. The line connecting the two outer detection units 1411 in the detection module 141 is parallel to the line connecting the two outer detection units 1411 in the cleaning device. The corresponding sides of the detection module 141 on the main body 3 are kept parallel to each other. The advantage of this design is that when the surface 2 to be cleaned is square or rectangular, the main body 3 of the cleaning device can be as close as possible to the edge of the surface 2 to achieve the maximum cleaning area. Furthermore, the line connecting the first mounting hole 131 and the second mounting hole 132 on each mounting base 13 is perpendicular to the corresponding side of the mounting base 13 on the main body 3 of the cleaning device, so that the line connecting the inner detection unit 1412 and the outer detection unit 1411 in each mounting base 13 is perpendicular to the corresponding side of the detection module 141 on the main body 3 of the cleaning device.

[0061] Example 2

[0062] Based on the cleaning system provided in Embodiment 1, this embodiment of the invention also provides a cleaning method for the surface 2 to be cleaned; the cleaning method includes:

[0063] The cleaning device body 3 starts from the cleaning starting point and cleans the surface 2 to be cleaned. The target cleaning path of the cleaning device body 3 on the surface 2 to be cleaned is a polygonal line. When the cleaning device body moves along any path segment in the first path segment set, if the current actual target movement direction of the cleaning device body on the surface 2 to be cleaned deviates from the target cleaning path, a correction method is used to correct the current actual target movement direction of the cleaning device body on the surface 2 to be cleaned. Each line segment in the polygonal line corresponds to a path segment, and the target cleaning path includes the first path segment set and the second path segment set. When the cleaning device body 3 moves along any path segment in the first path segment set, the second detection mechanism 14 cannot always detect the edge of the surface 2 to be cleaned during the movement of the cleaning device body 3. When the cleaning device body 3 moves along any path segment in the second path segment set, the second detection mechanism 14 can always detect the edge of the surface 2 to be cleaned during the movement of the cleaning device body 3.

[0064] The following is a special explanation of the aforementioned correction methods, which include:

[0065] S1: Taking any path segment in the first path segment set as the first target path segment, when the cleaning device body 3 is located at the starting point of the first target path segment and is about to move along the first target path segment, and the current actual target movement direction of the cleaning device body 3 on the surface to be cleaned 2 is the same as the pointing direction of the first target path segment, the first detection mechanism 11 is used to detect the marker 1; wherein the current actual target movement direction of the cleaning device body 3 on the surface to be cleaned 2 can be... Figure 1 The direction of 9 or 9' is the direction of the first target path segment. Figure 5 The direction of path segment 17.

[0066] S2: If the angle between the projection of the ray 10 from the first detection mechanism 11 onto the marker 1 on the surface to be cleaned 2 and the line containing the current actual target movement direction of the cleaning device body 3 on the surface to be cleaned 2 is greater than the corresponding first preset threshold, then proceed to step S3; if the angle between the projection of the ray 10 from the first detection mechanism 11 onto the marker 1 on the surface to be cleaned 2 and the line containing the current actual target movement direction of the cleaning device body 3 on the surface to be cleaned 2 is less than or equal to the first preset threshold, then proceed to step S3. Step S4; wherein, the first preset threshold can be set according to the actual tolerance for deviation, and the first preset threshold can be any one or other value among 0°, 0.1°, 0.2°, 0.3°, 0.4°, 0.5°, 0.6°, 0.7°, 0.8°, 0.9°, 1°, 1.1°, 1.2°, 1.3°, 1.5°, 1.6° or 2°; the ray 10 pointing from the first detection mechanism 11 to the marker 1 refers to a virtual ray pointing from a preset point in the first detection mechanism 11 to a preset point in the marker 1.

[0067] S3: While keeping the first detection mechanism 11 always pointing to the marker 11, rotate the surface to be cleaned 2 so that the angle between the projection of the ray 10 of the first detection mechanism 11 pointing to the marker 1 on the surface to be cleaned 2 and the line of the current actual target movement direction of the cleaning device body 3 on the surface to be cleaned 2 is less than or equal to the first preset threshold, and then execute step S4; wherein, the rotation of the surface to be cleaned 2 can be achieved by means of an external driving device, and the surface to be cleaned 2 rotates mainly around an axis perpendicular to the surface to be cleaned 2 or an axis perpendicular to the horizontal plane.

[0068] S4: While keeping the first detection mechanism 11 always pointing towards the marker 1, the cleaning device body 3 begins to move along the current actual target movement direction of the cleaning device body 3 on the surface to be cleaned 2. During the movement of the cleaning device body 3, if the angle between the straight line of the current actual target movement direction of the cleaning device body 3 on the surface to be cleaned 2 and the straight line of the projection of the ray of the first detection mechanism 11 pointing towards the marker 1 onto the surface to be cleaned 2 is greater than the corresponding second preset threshold, the current actual target movement direction of the cleaning device body 3 on the surface to be cleaned 2 is adjusted so that the angle between the straight line of the current actual target movement direction of the cleaning device body 3 on the surface to be cleaned 2 and the straight line of the projection of the ray of the first detection mechanism 11 pointing towards the marker 1 onto the surface to be cleaned 2 is less than or equal to the second preset threshold, so as to correct the current actual target movement direction of the cleaning device body 3 on the surface to be cleaned 2. The second preset threshold can be any one or other value among 0°, 0.1°, 0.2°, 0.3°, 0.4°, 0.5°, 0.6°, 0.7°, 0.8°, 0.9°, 1°, 1.1°, 1.2°, 1.3°, 1.5°, 1.6°, or 2°.

[0069] Figure 5 This is a schematic diagram of a target cleaning path provided in an embodiment of the present invention, with reference to... Figure 5 The surface to be cleaned, 2, is rectangular. The target cleaning path of the cleaning device body 3 on the surface to be cleaned, 2, is a polygonal line, and each line segment in the polygonal line corresponds to a path segment. Among these, the corresponding... Figure 5 The target cleaning path shown in the figure includes a first set of path segments 17 that are parallel to the two edges on the left and right sides of the surface to be cleaned 2, and a second set of path segments 15 that are parallel to the two edges on the left and right sides of the surface to be cleaned 2 and a second set of path segments 16 that are parallel to the two edges on the front and back sides of the surface to be cleaned 2. Figure 6 This is a schematic diagram of the structure of the cleaning device body 3 when it is located at the starting point of a certain path segment in the first path segment set. Figure 7This is a schematic diagram of the structure after rotating the surface to be cleaned 2 in step S3. When the cleaning device body 3 moves along any path segment 17 in any set of first path segments, the second detection mechanism 14 cannot always detect the edge of the surface to be cleaned 2. Specifically, the second detection mechanism 14 can only detect the edge of the surface to be cleaned 2 when the cleaning device body 3 is located at or near the front and rear ends of the path segment 17. When the cleaning device body 3 is far from the front and rear ends of the path segment 17, the second detection mechanism 14 cannot detect the edge of the surface to be cleaned 2. When the cleaning device body 3 moves along any path segment 16 in the set of second path segments, the second detection mechanism 14 can always detect the front edge or the rear edge of the surface to be cleaned 2. When the cleaning device body 3 moves along any path segment 15 in the set of second path segments, the second detection mechanism 14 can always detect the left edge or the right edge of the surface to be cleaned 2.

[0070] In this embodiment, when the cleaning device body 3 moves along any path segment in the second path segment set, the second detection mechanism 14 continuously detects the edge of the surface 2 to be cleaned, so as to keep the cleaning device body 3 moving along the edge of the surface 2 to be cleaned continuously detected by the second detection mechanism 14. When the cleaning device body 3 moves along any path segment in the second path segment set, since the second detection mechanism 14 can always detect the edge of the surface 2 to be cleaned, the cleaning device body 3 moves with the edge of the surface 2 to be cleaned detected by the second detection mechanism 14 as a reference, which can ensure that the movement path of the cleaning device body 3 does not deviate.

[0071] In this embodiment, before cleaning the surface 2, the initial state of the surface 2 may not meet the cleaning conditions. For example, if the surface 2 is tilted, the cleaning device will slip and cannot be cleaned when placed on the surface 2, and may also be damaged. Therefore, before the cleaning device cleans the surface 2, it is necessary to determine whether the surface 2 is in the initial state to be cleaned. If the surface 2 is not in the initial state to be cleaned, it is necessary to adjust the surface 2 to the initial state to be cleaned.

[0072] Specifically, before the cleaning device body 3 reaches the cleaning starting point, the process includes the following steps: adjusting the surface to be cleaned 2 to its initial cleaning state, and then initially placing the cleaning device body 3 on the surface to be cleaned 2. Figure 8This is a schematic diagram of a cleaning device body 3 initially placed on a surface 2 to be cleaned, according to an embodiment of the present invention. When the surface 2 is in its initial cleaning state, conditions a and b must be met simultaneously. Condition a is that the cleaning device body 3 will not slip off the surface 2 due to its own weight when placed on it. Condition b is that two opposite edges of the surface 2 are used as reference edges; a straight line passing through two preset first reference points on the two reference edges and perpendicular to both reference edges is used as a first straight line; a straight line perpendicular to the ground and passing through a second reference point on a marker 1 is used as a second straight line; the first and second straight lines intersect. Placing the cleaning device body 3 on the surface 2 can be achieved by using a drone to carry the cleaning device and placing it on the surface 2. The specific placement of the cleaning device is not limited, as long as it avoids the edge area, or similar methods. Figure 4 The cleaning device shown has a flight structure that controls the device to fly autonomously and land on the surface to be cleaned (2), or it can be placed manually, depending on the specific circumstances. Since adjusting the attitude of the surface to be cleaned (2) takes a considerable amount of time, by pre-adjusting it to its initial cleaning state, the surface to be cleaned (2) can be prepared for immediate cleaning before the cleaning device arrives. Once the device arrives, cleaning can begin immediately. This effectively improves cleaning efficiency, especially when there are many surfaces to be cleaned (2).

[0073] For example, Figure 9 This is a schematic diagram of the original structural state of the surface 2 to be cleaned. Figure 10 The structural diagram shows the adjustment of the surface 2 to be cleaned to its initial state. It is understood that to ensure the cleaning device body 3 does not slip off the surface 2 due to its own weight when placed on it, the surface 2 needs to be adjusted to a horizontal or near-horizontal state. Furthermore, refer to... Figure 9 and Figure 10 In this embodiment, the front and back of the surface 2 to be cleaned (its left and right sides and front and back are defined as follows) Figure 5 (Same) Taking the two edges as reference edges, and the center point of the two reference edges as the first reference point, then the center line 6 passing through the two first reference points is the first straight line. The second reference point on marker 1 can be the central axis of marker 1 (such as the central axis 5 of the heat absorption tower, reference). Figure 2 At a point on the surface, the central axis of marker 1 is the second straight line, which rotates around a straight line perpendicular to the ground or perpendicular to the surface to be cleaned 2 as the axis of rotation. Figure 9 The surface to be cleaned, 2, is positioned such that the first and second straight lines intersect, thus adjusting the surface to be cleaned to its initial state (e.g., ...). Figure 10(as shown), thus enabling the marker 1 to guide the movement of the cleaning device body 3 on the surface 2 to be cleaned.

[0074] In this embodiment, after the cleaning device body 3 is initially placed on the surface 2 to be cleaned, the cleaning device body 3 needs to locate the cleaning starting point, and then clean the surface 2 from the cleaning starting point. For example, Figure 11 This is a structural diagram showing the cleaning device body 3 after it has been adjusted to the correct orientation and is about to depart to find the starting point for cleaning. Figure 12 This is a schematic diagram of the structure of the cleaning device body 3 after it reaches the cleaning starting point. The steps for the cleaning device body 3 to find the cleaning starting point include:

[0075] A1: The first detection mechanism 11 detects the marker 1, and the angle detection mechanism 12 detects the angle between the straight line of the current actual target movement direction of the cleaning device body 3 on the surface to be cleaned 2 and the straight line of the projection of the ray 10 of the first detection mechanism 11 pointing to the marker 1 on the surface to be cleaned 2.

[0076] A2: If the angle between the line of the current actual target movement direction of the cleaning device body 3 on the surface to be cleaned 2 and the line of the projection of the ray 10 of the first detection mechanism 11 pointing to the marker 1 on the surface to be cleaned 2 is greater than the corresponding third preset threshold, then proceed to step A3; if the angle between the line of the current actual target movement direction of the cleaning device body 3 on the surface to be cleaned 2 and the line of the projection of the ray 10 of the first detection mechanism 11 pointing to the marker 1 on the surface to be cleaned 2 is less than or equal to the corresponding third preset threshold, then proceed to step A4; wherein, the third preset threshold can be any one or other value among 0°, 0.1°, 0.2°, 0.3°, 0.4°, 0.5°, 0.6°, 0.7°, 0.8°, 0.9°, 1°, 1.1°, 1.2°, 1.3°, 1.5°, 1.6° or 2°.

[0077] A3: While keeping the first detection mechanism 11 always pointing to the marker 1, adjust the current actual target movement direction of the cleaning device body 3 on the surface to be cleaned 2, so that the angle between the straight line of the current actual target movement direction of the cleaning device body 3 on the surface to be cleaned 2 and the straight line of the projection of the ray 10 of the first detection mechanism 11 pointing to the marker 1 on the surface to be cleaned 2 is less than or equal to the third preset threshold.

[0078] A4: The cleaning device body 3 begins to move along the current actual target movement direction on the surface to be cleaned 2. When the second detection mechanism 14 first detects a corner of the surface to be cleaned 2, the cleaning device body 3 takes the corner of the surface to be cleaned 2 first detected by the second detection mechanism 14 as the cleaning starting point; or, when the second detection mechanism 14 first detects an edge of the surface to be cleaned 2, the cleaning device body 3 moves along the edge of the surface to be cleaned 2 first detected by the second detection mechanism 14 until the second detection mechanism 14 detects another edge of the surface to be cleaned 2, at which point the cleaning device body 3 first reaches a corner of the surface to be cleaned 2, and the cleaning device body 3 takes the corner of the surface to be cleaned 2 first reached by the cleaning device body 3 as the cleaning starting point. At the beginning of the cleaning device body 3 searching for the cleaning starting point, by controlling the angle between the straight line of the current actual target movement direction of the cleaning device body 3 and the straight line of the projection of the ray 10 pointing to the marker 1 by the first detection mechanism 11 onto the surface to be cleaned 2, the cleaning device body 3 can be moved in a preset direction to reach the cleaning starting point.

[0079] Furthermore, after the cleaning device body 3 reaches the cleaning starting point, when the cleaning device body 3 starts from the cleaning starting point and cleans the surface 2 to be cleaned, the cleaning device body 3 first moves away from the cleaning starting point along the edge of the surface 2 to be cleaned, which is parallel to the first straight line at the cleaning starting point. Then, whenever the second detection mechanism 14 detects the edge of the surface 2 to be cleaned in the current actual target movement direction of the cleaning device body 3, the cleaning device body 3 moves a preset distance away from the cleaned area in the surface 2 along the latest detected edge of the surface 2 to be cleaned. Then, it moves in a direction perpendicular to the latest detected edge of the surface 2 to be cleaned and away from the latest detected edge of the surface 2 to be cleaned. This cycle repeats until the second detection mechanism 14 detects a corner of the surface 2 to be cleaned again. Then, the cleaning device body 3 moves away from the previously detected edge of the surface 2 along the latest detected edge of the surface 2 to be cleaned until the second detection mechanism 14 detects a corner of the surface 2 to be cleaned again, thus completing the cleaning of the surface 2 to be cleaned.

[0080] By using the steps described above, the cleaning device body 3 is controlled to move along the zigzag target cleaning path to clean all areas of the surface 2 to be cleaned. The specific size of the preset distance can be set according to the width of the cleaning device body 3 in one cleaning cycle, as long as it ensures that no area of ​​the surface 2 to be cleaned is missed.

[0081] Example 3

[0082] This invention also provides a method for cleaning the reflecting surface of a heliostat, which is the same as the cleaning method provided in Embodiment 2. The heliostat includes a reflecting surface, a reflecting surface support for supporting the reflecting surface, an azimuth angle driving device for adjusting the azimuth angle of the reflecting surface, and a pitch angle driving device for adjusting the pitch angle of the reflecting surface. The reflecting surface includes a complete reflective mirror surface; or, the reflecting surface is formed by combining several reflective mirror surfaces. The reflecting surface is the surface to be cleaned, 2. The azimuth angle adjustment is achieved by using the azimuth angle driving device to rotate the reflecting surface in the heliostat about an axis perpendicular to the ground. The pitch angle adjustment is achieved by using the pitch angle driving device to rotate the reflecting surface in the heliostat about an axis parallel to the ground. Typically, the azimuth angle driving device is a rotary reducer, and the horizontal angle driving device is an electric push rod, a hydraulic cylinder, etc.

[0083] Marker 1 includes any one of the following: marker pole, heat-absorbing tower, secondary reflector tower, tower crane, power transmission tower, or wind turbine generator. The appropriate marker can be selected based on the specific circumstances. Since heliostats are typically used in tower solar collector systems, which inevitably contain heat-absorbing towers or secondary reflector towers, heat-absorbing towers or secondary reflector towers are preferred as markers when cleaning heliostats.

[0084] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A cleaning system, characterized in that, Includes cleaning equipment and signage; The cleaning device includes a cleaning device body, a first detection mechanism, a second detection mechanism, an angle detection mechanism, and a main control module; The cleaning device body is configured to move on the surface to be cleaned and clean the surface to be cleaned; The first detection mechanism is disposed on the body of the cleaning device and is used to detect the relative position between the first detection mechanism and the marker, so as to guide the current actual target movement direction of the body of the cleaning device. The second detection mechanism is disposed on the body of the cleaning device; the second detection mechanism includes a plurality of detection modules, and the plurality of detection modules are arranged circumferentially along the body of the cleaning device, and the detection modules are used to detect the edge of the surface to be cleaned; The included angle detection mechanism is disposed on the body of the cleaning device. The included angle detection mechanism is used to detect the value of the included angle between the straight line of the current actual target movement direction of the body of the cleaning device on the surface to be cleaned and the straight line of the projection of the ray of the first detection mechanism pointing to the marker on the surface to be cleaned. The first detection mechanism, the second detection mechanism, and the included angle detection mechanism are all signal connected to the main control module, which is configured to control the movement of the cleaning device body according to the received signals.

2. The cleaning system according to claim 1, characterized in that, Each of the detection modules includes at least two detection components, and each detection component includes an external detection unit; wherein, when all the external detection units in any one of the detection modules simultaneously detect the edge of the surface to be cleaned, the projection of the line connecting all the external detection units in each detection module onto the surface to be cleaned is parallel to or coincides with the edge of the surface to be cleaned corresponding to that detection module.

3. The cleaning system according to claim 2, characterized in that, Each of the aforementioned detection components also includes an internal detection unit; The projection of the line connecting all the external detection units in the same detection module onto the horizontal plane is the first projection line, and the projection of the line connecting all the internal detection units in the same detection module onto the horizontal plane is the second projection line. Within the same detection module, the first projection line is parallel to the second projection line; In the same detection assembly, the outer detection unit is farther away from the cleaning device body than the inner detection unit.

4. The cleaning system according to claim 3, characterized in that, The external detection unit is selected from at least one of a laser position sensor, a lidar sensor, an ultrasonic sensor, or an image vision device. The internal detection unit is selected from at least one of a laser position sensor, a lidar sensor, an ultrasonic sensor, or an image vision device.

5. The cleaning system according to claim 1, characterized in that, The first detection mechanism includes a rotatable camera; or, the first detection mechanism includes at least two cameras, and at least one camera is always able to detect the marker during the cleaning process of the cleaning device body cleaning the surface to be cleaned.

6. The cleaning system according to claim 1, characterized in that, The marker does not move relative to the ground.

7. A method for cleaning a surface to be cleaned, characterized in that, The surface to be cleaned is cleaned using the cleaning system described in any one of claims 1-6; The cleaning method includes: The cleaning device body starts from the cleaning starting point and cleans the surface to be cleaned. The target cleaning path of the cleaning device body on the surface to be cleaned is a polygonal line. When the cleaning device body moves along any path segment in the first path segment set, if the current actual target movement direction of the cleaning device body on the surface to be cleaned deviates from the target cleaning path, a correction method is used to correct the current actual target movement direction of the cleaning device body on the surface to be cleaned. Each line segment in the polygonal line corresponds to a path segment. The target cleaning path includes the first path segment set and the second path segment set. When the cleaning device body moves along any path segment in the first path segment set, the second detection mechanism cannot always detect the edge of the surface to be cleaned during the movement of the cleaning device body. When the cleaning device body moves along any path segment in the second path segment set, the second detection mechanism can always detect the edge of the surface to be cleaned during the movement of the cleaning device body. The correction method includes: S1: Taking any one of the path segments in the first path segment set as the first target path segment, when the cleaning device body is located at the starting point of the first target path segment and is about to move along the first target path segment, and the current actual target movement direction of the cleaning device body on the surface to be cleaned is the same as the pointing direction of the first target path segment, the first detection mechanism is used to detect the marker. S2: If the angle between the projection of the ray from the first detection mechanism to the marker onto the surface to be cleaned and the line containing the current actual target movement direction of the cleaning device body on the surface to be cleaned is greater than the corresponding first preset threshold, then proceed to step S3; if the angle between the projection of the ray from the first detection mechanism to the marker onto the surface to be cleaned and the line containing the current actual target movement direction of the cleaning device body on the surface to be cleaned is less than or equal to the first preset threshold, then proceed to step S4. S3: While keeping the first detection mechanism always pointing to the marker, rotate the surface to be cleaned so that the angle between the projection of the ray of the first detection mechanism pointing to the marker on the surface to be cleaned and the line of the current actual target movement direction of the cleaning device body on the surface to be cleaned is less than or equal to the first preset threshold, and then execute step S4. S4: While keeping the first detection mechanism always pointing towards the marker, the cleaning device body begins to move along the current actual target movement direction of the cleaning device body on the surface to be cleaned. During the movement of the cleaning device body, if the angle between the straight line of the current actual target movement direction of the cleaning device body on the surface to be cleaned and the straight line of the projection of the ray of the first detection mechanism pointing towards the marker on the surface to be cleaned is greater than the corresponding second preset threshold, the current actual target movement direction of the cleaning device body on the surface to be cleaned is adjusted so that the angle between the straight line of the current actual target movement direction of the cleaning device body on the surface to be cleaned and the straight line of the projection of the ray of the first detection mechanism pointing towards the marker on the surface to be cleaned is less than or equal to the second preset threshold, thereby correcting the current actual target movement direction of the cleaning device body on the surface to be cleaned.

8. The cleaning method according to claim 7, characterized in that, As the cleaning device body moves along the path segment in the second path segment set, the second detection mechanism continuously detects the edge of the surface to be cleaned, so as to keep the cleaning device body moving along the edge of the surface to be cleaned continuously detected by the second detection mechanism.

9. The cleaning method according to claim 7, characterized in that, Before the cleaning device body reaches the cleaning starting point, the following steps are also included: If the surface to be cleaned is not in the initial state, adjust the surface to the initial state, and then place the cleaning device body on the surface to be cleaned for the first time; wherein, When the surface to be cleaned is in the initial state to be cleaned, conditions a and b must be satisfied simultaneously, wherein, The condition a is: when the cleaning device body is placed on the surface to be cleaned, the cleaning device body will not slip off the surface to be cleaned due to its own weight. Condition b is as follows: two opposite edges of the surface to be cleaned are used as reference edges; a straight line passing through a first reference point preset on each of the two reference edges and perpendicular to both reference edges is used as a first straight line; a straight line perpendicular to the ground and passing through a second reference point on the marker is used as a second straight line; the first straight line intersects the second straight line.

10. The cleaning method according to claim 9, characterized in that, After the cleaning device body is initially placed on the surface to be cleaned, the following steps are also included: A1: The first detection mechanism detects the marker, and the angle detection mechanism detects the angle between the straight line of the current actual target movement direction of the cleaning device body on the surface to be cleaned and the straight line of the projection of the ray of the first detection mechanism pointing to the marker on the surface to be cleaned. A2: If the angle between the line where the current actual target movement direction of the cleaning device body is located on the surface to be cleaned and the line where the projection of the ray from the first detection mechanism pointing to the marker is located on the surface to be cleaned is greater than the corresponding third preset threshold, then proceed to step A3; if the angle between the line where the current actual target movement direction of the cleaning device body is located on the surface to be cleaned and the line where the projection of the ray from the first detection mechanism pointing to the marker is located on the surface to be cleaned is less than or equal to the corresponding third preset threshold, then proceed to step A4. A3: While keeping the first detection mechanism always pointing to the marker, adjust the current actual target movement direction of the cleaning device body on the surface to be cleaned, so that the angle between the straight line of the current actual target movement direction of the cleaning device body on the surface to be cleaned and the straight line of the projection of the ray of the first detection mechanism pointing to the marker on the surface to be cleaned is less than or equal to the third preset threshold. A4: The cleaning device body begins to move along the current actual target movement direction of the cleaning device body on the surface to be cleaned; When the second detection mechanism first detects a corner of the surface to be cleaned, the cleaning device body takes that corner as the starting point for cleaning; or, when the second detection mechanism first detects an edge of the surface to be cleaned, the cleaning device body moves along that edge until the second detection mechanism detects another edge of the surface to be cleaned, at which point the cleaning device body first reaches a corner of the surface to be cleaned, and takes that corner as the starting point for cleaning.

11. The cleaning method according to claim 10, characterized in that, When the cleaning device body starts from the cleaning starting point and cleans the surface to be cleaned, the cleaning device body first moves away from the cleaning starting point along the edge of the surface to be cleaned, which is parallel to the first straight line. Then, whenever the second detection mechanism detects the edge of the surface to be cleaned in the current actual target movement direction of the cleaning device body, the cleaning device body moves a preset distance away from the cleaned area in the surface to be cleaned along the latest detected edge of the surface to be cleaned. Then, it moves in a direction perpendicular to the latest detected edge of the surface to be cleaned and away from the latest detected edge of the surface to be cleaned. This cycle repeats until the second detection mechanism detects a corner of the surface to be cleaned again. Then, the cleaning device body moves away from the previously detected edge of the surface to be cleaned along the latest detected edge of the surface to be cleaned until the second detection mechanism detects a corner of the surface to be cleaned again, thus completing the cleaning of the surface to be cleaned.

12. The cleaning method according to claim 7, characterized in that, The surface to be cleaned is rectangular or square.

13. A method for cleaning the reflecting surface of a heliostat, characterized in that, The cleaning method is the cleaning method according to any one of claims 7-12; The heliostat includes a reflecting surface, a reflecting surface support for supporting the reflecting surface, an azimuth angle driving device for adjusting the azimuth angle of the reflecting surface, and a pitch angle driving device for adjusting the pitch angle of the reflecting surface. The reflective surface comprises a single, complete mirror; or, the reflective surface is formed by a combination of several mirrors. The reflective surface is the surface to be cleaned.

14. The method for cleaning the reflecting surface of a heliostat according to claim 13, characterized in that, The marker includes any one of the following: marker pole, heat absorption tower, secondary reflection tower, tower crane, power transmission tower, or wind turbine.

Images