Spanning type heliostat cleaning device

Abstract

The utility model relates to the field of photo-thermal and photovoltaic technologies, in particular to a spanning type heliostat cleaning device. The utility model provides a spanning type heliostat cleaning device. The spanning type heliostat cleaning device comprises a trolley assembly, a mirror surface cleaning device, a waste water collecting device and a water supply mechanism. The trolley assembly comprises a frame mechanism and a wheel mechanism, the frame mechanism is installed on the wheel mechanism, and an access channel extending in the first direction is formed in the trolley assembly; the mirror surface cleaning device comprises a transverse driving mechanism, a lifting driving mechanism and a mirror surface cleaning mechanism which are connected in sequence, the transverse driving mechanism is mounted at the top of the frame mechanism, and the lifting driving mechanism is vertically mounted on the transverse driving mechanism. According to the spanning type heliostat cleaning device, spraying water can be recycled, consumption of water resources for heliostat cleaning can be remarkably reduced, limited water resources can be distributed and used more reasonably, the spraying water which is wasted originally is collected and reused, and recycling of the water resources is achieved.

Description

Technical Field

[0001] This utility model relates to the fields of photothermal and photovoltaic technology, and specifically to a cross-type heliostat cleaning device. Background Technology

[0002] Tower-type concentrated solar power (CSP) has become the mainstream energy storage technology for large-scale photovoltaic (PV) and wind power projects in China. Each tower-type heliostat field contains tens of thousands of heliostats, which mainly consist of mirrors, frames, columns, drive actuators, and electrical control systems. Their primary function is to reflect sunlight onto the surface of the receiver to collect solar radiation energy. However, the mirrors are easily contaminated by strong winds and dust, which significantly reduces their reflectivity, affecting the overall solar energy utilization rate of the power plant and consequently its total power generation. The cleanliness of the mirror field has a significant impact on the annual power generation of the CSP plant; the higher the average annual cleanliness of the field, the higher the annual power generation, and vice versa.

[0003] Currently, the main equipment for cleaning tower solar heliostats is vehicle-based cleaning trucks, such as mobile cleaning trucks. These trucks consist of specialized heliostat cleaning equipment and robotic arms mounted on a truck chassis. The truck's water spray system, connected to a water tank, sprays water through the robotic arm's pipes and spray nozzles at high pressure onto the heliostat's surface. The impact and penetration of the water remove dust, dirt, and other impurities, thus cleaning the mirror. However, in water-scarce areas, using mobile cleaning trucks results in significant water waste because the sprayed water drips onto the ground from the heliostat's surface, making water recycling impossible and refilling difficult. Utility Model Content

[0004] (I) The problem to be solved by this utility model is that in water-scarce areas, the water sprayed by the mobile cleaning vehicle drips onto the ground along the surface of the heliostat and cannot be recycled, resulting in serious waste of water resources and difficulty in replenishing water.

[0005] (II) Technical Solution

[0006] A straddle-type heliostat cleaning device includes a trolley assembly, a mirror cleaning device, a wastewater collection device, and a water supply mechanism; the trolley assembly includes a frame mechanism and a wheel mechanism, the frame mechanism is mounted on the wheel mechanism, and an inlet / outlet channel extending in a first direction is formed within the trolley assembly.

[0007] The mirror cleaning device includes a lateral drive mechanism, a lifting drive mechanism, and a mirror cleaning mechanism connected in sequence. The lateral drive mechanism is installed on the top of the frame mechanism, and the lifting drive mechanism is vertically installed on the lateral drive mechanism. The lateral drive mechanism is used to drive the lifting drive mechanism and the mirror cleaning mechanism to move along a first direction. The lifting drive mechanism is used to drive the mirror cleaning mechanism to move up and down to get closer to or away from the heliostat's mirror surface.

[0008] The mirror cleaning mechanism is used to clean the heliostat mirror surface. The water supply mechanism includes a water tank and a water conveying mechanism. The water conveying mechanism is used to draw water from the water tank and supply it to the mirror cleaning mechanism. The wastewater collection device is installed on the frame mechanism and is lower than the mirror cleaning mechanism. The wastewater collection device is used to collect water sprayed onto the heliostat mirror surface by the mirror cleaning mechanism and to transport the collected water to the water tank.

[0009] According to one embodiment of the present invention, the mirror cleaning mechanism includes a cleaning plate, at least one spray pipe, multiple nozzles, and a brush mechanism; the lifting drive mechanism includes at least one third electric push rod, which is vertically installed between the cleaning plate and the transverse drive mechanism; the cleaning plate extends along a second direction, the spray pipe is installed on the cleaning plate, each spray pipe has multiple nozzles along its axial direction, and the brush mechanism is installed on the cleaning plate for cleaning the heliostat mirror surface, wherein the first direction and the second direction are perpendicular to each other.

[0010] According to one embodiment of the present invention, the water supply mechanism includes a first water tank, a second water tank, a water injection pipe, a first water pump, and a water outlet pipe. One end of the water outlet pipe is connected to the inlet of the first water pump, and the other end is connected to the second water tank. One end of the water injection pipe is connected to the outlet of the first water pump, and the other end is connected to the spray pipe.

[0011] According to one embodiment of the present invention, the wastewater collection device includes two wastewater collection mechanisms, which are arranged along a second direction on the frame mechanism. Each wastewater collection mechanism includes two sliding rails, a water collection box, a second electric push rod, and a water delivery mechanism. The two sliding rails are arranged along a first direction and extend along a second direction. The water collection box is slidably mounted on the two sliding rails. The second electric push rod is used to push the water collection box to move along the second direction so that the water collection box approaches or moves away from the heliostat column. The top of the water collection box is open, and it includes a first side, a second side, and a third side connected in sequence. The first side and the second side are perpendicular, and the first side and the third side are parallel.

[0012] The water delivery mechanism is used to deliver water from the water collection box to the first water tank.

[0013] According to one embodiment of the present invention, a water filter is included, the water filter having two inlets and one outlet, the water delivery mechanism including a hose, a water pump and a water pipe, the bottom of the water collection box having an outlet, one end of the hose being connected to the outlet of the water collection box and the other end being connected to the inlet of the water pump, one end of the water pipe being connected to one inlet of the water filter, and the outlet of the water filter being connected to the first water tank through a pipe.

[0014] According to one embodiment of the present invention, a photovoltaic (PV) heat pump system is installed on the vehicle frame mechanism. The PV heat pump system includes a PVT component, a heat pump system, a second water tank, and a battery. The PVT component and the battery are electrically connected. The second water tank and the outlet of the heat pump system are connected through a first pipe. The inlet of the heat pump system is connected to the first water tank through a second pipe.

[0015] According to one embodiment of the present invention, the brush mechanism includes a plurality of conical brushes, a transmission mechanism, and a second motor. The conical brushes are arranged and installed on the cleaning plate along the length direction of the cleaning plate, and the plurality of conical brushes are connected to each other through the transmission mechanism. The output end of the second motor is connected to the transmission mechanism, and the second motor is used to drive the transmission mechanism to rotate the plurality of conical brushes around their respective axes.

[0016] According to one embodiment of the present invention, the wheel mechanism includes four electric steering wheels, the frame mechanism includes a frame and four sets of electric telescopic members, each set of electric telescopic members has at least one electric telescopic member, and each electric steering wheel is equipped with a set of electric telescopic members. The bottom end of the frame mechanism is connected to the top end of the electric telescopic members on the four electric steering wheels, and the electric telescopic members are used to extend and retract in the vertical direction according to instructions.

[0017] According to one embodiment of the present invention, the transverse drive mechanism includes at least one guide rail, a movable plate, a screw, and a first motor. The guide rail is mounted on the top surface of the frame mechanism and extends along a first direction. The movable plate is slidably mounted on the guide rail and extends along a second direction. The screw extends along the first direction and is mounted on the top of the frame mechanism. The movable plate is threadedly connected to the screw. The output end of the first motor is connected to one end of the screw. The top end of the third electric push rod is fixed to the bottom surface of the movable plate.

[0018] According to one embodiment of the present invention, a horizontal measuring mechanism is installed on the frame mechanism, the horizontal measuring mechanism being used to measure the included angle between the cleaning plate and the heliostat mirror surface.

[0019] The beneficial effects of this utility model are:

[0020] This cross-type heliostat cleaning device can recycle spray water, significantly reducing the consumption of fresh water resources during heliostat cleaning and allowing for more rational allocation and use of limited water resources. Through a wastewater collection system, spray water that would otherwise be wasted is collected and reused, achieving water resource recycling and improving water utilization in the solar thermal power plant cleaning process and even the entire region. Furthermore, solar thermal power plants have numerous heliostats, require frequent cleaning, and consume huge amounts of water. Recycling spray water through the wastewater collection system can significantly reduce the power plant's water costs, saving substantial water expenses and thus improving the power plant's economic efficiency. Attached Figure Description

[0021] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0022] Figure 1 A first perspective view provided for an embodiment of this utility model;

[0023] Figure 2 A second perspective view provided for an embodiment of this utility model;

[0024] Figure 3 A front view provided for an embodiment of this utility model;

[0025] Figure 4 A side view provided for an embodiment of this utility model;

[0026] Figure 5 Structural diagram of the wastewater collection mechanism, mirror cleaning device, first water tank, second water tank, and heat pump system provided in the embodiments of this utility model;

[0027] Figure 6 A front view of the mirror cleaning device provided in an embodiment of this utility model;

[0028] Figure 7 A side view of the mirror cleaning device provided in an embodiment of this utility model;

[0029] Figure 8 Structural diagram of the wastewater collection mechanism, the first water tank, and the water filter provided in this embodiment of the utility model;

[0030] Figure 9Structural diagram of the heat pump system, first water tank, second water tank, water filter, and spray pipe provided for embodiments of this utility model;

[0031] Figure 10 This is a structural diagram of the trolley assembly provided in an embodiment of the present utility model;

[0032] Figure 11 A distribution diagram of a position detection mechanism and a heliostat column provided for an embodiment of this utility model;

[0033] Figure 12 A distribution diagram of another position detection mechanism and heliostat column provided for an embodiment of this utility model;

[0034] Figure 13 A schematic diagram of a photovoltaic thermal heat pump system provided in an embodiment of this utility model;

[0035] Figure 14 This is a schematic diagram showing the cleaning plate and heliostat mirror surface shifting as provided in this embodiment of the utility model.

[0036] Icons: 1. Electric steering wheel; 2. First electric push rod; 3. Upright pole; 4. Top frame; 5. Lateral drive mechanism; 501. Guide rail; 502. Moving plate; 503. First motor; 504. Screw; 6. Mirror cleaning mechanism; 601. Cleaning plate; 602. Conical brush; 603. Spray pipe; 604. Spray head; 605. Protective shell; 606. Second motor; 607. Water injection pipe; 608. Water outlet pipe; 7. Wastewater collection mechanism; 701. Support base; 702. Sliding rail; 703. Water collection box; 704. Second electric push rod; 705. Connecting plate; 706. First water pump; 707 708. First flexible hose; 709. First water supply pipe; 710. Second water pump; 711. Second flexible hose; 712. Second water supply pipe; 8. Control cabinet; 9. Battery; 10. PVT assembly; 11. First water pump; 12. First water tank; 13. Water filter; 14. Heat pump system; 141. First pipeline; 142. Second pipeline; 15. Second water tank; 16. Second water pump; 17. Third electric push rod; 18. Photovoltaic bracket; 19. First mounting plate; 20. Distance sensor; 21. Second mounting plate; 22. Fixture; 23. Camera; 24. Heliostat column; 25. Heliostat mirror. Detailed Implementation

[0037] The technical solution of this utility model will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0038] like Figures 1-14 As shown, one embodiment of the present invention provides a straddle-type heliostat cleaning device, including a trolley assembly, a mirror cleaning device, a wastewater collection device, and a water supply mechanism; the trolley assembly includes a frame mechanism and a wheel mechanism, the frame mechanism is mounted on the wheel mechanism, and an inlet / outlet channel extending in a first direction is formed inside the trolley assembly;

[0039] The mirror cleaning device includes a transverse drive mechanism 5, a lifting drive mechanism and a mirror cleaning mechanism 6 connected in sequence. The transverse drive mechanism 5 is installed on the top of the frame mechanism, and the lifting drive mechanism is vertically installed on the transverse drive mechanism 5. The transverse drive mechanism 5 is used to drive the lifting drive mechanism and the mirror cleaning mechanism 6 to move along the first direction. The lifting drive mechanism is used to drive the mirror cleaning mechanism 6 to move up and down to get closer to or away from the mirror surface of the heliostat.

[0040] The mirror cleaning mechanism 6 is used to clean the heliostat mirror 25. The water supply mechanism includes a water tank and a water conveying mechanism. The water conveying mechanism is used to draw water from the water tank and supply it to the mirror cleaning mechanism 6. The wastewater collection device is installed on the frame mechanism and is lower than the mirror cleaning mechanism 6. The wastewater collection device is used to collect the water sprayed onto the heliostat mirror 25 by the mirror cleaning mechanism 6 and to transport the collected water to the water tank.

[0041] In this embodiment, the first direction is the length direction of the frame mechanism.

[0042] In this embodiment, when cleaning the heliostat mirror 25, the heliostat mirror needs to be rotated to a horizontal position in advance. Then, the straddle-type heliostat cleaning device is controlled to move towards the heliostat until the heliostat is located in the entry and exit channel of the trolley assembly. Next, the lifting drive mechanism is controlled to move the mirror cleaning mechanism 6 down to get closer to the mirror. Then, the water supply mechanism draws water from the water tank and supplies it to the mirror cleaning mechanism 6. The mirror cleaning mechanism 6 sprays water towards the mirror. At the same time, the horizontal drive mechanism 5 is activated to move the mirror cleaning mechanism 6 along the first direction to clean the entire mirror evenly. The water dripping from the mirror is collected by the wastewater collection device. The wastewater collection mechanism 7 can also transport the collected water to the water tank for recycling.

[0043] It is evident that the heliostat cleaning device's ability to recycle spray water significantly reduces the consumption of fresh water resources during heliostat cleaning, allowing for a more rational allocation and use of limited water resources. The wastewater collection system collects and reuses spray water that would otherwise be wasted, achieving water resource recycling and improving water utilization in the solar thermal power plant cleaning process and even the entire region. Furthermore, solar thermal power plants have numerous heliostats, require frequent cleaning, and consume enormous amounts of water. Recycling spray water through the wastewater collection system can significantly reduce the power plant's water costs, saving substantial water expenses and thus improving the power plant's economic efficiency.

[0044] In some embodiments, such as Figure 1 , Figure 2 , Figure 5 , Figure 6 and Figure 7 As shown, the lateral drive mechanism 5 includes at least one guide rail 501, a movable plate 502, a screw 504, and a first motor 503. The guide rail 501 is mounted on the top surface of the frame mechanism and extends along a first direction. The movable plate 502 is mounted on the slider of the guide rail 501 and extends along a second direction; that is, the guide rail 501 and the movable plate 502 are perpendicular to each other. Two bearing seats are arranged and mounted on the top of the frame mechanism along the first direction. The two ends of the screw 504 are respectively connected to the two bearing seats, and the axis of the screw 504 extends along the first direction. The movable plate 502 is threadedly connected to the screw 504. The first motor 503 is fixedly mounted on the top of the frame mechanism, and the output end of the first motor 503 is connected to one end of the screw 504. The second direction is the width direction of the frame mechanism, and the second direction is perpendicular to the first direction. Figure 3 In general, the first direction is the direction perpendicular to the paper and facing inwards, and the second direction is the left and right direction.

[0045] Optionally, two guide rails 501 are provided, and the two guide rails 501 are arranged along the second direction and installed on the top of the frame mechanism. The bottom sides of the movable plate 502 are respectively installed on the sliders on the two guide rails 501.

[0046] Optionally, the lateral drive mechanism 5 can be any one of a linear motor or a linear module, as long as it can drive the lifting drive mechanism and the mirror cleaning mechanism 6 to move together along the first direction.

[0047] In some embodiments, the lifting drive mechanism includes at least one third electric push rod 17, which is vertically mounted between the movable plate 502 and the mirror surface 25. Specifically, the top end of the third electric push rod 17 is connected to the bottom surface of the movable plate 502, and its bottom end is connected to the mirror cleaning mechanism 6, for driving the mirror cleaning mechanism 6 to rise and fall. It should be noted that the function of the lifting drive mechanism is to adjust the distance between the mirror cleaning mechanism 6 and the heliostat mirror surface 25.

[0048] In some embodiments, two third electric actuators 17 are provided, such as... Figure 3 As shown, the two third electric actuators 17 are arranged along the second direction.

[0049] Optionally, the lifting drive mechanism can be either a pneumatic cylinder or a hydraulic cylinder.

[0050] In this embodiment, as Figure 3 , Figure 6 and Figure 7As shown, the mirror cleaning mechanism 6 includes a cleaning plate 601, at least one spray pipe 603, and multiple nozzles 604. The cleaning plate 601 is fixedly mounted on the bottom end of the third electric push rod 17 and extends along a second direction. The spray pipe 603 is mounted on the bottom of the cleaning plate 601 and extends along the length of the cleaning plate 601. Each spray pipe 603 has multiple nozzles 604 along its axial direction. The water supply mechanism includes a water tank and a water conveying mechanism. The water conveying mechanism draws water from the water tank and supplies it to the mirror cleaning mechanism 6.

[0051] Thus, after the heliostat adjusts its mirror surface to a horizontal position, the heliostat cleaning device is moved to the heliostat, allowing it to enter the inlet / outlet channel of the frame mechanism. At this time, the mirror cleaning mechanism 6 is positioned above the heliostat mirror surface 25. Then, the third electric push rod 17 is extended to a set length, causing the cleaning plate 601 to descend and approach the heliostat mirror surface 25. Subsequently, the water supply mechanism draws water from the water tank and supplies it to the mirror cleaning mechanism 6. Simultaneously, the first motor 503 is started, driving the screw 504 to rotate, thereby driving the moving plate 502 to reciprocate along the first direction, uniformly spraying water onto the heliostat mirror surface 25. The impact and penetrating force of the water are used to remove dust, dirt, and other impurities, thus cleaning the mirror surface.

[0052] In this embodiment, as Figures 1-3 As shown, a horizontally mounted support plate is fixedly installed on the right side of the frame mechanism. Two frames are installed sequentially on the support plate. There are two water tanks. For ease of description, the two water tanks are named the first water tank 12 and the second water tank 15, respectively. The first water tank 12 and the second water tank 15 are placed in the two frames, which are used to limit the water tanks and prevent them from falling.

[0053] In this embodiment, the water supply mechanism includes a water injection pipe 607, a first water pump 11, and a water outlet pipe 608. One end of the water outlet pipe 608 is connected to the inlet of the first water pump 11, and the other end extends into the interior of the second water tank 15 and is close to the inner bottom wall of the second water tank 15. One end of the water injection pipe 607 is connected to the outlet of the first water pump 11, and the other end is connected to the spray pipe 603. Thus, by turning on the first water pump 11, water in the second water tank 15 flows sequentially into the water outlet pipe 608, the first water pump 11, and the water injection pipe 607, and then enters the spray pipe 603. Finally, it is sprayed onto the heliostat mirror 25 by the high-pressure nozzle 604 on the spray pipe 603.

[0054] It should be clear that the water injection pipe 607 mentioned above is a flexible hose and is long enough to prevent the mirror cleaning mechanism 6 from pulling on the water injection pipe 607 when it moves.

[0055] In this embodiment, the wastewater collection device includes two wastewater collection mechanisms 7 and a water delivery mechanism corresponding to each wastewater collection mechanism 7. The water delivery mechanism is used to transport water from the water collection box 703 to the first water tank 12. Figures 1-3 As shown, two wastewater collection mechanisms 7 are arranged along the second direction on the frame mechanism, that is, one wastewater collection mechanism 7 is installed on the left and right sides of the frame mechanism respectively.

[0056] Furthermore, such as Figure 5 and Figure 8 As shown, the wastewater collection mechanism 7 includes two sliding rails 702, a water collection box 703, a second electric push rod 704, and a water delivery mechanism. Two support seats 701 are fixedly installed on the left side of the frame mechanism along a first direction, and the two support seats 701 extend along a second direction. Two support seats 701 are also fixedly installed on the right side of the frame mechanism along a second direction, and the two support seats 701 extend along the second direction.

[0057] In the wastewater collection mechanism 7, the sliding rails 702 are fixedly installed on the corresponding support seats 701, and the length direction of the sliding rails 702 is consistent with the length direction of the support seats 701. The water collection box 703 is installed on the sliding blocks on the two sliding rails 702. A vertically arranged connecting plate 705 is fixedly installed between the ends of the two sliding rails 702 away from the frame mechanism. One end of the second electric push rod 704 is connected to the connecting plate 705, and the other end is connected to the water collection box 703.

[0058] like Figure 8 As shown, the top of the water collection box 703 is open, and it includes a first side, a second side, and a third side connected in sequence. The first and second sides are perpendicular, the first and third sides are parallel, and the first and third sides have the same length. The bottom of the first and third sides of the water collection box 703 are respectively connected to sliding blocks on two sliding rails 702.

[0059] It should be clarified that when the two water collection boxes 703 of the two wastewater collection mechanisms 7 are fitted together, they form a rectangular frame. This rectangular frame matches the heliostat mirror 25 to be cleaned. When collecting water from the heliostat mirror 25, the two second electric push rods 704 are simultaneously extended by a set length to drive the two water collection boxes 703 closer together until they are fitted. At this time, the heliostat mirror 25 is directly above the two water collection boxes 703, and the edge of the vertical projection of the heliostat mirror 25 falls into the interior of the two water collection boxes 703. In this way, the water on the mirror surface drips directly into the two water collection boxes 703 after leaving the edge of the mirror, thus completing the water collection.

[0060] In this embodiment, the shape and size of the water collection box 703 need to be adapted to the mirror surface of the corresponding heliostat. For example, when the mirror surface of the heliostat is square, the shape formed by splicing two water collection boxes 703 is a square frame. When the mirror surface of the heliostat is rectangular, the shape formed by splicing two water collection boxes 703 is a rectangular frame.

[0061] In this embodiment, the water delivery mechanism includes a hose, a water pump, and a water pipe connected in sequence. The end of the hose away from the water pump is connected to the bottom of the corresponding water collection box 703, and the end of the water pipe away from the water pump is connected to the first water tank 12.

[0062] For ease of description, the hose, pump, and pipe in the two water delivery mechanisms are named as first hose 707, first pump 706, first pipe 708, second hose 710, second pump 709, and second pipe 711, respectively.

[0063] Furthermore, such as Figure 2 As shown, a first water pump 706 is mounted on the top of the front of the frame mechanism, as... Figure 8 As shown, the inlet of the first water pump 706 is connected to a first flexible hose 707, and the other end of the first flexible hose 707 is connected to the bottom outlet of the water collection box 703 on the left side of the frame mechanism. The outlet of the first water pump 706 is connected to a first water supply pipe 708, and the other end of the first water supply pipe 708 is connected to the first water tank 12.

[0064] A second water pump 709 is installed on the lower right side of the chassis mechanism. For example... Figure 8 As shown, the inlet of the second water pump 709 is connected to a second flexible hose 710, and the other end of the second flexible hose 710 is connected to the bottom outlet of the water collection box 703 on the right side of the frame mechanism. The outlet of the second water pump 709 is connected to a second water supply pipe 711, and the other end of the second water supply pipe 711 is connected to the first water tank 12.

[0065] Thus, after the heliostat enters the access channel of this device, the position of this device is adjusted so that the horizontal mirror surface is directly below the mirror cleaning mechanism 6. Then, the third electric push rod 17 is controlled to extend by a set length, pushing the cleaning plate 601 down to approach the mirror surface. At the same time, the two second electric push rods 704 are controlled to extend by a set length simultaneously, driving the two water collection boxes 703 to approach each other until they are in contact. At this time, the edge of the vertical projection of the heliostat mirror surface 25 falls into the two water collection boxes 703. Subsequently, the first water pump 11 is controlled to start, drawing water from the first water tank 12. The water in the first water tank 12 passes through the outlet pipe 608, the first water pump 11, and the water injection pipe 607 in sequence to enter the spray pipe 603, and finally sprays onto the mirror surface from the nozzle 604 below the spray pipe 603. Simultaneously, the first motor 503 is started, driving the screw 504 to rotate. The screw 504 rotates and drives the moving plate 502 to move along the first direction (i.e., the length direction of the mirror surface), thereby uniformly rinsing the entire mirror surface along its length. The water sprayed onto the mirror surface drips down the edge of the mirror into the two water collection boxes 703 below. According to the command, the first water pump 706 and the second water pump 709 are started, thereby drawing water from the two water collection boxes 703 into the first water tank 12.

[0066] In water-scarce regions, water resources are precious and scarce. This heliostat cleaning device, by recycling spray water, significantly reduces the consumption of fresh water during heliostat cleaning, allowing for more rational allocation and use of limited water resources. Through a wastewater collection system, spray water that would otherwise be wasted is collected and reused, achieving water resource recycling and improving water utilization in the solar thermal power plant cleaning process and even the entire region. Furthermore, solar thermal power plants have numerous heliostats, require frequent cleaning, and consume huge amounts of water. Recycling spray water through the wastewater collection system greatly reduces the power plant's water costs, saving significant water expenses and thus improving the power plant's economic efficiency.

[0067] In some embodiments, the heliostat mirror 25 is often contaminated with dust and sediment, so the collected water will also contain a small amount of dust and sediment. Typically, in the initial stages of rinsing the heliostat mirror 25, the water in the first water tank 12 contains less dust and sediment because the number of mirrors being cleaned is small. However, as the number of mirrors being cleaned increases, the amount of dust and sediment in the water in the first water tank 12 increases, leading to a decrease in cleaning effectiveness.

[0068] To solve the above technical problems, such as Figure 2 As shown, a mounting bracket is fixedly installed on the first water tank 12, and a water filter 13 is mounted on the mounting bracket. The water filter 13 has two inlets and one outlet, as shown. Figure 8As shown, one end of the first water supply pipe 708 is connected to one inlet of the water filter 13, while one end of the second water supply pipe 711 is connected to the other inlet of the water filter 13. Figure 3 As shown, the bottom outlet of the water filter 13 is connected to the first water tank 12 via a pipe.

[0069] Thus, when recovering water from the mirror surface, the first water pump 706 and the second water pump 709 respectively pump water from the two water collection boxes 703 into the water filter 13. In this way, impurities such as mud and dust contained in the water are left in the water filter 13, and the purified clean water is transported to the first water tank 12 for recycling. In this way, the cleaning effect on the mirror surface is guaranteed, and the spray water can be recycled.

[0070] In some embodiments, the water filter 13 is one or a combination of a quartz sand filter and an activated carbon filter. Preferably, to improve the filtration effect, a combination of a quartz sand filter and an activated carbon filter can be used to filter the spray water.

[0071] It should be noted that in some high-altitude areas, the ambient temperature remains below freezing for more than four months. Currently, the cleaning method for concentrated solar power (CSP) plants uses water washing when the temperature is above freezing and dry cleaning when it is below freezing. Dry cleaning specifically refers to blow-dry cleaning, which involves blowing away dust. This is because at low temperatures, water sprayed onto the mirror surface freezes rapidly, trapping dust, sand, and other impurities within the ice layer. Cleaning at this point is difficult to completely remove these frozen impurities, significantly reducing the cleaning effectiveness.

[0072] Typically, water washing achieves a mirror cleanliness level of over 98%, while dry cleaning only reaches 92%. However, because dry cleaning results in a lower mirror cleanliness level than water washing, water washing cannot be applied to mirror cleaning in low-temperature environments. Therefore, ensuring that water washing can be used to clean the heliostat mirror 25 even in low-temperature environments has become a pressing technical problem that needs to be solved.

[0073] To address the aforementioned technical challenges and enable year-round water washing of the solar thermal power plant's mirrors, thereby significantly improving the annual average cleanliness of the mirror field and increasing the power plant's power generation, this embodiment incorporates a photovoltaic-thermal heat pump system. For example... Figure 2 , Figure 4 as well as Figure 5 As shown, the photovoltaic thermal heat pump system includes a PVT module 10, a heat pump system 14, a control system, a second water tank 15, a second water pump 16, and a storage battery 9.

[0074] A photovoltaic bracket 18 is installed on top of the vehicle frame structure, and a PVT module 10 is mounted on the photovoltaic bracket 18. A horizontally arranged load-bearing plate is fixedly installed on the left side of the vehicle frame structure, and the battery 9 and control cabinet 8 are both mounted on this load-bearing plate. The outlet of the second water tank 15 and the heat pump system 14 are connected by a first pipe 141, the inlet of the heat pump system 14 is connected to the first water tank 12 by a second pipe 142, the inlet of the second water pump 16 is connected to the second water tank 15 by a pipe, and its outlet is connected to the first water tank 12 by a pipe.

[0075] It should be explained that the PVT module 10 is the core component of the photovoltaic-thermal heat pump system, which is composed of solar photovoltaic modules and solar thermal modules (such as blown refrigerant evaporators) bonded together using adhesive or lamination technology. The photovoltaic modules convert solar radiation energy into electrical energy, while the solar thermal modules convert solar radiation energy into heat energy. The photovoltaic modules are connected to the storage battery 9, which stores electricity to power all electrical equipment within the cleaning device.

[0076] The heat pump system 14 includes components such as a compressor, expansion valve, economizer, and condenser. The compressor compresses the refrigerant, turning it into a high-temperature, high-pressure gas; the expansion valve regulates the refrigerant flow and pressure; the economizer improves the system's refrigerant cycle efficiency; and the condenser cools the high-temperature, high-pressure refrigerant gas into a liquid state.

[0077] A control system includes various sensors, controllers, and actuators used to monitor and control the system's operating parameters, such as temperature, pressure, and flow rate.

[0078] like Figure 13 As shown, the principle of a photovoltaic thermal heat pump system is as follows:

[0079] When sunlight shines on the photovoltaic module surface of the PVT module 10, some photon energy is absorbed and converted into electrical energy, which is then transmitted along the circuit to the inverter, converted into alternating current, and used to power various electrical devices. The remaining photon energy, along with the waste heat generated by the photovoltaic cells due to their own temperature rise, is absorbed by the lower inflatable refrigerant evaporator plate (i.e., the heat collector backplate) and converted into heat energy. This heat causes the refrigerant in the heat collector backplate to evaporate, becoming a low-temperature, low-pressure refrigerant gas, which then enters the gas-liquid separator. After gas-liquid separation, the refrigerant gas is drawn into the compressor and compressed into a high-temperature, high-pressure gas, which then enters the condenser. Further, cold water is pumped from the first water tank 12, and after passing through the second pipe 142 and the pump, the cold water enters the condenser. The high-temperature, high-pressure refrigerant gas transfers heat to the cold water, raising its temperature. The warm water then flows into the second water tank 15 through the first pipe 141. After the liquid refrigerant is throttled and depressurized by the expansion valve, it re-enters the heat collection back plate of the PVT module 10, and so on, to achieve continuous absorption and release of heat.

[0080] It should be clear that one end of the second pipe 142 is connected to the first water tank 12, and the other end of the second pipe 142 is connected to the inlet of the water pump in the heat pump system 14. The outlet of the water pump is connected to the inlet of the condenser through a pipe. The outlet of the condenser is connected to the first pipe 141, and one end of the first pipe 141 is connected to the second water tank 15.

[0081] That is, by starting the water pump, cold water is drawn from the first water tank 12. The cold water passes through the second pipe 142 and the water pump in sequence and enters the condenser. Finally, it flows from the condenser outlet into the first pipe 141 and then into the second water tank 15.

[0082] It should be noted that the compressor of heat pump system 14 can automatically adjust its speed according to actual hot water demand and system operation, thereby changing the refrigerant circulation volume and the system's heating capacity, achieving real-time regulation of the outlet water temperature. When a higher water temperature is needed, the compressor speeds up to increase heating capacity; when the water temperature reaches the set value or approaches the target temperature, the compressor speeds down to reduce heating capacity and maintain a stable water temperature. This process is a built-in function of heat pump system 14 and will not be described in detail.

[0083] It should be noted that photovoltaic heat pump systems are a very mature existing technology, so they will not be described in detail here.

[0084] In this embodiment, a temperature sensor is installed in the second water tank 15. The temperature sensor is communicatively connected to the control system in the control cabinet 8. The temperature sensor is used to measure the water temperature in the second water tank 15 in real time.

[0085] In this embodiment, when the heliostat mirror 25 is washed with water in a low-temperature environment, cold water is drawn from the first water tank 12 by a water pump. The cold water passes through the second pipe 142 and the water pump in sequence to enter the condenser. The high-temperature and high-pressure refrigerant gas in the condenser transfers heat to the cold water, raising its temperature. Then, hot water flows into the second water tank 15 through the first pipe 141. Afterward, the first water pump 11 is started, drawing hot water from the second water tank 15. The hot water flows through the outlet pipe 608, the first water pump 11, and the water inlet pipe 607 in sequence to enter the spray pipe 603. The hot water is then sprayed onto the mirror surface through the spray pipe 603.

[0086] In this way, even in winter, the heliostats can be cleaned by washing with water, effectively removing dirt and frost and keeping the mirrors clean. This significantly improves the annual cleanliness of the heliostat field and increases the power plant's electricity generation.

[0087] It should be noted that when the ambient temperature is above freezing and hot water is not needed for rinsing, the heat pump system 14 can be turned off. In this case, the water flow is as follows: the first water pump 11 is started, drawing cold water from the second water tank 15. The cold water flows sequentially through the outlet pipe 608, the first water pump 11, and the inlet pipe 607 into the spray pipe 603. The cold water is then sprayed onto the mirror surface through the hot water in the spray pipe 603. Simultaneously, the first water pump 706 and the second water pump 709 are activated, drawing water from the two water collection boxes 703 into the first water tank 12. At the same time, the second water pump 16 is activated to replenish water to the second water tank 15.

[0088] In some embodiments, such as Figure 9 As shown, the spray pipe 603 is a U-shaped pipe, and multiple spray heads 604 are evenly installed at both ends of the U-shaped pipe.

[0089] To improve the cleaning effect on the mirror surface, such as Figure 6 and Figure 7 As shown, a brush mechanism is mounted on the cleaning plate 601. The brush mechanism includes multiple conical brushes 602, a transmission mechanism, and a second motor 606. Multiple conical brushes 602 are mounted along the length of the bottom of the cleaning plate 601. Each conical brush 602 includes a connected shaft and brush, with the shaft rotatably connected to the cleaning plate 601. The shafts of the multiple conical brushes 602 are connected to each other via the transmission mechanism. The output end of the second motor 606 is connected to the transmission mechanism, and the second motor 606 drives the transmission mechanism to rotate the multiple conical brushes 602 around their respective axes.

[0090] In some embodiments, the transmission mechanism may employ a transmission method such as gear transmission or belt transmission. For example, a gear is installed on the shaft handle of each conical brush 602, and multiple gears mesh in sequence, with the output end of the second motor 606 connected to one of the gears.

[0091] In some embodiments, such as Figure 6 and Figure 7 As shown, a protective shell 605 is installed on the top of the cleaning plate 601. The protective shell 605 covers the aforementioned transmission mechanism, such as a gear transmission structure, thereby protecting the transmission mechanism.

[0092] In some embodiments, the nozzles 604 on both sides of the U-shaped tube formed by the multiple tapered brushes 602 and the spray pipes 603 are located on the sides of the tapered brushes 602. Thus, when the cleaning plate 601 moves, the tapered brushes 602 adhere to the mirror surface, and the nozzles 604 on both sides of the tapered brushes 602 spray water simultaneously, cleaning in a process of rinsing, brushing, and rinsing again, which greatly improves the cleaning effect on the mirror surface.

[0093] Considering that concentrated solar power (CSP) plants are often built in the Gobi Desert or other desert areas, and that the cost of leveling roads within CSP plants is high, the roads within these plants are often not very smooth. However, this equipment ensures that the cleaning plate 601 is parallel to the heliostat mirror surface 25 during use, allowing multiple conical brushes 602 to adhere evenly to the mirror surface.

[0094] Therefore, the wheel mechanism and frame mechanism in this embodiment are configured as follows: Figures 1-3 The state is shown. Specifically, the wheel mechanism includes four electric steering wheels 1, and the frame mechanism includes a frame and four sets of electric telescopic components. The frame includes a top frame 4 and four uprights 3. The top frame 4 is a rectangular frame, and the four uprights 3 are fixed to the four bottom corners of the top frame 4. A horizontally arranged plate is welded to the bottom surface of each upright 3. Each of the four electric steering wheels 1 corresponds one-to-one with the four uprights 3. A vertically arranged first electric push rod 2 is fixedly installed on both the left and right sides of each electric steering wheel 1, and the top of each first electric push rod 2 is fixedly connected to the plate at the bottom of the upright 3.

[0095] When uneven road surfaces cause the device to tilt, adjusting the height of the corresponding upright 3 can adjust the levelness of the cleaning plate 601 to some extent. For example, when the left side of the heliostat cleaning device is lower than the right side, the first electric push rod 2 on the two electric steering wheels 1 on the left side of the control frame extends synchronously by a set length, thereby raising the left side of the top frame 4 until the top frame 4 is level. How to adjust in other situations is not detailed here.

[0096] To more quickly detect whether the cleaning plate 601 and the heliostat mirror 25 are parallel, a horizontal measuring mechanism is installed on the frame structure. This mechanism measures the angle between the cleaning plate 601 and the heliostat mirror 25. The horizontal measuring mechanism includes multiple distance sensors evenly arranged along the edge of the lower surface of the cleaning plate 601. By recording the changes in the values ​​from the multiple distance sensors, the degree of tilt between the cleaning plate 601 and the heliostat mirror 25 is detected. Based on the data provided by the distance sensors, each of the first electric push rods 2 is adjusted accordingly to keep the cleaning plate 601 parallel to the heliostat mirror 25.

[0097] In some embodiments, during the movement of the device toward the heliostat and the entry / exit channel of the heliostat into the trolley assembly, a situation may occur where the mirror cleaning device is misaligned with the mirror surface. For example, the cleaning plate 601 may misalign with the mirror surface. Figure 14 As shown in the diagram, the mirror cleaning mechanism 6 is unable to clean the entire mirror surface under these circumstances.

[0098] To address this technical problem, in this embodiment, a detection component is also added to the vehicle frame mechanism. This component includes four cameras 23, a computer, and image processing software. Figure 10 As shown, four mounting brackets 22 are installed at the center of each of the four sides of the top frame 4. Each mounting bracket 22 is equipped with a camera 23, which is tilted and points downwards towards the top frame 4. Cameras 23 with a resolution of 2 megapixels or higher are selected to obtain clearer image details.

[0099] These four cameras 23 are used to capture images of the four sides of the cleaning plate 601 and the four sides of the heliostat mirror 25, respectively, to obtain image data.

[0100] The specific detection principle is as follows:

[0101] Image acquisition stage:

[0102] Four cameras 23 respectively capture images of the four sides of the cleaning plate 601 and the corresponding four sides of the heliostat mirror 25, acquiring image data. The cameras 23 can continuously capture images according to a set exposure time and frame rate to obtain a series of images for subsequent analysis.

[0103] Image preprocessing stage:

[0104] The acquired images may be affected by noise and other factors. Image processing software first preprocesses the images. This includes grayscale conversion, transforming color images into grayscale images to reduce data volume and highlight key features. Image enhancement operations, such as contrast adjustment and sharpening, can also be performed to make the contours of objects clearer. For example, histogram equalization can be used to enhance image contrast, making the pixel value distribution at side edges more distinct.

[0105] Feature extraction and analysis stage:

[0106] Edge detection is performed on the preprocessed image to extract the contours of the same side of the cleaning plate 601 and the heliostat mirror 25. Commonly used methods include the Sobel operator and the Canny operator. The Sobel operator detects edges by calculating the gradient of image pixels, highlighting areas with large gray-level changes in the image, i.e., the contour boundaries of the object's side. The Canny operator is a more accurate edge detection method, combining Gaussian filtering and smoothing to effectively suppress noise while accurately detecting the edges of the object's side.

[0107] After edge extraction, the geometric model is used to analyze whether the sides of the cleaning plate 601 and the heliostat mirror 25 on the same side are on the same vertical plane. A three-dimensional coordinate system can be established to convert the coordinates of the two-dimensional image captured by the camera 23 into three-dimensional coordinates. Assuming that the sides of the cleaning plate 601 and the heliostat mirror 25 on the same side should ideally be on the same vertical plane, the positional relationship of the actual edges in three-dimensional space is calculated to determine whether there is any deviation.

[0108] Results output and feedback phase:

[0109] The image processing software outputs the analysis results to the computer control system. If the cleaning plate 601 and the heliostat mirror 25 are not on the same vertical plane, an alarm signal can be issued, and the system can automatically adjust according to the detection deviation.

[0110] In some embodiments, to adjust the relative positions of the sunroof mirror 25 and the cleaning plate 601, so that the left and right sides of the mirror and the left and right sides of the cleaning plate 601 are approximately aligned, a position detection mechanism is installed on the frame mechanism.

[0111] As a specific embodiment, such as Figure 10 as well as Figure 11 As shown, a first mounting plate 19 is installed between the two uprights 3 on the left side of the frame mechanism, and a second mounting plate 21 is installed between the two uprights 3 on the right side of the frame mechanism. A distance sensor 20 is installed at the middle position of the first mounting plate 19 and the middle position of the second mounting plate 21. The distance sensor 20 is connected to the control cabinet 8 via signal.

[0112] When the heliostat cleaning device is slowly moved towards the heliostat, the heliostat enters the access channel inside the frame mechanism. When the heliostat column 24 is aligned with the distance sensor 20, the distance sensor 20 detects a signal, indicating that the heliostat is located at the midpoint of the device's length direction. If, at this time, the data detected by the two distance sensors 20 exceeds the set range, it indicates that the heliostat column 24 deviates significantly from the midpoint of the frame mechanism's width direction. In this case, the device is moved accordingly based on the values ​​from the two distance sensors 20 until the difference between the data detected by the two distance sensors 20 falls within the set range.

[0113] When the heliostat column 24 is located at the midpoint of the width direction of the access passage, the distances between the two range sensors 20 and the heliostat column 24 are the same. Assume that at this point, the distance between the two range sensors 20 and the heliostat column 24 is 'a'.

[0114] When the distance measured by the distance sensor 20 on the left side of the frame mechanism is a+30cm, and the distance measured by the distance sensor 20 on the right side of the frame mechanism is a-30cm, it indicates that the current heliostat column 24 is closer to the right side of the frame mechanism. At this time, simply move the four electric steering wheels 1 to the left by about 30cm.

[0115] As can be seen, in this embodiment, the relative position of the device and the heliostat can be adjusted by using the range sensor 20, so that the heliostat is located in the middle position in the width direction of the frame mechanism. At this time, the left and right sides of the mirror and the left and right sides of the cleaning plate 601 are roughly aligned.

[0116] In some embodiments, such as Figure 12 As shown, the position detection mechanism includes four range sensors 20, which are respectively installed at the corners of the four uprights 3 facing the center of the access passage. By recording the relative distances of the four range sensors 20 to the heliostat column 24, it can be determined whether the heliostat column 24 is currently at the center of the access passage.

[0117] In the description of this utility model, it should be noted that the terms "upper" and "lower," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0118] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the connection within two components. Furthermore, in the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0119] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A heliostat cleaning device for a straddle-type heliostat, characterized in that, It includes a trolley assembly, a mirror cleaning device, a wastewater collection device, and a water supply mechanism; the trolley assembly includes a frame mechanism and a wheel mechanism, the frame mechanism is mounted on the wheel mechanism, and an entry / exit channel extending in a first direction is formed inside the trolley assembly; The mirror cleaning device includes a transverse drive mechanism (5), a lifting drive mechanism, and a mirror cleaning mechanism (6) connected in sequence. The transverse drive mechanism (5) is installed on the top of the frame mechanism. The lifting drive mechanism is vertically installed on the transverse drive mechanism (5). The transverse drive mechanism (5) is used to drive the lifting drive mechanism and the mirror cleaning mechanism (6) to move along a first direction. The lifting drive mechanism is used to drive the mirror cleaning mechanism (6) to move up and down to get closer to or away from the mirror of the heliostat. The mirror cleaning mechanism (6) is used to clean the heliostat mirror (25). The water supply mechanism includes a water tank and a water conveying mechanism. The water conveying mechanism is used to draw water from the water tank and supply it to the mirror cleaning mechanism (6). The wastewater collection device is installed on the frame mechanism and is lower than the mirror cleaning mechanism (6). The wastewater collection device is used to collect the water sprayed by the mirror cleaning mechanism (6) onto the heliostat mirror (25) and to transport the collected water to the water tank.

2. The heliostat cleaning device according to claim 1, characterized in that, The mirror cleaning mechanism (6) includes a cleaning plate (601), at least one spray pipe (603), multiple nozzles (604), and a brush mechanism; the lifting drive mechanism includes at least one third electric push rod (17), which is vertically installed between the cleaning plate (601) and the transverse drive mechanism (5); the cleaning plate (601) extends along a second direction, the spray pipe (603) is installed on the cleaning plate (601), each spray pipe (603) is provided with multiple nozzles (604) along its axial direction, and the brush mechanism is installed on the cleaning plate (601) for cleaning the heliostat mirror (25), the first direction and the second direction are perpendicular to each other.

3. The heliostat cleaning device according to claim 2, characterized in that, The water supply mechanism includes a first water tank (12), a second water tank (15), a water injection pipe (607), a first water pump (11), and a water outlet pipe (608). One end of the water outlet pipe (608) is connected to the inlet of the first water pump (11), and the other end is connected to the second water tank (15). One end of the water injection pipe (607) is connected to the outlet of the first water pump (11), and the other end is connected to the spray pipe (603).

4. The heliostat cleaning device according to claim 3, characterized in that, The wastewater collection device includes two wastewater collection mechanisms (7), which are arranged along a second direction on the frame mechanism. Each wastewater collection mechanism (7) includes two sliding rails (702), a water collection box (703), a second electric push rod (704), and a water delivery mechanism. The two sliding rails (702) are arranged along a first direction and extend along a second direction. The water collection box (703) is slidably mounted on the two sliding rails (702). The second electric push rod (704) is used to push the water collection box (703) to move along the second direction so that the water collection box (703) is close to or away from the heliostat column (24). The top of the water collection box (703) is open and includes a first side, a second side, and a third side connected in sequence. The first side and the second side are perpendicular, and the first side and the third side are parallel. The water delivery mechanism is used to deliver the water in the water collection box (703) to the first water tank (12).

5. A heliostat cleaning device for a straddle-type heliostat according to claim 4, characterized in that, The system includes a water filter (13) having two inlets and one outlet. The water delivery mechanism includes a hose, a water pump, and a water pipe. The bottom of the water collection box (703) has an outlet. One end of the hose is connected to the outlet of the water collection box (703), and the other end is connected to the inlet of the water pump. One end of the water pipe is connected to one inlet of the water filter (13). The outlet of the water filter (13) is connected to the first water tank (12) through a pipe.

6. The heliostat cleaning device according to claim 5, characterized in that, The system includes a photovoltaic-thermal heat pump system installed on the vehicle frame. The photovoltaic-thermal heat pump system includes a PVT component (10), a heat pump system (14), a second water tank (15), and a battery (9). The PVT component (10) and the battery (9) are electrically connected. The outlet of the second water tank (15) and the heat pump system (14) are connected through a first pipe (141). The inlet of the heat pump system (14) is connected to the first water tank (12) through a second pipe (142).

7. A heliostat cleaning device for a straddle-type heliostat according to claim 2, characterized in that, The brush mechanism includes multiple conical brushes (602), a transmission mechanism, and a second motor (606). The conical brushes (602) are arranged and installed on the cleaning plate (601) along the length direction of the cleaning plate (601). The multiple conical brushes (602) are connected to each other through the transmission mechanism. The output end of the second motor (606) is connected to the transmission mechanism. The second motor (606) is used to drive the transmission mechanism to drive the multiple conical brushes (602) to rotate around their respective axes.

8. The heliostat cleaning device according to claim 1, characterized in that, The wheel mechanism includes four electric steering wheels (1), the frame mechanism includes a frame and four sets of electric telescopic components, each set of electric telescopic components has at least one electric telescopic component, and each electric steering wheel (1) is equipped with a set of electric telescopic components. The bottom end of the frame mechanism is connected to the top end of the electric telescopic components on the four electric steering wheels (1), and the electric telescopic components are used to extend and retract in the vertical direction according to the command.

9. A heliostat cleaning device for a straddle-type heliostat according to claim 2, characterized in that, The lateral drive mechanism (5) includes at least one guide rail (501), a movable plate (502), a screw (504), and a first motor (503). The guide rail (501) is mounted on the top surface of the frame mechanism and extends along a first direction. The movable plate (502) is slidably mounted on the guide rail (501) and extends along a second direction. The screw (504) extends along the first direction and is mounted on the top of the frame mechanism. The movable plate (502) is threadedly connected to the screw (504). The output end of the first motor (503) is connected to one end of the screw (504). The top end of the third electric push rod (17) is fixed to the bottom surface of the movable plate (502).

10. A heliostat cleaning device for a straddle-type heliostat according to claim 2, characterized in that, A horizontal measuring mechanism is installed on the frame mechanism, which is used to measure the angle between the cleaning plate (601) and the heliostat mirror (25).

Images