CN109491387A - It is loaded in navigation cleaning equipment and method in heliostat field on crusing robot car body - Google Patents
It is loaded in navigation cleaning equipment and method in heliostat field on crusing robot car body Download PDFInfo
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- CN109491387A CN109491387A CN201811377124.6A CN201811377124A CN109491387A CN 109491387 A CN109491387 A CN 109491387A CN 201811377124 A CN201811377124 A CN 201811377124A CN 109491387 A CN109491387 A CN 109491387A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 53
- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000007689 inspection Methods 0.000 claims abstract description 62
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 23
- 238000001514 detection method Methods 0.000 claims abstract description 11
- 238000009434 installation Methods 0.000 claims abstract description 7
- 238000004891 communication Methods 0.000 claims abstract description 4
- 238000013461 design Methods 0.000 claims description 15
- 230000033001 locomotion Effects 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 9
- 230000009467 reduction Effects 0.000 claims description 9
- 238000010521 absorption reaction Methods 0.000 claims description 8
- 230000000712 assembly Effects 0.000 claims description 8
- 238000000429 assembly Methods 0.000 claims description 8
- 241001417527 Pempheridae Species 0.000 claims description 7
- 238000005070 sampling Methods 0.000 claims description 7
- 238000009826 distribution Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000005259 measurement Methods 0.000 claims description 5
- 230000004807 localization Effects 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 7
- 239000000428 dust Substances 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 239000004576 sand Substances 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000012856 packing Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000013517 stratification Methods 0.000 description 2
- 241001455273 Tetrapoda Species 0.000 description 1
- 230000035508 accumulation Effects 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000005338 heat storage Methods 0.000 description 1
- 238000000386 microscopy Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000002310 reflectometry Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
- 238000000638 solvent extraction Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of navigation cleaning equipment and methods being loaded in heliostat field on crusing robot car body.Magnetic navigation auxiliary body is installed on crusing robot Vehicular body front, magnetic navigation sensor is loaded on crusing robot car body front end face, loaded on crusing robot car body, GPS positioning sensor and magnetic navigation sensor pass through serial communication and are electrically connected with microcontroller for GPS positioning sensor and microcontroller；Two front vehicle wheels of chassis of vehicle body are mounted on front-wheel drive motor, and front-wheel drive motor is connected to wheel through front-wheel drive motor output shaft；In magnetic navigation auxiliary body, gear set, chassis of vehicle body front end top surface installation pedestal are respectively mounted at two front-wheels of chassis of vehicle body, gear set is connected with front-wheel drive motor, and connecting component is connected to pedestal, and cleaning part is installed on connecting component end.The present invention more efficiently can carry out inspection operation to heliostat field, can complete cleannes detection by the mirror surface to a wide range of Jing Chang more quickly, greatly improve detection efficiency.
Description
Technical field
The present invention relates to a kind of navigation cleaning equipment and method for inspecting, are loaded in heliostat field and patrol more particularly, to one kind
The navigation cleaning equipment and method for inspecting on robot car body are examined, suitable for patrolling for solar power tower mirror field crusing robot
Examine path planning.
Background technique
Tower-type solar thermal power generating system is generally main by heat absorption tower, heliostat field, generating set and heat storage can etc. four
Part forms, and mainly based on circular array, the heat accumulations generating equipment such as heat absorption tower is located at the circular array center heliostat field.
Heliostat is the essential core technology and equipment of tower-type solar thermal power generating system, once due to the influence of dusty wind weather, the settled date
Mirror surface can cover certain sand and dust, and sand dust will have a direct impact on the reflectivity size of mirror surface, to seriously affect power station
Generating efficiency.Therefore once the cleannes detection for having strong wind weather to need to carry out Jing Chang heliostat, clear to carry out mirror surface
Wash work, thus for large range of heliostat field carry out mirror surface cleaning degree inspection work be very it is necessary to.
The patrol worker of heliostat field is made mainly based on manual inspection at present, however for large-scale heliostat field
Carrying out cleannes manual detection work has larger difficulty, though the research work of related crusing robot existing at present is carrying out,
It, can not be with face heliostats up to ten thousand however for the not yet very good solution of the path planning problem in heliostat field when inspection
Jing Chang carries out efficient, reasonable inspection work.
The positioning method used in heliostat field is GPS positioning, the positioning being usually used on mirror surface cleaning unmanned vehicle, but by
In its biggish position error, someone's assisting navigation is generally required, avoids deviateing and bumping against on heliostat.Likewise, using single
One GPS positioning technology also can not carry out inspection work to heliostat field well.
Therefore how to design a kind of can be realized efficient, stable, high-precision inspection navigation cleaning equipment and method for inspecting
It is those skilled in the art's technical issues that need to address.
Summary of the invention
In order to overcome the drawbacks of the prior art, the present invention is intended to provide one kind is loaded in crusing robot car body in heliostat field
On navigation cleaning equipment and method with less polling path, quickly determine especially under night-environment and to need to clean
Heliostat field.
To achieve the above object, the technical solution adopted by the present invention is that:
One, a kind of navigation cleaning equipment being loaded in heliostat field on crusing robot car body:
Main includes crusing robot car body and the GPS positioning sensor being mounted on crusing robot car body, magnetic navigation
Sensor, microcontroller and magnetic navigation auxiliary body；Magnetic navigation auxiliary body is installed on crusing robot Vehicular body front, magnetic navigation
Sensor is loaded on crusing robot car body front end face, and GPS positioning sensor and microcontroller are both secured to crusing robot car body
On, GPS positioning sensor and magnetic navigation sensor pass through serial communication and are electrically connected with microcontroller.
The crusing robot car body includes the wheel of chassis of vehicle body, chassis of vehicle body quadrangle, and two of them front vehicle wheel is equal
Front-wheel drive motor is installed, front-wheel drive motor is connected to wheel through front-wheel drive motor output shaft；
The magnetic navigation auxiliary body includes gear set, pedestal, cleaning part and connecting component；Two of chassis of vehicle body
Gear set, chassis of vehicle body front end top surface installation pedestal are respectively mounted at front-wheel, gear set is connected with front-wheel drive motor, connecting component
It is connected to pedestal, cleaning part is installed on connecting component end.
The gear set includes input shaft angular wheel and output shaft angular wheel, and input shaft angular wheel is coaxially fixed
It is sleeved on front-wheel drive motor output shaft, the coaxial fixing sleeve of output shaft angular wheel is loaded on the side group seat pillar of the pedestal
On, it is connected by meshing transmission between input shaft angular wheel and output shaft angular wheel by gear；Input shaft angular wheel with it is defeated
The reduction ratio of shaft bevelled gear design is 1:1.
The pedestal include two side group seat pillars and intermediate base seat pillar, two side group seat pillars respectively be hingedly installed on two
It is intermediate on the column articulated chassis of vehicle body being installed between two side group seat pillars of intermediate base on chassis of vehicle body by a front vehicle wheel
Base posts and two side group seat pillars are aligned perpendicular relative to the straight line of crusing robot car body direction of advance, and intermediate base seat pillar and vehicle
The middle line on body chassis is overlapped.
The connecting component includes two rotation length bar assemblies and swings stock, swings stock one end and intermediate base
Column is coaxially affixed, and swinging bifurcated at one end of the stock other end close to end is two parallel branch bars, two rotation length
Bar assembly is arranged in the two sides for swinging stock and asymmetric arrangement；Each rotation length bar assembly includes rotation quarter butt, rotation
Turn stock and rotational slide block, the side base posts for rotating quarter butt one end and pedestal are coaxially affixed, rotate the quarter butt other end and rotation
The one end for turning stock is hinged, and the other end and the rotational slide block for rotating stock are hinged, and rotational slide block movable set is grown in swing
In one branch bar of the bar other end, swing rotation quarter butts in two of stock two sides rotation length bar assemblies, rotation stock and
Rotational slide block position and angle are with the middle line asymmetric arrangement of chassis of vehicle body；The cleaning part includes brush sweeper and inserts
Pin；Brush sweeper is turned by sliding slot and bolt peace in the end of the rotation stock other end.
Two gear set structures being respectively mounted at two front-wheels of chassis of vehicle body are different, and the gear set of side is than the other side
Gear set also increases an intermediate drive gear component, and the intermediate drive gear component includes the upper and lower of horizontal parallel installation
Two gears, upper and lower two gears are coaxially connected；Input shaft angular wheel engages company with the lower gear of intermediate drive gear component
It connects, and it is 1:3 that two module ratios, which are reduction ratio, the gear of intermediate drive gear component is engaged with output shaft angular wheel
Connection, and reduction ratio is 3:1.
The magnetic navigation sensor is rectangular-shape, and magnetic navigation sensor includes at least eight magnetic signal receivers
Part, eight magnetic signal receiving devices are uniformly distributed at equal intervals along the straight line for being parallel to crusing robot car body front end face horizontal sides.
The GPS positioning sensor is fixedly installed in crusing robot car body top.
Magnetic stripe also is placed on the polling path of heliostat field, coarse localization is carried out using GPS positioning sensor, utilizes magnetic
Navigation sensor carries out precise positioning, and then the mobile completion inspection of realizing route search.
Two, a kind of navigation method for inspecting being loaded in heliostat field on crusing robot car body:
The method uses above-mentioned navigation cleaning equipment.Heliostat field include centrally located heat absorption tower and be located at heat absorption tower
Heliostat of the surrounding around arrangement.
Step S1: being first layered heliostat field, is divided into three according to the difference of wind direction and mirror surface present position
Layer:
First layer: heliostat field is circumferentially uniformly divided into according to wind vector range in the fixed section time by three areas Ge great
Domain, each big region are 120 degree of fan-shaped regions；
The second layer: range is mainly concentrated circumferentially uniformly to continue in the big region of each 120 degree of fan-shaped regions according to wind direction
Three middle regions are subdivided into, each middle region is 40 degree of fan-shaped regions；
Third layer: according to distance is different and the arrangement of heliostat is close between heliostat in heliostat field and center heat absorption tower
Degree continues radially for each middle region to be divided into identical three sub-regions of radial dimension；
Step S2: being job note according to the big region that wind vector range in the set time determines in step S1 first layer
Position carries out inspection process using navigation cleaning equipment；
Step S3: due to different wind directions, the quantity that each region is affected by wind and sand is also different, to the every of third layer
Sub-regions obtain heliostat sample size n to be inspected；
Step S4: being radially divided into the identical three mirror rows of radial dimension for the continuation of each subregion of third layer, will be to
Inspection heliostat sample size n is evenly distributed to three mirror rows as far as possible, and the heliostat sample size to be inspected of each mirror row is
Even number, and the difference of the heliostat sample size to be inspected of adjacent mirror in the ranks is without departing from 2；
Step S5: according to the polling path of preparatory fixed shape with the heliostat sample to be inspected in step S4 determining mirror row
This quantity carries out inspection by navigation cleaning equipment in each mirror row of each subregion, during inspection, in polling path
Heliostat sample arrangement to be inspected meets following condition: the heliostat sample size width to be inspected under polling path circumferentially is extremely
It is less 1/6 of the heliostat quantity where the outer camber line of mirror row fan ring, the heliostat sample number to be inspected under polling path radially
Amount width is at least 1/2 of the heliostat quantity where mirror row fan ring sideline, and the minimum of the polling path of fixed shape is outer in advance
Connect the fan annular covering at least half of region of mirror row.
The step S3 specifically:
S3.1: proportional-type random sampling without replacement is carried out using the subregion to third layer, calculates and obtains preliminary heliostat
Sample size n1:
Wherein, n1For preliminary heliostat sample size, z is the heliostat sample to be inspected under standardized normal distribution in fixation
Statistic (when such as confidence level is 95%, z=1.96) under confidence level, P are that subregion heliostat sample size to be inspected accounts for
The ratio desired value (generally taking 0.5) of heliostat total quantity, e indicate the error amount that the average cleannes of the sub-district domain measurement allow
(0<e<1)；
S3.2: and then further sample estimation is carried out using following formula and obtains intermediate heliostat sample size n2:Wherein N is the heliostat sum in heliostat field；
S3.3: according to influence factor between influence factor and third layer region between the middle region of the second layer, using than
Parameter B is to intermediate heliostat sample size n for example2It is modified and obtains heliostat sample size n:n=Bn to be inspected2；
Heliostat sample size n to be inspected is even number and meets the following conditions: T >=T simultaneously after amendment0+nT1, wherein T is
Inspection total time, T0For the cleaning equipment total time that motion process is spent in addition to detecting heliostat of navigating, T1 determines for single side
The required time of solar eyepiece detection.
In the step S5, circumferential line of demarcation of the polling path between adjacent mirror row is arranged symmetrically, and adjacent
Radial line of demarcation of the polling path between subregion is arranged symmetrically.
The scale parameter B designs a scale parameter table and is compareed according to different influence factors.Heliostat
In, magnetic stripe is laid on polling path, using GPS positioning sensor carry out coarse localization, using magnetic navigation sensor into
The accurate route searching of row.
The polling path is the movement routine of approximate zigzag, and the centre of zigzag is mobile using S-shaped.
Beneficial effects of the present invention are as follows:
The present invention can be more stable in a wide range of mirror field by way of combining magnetic navigation technology with GPS positioning technology
Accurately carry out inspection operation；
Front wheel drive force can be converted into keeping cleaning part wiggly by the magnetic navigation auxiliary body that the present invention designs
Power to remove the barrier on magnetic stripe in inspection, and passes through the adjustable cleaning of differential control of left and right wheel driving force
Region, and then turning when magnetic stripe can still be cleared up.
The present invention is by the sample mode of science, and for comprehensive multiple key factors to Jing Chang progress subregion, routing inspection efficiency is higher.
The polling path that the present invention designs has overlay area is wide, path is short, inspection is reasonably distributed, mirror field is adaptable etc.
Advantage.
As it can be seen that in practical applications, the navigation cleaning equipment and method for inspecting that the present invention designs can be more efficiently to fixed
Inspection operation is carried out in solar eyepiece field, and the GPS positioning sensor and magnetic navigation sensor of use can adapt to round-the-clock detection work,
It is lower to environmental requirement, it can be achieved that the inspection under night off working state works；Polling path navigation is incorporated simultaneously to clean
In equipment, cleannes detection can be completed by the mirror surface to a wide range of Jing Chang more quickly, greatly improve detection efficiency.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to institute in the prior art and embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the structure general illustration of navigation cleaning equipment designed by the present invention；
Fig. 2 is the structure diagram of navigation cleaning equipment designed by the present invention；
Fig. 3 is the wheel position partial enlarged view of navigation cleaning equipment designed by the present invention；
Fig. 4 is the scheme of installation of cleaning part on navigation cleaning equipment designed by the present invention；
Fig. 5 is photo-thermal power station heliostat field region of patrolling and examining distribution map；
Fig. 6 is that mirror field areas to be inspected divides figure；
The mirror row that Fig. 7 is region of patrolling and examining A1 divides schematic diagram；
Fig. 8 is that heliostat field polling path plans schematic diagram；
Fig. 9 is the corresponding polling path schematic diagram of mirror row of different sample sizes；
Figure 10 is that gear set cooperates schematic diagram；
Figure 11 is cleaning part working state schematic representation in the cleaning equipment that navigates under straight travel state.
In figure: 001- crusing robot car body, 002-GPS alignment sensor, 003- magnetic navigation sensor, 004- microcontroller
Device, 005- magnetic navigation auxiliary body；100- chassis of vehicle body, 200- gear set, 300- pedestal, 400- cleaning part, 500- connection
Component；101- the near front wheel driving motor output shaft, 102- off-front wheel driving motor output shaft, 103- wheel；201- inputs axial cone
Shape gear, 202- output shaft angular wheel；203- intermediate drive gear component, the left side 301- base posts, 302- intermediate base seat pillar,
Base posts on the right side of 303-；401- brush sweeper, 402- bolt；501- rotates quarter butt, and 502- rotates stock, 503- rotational slide
Block, 504- swing stock.
Specific embodiment
Core of the invention is to provide a kind of navigation cleaning equipment for crusing robot in heliostat field and inspection side
Method, can the dust distribution situation effectively to heliostat field efficiently obtained, reduce unnecessary detection path.
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached in embodiment
Figure, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is the present invention
A part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not having
Every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
It should be noted that it can directly on the other element when element is referred to as " being fixed on " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.Term used in the present invention " vertical ", " horizontal ",
"left", "right" and similar statement for illustrative purposes only, are not meant to be the only embodiment.
Unless otherwise defined, all technical and scientific terms used in the present invention and belong to technical field of the invention
The normally understood meaning of technical staff it is identical.Used term is intended merely to retouch in the description of the invention in the present invention
State the purpose of specific embodiment, it is not intended that in the limitation present invention.Term used in the present invention " and/or " it include one
Or any and all combinations of multiple relevant listed items.
As shown in Figure 1, present invention specific implementation mainly includes crusing robot car body 001 and is mounted on crusing robot vehicle
GPS positioning sensor 002, magnetic navigation sensor 003, microcontroller 004 and magnetic navigation auxiliary body 005 on body 001；Inspection
001 tetrapod of robot car body is equipped with wheel, and magnetic navigation auxiliary body 005 is installed on 001 front of crusing robot car body,
Magnetic navigation sensor 003 is loaded on 001 front end face of crusing robot car body, and GPS positioning sensor 002 and microcontroller 004 are solid
Due on crusing robot car body 001, GPS positioning sensor 002 and magnetic navigation sensor 003 pass through serial communication and micro-control
Device 004 processed is electrically connected, 004 external power supply of microcontroller, is powered by external power supply to navigation cleaning equipment.
As shown in Fig. 2, crusing robot car body 001 includes chassis of vehicle body 100,100 4 jiaos of chassis of vehicle body of wheel 103,
Two of them front vehicle wheel is mounted on front-wheel drive motor, and front-wheel drive motor connects through front-wheel drive motor output shaft 101/102
It is connected to wheel 103, control wheel 103 rotates and then crusing robot car body 001 is driven to advance；Left and right front-wheel drive motor difference
It is attached by the near front wheel driving motor output shaft 101 and off-front wheel driving motor output shaft 102 with wheel 103, the near front wheel
Driving motor output shaft 101 and off-front wheel driving motor output shaft 102 are coaxial solid with respective input shaft angular wheel 201 respectively
It is fixed.
Magnetic navigation auxiliary body 005 includes gear set 200, pedestal 300, cleaning part 400 and connecting component 500；Car body
Gear set 200,100 front end top surface installation pedestal 300 of chassis of vehicle body, 200 He of gear set are respectively mounted at two front-wheels on chassis 100
, there is gear connection, connecting component 500 between gear set 200 and chassis of vehicle body 100 and pedestal 300 in the connection of front-wheel drive motor
It is connected to pedestal 300, cleaning part 400 is installed on 500 end of connecting component；
As shown in figure 3, gear set 200 includes input shaft angular wheel 201 and output shaft angular wheel 202, axial cone is inputted
Shape gear 201 is coaxially fixedly set on front-wheel drive motor output shaft 101/102, and output shaft angular wheel 202 is coaxially fixed
It is set on the side group seat pillar 301/303 of pedestal 300, passes through between input shaft angular wheel 201 and output shaft angular wheel 202
Gear is connected by meshing transmission；The reduction ratio that input shaft angular wheel 201 and output shaft angular wheel 202 design is 1:1.
For guarantee the left and right sides 501 direction of rotation of rotation quarter butt it is consistent, with front-wheel drive motor output shaft 101/102
In another gear set 200 of connection, increase an intermediate drive gear component 203, the intermediate drive gear component 203
Including upper and lower two gears, upper and lower two gear coaxial weldings are fixed；The input shaft angular wheel 201 and intermediate transmission tooth
The lower gear of wheel component 203 engages connection, and it is 1:3 that two module ratios, which are reduction ratio, the intermediate drive gear portion
The gear of part 203 engages connection with output shaft angular wheel 202, and reduction ratio is 3:1.
Particularly, in the present embodiment, the practical mated condition of gear set 200 is as shown in Figure 10, the input axial cone
Shape gear 201 is the angular wheel that modulus is 2, the number of teeth is 48, and the lower gear of intermediate drive gear component 203 is that modulus is 2, tooth
The angular wheel that number is 16, the lower gear of intermediate drive gear component 203 are that modulus is 1, the angular wheel that the number of teeth is 16, right side
Output shaft angular wheel 202 be modulus be 2, the number of teeth be 48 angular wheel, the output shaft angular wheel 202 in left side is modulus
It is 1, the angular wheel that the number of teeth is 48.
As shown in Fig. 2, pedestal 300 includes two side group seat pillars 301/303 and intermediate base seat pillar 302, two side group seat pillars
301/303 respectively and on the chassis of vehicle body 100 that is hingedly installed on by two front vehicle wheels, and intermediate base seat pillar 302 is hingedly installed on two
On chassis of vehicle body 100 between a side group seat pillar 301/303, intermediate base seat pillar 302 and two side group seat pillars 301/303 are arranged in
Perpendicular to the straight line of 001 direction of advance of crusing robot car body, and the middle line (car body of intermediate base seat pillar 302 and chassis of vehicle body 100
The middle line on chassis 100 is parallel to 001 direction of advance of crusing robot car body) it is overlapped.Specifically, left side base posts 301 and the right side
Side group seat pillar 303 respectively and on the chassis of vehicle body 100 that is hingedly installed on by two front vehicle wheels, hingedly install by intermediate base seat pillar 302
On chassis of vehicle body 100 between left side base posts 301 and right side base posts 303, intermediate base seat pillar 302, left side base posts 301
It is arranged in a straight line with right side base posts 303.
In specific implementation, the mounting distance between left side base posts 301 and right side base posts 303 is 20cm.
As shown in Figure 1, connecting component 500 includes two rotation length bar assemblies and swings stock 504, stock 504 is swung
One end is coaxial affixed with intermediate base seat pillar 302, and swinging bifurcated at one end of 504 other end of stock close to end is two parallel
Branch bar, branch bar, which is parallel to, swings stock 504, and two rotation length bar assemblies are arranged in the two sides for swinging stock 504
And asymmetric arrangement；Each rotation length bar assembly includes rotation quarter butt 501, rotation stock 502 and rotational slide block 503, rotation
Turn 501 one end of quarter butt and the side base posts 301/303 of pedestal 300 are coaxial affixed, rotation 501 other end of quarter butt and rotation stock
502 one end is hinged, and the other end and the rotational slide block 503 for rotating stock 502 are hinged, 503 movable set of rotational slide block in
In the branch bar for swinging 504 other end of stock, the rotation quarter butt in two rotation length bar assemblies of 504 two sides of stock is swung
501, stock 502 and 503 position of rotational slide block and angle are rotated with the middle line asymmetric arrangement of chassis of vehicle body 100；
As shown in figure 4, cleaning part 400 includes brush sweeper 401 and a bolt 402 for fixing；Clean hair
Brush 401 is turned by sliding slot and the peace of bolt 402 in the end of rotation 502 other end of stock.Specifically, brush sweeper 401 and rotation
502 end of stock is connected by sliding slot, and is fixed by bolt 402.
Meanwhile to avoid rotation quarter butt 501 from generating interference with the left and right side unit of pedestal 300 during 360 degree rotation,
Bottom end height of 301/303 tip height of side group seat pillar lower than rotation stock 502.
By above-mentioned design, the present invention can realize left and right pendulum in unilateral side rotation 501 driving effect lower swing stock of quarter butt
It is dynamic, and swing angle is 60 degree.
In specific implementation, rotation quarter butt 501 is 3.4cm long, and rotation stock 502 is 27.8cm long, and swing stock 504 is 40cm long,
And three kinds of bar thickness are identical.
In order to improve driving force, while guaranteeing to realize and completing cleaning movement in turning, it is different to adapt to left and right sidesing driving wheel
Speed, the present invention devise two rotational slide blocks 503, the rectangular channel having a size of long 3cm on swinging 504 main body of stock.
The shortest distance of rotational slide block 503 and intermediate base seat pillar 302 is 25cm.
Status diagram for the cleaning part of navigation cleaning equipment in straight-line travelling as shown in figure 11, first from state
1 starts, and with the movement of wheel 103, the rotation quarter butt 501 of the left and right sides is driven to rotate.
As shown in Figure 1, magnetic navigation sensor 003 is rectangular-shape, magnetic navigation sensor 003 includes at least eight magnetic letter
Number receiving device, eight magnetic signal receiving devices are along being parallel between straight line of 001 front end face horizontal sides of crusing robot car body etc.
Every uniformly distributed.
The mounting means of magnetic navigation sensor 003 are as follows: one end long side for being not installed with magnetic signal receiving device is fixedly mounted
In 001 front of crusing robot car body, the long side of magnetic signal receiving device is installed close to ground and the side of resting on the ground 3cm-
At 8cm, the long side of magnetic navigation sensor 003 is installed perpendicular to crusing robot direction of advance.
GPS positioning sensor 002 is fixedly installed in 001 top of crusing robot car body.Also on the inspection road of heliostat field
Magnetic stripe is placed on diameter, carries out coarse localization using GPS positioning sensor, carries out precise positioning using magnetic navigation sensor, in turn
Realizing route search is mobile to complete inspection.
It is as follows that the present invention implements inspection process:
Step S1: being first layered heliostat field, is divided into three according to the difference of wind direction and mirror surface present position
Layer:
First layer: heliostat field is circumferentially uniformly divided into according to wind vector range in the fixed section time by three areas Ge great
Domain, as shown in figure 5, a respectively great Qu, two areas great Qu He San great, each big region is 120 degree of fan-shaped regions；
The second layer: range is mainly concentrated circumferentially uniformly to continue in the big region of each 120 degree of fan-shaped regions according to wind direction
Three middle regions are subdivided into, as shown in fig. 6, respectively tri- middle regions A, B, C, each middle region is 40 degree of fan-shaped regions；
Third layer: according to distance is different and the arrangement of heliostat is close between heliostat in heliostat field and center heat absorption tower
Degree continues radially for each middle region to be divided into identical three sub-regions of radial dimension, as shown in fig. 6, outer to circle i.e. out of circle
It is divided into three sub-regions, the radical length of each subregion is identical；
Step S2: being job note according to the big region that wind vector range in the set time determines in step S1 first layer
Position carries out inspection process using navigation cleaning equipment；
Step S3: heliostat sample size n to be inspected is obtained to each subregion of third layer；
Step S3 specifically:
S3.1: proportional-type random sampling without replacement is carried out using the subregion to third layer, calculates and obtains preliminary heliostat
Sample size n1:
Wherein, n1For preliminary heliostat sample size, z is the heliostat sample to be inspected under standardized normal distribution in fixation
Under confidence level statistic (embodiment take confidence level be 95% when, z=1.96), P be subregion heliostat sample to be inspected
Quantity accounts for the ratio desired value (taking 0.5) of heliostat total quantity, and e indicates the error that the average cleannes of the sub-district domain measurement allow
It is worth (0 < e < 1).
S3.2: and then further sample estimation is carried out using following formula and obtains intermediate heliostat sample size n2:Wherein N is the heliostat sum in heliostat field；
S3.3: according to shadow between influence factor (i.e. the influence of wind direction) and third layer region between the middle region of the second layer
It rings factor (i.e. the difference of the position of heliostat and packing density), using scale parameter B to intermediate heliostat sample size n2Into
Row amendment obtains heliostat sample size n:n=Bn to be inspected2；
Heliostat sample size n to be inspected is even number and meets the following conditions: T >=T simultaneously after amendment0+nT1, wherein T is
Inspection total time, T0For the cleaning equipment total time that motion process is spent in addition to detecting heliostat of navigating, T1For the single side settled date
The required time that microscopy is surveyed；
If T < T after amendment0+nT1, then n value is recalculated, is permitted in step S3.1 by increasing the average cleannes of measurement
Perhaps error amount e reduces n1Value so that the eligible T >=T of heliostat sample size n to be inspected being finally calculated0+
nT1。
Step S4: being radially divided into the identical three mirror rows of radial dimension for the continuation of each subregion of third layer, will be to
Inspection heliostat sample size n is evenly distributed to three mirror rows as far as possible, as shown in fig. 7, three mirror rows divide as homogeneously as possible
The heliostat sample size to be inspected of sample size with affiliated region of patrolling and examining, each mirror row is even number, and adjacent mirror is in the ranks
Heliostat sample size to be inspected difference without departing from 2；
Step S5: according to the polling path of preparatory fixed shape with the heliostat sample to be inspected in step S4 determining mirror row
This quantity carries out inspection by navigation cleaning equipment in each mirror row of each subregion evenly and at intervals, and polling path is approximation
The centre of the movement routine of zigzag, zigzag is mobile using S-shaped, as shown in Figure 8 and Figure 9.
Each mirror row shape is fan ring, with interior camber line and outer camber line circumferentially and sideline radially, inspection
Cheng Zhong, the heliostat sample to be inspected arrangement in polling path meet following condition: circumferentially to be inspected fixed under polling path
Solar eyepiece sample size width is at least 1/6 of the heliostat quantity where the outer camber line of mirror row fan ring, under polling path radially
Heliostat sample size width to be inspected is at least 1/2 of the heliostat quantity where mirror row fan ring sideline, fixes shape in advance
The minimum external fan annular of polling path cover at least half of region of mirror row；And polling path is as short as possible, polling path
On adjacent heliostat to be inspected between interval as close possible to.
Circumferential line of demarcation of the polling path between adjacent mirror row is arranged symmetrically, and patrolling between adjacent subarea domain
It examines radial line of demarcation of the path between to be arranged symmetrically, so that being located at each mirror row in three sub-regions of same radial direction
From inside to outside or successively inspection from outside to inside, and the middle region circumferentially successively inspection of different radial directions, adjacent middle region
Between inspection be directly connected.
In the following, being further illustrated with specific embodiment and its process to inspection process of the invention:
Fig. 5 is solar power tower heliostat field region of patrolling and examining distribution map applied by the present invention, due to every in mirror field
Region locating for one piece of heliostat and different wind directions influence different to the dust stratification of every face heliostat, to guarantee that inspection is made
The science sampled in industry, according to the difference of heliostat dust stratification situation caused by these factors, it is therefore desirable to take stratified sampling:
Limit first heliostat sample size: total monitoring time T of Known designs is 9 hours, according to movement road
Time T needed for line computation goes out motion process0For 4 hours 20 points, and the detection time T of known every face heliostat1Average out to
30s, thus according to formula T=T0+nT1The permission sample total for determining heliostat sampling observation is n≤580；
Then subregion is carried out to entire heliostat field:
First layer: heliostat field is circumferentially uniformly divided into according to wind vector range in the fixed section time by three areas Ge great
Domain；Only carry out inspection operation in one big region every time, mainly according to the wind vector situation and Jing Chang cleaning in a period of time
Situation carries out decision.
The second layer: range is mainly concentrated circumferentially uniformly to continue in the big region of each 120 degree of fan-shaped regions according to wind direction
Three middle regions are subdivided into, each middle region is 40 degree of fan-shaped regions；
Third layer: according to distance is different and the arrangement of heliostat is close between heliostat in heliostat field and center heat absorption tower
Degree continues radially for each middle region to be divided into identical three sub-regions of radial dimension；
Fig. 6 show mirror field areas division figure to be inspected after decision, includes second layer subregion and third layer subregion, false
If the heliostat total quantity of each subregion is as follows: the face subregion A1=B1=C1=576, subregion A2=B2=C2=702
Face, the face subregion A3=B3=C3=1040；
Simple random sampling is carried out to each region, by formulaWithDue to not having
About the true available information of ratio P, it is therefore assumed that variance takes maximum situation, i.e. hypothesis P=0.5, while measurement is taken
Average cleannes allowable error value e=0.1；And in the case where confidence level is 90%, z=1.64, to calculate each area
The heliostat sample size n to be inspected in domain2The respectively face subregion A1=B1=C1=60, subregion A2=B2=C2=62
Face, the face subregion A3=B3=C3=64；
The different scale parameter B of different regional choices is modified heliostat sample size to be inspected, by formula n=
Bn2It is calculated, the parameter B of the present embodiment is chosen from following table:
Table 1: the table of comparisons of wind direction and the scale parameter B of mirror position influence
As shown in fig. 6, if the Jing Chang in the present embodiment receives the influence of the wind blown from Due South, then each region
Scale parameter B be respectively A1=0.8, A2=0.7, A3=0.6, B1=1.0, B2=0.9, B3=0.8, C1=0.8, C2=
0.7, C3=0.6；The sample size in practical each region is respectively A1=48, A2=44, A3=38, B1=after amendment
60, B2=56, B3=52, C1=48, C2=44, C3=38；
As shown in fig. 7, since each region of patrolling and examining is divided into three mirror rows again, the sample size of each mirror row is again
Difference, partitioning standards are as follows: in the same area difference mirror row heliostat sample size to be inspected as close possible to, maximum is no more than 2,
Specific data are as shown in the table:
Table 2: the specific inspection sample size of each mirror row of different zones in mirror field
According to the design requirement of polling path:
The outer camber line heliostat quantity of known subregion A3 epi mirror row is 40, and sideline heliostat quantity is 8, therefore inspection road
Diameter takes at least 7 face heliostats along the long side direction, takes at least 4 face heliostats along short side direction,
Other mirror rows are equally calculated in a manner described, since the heliostat quantity that other mirror rows calculate is respectively less than sub-district
The quantity of domain A3 epi mirror row, for convenient for design, the unified satisfaction of polling path takes at least 7 face heliostats along the long side direction, along short side
Direction takes at least 4 face heliostats.Comprehensive some other design requirements, the present embodiment set the whole route of mirror field inspection
Meter, while there is different inspection sample sizes according to mirror rows different in table 2, devise specific polling path.
The mirror field polling path of the present embodiment design is as shown in figure 8, the inspection since the scope row of subregion A1 first, edge
The direction of black arrow meaning in figure, until inspection to the epi mirror row of subregion A3, readvances to the epi mirror row of subregion B3
The scope row of inspection to subregion B1 is carried out, inspection, the epi mirror row of the last complete subregion C3 of inspection then are carried out to subregion C1
It can be used as primary complete inspection work.
The corresponding inspection position of different inspection quantity as shown in figure 9, therefore in table 2 corresponding each region of patrolling and examining it is each
Mirror row can comparative diagram 9 select corresponding polling path, to complete inspection operation.
Each mirror row specific inspection heliostat position is not provided in the present embodiment, only inspection route is carried out
Design, and during actual inspection, need to select the accurate location of inspection heliostat according to the actual conditions of Jing Chang, especially
It is it needs to be determined that first inspection heliostat position, the heliostat position of last inspection and every two are to be detected in each mirror row
The heliostat quantity being separated by between heliostat；In addition the particular number for inspection sample and the selection etc. for scale parameter B
And be not limited to this embodiment, size can be influenced according to the mirror field size of practical application, heliostat packing density and wind direction
Etc. being determined, to improve the science of routing inspection efficiency and inspection sampling.
For those of ordinary skill in the art, it can make in accordance with the technical idea of the present invention various other corresponding
Change and deformation, and all these changes and deformation all should belong to the protection scopes of the claims in the present invention.
Claims (10)
1. a kind of navigation cleaning equipment being loaded in heliostat field on crusing robot car body, it is characterised in that:
The main GPS positioning sensor for including crusing robot car body (001) and being mounted on crusing robot car body (001)
(002), magnetic navigation sensor (003), microcontroller (004) and magnetic navigation auxiliary body (005)；Magnetic navigation auxiliary body
(005) it is installed on crusing robot car body (001) front, before magnetic navigation sensor (003) is loaded on crusing robot car body (001)
End face, GPS positioning sensor (002) and microcontroller (004) are both secured on crusing robot car body (001), and GPS positioning passes
Sensor (002) and magnetic navigation sensor (003) are electrically connected by serial communication with microcontroller (004).
2. a kind of navigation cleaning equipment being loaded in heliostat field on crusing robot car body according to claim 1,
It is characterized in that:
The crusing robot car body (001) includes the wheel (103) of chassis of vehicle body (100), chassis of vehicle body (100) quadrangle,
Two of them front vehicle wheel is mounted on front-wheel drive motor, and front-wheel drive motor is through front-wheel drive motor output shaft (101/102)
It is connected to wheel (103)；
The magnetic navigation auxiliary body (005) includes gear set (200), pedestal (300), cleaning part (400) and interconnecting piece
Part (500)；It is respectively mounted gear set (200) at two front-wheels of chassis of vehicle body (100), the installation of chassis of vehicle body (100) front end top surface
Pedestal (300), gear set (200) are connected with front-wheel drive motor, and connecting component (500) is connected to pedestal (300), cleaning part
(400) it is installed on connecting component (500) end；
The gear set (200) includes input shaft angular wheel (201) and output shaft angular wheel (202), input shaft taper
Gear (201) is coaxially fixedly set on front-wheel drive motor output shaft (101/102), and output shaft angular wheel (202) is coaxial
Fixing sleeve is loaded on the side group seat pillar (301/303) of the pedestal (300), input shaft angular wheel (201) and output axial cone
Shape gear is connected by meshing transmission between (202) by gear；Input shaft angular wheel (201) and output shaft angular wheel (202)
The reduction ratio of design is 1:1；
The pedestal (300) includes two side group seat pillars (301/303) and intermediate base seat pillar (302), two side group seat pillars
(301/303) respectively and on the chassis of vehicle body (100) that is hingedly installed on by two front vehicle wheels, intermediate base seat pillar (302) is hingedly pacified
Loaded on the chassis of vehicle body (100) between two side group seat pillars (301/303), intermediate base seat pillar (302) and two side group seat pillars
(301/303) straight line of crusing robot car body (001) direction of advance, and intermediate base seat pillar (302) and vehicle are aligned perpendicular relative to
The middle line on body chassis (100) is overlapped；
The connecting component (500) includes two rotation length bar assemblies and swings stock (504), swings stock (504) one
End is coaxial affixed with intermediate base seat pillar (302), and swinging bifurcated at one end of stock (504) other end close to end is two parallel
Branch bar, two rotation length bar assemblies be arranged in swing stock (504) two sides and asymmetric arrangement；Each rotation
Length bar assembly includes rotation quarter butt (501), rotation stock (502) and rotational slide block (503), rotates quarter butt (501) one end
It is coaxial affixed with the side base posts (301/303) of pedestal (300), rotation quarter butt (501) other end and rotation stock (502)
One end is hinged, rotate stock (502) the other end and rotational slide block (503) hingedly, rotational slide block (503) movable set in
In the branch bar for swinging stock (504) other end, the rotation in two rotation length bar assemblies of stock (504) two sides is swung
Quarter butt (501), rotation stock (502) and rotational slide block (503) position and angle are non-right with the middle line of chassis of vehicle body (100)
Claim arrangement；
The cleaning part (400) includes brush sweeper (401) and bolt (402)；Brush sweeper (401) passes through sliding slot and bolt
(402) peace turns in the end of rotation stock (502) other end.
3. a kind of navigation cleaning equipment being loaded in heliostat field on crusing robot car body according to claim 1,
Be characterized in that: two gear set (200) structures being respectively mounted at two front-wheels of chassis of vehicle body (100) are different, the gear of side
Group (200) also increases an intermediate drive gear component (203), the intermediate transmission tooth than the gear set (200) of the other side
Wheel component (203) includes two gears up and down of horizontal parallel installation, and upper and lower two gears are coaxially connected；Input shaft angular wheel
(201) connection is engaged with the lower gear of intermediate drive gear component (203), and it is 1:3 that two module ratios, which are reduction ratio, in
Between the gears of drive gear members (203) engage connection with output shaft angular wheel (202), and reduction ratio is 3:1.
4. a kind of navigation cleaning equipment being loaded in heliostat field on crusing robot car body according to claim 1,
It is characterized in that:
The magnetic navigation sensor (003) is rectangular-shape, and magnetic navigation sensor (003) includes that at least eight magnetic signals connect
Device is received, eight magnetic signal receiving devices edges are parallel to the straight line of crusing robot car body (001) front end face horizontal sides at equal intervals
It is uniformly distributed.
5. a kind of navigation cleaning equipment being loaded in heliostat field on crusing robot car body according to claim 1,
It is characterized in that:
The GPS positioning sensor (002) is fixedly installed at the top of crusing robot car body (001).
6. a kind of navigation cleaning equipment being loaded in heliostat field on crusing robot car body according to claim 1,
It is characterized in that:
Magnetic stripe also is placed on the polling path of heliostat field, coarse localization is carried out using GPS positioning sensor, utilizes magnetic navigation
Sensor carries out precise positioning, and then the mobile completion inspection of realizing route search.
7. a kind of navigation method for inspecting being loaded in heliostat field on crusing robot car body, it is characterised in that:
Step S1: being first layered heliostat field, is divided into three layers according to the difference of wind direction and mirror surface present position:
First layer: heliostat field is circumferentially uniformly divided into according to wind vector range in the fixed section time by three big regions, often
One big region is 120 degree of fan-shaped regions；
The second layer: range is mainly concentrated circumferentially uniformly to continue to segment by the big region of each 120 degree of fan-shaped regions according to wind direction
For three middle regions, each middle region is 40 degree of fan-shaped regions；
Third layer: according to distance is different between heliostat in heliostat field and center heat absorption tower and the layout density of heliostat after
It is continuous that each middle region is radially divided into identical three sub-regions of radial dimension；
Step S2: it is adopted according to the big region that wind vector range in the set time determines in step S1 first layer for work unit
Inspection process is carried out with navigation cleaning equipment；
Step S3: heliostat sample size n to be inspected is obtained to each subregion of third layer；
Step S4: being radially divided into the identical three mirror rows of radial dimension for each subregion continuation of third layer, will be to be inspected
Heliostat sample size n is evenly distributed to three mirror rows as far as possible, and the heliostat sample size to be inspected of each mirror row is even number
It is a, and the difference of the heliostat sample size to be inspected of adjacent mirror in the ranks is without departing from 2；
Step S5: according to the polling path of preparatory fixed shape with the heliostat sample number to be inspected in step S4 determining mirror row
Measure each subregion each mirror row by navigation cleaning equipment carry out inspection, during inspection, in polling path wait patrol
Calibrating solar eyepiece sample arrangement meets following condition: the heliostat sample size width to be inspected under polling path circumferentially is at least
Mirror row fans 1/6 of the heliostat quantity where the outer camber line of ring, and the heliostat sample size to be inspected under polling path radially is wide
Degree is at least 1/2 of the heliostat quantity where mirror row fan ring sideline, in advance the external fan of minimum of the polling path of fixed shape
The annular covering at least half of region of mirror row.
8. a kind of navigation method for inspecting being loaded in heliostat field on crusing robot car body according to claim 7,
It is characterized in that: the step S3 specifically:
S3.1: proportional-type random sampling without replacement is carried out using the subregion to third layer, calculates and obtains preliminary heliostat sample
Quantity n1:
Wherein, n1For preliminary heliostat sample size, z is that the heliostat sample to be inspected under standardized normal distribution is fixing confidence
Statistic under degree, P are the ratio desired value that subregion heliostat sample size to be inspected accounts for heliostat total quantity, and e is indicated
The error amount that the average cleannes of the sub-district domain measurement allow；
S3.2: and then further sample estimation is carried out using following formula and obtains intermediate heliostat sample size n2:Wherein N is the heliostat sum in heliostat field；
S3.3: according to influence factor between influence factor and third layer region between the middle region of the second layer, joined using ratio
Number B is to intermediate heliostat sample size n2It is modified and obtains heliostat sample size n:n=Bn to be inspected2；
Heliostat sample size n to be inspected is even number and meets the following conditions: T >=T simultaneously after amendment0+nT1, wherein T is inspection
Total time, T0For the cleaning equipment total time that motion process is spent in addition to detecting heliostat of navigating, T1 is single side heliostat
The required time of detection.
9. a kind of navigation method for inspecting being loaded in heliostat field on crusing robot car body according to claim 7,
Be characterized in that: in the step S5, circumferential line of demarcation of the polling path between adjacent mirror row is arranged symmetrically, and adjacent
Radial line of demarcation of the polling path between subregion is arranged symmetrically.
10. a kind of navigation method for inspecting being loaded in heliostat field on crusing robot car body according to claim 7,
Be characterized in that: the polling path is the movement routine of approximate zigzag, and the centre of zigzag is mobile using S-shaped.
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