CN113522915B - Obstacle detection device and obstacle detection method for crossing heliostat cleaning vehicle - Google Patents
Obstacle detection device and obstacle detection method for crossing heliostat cleaning vehicle Download PDFInfo
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- CN113522915B CN113522915B CN202110579501.XA CN202110579501A CN113522915B CN 113522915 B CN113522915 B CN 113522915B CN 202110579501 A CN202110579501 A CN 202110579501A CN 113522915 B CN113522915 B CN 113522915B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 151
- 238000001514 detection method Methods 0.000 title claims abstract description 132
- 238000004891 communication Methods 0.000 claims abstract description 18
- 238000005406 washing Methods 0.000 claims abstract description 14
- 238000000034 method Methods 0.000 claims description 10
- 230000000712 assembly Effects 0.000 claims description 7
- 238000000429 assembly Methods 0.000 claims description 7
- 239000000523 sample Substances 0.000 claims 1
- 238000009434 installation Methods 0.000 abstract description 9
- 230000004888 barrier function Effects 0.000 abstract description 2
- 238000010248 power generation Methods 0.000 description 13
- 230000036544 posture Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 3
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 description 2
- 239000006096 absorbing agent Substances 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000003916 acid precipitation Methods 0.000 description 1
- 229910002092 carbon dioxide Inorganic materials 0.000 description 1
- 239000001569 carbon dioxide Substances 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000008236 heating water Substances 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 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 description 1
- 230000008092 positive effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
- H02S40/10—Cleaning arrangements
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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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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an obstacle detection device and an obstacle detection method for a crossing heliostat cleaning vehicle. The mounting base has an installation portion for being connected with a washing vehicle. The first detection part is arranged at the front end of the mounting base and used for detecting whether a barrier exists in a traveling mechanism of the cleaning vehicle within a certain distance of an advancing route of the cleaning vehicle, and the second detection part is arranged on the inner side of the mounting base and used for detecting whether a first heliostat on the advancing route of the cleaning vehicle interferes with a cleaning mechanism of the crossing type heliostat cleaning vehicle. The communication part is respectively in signal connection with the first detection part and the second detection part and is used for outputting detection results of the first detection part and the second detection part.
Description
Technical Field
The invention belongs to the field of solar thermal power generation, and particularly relates to an obstacle detection device and an obstacle detection method for a crossing heliostat cleaning vehicle.
Background
The attention degree of countries in the world to control pollution and protect the environment is gradually improved, carbon dioxide emission generated by the combustion of traditional fossil energy can not only cause climate warming, but also inevitably generate dust, acid rain and other pollution in the use process, and the environmental protection requirement is hardly met, so that the renewable clean energy is vigorously developed, and the gradual replacement of the traditional fossil energy is a necessary trend.
Wind power generation and photovoltaic power generation are clean energy power generation modes widely applied at present, but the wind power generation and the photovoltaic power generation have the defects of unstable power generation output and large influence of natural weather, and have large scheduling impact on a power grid. Due to the existence of the energy storage system, the photo-thermal power generation can realize 24-hour continuous, stable and schedulable power output, is considered to be renewable energy with the highest potential to replace thermal power to bear basic load, and has peak regulation capacity.
The main technical routes of the photo-thermal power generation include tower type, trough type, butterfly type, Fresnel type and the like, wherein the tower type photo-thermal power generation is the mainstream technical route at present. The tower type solar thermal power generation is that a large number of heliostats reflect sunlight to a heat absorber, a working medium in the heat absorber is heated to a higher temperature, and the heated working medium is used for heating water to generate steam to push a steam turbine to generate power. The cleanliness of the heliostat mirror surface influences the reflection efficiency of the heliostat and also directly influences the power generation capacity of the photo-thermal power station.
In the prior art, a striding type heliostat mirror surface cleaning vehicle is provided, heliostats can be cleaned in batches, automatic driving and automatic cleaning can be realized, and the cleaning vehicle is a cleaning mode with higher automation degree and cleaning efficiency at present. However, the heliostat on the path to be cleaned may not rotate to the preset posture due to a fault or the like, and interfere with the traveling cleaning vehicle, so that the cleaning vehicle or the heliostat mirror surface is damaged, and economic loss is formed.
Disclosure of Invention
The invention aims to provide an obstacle detection device and an obstacle detection method for a cross-type heliostat cleaning vehicle, and aims to solve the problem that in the prior art, the cleaning vehicle is easy to interfere and collide with a heliostat in an automatic cleaning process, so that the surface of the cleaning vehicle or the heliostat is damaged.
The technical scheme of the invention is as follows:
an obstacle detection device for a straddle-type heliostat cleaning vehicle comprises at least two obstacle detection assemblies, wherein at least one obstacle detection assembly is respectively arranged on the left side and the right side of the advancing direction of the straddle-type heliostat cleaning vehicle, and each obstacle detection assembly comprises:
the crossing type heliostat cleaning vehicle comprises a first detection part and a second detection part, wherein the first detection part is used for detecting whether an obstacle exists in a certain distance of a travelling mechanism of the crossing type heliostat cleaning vehicle in an advancing route of the crossing type heliostat cleaning vehicle, and the second detection part is used for detecting whether a first heliostat on the advancing route of the crossing type heliostat cleaning vehicle interferes with the cleaning mechanism of the crossing type heliostat cleaning vehicle;
and the communication part is respectively in signal connection with the first detection part and the second detection part and is used for outputting the detection results of the first detection part and the second detection part.
In one embodiment, the obstacle detection assembly further includes a mounting base having a mounting portion for connecting to the straddle heliostat washing cart, and the first and second detection portions are disposed on the mounting base.
In one embodiment, the first detection part is a first laser radar, the second detection part is a second laser radar, and the communication part is in signal connection with the first laser radar and the second laser radar respectively;
a first sector laser beam emitted by the first laser radar is superposed with the advancing route of the travelling mechanism on one side where the first sector laser beam is located;
and a second sector laser beam emitted by the second laser radar can intersect with the mirror surface of the first heliostat, and the second laser radars in the obstacle detection assemblies on the left side and the right side of the forward direction of the crossing-type heliostat cleaning vehicle are mutually matched for determining the mirror surface posture of the first heliostat, so that whether the first heliostat interferes with the cleaning mechanism or not is determined.
In one embodiment, the first fan laser beam and the second fan laser beam are both located in a vertical plane.
In one embodiment, the first lidar and the second lidar are respectively adjustably connected with the mounting base in a manner of rotating around the connection point of the first lidar and the mounting base in a horizontal plane.
In one embodiment, the first laser radar and the second laser radar are both adjustably connected with the mounting base through a rotating bracket and a rotating bracket base;
the rotating support base is connected with the mounting base, a central hole and an arc-shaped hole are formed in the rotating support base, and the central hole is located in the arc center of the arc-shaped hole;
the rotating bracket comprises a connecting piece and a mounting piece, the connecting piece is fixedly connected with the mounting piece, and the mounting piece is used for mounting the first laser radar or the second laser radar; the connecting piece is equipped with and rotates piece and slider, rotate the piece rotate connect in the centre bore, slider sliding connection in the arc is downthehole.
In one embodiment, the rotating bracket base is provided with a U-shaped groove, and the two side walls of the U-shaped groove are respectively provided with the central hole and the arc-shaped hole;
the connecting piece is a first U-shaped plate, the mounting piece comprises a second U-shaped plate and a third U-shaped plate, the bottom plate of the first U-shaped plate is connected with the bottom plate of the second U-shaped plate, the third U-shaped plate is accommodated in the second U-shaped plate, two side walls of the third U-shaped plate are respectively connected with two side walls of the second U-shaped plate, and a gap is formed between the bottom plate of the second U-shaped plate and the bottom plate of the third U-shaped plate; the first laser radar or the second laser radar is arranged in the corresponding third U-shaped plate;
two lateral walls of first U template respectively with two lateral walls in U type groove are pasted mutually, be equipped with respectively on two lateral walls of first U template with the centre bore with two first connecting holes that the arc hole corresponds separately, rotate the piece and wear to establish the centre bore with the centre bore corresponds first connecting hole, the slider is worn to establish the arc hole with the arc hole corresponds first connecting hole realizes the runing rest is relative the runing rest base winds the centre bore rotates.
In one embodiment, a plurality of second connecting holes are respectively formed in the bottom plate and the two side walls of the second U-shaped plate, a plurality of third connecting holes corresponding to the second connecting holes in the two side walls of the second U-shaped plate are respectively formed in the two side walls of the third U-shaped plate, and the second connecting holes and the third connecting holes are used for installing the first laser radar or the second laser radar.
In one embodiment, three fourth connecting holes which are distributed in a triangular mode are respectively formed in two side walls of the second U-shaped plate and two side walls of the third U-shaped plate, the fourth connecting holes in the side walls of the second U-shaped plate correspond to the fourth connecting holes in the side walls of the third U-shaped plate in a one-to-one mode, and fasteners penetrate through the fourth connecting holes in the second U-shaped plate and the fourth connecting holes in the third U-shaped plate and are used for fixedly connecting the side walls of the second U-shaped plate and the side walls of the third U-shaped plate.
In one embodiment, the mounting base comprises a connecting rod and the mounting part, the mounting part is a mounting plate, the mounting plate and the first detecting part are respectively arranged at two ends of the connecting rod in the length direction, and the second detecting part is arranged on the side surface of the connecting rod in the length direction.
In one embodiment, the connecting rods of the obstacle detecting assemblies on the left and right sides of the forward direction of the cross-over heliostat cleaning vehicle are parallel to each other.
An obstacle detection method for a straddle-type heliostat cleaning device, which is used for a straddle-type heliostat cleaning vehicle equipped with the obstacle detection device for the straddle-type heliostat cleaning vehicle according to any one of the above, comprising:
the method comprises the following steps: the first detection part detects whether an obstacle exists in a certain distance on the advancing route of the travelling mechanism, and outputs a detection result of the first step through the communication part;
step two: the second detection part detects whether the first heliostat interferes with a cleaning mechanism of the spanning heliostat cleaning vehicle or not, and outputs a detection result of the second step through the communication part;
and if the detection result in the first step is that an obstacle exists or/and the detection result in the second step is that interference exists, stopping the forward movement of the crossing heliostat cleaning vehicle.
Due to the adoption of the technical scheme, compared with the prior art, the invention has the following advantages and positive effects:
according to the obstacle detection device and the obstacle detection method for the crossing-type heliostat cleaning vehicle, heliostats which are possibly collided and interfered with the crossing-type heliostat cleaning vehicle on the front route of the crossing-type heliostat cleaning vehicle can be found in time, the crossing-type heliostat cleaning vehicle can stop advancing in time, the collision and interference between the crossing-type heliostat cleaning vehicle and the mirror surface can be prevented, the crossing-type cleaning vehicle can be helped to adapt to a complex mirror field environment of a project site, the damage of the heliostat mirror surface is reduced, and the problem that the cleaning vehicle or the heliostat mirror surface is damaged due to the fact that the cleaning vehicle is easily interfered and collided with the heliostat in the automatic cleaning process in the prior art is solved.
According to the invention, the two second laser radars are arranged on the left side and the right side of the advancing direction of the heliostat cleaning vehicle, and the two second sector laser beams emitted by the two second laser radars can be intersected with the heliostat surface, so that two intersecting lines formed when the two second sector laser beams emitted by the two second laser radars are respectively intersected with the heliostat surface can be determined, and as the two intersecting lines are positioned on the heliostat surface, the principle of determining a plane according to the two straight lines can be used for determining the plane where the heliostat surface is positioned, namely obtaining the posture of the heliostat surface.
Drawings
Various additional advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention.
FIG. 1 is a schematic view of an obstacle detecting device of the present invention mounted on a cleaning vehicle;
FIG. 2 is a schematic view of the travel of a cleaning cart incorporating the present invention in a heliostat field;
FIG. 3 is a schematic structural diagram of an obstacle detecting assembly according to the present invention;
FIG. 4 is a schematic view of a mounting base and a swivel stand base according to the present invention;
FIG. 5 is a schematic view of a rotating bracket according to the present invention;
FIG. 6 is a side view of a rotatable mount of the present invention;
FIG. 7 is a schematic diagram of a lidar in accordance with the present invention;
fig. 8 is a schematic view of an obstacle detecting device according to the present invention in an operating state.
Description of the reference numerals:
01: a cross beam; 02: a right bracket; 03: a left bracket; 04: a wheel; 05: an obstacle detecting component; 06: a heliostat in operation; 07: a heliostat to be cleaned; 08: the forward direction of the cleaning vehicle;
1: a connecting rod; 2: mounting a plate; 3: rotating the support base; 31: a central bore; 32: an arc-shaped hole; 4: rotating the bracket; 41: a first U-shaped plate; 42: a second U-shaped plate; 43: a third U-shaped plate; 44: a fastener; 45: a bolt (for mounting a lidar); 5: a first laser radar; 6: a second lidar; 61: a second fan laser beam.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, without inventive effort, other drawings and embodiments can be derived from them.
For the sake of simplicity, the drawings only schematically show the parts relevant to the present invention, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "one" means not only "only one" but also a case of "more than one".
Referring to fig. 1 to 8, the present embodiment provides an obstacle detection device for a crossing-type heliostat cleaning vehicle, which can detect heliostats on a traveling route of the crossing-type heliostat cleaning vehicle that may interfere with the crossing-type heliostat cleaning vehicle and send an early warning to the crossing-type heliostat cleaning vehicle to avoid collision. For convenience of explanation, the straddle-type heliostat cleaning vehicle will be referred to as a cleaning vehicle, the obstacle detection device for the straddle-type heliostat cleaning vehicle will be referred to as an obstacle detection device, and the obstacle detection method for the straddle-type heliostat cleaning vehicle will be referred to as an obstacle detection method.
A obstacle detection device for strideing across formula heliostat washing car includes two at least obstacle detection subassembly 05, and the left and right sides of washing car direction of advance is equipped with at least one obstacle detection subassembly 05 respectively, and the obstacle detection subassembly 05 of the left and right sides of washing car direction of advance sets up relatively, and obstacle detection subassembly 05 includes mounting base, first detection portion, second detection portion and communication portion. The mounting base is provided with a mounting part, and the mounting part is used for being connected with a cleaning vehicle.
The first detection part is arranged at the front end of the mounting base and used for detecting whether a barrier exists in a certain distance on a travelling mechanism of the cleaning vehicle on an advancing route of the travelling mechanism, and the second detection part is arranged on the inner side of the mounting base and used for detecting whether a first heliostat on the advancing route of the cleaning vehicle interferes with the cleaning mechanism of the cleaning vehicle. The communication part is respectively in signal connection with the first detection part and the second detection part and is used for outputting detection results of the first detection part and the second detection part.
The cleaning path of the cleaning vehicle during each cleaning is set in advance, the first heliostat on the forward path of the cleaning vehicle in the present text refers to the first heliostat to be cleaned in front of the cleaning vehicle, and as the cleaning vehicle advances, the plurality of heliostats on the cleaning path become the first heliostat in turn.
The structure of the present embodiment will now be explained.
When the cleaning vehicle cleans the heliostat, the cleaning vehicle can cross over the heliostat, and the heliostat can be parallel to the ground or can be matched with a cleaning mechanism on the cleaning vehicle to clean in a state of being inclined relative to the ground. According to the design scheme, under the condition that the width of the heliostat field channel does not need to be increased, the cleaning vehicle with a wider vehicle body can be allowed to enter the heliostat field, so that the width of the frame of the cleaning vehicle is increased, and when the height of the cleaning mechanism is higher, the cleaning vehicle can still keep good stability.
As shown in fig. 2, the cleaning vehicle moves in the direction of the arrow in the figure while cleaning the heliostat in the heliostat field. At the moment, heliostats in the rows of the heliostats to be cleaned are adjusted to be in the postures to be cleaned in advance through the heliostat field control system, and the heliostats in other rows of the heliostats still keep the working state, so that the influence of the cleaning of the heliostats on the power generation efficiency of the tower-type photo-thermal power station can be reduced as much as possible. That is, when the cleaning vehicle cleans the heliostat in the heliostat field, the heliostat in the heliostat field is divided into the working heliostat 06 and the heliostat 07 to be cleaned.
When a heliostat 07 to be cleaned has a fault (including but not limited to a hardware fault or a mechanical fault), the heliostat cannot be adjusted to a preset posture to be cleaned according to a command issued by the heliostat control system, and at this time, if the cleaning vehicle moves forward, a risk of collision and interference with the mirror surface may occur.
According to the obstacle detection device and the obstacle detection method for the crossing heliostat cleaning vehicle, the heliostats with collision interference risks can be effectively found, and an alarm is sent to the cleaning vehicle control system, so that the cleaning vehicle stops advancing in advance, the heliostats are prevented from being collided, and unnecessary damage is formed.
Fig. 1 is an embodiment of the present invention, and it should be understood by those skilled in the art that the traveling mechanism composed of the cross beam 01, the right bracket 02, the left bracket 03 and the wheel 04 in fig. 1 is a simplification of the cleaning mechanism and the traveling mechanism of the cleaning vehicle, so as to make the reader of the present invention more clearly understand the usage form and the usage method of the obstacle detecting device provided in the present invention. Referring to fig. 1, the obstacle detecting apparatus provided by the present invention requires at least two obstacle detecting units 05, and in the present embodiment, the obstacle detecting apparatus includes two obstacle detecting units 05, a right obstacle detecting unit installed near the right front wheel, and a right obstacle detecting unit installed near the left front wheel. Since the mechanical structure of the cross-over heliostat cleaning vehicle is different, the more specific installation method can be adjusted according to the structure of the traveling mechanism of the cleaning vehicle, and the invention does not make more specific restriction.
As shown in fig. 3, the obstacle detecting assembly 05 includes a mounting base, a first detecting portion, a second detecting portion, and a communicating portion. First detection portion and second detection portion can adopt first laser radar 5 and second laser radar 6 respectively, and first laser radar 5 and second laser radar 6 are installed respectively on runing rest 4, are connected with two installing support bases on the installing support base, respectively with two runing rest 4 adjustable connections. For convenience of explanation, the first and second lidar 5, 6 will be collectively referred to as lidar. The laser radar can rotate horizontally around the connection position of the laser radar and the mounting base.
The communication part is respectively connected with the first laser radar 5 and the second laser radar 6 through signals. Because the communication part only has the information transmission function, the communication part can be arranged at any position of the cleaning vehicle, and the communication part does not need to be arranged as long as the work of the cleaning vehicle and the obstacle detection device is not influenced. In this embodiment, the communication unit is configured to output the detection results of the first detection unit and the second detection unit to a control system of the vehicle washing machine.
The mounting base in the left obstacle detection assembly and the mounting base in the right obstacle detection assembly are arranged in parallel. Referring mainly to fig. 4, the mounting base includes a connecting rod 1 and a mounting portion, the mounting portion is a mounting plate 2, the mounting plate 2 and the first detecting portion are respectively disposed at two ends of the connecting rod 1 in the length direction, and the second detecting portion is disposed at a side surface of the connecting rod 1 in the length direction and is disposed at an inner side of the mounting base; the left side and the right side of the advancing direction of the cleaning vehicle are respectively provided with a mounting base, and the inner side of each mounting base is the side of the mounting base facing the other mounting base. Be provided with the mounting panel base on the washing car, mounting panel 2 and mounting panel pedestal connection specifically can be through bolt, nut connection. The cleaning vehicle is provided with at least two mounting plate bases, and at least one mounting plate base is arranged near the left front wheel and the right front wheel and used for mounting the left obstacle detection assembly and the right obstacle detection assembly. Under the prerequisite of guaranteeing structural rigidity, the length of connecting rod 1 needs to guarantee to set up two at least runing rest bases 3, still needs to guarantee simultaneously that the position of two runing rest bases 3 can normally install laser radar, and the laser beam of laser radar transmission can not blockked by other structures on the washing car.
The rotating support base 3 is connected with the mounting base, a central hole 31 and an arc-shaped hole 32 are formed in the rotating support base 3, and the central hole 31 is located in the arc center of the arc-shaped hole 32. The rotating bracket 4 comprises a connecting piece and an installation piece, wherein the connecting piece is fixedly connected with the installation piece, and the installation piece is used for installing the laser radar. The connecting piece is equipped with and rotates piece and slider, rotates the piece and rotates to be connected in centre bore 31, and slider sliding connection is in arc hole 32 for the installation angle of runing rest 4 on runing rest base 3 can carry out the adjustment of certain angular range through the slip of slider in the circular arc hole, but the angular range of adjustment is restricted by arc hole 32. And the laser radar is arranged on the rotating bracket 4, and the installation angle of the rotating bracket 4 on the rotating bracket base 3 determines the installation angle of the laser radar on the rotating bracket 4.
In this embodiment, the rotating bracket base 3 is provided with a U-shaped groove, and the two side walls of the U-shaped groove are respectively provided with the central hole 31 and the arc-shaped hole 32. The swivel stand 4 comprises three U-shaped plates, the connecting member is a first U-shaped plate 41, and the mounting member comprises a second U-shaped plate 42 and a third U-shaped plate 43.
The first U-shaped plate 41 and the second U-shaped plate 42 are arranged oppositely, and the bottom plate of the first U-shaped plate 41 is connected with the bottom plate of the second U-shaped plate 42. The second U-shaped plate 42 and the third U-shaped plate 43 are arranged in the same direction, the third U-shaped plate 43 is accommodated in the second U-shaped plate 42, and two side walls of the third U-shaped plate 43 are connected with two side walls of the second U-shaped plate 42 respectively. Specifically, three fourth connecting holes that are triangular distribution are respectively arranged on two side walls of the second U-shaped plate 42 and two side walls of the third U-shaped plate 43, the fourth connecting holes on the side wall of the second U-shaped plate 42 correspond to the fourth connecting holes on the side wall of the third U-shaped plate 43 one-to-one, and the fastener 44 penetrates through the fourth connecting holes on the second U-shaped plate 42 and the fourth connecting holes on the third U-shaped plate 43 and is used for fixedly connecting the side wall of the second U-shaped plate 42 and the side wall of the third U-shaped plate 43. More specifically, the fastening member may be a bolt, and the fourth connecting hole may be a bolt hole.
A gap is formed between the bottom plate of the second U-shaped plate 42 and the bottom plate of the third U-shaped plate 43, and the laser radar is installed in the corresponding third U-shaped plate 43. Specifically, a plurality of second connecting holes are respectively formed in the bottom plate and the two side walls of the second U-shaped plate 42, a plurality of third connecting holes corresponding to the second connecting holes in the two side walls of the second U-shaped plate 42 are respectively formed in the two side walls of the third U-shaped plate 43, and the second connecting holes and the third connecting holes are used for installing the first laser radar 5 or the second laser radar 6. More specifically, the second and third connecting holes may be bolt holes corresponding to threaded holes on the laser radar fixed in the third U-shaped plate 43 by bolts 45. Wherein, the gap between the second U-shaped plate 42 and the third U-shaped plate 43 is used for facilitating the connection of the bolt 45 on the bottom plate of the third U-shaped plate 43.
The connection mode between the rotating bracket 4 and the rotating bracket base 3 is as follows: u type groove and the relative setting of first U template 41, two lateral walls of first U template 41 are pasted with two lateral walls in U type groove respectively, be equipped with two first connecting holes that correspond respectively with centre bore 31 and arc hole 32 on two lateral walls of first U template 41, the first connecting hole that the rotation piece wore to establish centre bore 31 and correspond with centre bore 31, the first connecting hole that the slider wore to establish arc hole 32 and correspond with arc hole 32, realize that 4 relative runing rest bases 3 of runing rest rotate around centre bore 31. More specifically, rotate a piece and all can adopt the bolt with the slider, and centre bore 31 is circular bolt hole, and arc hole 32 is the arc bolt hole, through the position of changing the bolt in the arc bolt hole, realizes the installation demand of 4 different angles of runing rest.
The working principle of the laser radar is to transmit a detection signal (laser beam) to a target, then compare and calculate the received signal reflected from the target with the transmitted signal, and after processing, the relevant information such as the distance, the moving speed and the like of the target can be obtained. Referring to fig. 7, a schematic diagram of a laser beam emitted by a lidar.
In the present embodiment, the first sector laser beam emitted by the first lidar 5 coincides with the forward path of the running gear on the side where it is located. The second sector laser beam 61 emitted by the second laser radar 6 is intersected with the mirror surface of the first heliostat, and the second laser radars 6 on the left side and the right side of the advancing direction of the cleaning vehicle are mutually matched for determining the mirror surface posture of the first heliostat, so that whether the first heliostat interferes with the cleaning mechanism or not is determined. Further, the first fan laser beam and the second fan laser beam 61 are both located in a vertical plane.
The invention also provides an obstacle detection method of the crossing type heliostat cleaning device, which is corresponding to the obstacle detection device applied to the crossing type heliostat cleaning vehicle. The obstacle detection method of the crossing heliostat cleaning device is used for a crossing heliostat cleaning vehicle provided with the obstacle detection device of the embodiment, and mainly comprises the following steps:
the method comprises the following steps: the first detection part detects whether an obstacle exists in a certain distance on the advancing route of the travelling mechanism, and outputs a detection result of the first step through the communication part;
step two: the second detection part detects whether the first heliostat interferes with a cleaning mechanism of the crossing heliostat cleaning vehicle or not, and outputs a detection result of the step two through the communication part;
and if the obstacle exists in the detection result of the step one or/and the interference exists in the detection result of the step two, stopping the forward movement of the crossing type heliostat cleaning vehicle.
The following description mainly refers to fig. 8, and the method for detecting this obstacle will be described in detail. First, those skilled in the art will know that: the beam 01 is the simplification of a cleaning mechanism of the cleaning vehicle, and the structure consisting of the bracket and the universal wheels is the simplification of a traveling mechanism of the cleaning vehicle; the first laser radar 5 is used for detecting whether the heliostat on the advancing route of the cleaning vehicle is likely to collide and interfere with the traveling mechanism of the cleaning vehicle, and the second laser radar 6 can detect the mirror surface posture of the first heliostat on the advancing route of the cleaning vehicle and is used for judging whether the heliostat is likely to collide and interfere with the cleaning mechanism of the cleaning vehicle.
The main execution steps of the obstacle detection of the cleaning vehicle are as follows:
the method comprises the following steps: the direction of the first sector laser beam emitted by the first laser radar 5 is parallel to the advancing direction 08 of the cleaning vehicle, and whether a heliostat possibly colliding and interfering with a traveling mechanism of the cleaning vehicle exists on an advancing route and the distance D between the heliostat and the position of the cleaning vehicle are judged according to a signal reflected from a target. And if D is smaller than the safe distance Ds, sending collision early warning to a cleaning vehicle control system, and enabling the cleaning vehicle to stop advancing.
Step two: the second laser radar 6 on the right obstacle detection assembly emits a second sector laser beam 61 to the left front of the cleaning vehicle, and the second laser radar 6 on the left obstacle detection assembly emits a second sector laser beam 61 to the right front of the cleaning vehicle. The second fan beam 61 emitted is fan shaped as shown in fig. 8 and intersects the first heliostat mirror in front of the vehicle at a line of intersection. Two straight lines formed by the intersection of the two second fan-shaped laser beams 61 and the mirror surface of the heliostat can determine the mirror surface posture of the first heliostat in front of the cleaning vehicle. And the computer judges whether the mirror surface possibly interferes and collides with a cleaning mechanism of the cleaning vehicle through calculation, and if the mirror surface possibly interferes and collides, a collision early warning is sent to a control system of the cleaning vehicle to enable the cleaning vehicle to stop advancing.
And finally, the power station operator can uniquely determine the heliostat triggering the collision early warning according to the result returned by the cleaning vehicle control system, and pertinently checks the fault reason of triggering the collision early warning.
And the second laser radar 6 on the right obstacle detection assembly emits a second sector laser beam 61 to the left first angle of the advancing direction of the cleaning vehicle, and the second laser radar 6 on the left obstacle detection assembly emits a second sector laser beam 61 to the right second angle of the advancing direction of the cleaning vehicle. The first angle may or may not be equal to the second angle. The first angle and the second angle are controlled within a reasonable range according to the structure size of the cleaning vehicle, and the first angle and the second angle only need to ensure that second sector laser emitted by the right obstacle detection assembly and the left obstacle detection assembly can be intersected with the mirror surface of the first heliostat.
By additionally arranging the obstacle detection device on the crossing heliostat cleaning vehicle, the situation that the crossing heliostat cleaning vehicle interferes with the mirror surface to damage the mirror surface when the mirror surface is automatically cleaned can be effectively avoided, the safety of automatic cleaning is improved, and unnecessary economic loss is reduced.
The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the embodiments. Even if various changes are made to the present invention, it is still within the scope of the present invention if they fall within the scope of the claims of the present invention and their equivalents.
Claims (12)
1. An obstacle detection device for a straddle-type heliostat cleaning vehicle, comprising at least two obstacle detection assemblies, wherein at least one obstacle detection assembly is respectively arranged on the left side and the right side of the forward direction of the straddle-type heliostat cleaning vehicle, and the obstacle detection assemblies comprise:
the system comprises a first detection part and a second detection part, wherein the first detection part is used for detecting whether an obstacle exists in a certain distance of a travelling mechanism of the crossing type heliostat cleaning vehicle in a forward route of the crossing type heliostat cleaning vehicle, and the second detection part is used for detecting the mirror surface posture of a first heliostat on the forward route of the crossing type heliostat cleaning vehicle so as to judge whether the first heliostat interferes with the cleaning mechanism of the crossing type heliostat cleaning vehicle;
and the communication part is respectively in signal connection with the first detection part and the second detection part and is used for outputting detection results of the first detection part and the second detection part.
2. The obstruction detection device for a straddle-type heliostat washing vehicle of claim 1, wherein the obstruction detection assembly further comprises a mounting base having a mounting portion for connection with the straddle-type heliostat washing vehicle, the first and second probe portions being disposed on the mounting base.
3. The obstruction detection device for a straddle-type heliostat washing vehicle of claim 2, wherein the first detection part is a first lidar, the second detection part is a second lidar, and the communication part is in signal connection with the first lidar and the second lidar, respectively;
a first sector laser beam emitted by the first laser radar is superposed with the advancing route of the travelling mechanism on one side where the first sector laser beam is located;
and a second sector laser beam emitted by the second laser radar can intersect with the mirror surface of the first heliostat, and the second laser radars in the obstacle detection assemblies on the left and right sides of the advancing direction of the crossing heliostat cleaning vehicle are mutually matched for determining the mirror surface attitude of the first heliostat, so as to determine whether the first heliostat interferes with the cleaning mechanism.
4. The obstruction detection device for a straddle-type heliostat cleaning vehicle of claim 3, wherein the first fan laser beam and the second fan laser beam are both located in a vertical plane.
5. An obstacle detection apparatus for a straddle-type heliostat cleaning vehicle of claim 3 or 4, wherein the first lidar and the second lidar are each adjustably attached to the mounting base in a manner that rotates about their attachment to the mounting base in a horizontal plane.
6. The obstruction detection device for a straddle-type heliostat washing vehicle of claim 5, wherein the first lidar and the second lidar are each adjustably connected to the mounting base by a rotating bracket and a rotating bracket base;
the rotating support base is connected with the mounting base, a central hole and an arc-shaped hole are formed in the rotating support base, and the central hole is located in the arc center of the arc-shaped hole;
the rotating bracket comprises a connecting piece and a mounting piece, the connecting piece is fixedly connected with the mounting piece, and the mounting piece is used for mounting the first laser radar or the second laser radar; the connecting piece is equipped with and rotates piece and slider, rotate the piece rotate connect in the centre bore, slider sliding connection in the arc is downthehole.
7. The obstruction detection device for a straddle-type heliostat cleaning vehicle of claim 6, wherein the rotating bracket base is provided with a U-shaped groove, and the two side walls of the U-shaped groove are respectively provided with the central hole and the arc-shaped holes;
the connecting piece is a first U-shaped plate, the mounting piece comprises a second U-shaped plate and a third U-shaped plate, the bottom plate of the first U-shaped plate is connected with the bottom plate of the second U-shaped plate, the third U-shaped plate is accommodated in the second U-shaped plate, two side walls of the third U-shaped plate are respectively connected with two side walls of the second U-shaped plate, and a gap is formed between the bottom plate of the second U-shaped plate and the bottom plate of the third U-shaped plate; the first laser radar or the second laser radar is arranged in the corresponding third U-shaped plate;
two lateral walls of first U template respectively with two lateral walls in U type groove are pasted mutually, be equipped with respectively on two lateral walls of first U template with the centre bore with two first connecting holes that the arc hole corresponds separately, rotate the piece and wear to establish the centre bore with the centre bore corresponds first connecting hole, the slider is worn to establish the arc hole with the arc hole corresponds first connecting hole realizes the runing rest is relative the runing rest base winds the centre bore rotates.
8. The obstacle detecting device for a straddle-type heliostat cleaning vehicle of claim 7, wherein a plurality of second connecting holes are respectively formed in the bottom plate and two side walls of the second U-shaped plate, a plurality of third connecting holes corresponding to the second connecting holes in the two side walls of the second U-shaped plate are respectively formed in the two side walls of the third U-shaped plate, and the second connecting holes and the third connecting holes are used for installing the first lidar or the second lidar.
9. The obstacle detection device for the straddle-type heliostat cleaning vehicle of claim 7, wherein three fourth connecting holes distributed in a triangular manner are respectively formed in two side walls of the second U-shaped plate and two side walls of the third U-shaped plate, the fourth connecting holes in the side walls of the second U-shaped plate correspond to the fourth connecting holes in the side walls of the third U-shaped plate in a one-to-one manner, and fasteners are inserted through the fourth connecting holes in the second U-shaped plate and the fourth connecting holes in the third U-shaped plate for fixedly connecting the side walls of the second U-shaped plate and the third U-shaped plate.
10. The obstruction detection device for a straddle-type heliostat cleaning vehicle of claim 2, wherein the mounting base comprises a connecting rod and the mounting portion, the mounting portion is a mounting plate, the mounting plate and the first detection portion are respectively provided at both ends of the connecting rod in a longitudinal direction, and the second detection portion is provided at a side of the connecting rod in the longitudinal direction.
11. The obstruction detection device for a straddle-type heliostat washing vehicle of claim 10, wherein the connecting rods of the obstruction detection assemblies on the left and right sides of the forward direction of the straddle-type heliostat washing vehicle are parallel to each other.
12. An obstacle detection method for a straddle-type heliostat cleaning vehicle equipped with the obstacle detection device for the straddle-type heliostat cleaning vehicle according to any one of claims 1 to 11, comprising:
the method comprises the following steps: the first detection part detects whether an obstacle exists in a certain distance on the advancing route of the travelling mechanism, and outputs a detection result of the first step through the communication part;
step two: the second detection part detects whether the first heliostat interferes with a cleaning mechanism of the spanning heliostat cleaning vehicle or not, and outputs a detection result of the second step through the communication part;
and if the detection result in the first step is that an obstacle exists or/and the detection result in the second step is that interference exists, stopping the forward movement of the crossing heliostat cleaning vehicle.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| EP2396608A4 (en) * | 2009-02-13 | 2015-01-28 | Esolar Inc | Heliostat field cleaning system |
| CN102445323B (en) * | 2011-09-27 | 2014-07-30 | 浙江中控太阳能技术有限公司 | Image processing-based heliostat fault diagnosis method and system |
| CN106824855B (en) * | 2017-03-10 | 2019-07-12 | 浙江中控太阳能技术有限公司 | A kind of great-leap-forward heliostat minute surface cleaning vehicle |
| CN109798867B (en) * | 2019-02-14 | 2021-11-26 | 浙江可胜技术股份有限公司 | Heliostat abnormal attitude detection method and device of crossing type cleaning vehicle |
| CN110131907A (en) * | 2019-03-29 | 2019-08-16 | 浙江中控太阳能技术有限公司 | A kind of heliostat mirror field automatic fault maintenance navigation methods and systems |
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