CN119200681A - Heliostat cleaning vehicle arm posture adjustment system and method - Google Patents
Heliostat cleaning vehicle arm posture adjustment system and method Download PDFInfo
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- CN119200681A CN119200681A CN202411675891.0A CN202411675891A CN119200681A CN 119200681 A CN119200681 A CN 119200681A CN 202411675891 A CN202411675891 A CN 202411675891A CN 119200681 A CN119200681 A CN 119200681A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
- G01B17/02—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations for measuring thickness
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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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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- Computer Networks & Wireless Communication (AREA)
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- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application discloses an arm posture adjusting system and method of a heliostat cleaning vehicle, which relate to the technical field of heliostat cleaning, and comprise the following steps: the system comprises a first ultrasonic ranging sensor, a second ultrasonic ranging sensor, a third ultrasonic ranging sensor and a laser ranging sensor, wherein the first ultrasonic ranging sensor is used for measuring and obtaining a first distance between a cleaning component and a heliostat, the second ultrasonic ranging sensor is used for measuring and obtaining a second distance between the cleaning component and the heliostat, the third ultrasonic ranging sensor is used for measuring and obtaining a third distance between the cleaning component and the ground, the laser ranging sensor is used for measuring and obtaining a fourth distance between the cleaning component and the heliostat, and the control component is used for adjusting the posture of a six-degree-of-freedom cleaning arm so that the first distance, the second distance, the third distance and the fourth distance meet preset conditions. The application can realize high-precision spatial positioning of the heliostat, further adjust the arm gesture of the heliostat cleaning vehicle and ensure the cleaning operation to be accurate.
Description
Technical Field
The application relates to the technical field of heliostat cleaning, in particular to an arm posture adjusting system and method of a heliostat cleaning vehicle.
Background
In view of the unique attributes of heliostats, including significant specular reflection characteristics, thinness and thinness of a mirror structure, and design considerations of non-pressure resistance, and the interference of complex environmental factors such as water, mist, dust and the like, which are unavoidable in the cleaning operation process, the current urgent need is to push the cleaning operation to change from the traditional manual mode to the highly-automated mode, so as to overcome the defects of low manual operation efficiency, large potential safety hazard and the like, and improve the intelligent and automatic level of the heliostat cleaning vehicle.
The automatic heliostat control system comprises a ranging sensor, a controller, a turnover mechanism and a telescopic mechanism, wherein the ranging sensor is arranged on a cleaning device, the ranging sensor is used for detecting the distance between the cleaning device and a target heliostat and sending the distance to the controller, the controller is used for generating a first control signal and a second control signal according to the distance and sending the first control signal to the turnover mechanism and the second control signal to the telescopic mechanism, the turnover mechanism is connected with the cleaning device and used for driving the cleaning device to turn over to a target turnover angle according to the first control signal, the telescopic mechanism is used for driving the turnover mechanism and the cleaning device to horizontally move according to the second control signal so that the cleaning device moves to a target cleaning position, and the cleaning device cleans the target heliostat at the target cleaning position and the target turnover angle, so that the cleaning effect and the cleaning efficiency of the heliostat can be improved. (2) The self-adaptive sensing device for cleaning the planar heliostat comprises a frame, a cleaning mechanism, a steering wheel, a generator set, a water tank, an electric control cabinet and a cab, wherein the cleaning mechanism comprises a cleaning frame, a sliding mechanism, a lifting mechanism, a roller brush outer cover, a roller brush and a roller brush motor, a front end sensor, a pull switch and a cleaning mechanism sensor are further arranged on the cleaning mechanism, so that the cleaning operation of the automatic heliostat in a parking state can be realized, the front end sensor and the cleaning mechanism sensor can sense the position of the heliostat, the sliding mechanism is controlled to slide along a side bar, the cleaning mechanism is controlled to swing left and right, the lifting mechanism is controlled to lift and the like, the height and the angle of the cleaning mechanism are automatically adjusted, the damage of the cleaning mechanism to the heliostat mirror surface is avoided, and the damage risk of the heliostat is reduced.
However, the positioning accuracy of heliostats in the prior art is poor, and it is difficult to ensure that the cleaning operation is accurate.
Disclosure of Invention
The application aims to provide a heliostat cleaning vehicle arm posture adjusting system and method, which can realize high-precision spatial positioning of heliostats, further adjust the heliostat cleaning vehicle arm posture and ensure accurate cleaning operation.
In order to achieve the above object, the present application provides the following.
The application provides an arm posture adjusting system of a heliostat cleaning vehicle, which comprises a six-degree-of-freedom cleaning arm, a connecting bracket, a cleaning part, a sensing part and a control part, wherein the six-degree-of-freedom cleaning arm is arranged on the cleaning vehicle, the connecting bracket is arranged at the tail end of the six-degree-of-freedom cleaning arm, the cleaning part and the sensing part are both arranged on the connecting bracket, and the control part is in communication connection with the six-degree-of-freedom cleaning arm, the cleaning part and the sensing part;
the cleaning component is used for cleaning the heliostat;
The sensing component comprises a first ultrasonic ranging sensor, a second ultrasonic ranging sensor, a third ultrasonic ranging sensor and a laser ranging sensor; the system comprises a connecting bracket, a first ultrasonic ranging sensor, a second ultrasonic ranging sensor, a third ultrasonic ranging sensor, a laser ranging sensor and a fourth ultrasonic ranging sensor, wherein the first ultrasonic ranging sensor is arranged at the first end of the connecting bracket and is used for measuring and obtaining a first distance between a cleaning component and a heliostat;
The control part is used for adjusting the gesture of the six-degree-of-freedom cleaning arm, so that the difference value between the first distance and the second distance is smaller than a first preset difference value, the first distance and the second distance are both in a first preset distance range, the difference value between the third distance and the ground distance reference value is smaller than a second preset difference value, and the difference value between the fourth distance and the center distance reference value is smaller than a third preset difference value.
In a second aspect, the present application provides a method for adjusting an arm pose of a heliostat cleaning vehicle, which is applied to the system for adjusting an arm pose of a heliostat cleaning vehicle, and the method for adjusting an arm pose of a heliostat cleaning vehicle includes:
Acquiring a first distance measured by a first ultrasonic ranging sensor, a second distance measured by a second ultrasonic ranging sensor, a third distance measured by a third ultrasonic ranging sensor and a fourth distance measured by a laser ranging sensor;
And adjusting the posture of the six-degree-of-freedom cleaning arm so that the difference value between the first distance and the second distance is smaller than a first preset difference value, the first distance and the second distance are both in a first preset distance range, the difference value between the third distance and the ground distance reference value is smaller than a second preset difference value, and the difference value between the fourth distance and the center distance reference value is smaller than a third preset difference value.
According to the specific embodiment provided by the application, the application discloses the following technical effects:
The application provides an arm posture adjusting system and method for a heliostat cleaning vehicle, comprising a six-degree-of-freedom cleaning arm, a connecting bracket, a cleaning component, a sensing component and a control component, wherein the sensing component comprises a first ultrasonic ranging sensor, a second ultrasonic ranging sensor, a third ultrasonic ranging sensor and a laser ranging sensor, the first ultrasonic ranging sensor is used for measuring and obtaining a first distance between the cleaning component and the heliostat, the second ultrasonic ranging sensor is used for measuring and obtaining a second distance between the cleaning component and the heliostat, the third ultrasonic ranging sensor is used for measuring and obtaining a third distance between the cleaning component and the ground, the laser ranging sensor is used for measuring and obtaining a fourth distance between the cleaning component and the heliostat, and the control component is used for adjusting the posture of the six-degree-of-freedom cleaning arm, so that the difference value between the first distance and the second distance is smaller than a first preset difference value, the first distance and the second distance are both in a first preset distance range, the difference value between the third distance and a ground distance reference value is smaller than a second preset difference value, and the difference value between the fourth distance and a center distance reference value is smaller than a third preset difference value. According to the application, by designing the first ultrasonic ranging sensor, the second ultrasonic ranging sensor, the third ultrasonic ranging sensor, the laser ranging sensor and the control component, high-precision spatial positioning of the heliostat can be realized, the arm pose of the heliostat cleaning vehicle can be further adjusted, and the cleaning operation is ensured to be accurate.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of an arm posture adjusting system of a heliostat cleaning vehicle according to embodiment 1 of the application.
Fig. 2 is a schematic diagram of measurement principles of a 3-path ultrasonic ranging sensor and a 1-path laser ranging sensor provided in embodiment 1 of the present application.
Fig. 3 is a schematic diagram of a measurement principle of a 2-path electromagnetic ultrasonic sensor according to embodiment 1 of the present application.
Fig. 4 is a flow chart of a method for adjusting the arm pose of a heliostat cleaning vehicle according to embodiment 2 of the application.
Reference numerals:
1-six-freedom-degree cleaning arm, 2-connecting bracket, 3-nozzle, 4-rolling brush, 5-first ultrasonic ranging sensor, 6-second ultrasonic ranging sensor, 7-third ultrasonic ranging sensor, 8-laser ranging sensor, 9-first electromagnetic ultrasonic sensor, 10-second electromagnetic ultrasonic sensor, 11-heliostat, 12-ranging range and 13-rolling brush projection.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Example 1.
The embodiment provides an arm posture adjusting system of a heliostat cleaning vehicle, as shown in fig. 1, comprising a six-degree-of-freedom cleaning arm 1, a connecting bracket 2, a cleaning component, a sensing component and a control component, wherein the six-degree-of-freedom cleaning arm 1 is arranged on the cleaning vehicle, the connecting bracket 2 is arranged at the tail end of the six-degree-of-freedom cleaning arm 1, the cleaning component and the sensing component are both arranged on the connecting bracket 2, and the control component is in communication connection with the six-degree-of-freedom cleaning arm 1, the cleaning component and the sensing component.
In the prior art, when the heliostat is cleaned, most of the used cleaning arms are two degrees of freedom or three degrees of freedom, and the six-degree-of-freedom cleaning arm 1 is adopted in the embodiment, so that the heliostat cleaning device not only has basic overturning and stretching functions, but also can realize the fine adjustment of the relative angles of the cleaning vehicle and the heliostat mirror surface, and supports the dynamic fine adjustment of the fitting degree of the rolling brush 4 and the heliostat mirror surface in the cleaning process. In this embodiment, the six-degree-of-freedom cleaning arm 1 includes a base, a first link, a second link, a third link, a fourth link, a fifth link, and a sixth link, and the connection bracket 2 is mounted at a free end of the sixth link. The base is connected with the first connecting rod through a first joint, the first connecting rod is connected with the second connecting rod through a second joint, the second connecting rod is connected with the third connecting rod through a third joint, the third connecting rod is connected with the fourth connecting rod through a fourth joint, the fourth connecting rod is connected with the fifth connecting rod through a fifth joint, and the fifth connecting rod is connected with the sixth connecting rod through a sixth joint. The first joint, the second joint, the third joint, the fourth joint, the fifth joint and the sixth joint are all rotatable joints, the first joint is specifically marked as a rotating joint, the second joint is marked as a pitching joint, the third joint, the fourth joint and the fifth joint are all marked as translation joints, the sixth joint is marked as a wrist joint, the first joint is used for finely adjusting the parallelism of a cleaning vehicle body and a heliostat mirror surface, and the second joint to the sixth joint are used for adjusting the position and the gesture of a cleaning part, namely, the position and the gesture of the rolling brush 4.
The cleaning component is used for cleaning heliostats. In this embodiment, the cleaning component includes a nozzle 3 and a rolling brush 4, the nozzle 3 is used for spraying cleaning solution to the heliostat, the rolling brush 4 is used for cleaning the heliostat by using the cleaning solution, the cleaning solution can be selected according to user's needs, such as water, the rolling brush 4 rolls on the heliostat mirror surface, and the heliostat is cleaned by using the cleaning solution.
The sensing means comprises a first ultrasonic ranging sensor 5 (i.e. in fig. 1) A second ultrasonic ranging sensor 6 (i.e. in fig. 1) A third ultrasonic ranging sensor 7 (i.e. in fig. 1) And a laser ranging sensor 8 (i.e. in fig. 1). A first ultrasonic ranging sensor 5 is mounted at a first end of the connection bracket 2, the first ultrasonic ranging sensor 5 being configured to measure a first distance between the cleaning component and the heliostat. A second ultrasonic ranging sensor 6 is mounted at the second end of the connection bracket 2, the second ultrasonic ranging sensor 6 being configured to measure a second distance between the cleaning component and the heliostat. A third ultrasonic ranging sensor 7 is mounted at the bottom of the connecting bracket 2, and the third ultrasonic ranging sensor 7 is used for measuring a third distance between the cleaning component and the ground. The laser ranging sensor 8 is installed in the center of the connecting bracket 2, and the laser ranging sensor 8 is used for measuring and obtaining a fourth distance between the cleaning component and the heliostat.
The sensing component of this embodiment includes 3 way ultrasonic ranging sensor and 1 way laser ranging sensor, and 3 way ultrasonic ranging sensor is used for realizing the preliminary locking of round brush 4 to the heliostat to realize round brush 4 and ground are perpendicular, and 1 way laser ranging sensor is used for further adjusting the distance between round brush 4 and the heliostat, realizes that round brush 4 is taken one's place.
The control part is used for adjusting the posture of the six-degree-of-freedom cleaning arm 1, so that the difference value between the first distance and the second distance is smaller than a first preset difference value, the first distance and the second distance are both in a first preset distance range, the difference value between the third distance and the ground distance reference value is smaller than a second preset difference value, and the difference value between the fourth distance and the center distance reference value is smaller than a third preset difference value.
The process of adjusting the posture of the six-degree-of-freedom cleaning arm 1 by the control component in this embodiment is divided into two steps, as shown in fig. 2, 11 is a heliostat, 12 is a ranging range, 13 is a rolling brush projection, T1, T2, T3, T4 are transmitting probes of the first ultrasonic ranging sensor 5, the second ultrasonic ranging sensor 6, the third ultrasonic ranging sensor 7 and the laser ranging sensor 8, and R1, R2, R3, R4 are receiving probes of the first ultrasonic ranging sensor 5, the second ultrasonic ranging sensor 6, the third ultrasonic ranging sensor 7 and the laser ranging sensor 8, respectively, specifically as follows.
(1) The mirror body is locked.
After the cleaning vehicle is in place, the six-degree-of-freedom cleaning arm 1 is kept in a retracted state, and the rolling brush 4 is in a state vertical to the ground. The first ultrasonic ranging sensor 5, the second ultrasonic ranging sensor 6 and the third ultrasonic ranging sensor 7 respectively read the first distance between the rolling brush 4 and the upper half of the mirror surface of the heliostat 11Second distance between the rolling brush 4 and the lower half of the mirror surface of the heliostat 11And a third distance between the roller brush 4 and the groundConsidering the angle of transmitting and receiving ultrasound during ultrasonic remote measurement(Corresponding to the first ultrasonic ranging sensor 5),(Corresponding to the second ultrasonic ranging sensor 6),(Corresponding to the third ultrasonic ranging sensor 7) on the measurement accuracy by adjusting only the x-axis component of the position adjustment amount of the cleaning member with respect to the baseAnd a y-axis component of the amount of positional adjustment of the cleaning member relative to the baseThe adjustment angles of the joints of the six-degree-of-freedom cleaning arm 1 are obtained, and the posture of the six-degree-of-freedom cleaning arm 1 is adjusted so as to enable、The condition s1 is satisfied:, As a lower limit for the distance between the roller brush 4 and the mirror surface of the heliostat 11, As an upper limit for the distance between the roller brush 4 and the mirror surface of the heliostat 11,AndForming a first preset distance range, and further adjusting the z-axis component of the position adjustment quantity of the cleaning component relative to the baseThe adjustment angles of the joints of the six-degree-of-freedom cleaning arm 1 are obtained, and the posture of the six-degree-of-freedom cleaning arm 1 is adjusted so as to enableThe condition s2 is satisfied:, is a reference value of the distance between the short side of the roll brush 4 and the ground, i.e. a ground distance reference value.
(2) The rolling brush is in place.
After the mirror body is locked, the laser ranging sensor 8 can reliably read the fourth distance between the geometric center of the rolling brush 4 and the mirror surface of the heliostat 11And measurement failure caused by specular reflection is avoided. The posture of the car body of the cleaning car and the posture of the rolling brush 4 are kept unchanged, and the x-axis component of the position adjustment quantity of the cleaning component relative to the base is adjustedAnd a y-axis component of the amount of positional adjustment of the cleaning member relative to the baseThe adjustment angles of the joints of the six-degree-of-freedom cleaning arm 1 are obtained, and the posture of the six-degree-of-freedom cleaning arm 1 is adjusted so as to enableThe condition s3 is satisfied:, is a reference value for the distance between the center of the rolling brush 4 and the mirror surface of the heliostat 11, i.e., a center distance reference value. During the gradual approach of the rolling brush 4 to the heliostat 11 mirror surface, Is the transmission and reception ultrasonic angle of (2)The measurement error caused by the reduction of the measurement distance can be ignored finally, and meanwhile, the embodiment can further compare the lens lockingAndAs a result, when the sensors are on the same straight line、AndWhen the results are closest, the rolling brush 4 is parallel to the mirror surface and perpendicular to the bottom edge of the mirror surface, and the rolling brush is in place and closed、AndSo as not to affect subsequent measurements.
Based on the above, in this embodiment, the control unit is configured to determine, with the x-axis component of the position adjustment amount of the cleaning unit relative to the base and the y-axis component of the position adjustment amount of the cleaning unit relative to the base as inputs, an adjustment angle of the six joints by using a joint inverse motion equation, adjust the posture of the six-degree-of-freedom cleaning arm 1 based on the adjustment angle of the six joints until the difference between the first distance and the second distance is smaller than a first preset difference, and the first distance and the second distance are both within a first preset distance range, determine, with the z-axis component of the position adjustment amount of the cleaning unit relative to the base by using a joint inverse motion equation, the adjustment angle of the five joints by using the adjustment angle of the five joints until the difference between the third distance and the ground distance reference value is smaller than a second preset difference, and adjust the posture of the six-degree-of-freedom cleaning arm 1 based on the fifth joint inverse motion equation, and the sixth joint by using the x-axis component of the position adjustment amount of the cleaning unit relative to the base and the y-axis component of the position adjustment amount of the cleaning unit relative to the base as inputs, and the fifth joint by using the fifth joint inverse motion equation, and the fifth joint, and the fifth joint with the fifth joint and the fifth joint with the difference.
The present embodiment utilizes an ultrasonic ranging sensor、AndRealize heliostat space position locking, support laser rangefinder sensorThe heliostat is accurately positioned by utilizing specular reflection, and compared with the prior art, the rolling brush 4 can accurately and reliably lock the heliostat, and high-precision spatial positioning of the heliostat is realized.
After the high-precision space positioning of the heliostat is completed, the heliostat cleaning process can be further performed, at this time, the control part controls the cleaning part to start cleaning the heliostat, and the cleaning vehicle can be in a running state. In this embodiment, the sensing means further comprises a first electromagnetic ultrasonic sensor 9 (i.e. in fig. 1) And a second electromagnetic ultrasonic sensor 10 (i.e., in fig. 1) The first electromagnetic ultrasonic sensor 9 and the second electromagnetic ultrasonic sensor 10 are both installed on the connecting bracket 2, the first electromagnetic ultrasonic sensor 9 is located between the first ultrasonic ranging sensor 5 and the laser ranging sensor 8, the second electromagnetic ultrasonic sensor 10 is located between the second ultrasonic ranging sensor 6 and the laser ranging sensor 8, and the distance from the first electromagnetic ultrasonic sensor 9 to the laser ranging sensor 8 is equal to the distance from the second electromagnetic ultrasonic sensor 10 to the laser ranging sensor 8.
The first electromagnetic ultrasonic sensor 9 is used for measuring a first lift-off distance between the cleaning component and the heliostat.
The second electromagnetic ultrasonic sensor 10 is used to measure a second lift-off distance between the cleaning component and the heliostat.
The control part is used for adjusting the gesture of the six-degree-of-freedom cleaning arm 1 in the driving process of the cleaning vehicle, so that the difference value between the first lifting distance and the second lifting distance is smaller than a fourth preset difference value, and the first lifting distance and the second lifting distance are both in a second preset distance range.
The embodiment designs a 2-path electromagnetic ultrasonic sensor, wherein the 2-path electromagnetic ultrasonic sensor is symmetrically installed by taking a laser ranging sensor 8 as a center and is used for detecting parallelism of a rolling brush 4 and a heliostat, and rolling brush fine adjustment is completed based on the 2-path electromagnetic ultrasonic sensor.
In FIG. 3, 11 is a heliostat, 13 is a rolling brush projection, T5 and T6 are transmitting probes of a first electromagnetic ultrasonic sensor 9 and a second electromagnetic ultrasonic sensor 10 respectively, R5 and R6 are receiving probes of the first electromagnetic ultrasonic sensor 9 and the second electromagnetic ultrasonic sensor 10 respectively, and the rolling brush fine tuning specifically comprises the steps that after the rolling brush is in place, the first electromagnetic ultrasonic sensor 9 and the second electromagnetic ultrasonic sensor 10 respectively read variables related to the mirror surface fitting degree of the two ends of the rolling brush 4 and the heliostat 11 to obtain a first lifting distanceAnd a second lift-off distanceFirst lift-off distanceAnd a second lift-off distanceThe sensor can be used for mapping the lift-off distance of a certain area of the mirror surface, analyzing the gesture fitting degree of the rolling brush 4, dynamically fine-adjusting the rolling brush 4 to swing in the cleaning process, and specifically adjusting,The x-axis component, the y-axis component and the z-axis component of the angular adjustment amount of the roll brush 4 along the short side offset,The x-axis component, the y-axis component and the z-axis component of the angle adjustment quantity of the rolling brush 4 which is laterally deviated along the long side are respectively used for obtaining the adjustment angles of all joints of the six-degree-of-freedom cleaning arm 1, and the posture of the six-degree-of-freedom cleaning arm 1 is adjusted so as to lead、Condition s4 is satisfied during the cleaning:, for the roll brush 4 the lower limit is mapped for the diagonal to mirror distance, An upper limit is mapped for the diagonal to mirror distance of the roll brush 4,AndA second preset distance range is formed, so that the section of the rolling brush 4 is parallel to the mirror surface by adjusting the six-degree-of-freedom cleaning arm 1, and the adjustment of the fitting degree of the rolling brush 4 to the mirror surface is realized.
The electromagnetic ultrasonic sensor can be applied to the heliostat materials with electric conduction and magnetic conduction, the propagation speed and the propagation time of ultrasonic waves in the heliostat are used for measuring the thickness of the heliostat body, the distance between the probe of the electromagnetic ultrasonic sensor and the heliostat body is the lift-off distance, the amplitude of echo signals can be influenced when the lift-off distance changes, the thickness of the heliostat body is read through the electromagnetic ultrasonic sensor, when the thickness is unchanged, the combination of the amplitude of echo signals and the lift-off distance can be obtained through multiple readings, the approximate corresponding relation between the amplitude of echo signals and the lift-off distance can be obtained, and when the heliostat works normally, the lift-off distance at the moment is determined through reading the amplitude of echo signals, so that the first lift-off distance and the second lift-off distance are determined.
Based on this, in this embodiment, the control unit is configured to determine, during running of the cleaning vehicle, an adjustment angle of the sixth joint by using the joint inverse motion equation, and adjust the posture of the six-degree-of-freedom cleaning arm 1 based on the adjustment angle of the sixth joint until the difference between the first lift-off distance and the second lift-off distance is smaller than the fourth preset difference, and the first lift-off distance and the second lift-off distance are both within the second preset distance range, with the x-axis component of the adjustment amount of the cleaning unit along the long side, the y-axis component of the adjustment amount of the cleaning unit along the short side, and the y-axis component of the adjustment amount of the cleaning unit along the angle of the short side as inputs.
In the present embodiment, when the arm posture is adjusted, since the six-degree-of-freedom cleaning arm 1 adopts the six-degree-of-freedom chain structure, each joint is rotatable, and the first is specifiedThe joints are jointsThe adjustment angle of each joint is expressed asConnecting rodLocated at the jointAnd joint withBetween each other, the length of each link is expressed asWherein, the method comprises the steps of, wherein,. The arm posture adjusting parameters comprise the position adjusting quantity of the rolling brush 4 relative to the baseAngle adjustment amount of the roll brush 4 along the short side offsetRotation angle adjustment amount of rolling brush 4Angle adjustment amount of the roll brush 4 laterally deviated along the long sideThe arm posture adjustment parameter is of an absolute value type. The initial posture of the six-degree-of-freedom cleaning arm 1 is determined by design and installation modes, the origin of coordinates can be set as the base of the six-degree-of-freedom cleaning arm 1, the zero position of the absolute value encoder of each joint is read, and at the moment, the position and posture of the rolling brush 4 relative to the base are as followsCan be used as the zero point of the posture of the cleaning arm and stored in the control part. And the position and the posture of the rolling brush 4 are adjusted according to the posture adjustment requirements, and the calculated angle from the bottom layer of the control part takes the posture zero point of the cleaning arm as a reference value. However, in the development of the continuous fine tuning algorithm of the cleaning arm, the switching of the adjacent two gestures is more visual at the application level in a mode that the gesture increment is overlapped with the previous gesture.
In this embodiment, a calculation formula of the adjustment angles of the joints of the cleaning arm, that is, a joint inverse motion equation is:
(1)
(2)
(3)
(4)
(5)
(6)
(7)
(8)
(9)
To simplify writing, symbols are used to Representation ofBy usingRepresentation ofBy usingRepresentation ofBy usingRepresentation of,,The quadrant selection process is based on the zero point of the posture of the cleaning arm, and meanwhile, the joints are ensured not to interfere with the heliostat mirror surface, so that the posture adjustment safety is ensured. In the above-mentioned method, the step of,An adjustment angle for the first joint; a y-axis component of the amount of positional adjustment for the cleaning member relative to the base; an x-axis component of the amount of positional adjustment for the cleaning member relative to the base; the sum of the adjustment angle of the second joint, the adjustment angle of the third joint and the adjustment angle of the fourth joint; a z-axis component which is an adjustment amount of the rotation angle of the cleaning member; the cosine value of the adjustment angle of the first joint; An x-axis component which is an adjustment amount of the rotation angle of the cleaning member; is a sine value of the adjustment angle of the first joint; A y-axis component of the rotation angle adjustment amount for the cleaning member; the cosine value of the adjustment angle of the third joint; the cosine value is the sum of the adjustment angle of the second joint, the adjustment angle of the third joint and the adjustment angle of the fourth joint; the length of the fourth connecting rod; a z-axis component of an amount of positional adjustment for the cleaning member relative to the base; the sine value is the sum of the adjustment angle of the second joint, the adjustment angle of the third joint and the adjustment angle of the fourth joint; is the length of the second connecting rod; the length of the third connecting rod; Is a sine value of the adjustment angle of the third joint; The adjustment angle of the third joint; the adjusting angle of the second joint; the adjusting angle is the fourth joint; The adjustment angle of the fifth joint; the adjustment angle is the adjustment angle of the sixth joint; an x-axis component of an angular adjustment amount for lateral misalignment of the cleaning member along the long side; a y-axis component of an angular adjustment amount for lateral misalignment of the cleaning member along the long side; a z-axis component of an angular adjustment amount for lateral misalignment of the cleaning member along the long side; an x-axis component of an angle adjustment amount for the cleaning member to be offset along the short side; a y-axis component of an angle adjustment amount for the cleaning member to be offset along the short side; the z-axis component of the angular adjustment amount for the cleaning member to be offset along the short side.
In order to improve the cleaning efficiency of the rolling brush 4, the embodiment provides a method for automatically fine-adjusting the fitting degree of the rolling brush 4 and the mirror surface, which is suitable for an environment with short distance and water mist interference based on cooperative detection of laser and electromagnetic ultrasonic, and takes a six-degree-of-freedom chain type cleaning arm as an example to realize automatic cleaning operation in the running process of a vehicle after the mirror body is locked, so that a state control of three position axes and three attitude axes of the rolling brush 4 is realized, and the problems that only 2-3 degrees of freedom are provided and control in a parking cleaning mode can only be realized in the prior art are solved. Of course, the six-degree-of-freedom cleaning arm 1 of the present embodiment may also adopt other innovative structures, but the present embodiment focuses on deep explanation of the six-degree-of-freedom chain structure and provides an exhaustive inverse kinematics solving method, which can provide flexible control capability for the six-degree-of-freedom cleaning arm 1 during dynamic operation of the cleaning vehicle, and facilitate the fine tuning operation of the roller brush 4, thereby ensuring high efficiency and accuracy of the cleaning operation.
The embodiment solves two key technical problems of realizing high-precision space positioning of the heliostat by the cleaning vehicle, the six-degree-of-freedom cleaning arm 1 and the rolling brush 4, ensuring the cleaning operation to be accurate, and exploring a flexible attaching strategy of the rolling brush 4 in the cleaning process so as to consider the cleaning efficiency and the mirror surface safety and realize coordinated control of the cleaning efficiency and the mirror surface safety. In order to improve the cleaning efficiency and flexibility, a quick inverse solution algorithm of the six-degree-of-freedom cleaning arm 1 is introduced to optimize a dynamic control strategy of the cleaning arm of the cleaning vehicle in a dynamic motion mode, so that the cleaning operation can be efficiently, safely and accurately completed in a complex and changeable operation environment. Compared with the prior art, the embodiment provides the adjustment of the arm pose of the six-degree-of-freedom chain type cleaning arm based on the fusion of acoustic, optical and magnetic sensing, so that the rolling brush 4 is automatically aligned to the heliostat mirror surface, and the automatic fine adjustment of the fitting degree of the rolling brush 4 and the mirror surface in the cleaning process is supported, wherein the acoustic, optical and magnetic sensing respectively represent three sensing modes of ultrasonic, laser and electromagnetic ultrasonic.
The embodiment adopts the traditional rolling brush 4 structure, combines the laser and electromagnetic ultrasonic phase nondestructive testing technology, not only can improve the accuracy of the cleaning process, but also shows more remarkable advantages and prospects from multiple dimensions such as the difficulty degree of equipment realization, the service life extension, the guarantee of operation safety and the like. Optionally, the structure of the rolling brush 4 can be innovated into a static rag form, and a precise internal pressure sensor array is integrated, so that the fine and flexible cleaning control of the heliostat mirror surface can be realized.
The embodiment provides an arm gesture adjusting scheme of a heliostat cleaning vehicle, the scheme adopts an ultrasonic and laser collaborative detection technology to realize the adjustment of the pose of a six-degree-of-freedom cleaning arm 1 and a rolling brush 4, combines the laser and electromagnetic ultrasonic detection technology to realize the accurate positioning and the dynamic fine adjustment of the surface fitting degree in the cleaning process, optimizes the cleaning effect and improves the safety, and provides a quick solving method for the inverse motion of each joint of the six-degree-of-freedom chain cleaning arm, so that the forward process of the cleaning vehicle can be realized, and the quick adjustment of the pose of the six-degree-of-freedom cleaning arm 1 and the rolling brush 4 is controlled.
Example 2.
The present embodiment provides a heliostat cleaning vehicle arm posture adjustment method, which is applied to the heliostat cleaning vehicle arm posture adjustment system described in embodiment 1, as shown in fig. 4, and includes the following steps.
S1, acquiring a first distance measured by a first ultrasonic ranging sensor, a second distance measured by a second ultrasonic ranging sensor, a third distance measured by a third ultrasonic ranging sensor and a fourth distance measured by a laser ranging sensor.
S2, adjusting the posture of the six-degree-of-freedom cleaning arm so that the difference value between the first distance and the second distance is smaller than a first preset difference value, the first distance and the second distance are both in a first preset distance range, the difference value between the third distance and a ground distance reference value is smaller than a second preset difference value, and the difference value between the fourth distance and a center distance reference value is smaller than a third preset difference value.
S2, adjusting the posture of the six-degree-of-freedom cleaning arm to enable the difference value between the first distance and the second distance to be smaller than a first preset difference value, enabling the first distance and the second distance to be in a first preset distance range, enabling the difference value between the third distance and a ground distance reference value to be smaller than a second preset difference value, enabling the difference value between the fourth distance and a center distance reference value to be smaller than a third preset difference value, and specifically comprising the following steps.
(1) And determining the adjustment angles of six joints by using joint inverse motion equations by taking an x-axis component of the position adjustment amount of the cleaning component relative to the base and a y-axis component of the position adjustment amount of the cleaning component relative to the base as inputs, wherein the six joints comprise a first joint, a second joint, a third joint, a fourth joint, a fifth joint and a sixth joint of the six-degree-of-freedom cleaning arm.
(2) The posture of the six-degree-of-freedom cleaning arm is adjusted based on the adjustment angles of the six joints.
(3) And judging whether the difference value between the first distance and the second distance is smaller than a first preset difference value or not, and judging whether the first distance and the second distance are both in a first preset distance range or not to obtain a first judging result.
(4) And if the first judgment result is negative, the step of returning the x-axis component of the position adjustment amount of the cleaning component relative to the base and the y-axis component of the position adjustment amount of the cleaning component relative to the base to the six joints by using the joint inverse motion equation and using the x-axis component of the position adjustment amount of the cleaning component relative to the base and the y-axis component of the position adjustment amount of the cleaning component relative to the base as inputs.
(5) If the first judgment result is yes, the z-axis component of the position adjustment quantity of the cleaning component relative to the base is taken as input, and the adjustment angles of five joints are determined by utilizing a joint inverse motion equation, wherein the five joints comprise a second joint, a third joint, a fourth joint, a fifth joint and a sixth joint of the six-degree-of-freedom cleaning arm.
(6) The posture of the six-degree-of-freedom cleaning arm is adjusted based on the adjustment angles of the five joints.
(7) And judging whether the difference value between the third distance and the ground distance reference value is smaller than a second preset difference value, and obtaining a second judging result.
(8) If the second judgment result is no, the z-axis component of the position adjustment amount of the cleaning component relative to the base is adjusted, and the step of determining the adjustment angles of the five joints by using the joint inverse motion equation by taking the z-axis component of the position adjustment amount of the cleaning component relative to the base as an input is returned.
(9) If the second judgment result is yes, the x-axis component of the position adjustment amount of the cleaning component relative to the base and the y-axis component of the position adjustment amount of the cleaning component relative to the base are taken as inputs, and the adjustment angles of the five joints are determined by using a joint inverse motion equation.
(10) The posture of the six-degree-of-freedom cleaning arm is adjusted based on the adjustment angles of the five joints.
(11) And judging whether the difference value between the fourth distance and the center distance reference value is smaller than a third preset difference value, and obtaining a third judging result.
(12) And if the third judgment result is no, the step of returning the "determining the adjustment angles of the five joints by using the joint inverse motion equation" by taking the x-axis component of the position adjustment amount of the cleaning member relative to the base and the y-axis component of the position adjustment amount of the cleaning member relative to the base as inputs, under the constraint that the ratio of the x-axis component of the position adjustment amount of the cleaning member relative to the base and the y-axis component of the position adjustment amount of the cleaning member relative to the base is unchanged.
(13) If the third judgment result is yes, ending.
The heliostat cleaning vehicle arm posture adjusting method of the embodiment further comprises the following steps.
(1) And acquiring a first lifting distance measured by the first electromagnetic ultrasonic sensor and a second lifting distance measured by the second electromagnetic ultrasonic sensor.
(2) During the running process of the cleaning vehicle, the x-axis component of the angle adjustment amount of the cleaning component along the long side offset, the y-axis component of the angle adjustment amount of the cleaning component along the long side offset, the z-axis component of the angle adjustment amount of the cleaning component along the long side offset, the x-axis component of the angle adjustment amount of the cleaning component along the short side offset, the y-axis component of the angle adjustment amount of the cleaning component along the short side offset and the z-axis component of the angle adjustment amount of the cleaning component along the short side offset are taken as inputs, and the adjustment angle of the sixth joint of the six-degree-of-freedom cleaning arm is determined by utilizing a joint inverse motion equation.
(3) The posture of the six-degree-of-freedom cleaning arm is adjusted based on the adjustment angle of the sixth joint.
(4) And judging whether the difference value of the first lifting distance and the second lifting distance is smaller than a fourth preset difference value or not, and whether the first lifting distance and the second lifting distance are both within a second preset distance range or not.
(5) If not, the step of returning the "determining the adjustment angle of the sixth joint of the six-degree-of-freedom cleaning arm by using the joint inverse motion equation" with the x-axis component of the angle adjustment amount of the cleaning member along the long side, the y-axis component of the angle adjustment amount of the cleaning member along the long side, the z-axis component of the angle adjustment amount of the cleaning member along the long side, the x-axis component of the angle adjustment amount of the cleaning member along the short side, the y-axis component of the angle adjustment amount of the cleaning member along the short side, and the z-axis component of the angle adjustment amount of the cleaning member along the short side as inputs.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The principles and embodiments of the present application have been described herein with reference to specific examples, which are intended to facilitate an understanding of the principles and concepts of the application and are to be varied in scope and detail by persons of ordinary skill in the art based on the teachings herein. In view of the foregoing, this description should not be construed as limiting the application.
Claims (10)
1. The heliostat cleaning vehicle arm posture adjusting system is characterized by comprising a six-degree-of-freedom cleaning arm, a connecting bracket, a cleaning part, a sensing part and a control part, wherein the six-degree-of-freedom cleaning arm is arranged on a cleaning vehicle, the connecting bracket is arranged at the tail end of the six-degree-of-freedom cleaning arm, the cleaning part and the sensing part are both arranged on the connecting bracket, and the control part is in communication connection with the six-degree-of-freedom cleaning arm, the cleaning part and the sensing part;
the cleaning component is used for cleaning the heliostat;
The sensing component comprises a first ultrasonic ranging sensor, a second ultrasonic ranging sensor, a third ultrasonic ranging sensor and a laser ranging sensor; the system comprises a connecting bracket, a first ultrasonic ranging sensor, a second ultrasonic ranging sensor, a third ultrasonic ranging sensor, a laser ranging sensor and a fourth ultrasonic ranging sensor, wherein the first ultrasonic ranging sensor is arranged at the first end of the connecting bracket and is used for measuring and obtaining a first distance between a cleaning component and a heliostat;
The control part is used for adjusting the gesture of the six-degree-of-freedom cleaning arm, so that the difference value between the first distance and the second distance is smaller than a first preset difference value, the first distance and the second distance are both in a first preset distance range, the difference value between the third distance and the ground distance reference value is smaller than a second preset difference value, and the difference value between the fourth distance and the center distance reference value is smaller than a third preset difference value.
2. The heliostat wash vehicle arm attitude adjustment system of claim 1 wherein the six degree of freedom wash arm comprises a base, a first link, a second link, a third link, a fourth link, a fifth link, and a sixth link, the connecting bracket being mounted at a free end of the sixth link;
The base is connected with the first connecting rod through a first joint, the first connecting rod is connected with the second connecting rod through a second joint, the second connecting rod is connected with the third connecting rod through a third joint, the third connecting rod is connected with the fourth connecting rod through a fourth joint, the fourth connecting rod is connected with the fifth connecting rod through a fifth joint, and the fifth connecting rod is connected with the sixth connecting rod through a sixth joint;
Wherein the first joint, the second joint, the third joint, the fourth joint, the fifth joint and the sixth joint are rotatable joints.
3. The heliostat wash cart arm position adjustment system of claim 1, wherein the wash component comprises a nozzle for spraying a wash solution to the heliostat and a roller brush for washing the heliostat with the wash solution.
4. The heliostat wash arm pose adjustment system of claim 2, wherein the control component is configured to determine adjustment angles of six joints using joint inverse motion equations with an x-axis component of a position adjustment amount of the wash component relative to the base and a y-axis component of a position adjustment amount of the wash component relative to the base as inputs, adjust pose of the six-degree-of-freedom wash arm based on the adjustment angles of the six joints until a difference between the first distance and the second distance is less than a first preset difference, and the first distance and the second distance are both within a first preset distance range; the method comprises the steps of taking a z-axis component of a position adjustment amount of a cleaning component relative to a base as input, determining adjustment angles of five joints by utilizing a joint inverse motion equation, adjusting the posture of a six-degree-of-freedom cleaning arm based on the adjustment angles of the five joints until a difference between a third distance and a ground distance reference value is smaller than a second preset difference value, taking the x-axis component of the position adjustment amount of the cleaning component relative to the base and the y-axis component of the position adjustment amount of the cleaning component relative to the base as input under the constraint that the ratio of the x-axis component of the position adjustment amount of the cleaning component relative to the base to the y-axis component of the position adjustment amount of the cleaning component relative to the base is unchanged, determining the adjustment angles of the five joints by utilizing the joint inverse motion equation, adjusting the posture of the six-degree-of-freedom cleaning arm based on the adjustment angles of the five joints until the difference between a fourth distance and the center distance reference value is smaller than the third preset difference value, wherein the six joints comprise a first joint, a second joint, a third joint, a fourth joint, a fifth joint and a sixth joint, and a fifth joint, and a sixth joint, and the five joint, wherein the six joint comprise the second joint and third joint, fifth joint and sixth joint.
5. The heliostat wash cart arm-pose adjustment system of claim 2, wherein the sensing means further comprises a first electromagnetic ultrasonic sensor and a second electromagnetic ultrasonic sensor, each mounted on the connecting bracket, the first electromagnetic ultrasonic sensor positioned between the first ultrasonic ranging sensor and the laser ranging sensor, the second electromagnetic ultrasonic sensor positioned between the second ultrasonic ranging sensor and the laser ranging sensor, the first electromagnetic ultrasonic sensor being equidistant from the laser ranging sensor from the second electromagnetic ultrasonic sensor to the laser ranging sensor;
the first electromagnetic ultrasonic sensor is used for measuring and obtaining a first lift-off distance between the cleaning component and the heliostat;
The second electromagnetic ultrasonic sensor is used for measuring and obtaining a second lift-off distance between the cleaning component and the heliostat;
The control part is used for adjusting the gesture of the six-degree-of-freedom cleaning arm in the driving process of the cleaning vehicle, so that the difference value between the first lifting distance and the second lifting distance is smaller than a fourth preset difference value, and the first lifting distance and the second lifting distance are both in a second preset distance range.
6. The heliostat wash cart arm position adjustment system of claim 5, wherein the control means is configured to determine an adjustment angle of the sixth joint using an inverse joint movement equation during travel of the wash cart, adjust the position of the six-degree-of-freedom wash cart arm based on the adjustment angle of the sixth joint until a difference between the first lift-off distance and the second lift-off distance is less than a fourth preset difference, and the first lift-off distance and the second lift-off distance are both within a second preset distance range, with an x-axis component of the adjustment amount of the wash cart along the long side, a z-axis component of the adjustment amount of the wash cart along the short side, a y-axis component of the adjustment amount of the wash cart along the short side, and a z-axis component of the adjustment amount of the wash cart along the short side as inputs.
7. The heliostat wash cart arm position adjustment system of claim 4 or 6 wherein the joint inverse equation of motion is:
;
;
;
;
;
;
;
;
;
Wherein, An adjustment angle for the first joint; a y-axis component of the amount of positional adjustment for the cleaning member relative to the base; an x-axis component of the amount of positional adjustment for the cleaning member relative to the base; the sum of the adjustment angle of the second joint, the adjustment angle of the third joint and the adjustment angle of the fourth joint; a z-axis component which is an adjustment amount of the rotation angle of the cleaning member; the cosine value of the adjustment angle of the first joint; An x-axis component which is an adjustment amount of the rotation angle of the cleaning member; is a sine value of the adjustment angle of the first joint; A y-axis component of the rotation angle adjustment amount for the cleaning member; the cosine value of the adjustment angle of the third joint; the cosine value is the sum of the adjustment angle of the second joint, the adjustment angle of the third joint and the adjustment angle of the fourth joint; the length of the fourth connecting rod; a z-axis component of an amount of positional adjustment for the cleaning member relative to the base; the sine value is the sum of the adjustment angle of the second joint, the adjustment angle of the third joint and the adjustment angle of the fourth joint; is the length of the second connecting rod; the length of the third connecting rod; Is a sine value of the adjustment angle of the third joint; The adjustment angle of the third joint; the adjusting angle of the second joint; the adjusting angle is the fourth joint; The adjustment angle of the fifth joint; the adjustment angle is the adjustment angle of the sixth joint; an x-axis component of an angular adjustment amount for lateral misalignment of the cleaning member along the long side; a y-axis component of an angular adjustment amount for lateral misalignment of the cleaning member along the long side; a z-axis component of an angular adjustment amount for lateral misalignment of the cleaning member along the long side; an x-axis component of an angle adjustment amount for the cleaning member to be offset along the short side; a y-axis component of an angle adjustment amount for the cleaning member to be offset along the short side; the z-axis component of the angular adjustment amount for the cleaning member to be offset along the short side.
8. A heliostat cleaning vehicle arm position adjustment method applied to the heliostat cleaning vehicle arm position adjustment system of any one of claims 1-7, characterized in that the heliostat cleaning vehicle arm position adjustment method comprises:
Acquiring a first distance measured by a first ultrasonic ranging sensor, a second distance measured by a second ultrasonic ranging sensor, a third distance measured by a third ultrasonic ranging sensor and a fourth distance measured by a laser ranging sensor;
And adjusting the posture of the six-degree-of-freedom cleaning arm so that the difference value between the first distance and the second distance is smaller than a first preset difference value, the first distance and the second distance are both in a first preset distance range, the difference value between the third distance and the ground distance reference value is smaller than a second preset difference value, and the difference value between the fourth distance and the center distance reference value is smaller than a third preset difference value.
9. The heliostat wash cart arm pose adjustment method of claim 8, wherein the pose of the six-degree-of-freedom wash arm is adjusted such that a difference between the first distance and the second distance is less than a first preset difference, and the first distance and the second distance are both within a first preset distance range, a difference between the third distance and a ground distance reference value is less than a second preset difference, and a difference between the fourth distance and a center distance reference value is less than a third preset difference, comprising:
The adjusting angles of six joints are determined by utilizing a joint inverse motion equation by taking an x-axis component of the position adjustment amount of the cleaning component relative to the base and a y-axis component of the position adjustment amount of the cleaning component relative to the base as inputs, wherein the six joints comprise a first joint, a second joint, a third joint, a fourth joint, a fifth joint and a sixth joint of the six-degree-of-freedom cleaning arm;
adjusting the posture of the six-degree-of-freedom cleaning arm based on the adjustment angles of the six joints;
Judging whether the difference value of the first distance and the second distance is smaller than a first preset difference value or not, and judging whether the first distance and the second distance are both in a first preset distance range or not to obtain a first judging result;
if the first judgment result is negative, the x-axis component of the position adjustment amount of the cleaning component relative to the base and the y-axis component of the position adjustment amount of the cleaning component relative to the base are adjusted, and the step of returning to the step of determining the adjustment angles of the six joints by using the joint inverse motion equation by taking the x-axis component of the position adjustment amount of the cleaning component relative to the base and the y-axis component of the position adjustment amount of the cleaning component relative to the base as inputs;
if the first judgment result is yes, taking a z-axis component of the position adjustment quantity of the cleaning component relative to the base as input, and determining adjustment angles of five joints by utilizing a joint inverse motion equation, wherein the five joints comprise a second joint, a third joint, a fourth joint, a fifth joint and a sixth joint of the six-degree-of-freedom cleaning arm;
adjusting the posture of the six-degree-of-freedom cleaning arm based on the adjustment angles of the five joints;
Judging whether the difference value between the third distance and the ground distance reference value is smaller than a second preset difference value or not, and obtaining a second judging result;
If the second judgment result is negative, the z-axis component of the position adjustment amount of the cleaning component relative to the base is adjusted, and the step of determining the adjustment angles of the five joints by utilizing a joint inverse motion equation by taking the z-axis component of the position adjustment amount of the cleaning component relative to the base as input is returned;
if the second judgment result is yes, the x-axis component of the position adjustment quantity of the cleaning component relative to the base and the y-axis component of the position adjustment quantity of the cleaning component relative to the base are taken as inputs, and the adjustment angles of the five joints are determined by utilizing a joint inverse motion equation;
adjusting the posture of the six-degree-of-freedom cleaning arm based on the adjustment angles of the five joints;
Judging whether the difference value between the fourth distance and the center distance reference value is smaller than a third preset difference value or not, and obtaining a third judging result;
If the third judgment result is no, under the constraint that the ratio of the x-axis component of the position adjustment amount of the cleaning component relative to the base to the y-axis component of the position adjustment amount of the cleaning component relative to the base is unchanged, adjusting the x-axis component of the position adjustment amount of the cleaning component relative to the base and the y-axis component of the position adjustment amount of the cleaning component relative to the base, returning to the step of determining the adjustment angles of the five joints by using the joint inverse motion equation by taking the x-axis component of the position adjustment amount of the cleaning component relative to the base and the y-axis component of the position adjustment amount of the cleaning component relative to the base as inputs;
if the third judgment result is yes, ending.
10. The heliostat cleaning vehicle arm position adjustment method of claim 8, the heliostat cleaning vehicle arm posture adjusting method is characterized by further comprising the following steps:
acquiring a first lifting distance measured by a first electromagnetic ultrasonic sensor and a second lifting distance measured by a second electromagnetic ultrasonic sensor;
During the running process of the cleaning vehicle, taking an x-axis component of the angle adjustment amount of the cleaning component along the long side, a y-axis component of the angle adjustment amount of the cleaning component along the long side, a z-axis component of the angle adjustment amount of the cleaning component along the long side, an x-axis component of the angle adjustment amount of the cleaning component along the short side, a y-axis component of the angle adjustment amount of the cleaning component along the short side and a z-axis component of the angle adjustment amount of the cleaning component along the short side as inputs, and determining the adjustment angle of a sixth joint of the six-degree-of-freedom cleaning arm by utilizing a joint inverse motion equation;
Adjusting the posture of the six-degree-of-freedom cleaning arm based on the adjustment angle of the sixth joint;
judging whether the difference value of the first lifting distance and the second lifting distance is smaller than a fourth preset difference value or not, and whether the first lifting distance and the second lifting distance are both within a second preset distance range or not;
If not, the step of returning the "determining the adjustment angle of the sixth joint of the six-degree-of-freedom cleaning arm by using the joint inverse motion equation" with the x-axis component of the angle adjustment amount of the cleaning member along the long side, the y-axis component of the angle adjustment amount of the cleaning member along the long side, the z-axis component of the angle adjustment amount of the cleaning member along the long side, the x-axis component of the angle adjustment amount of the cleaning member along the short side, the y-axis component of the angle adjustment amount of the cleaning member along the short side, and the z-axis component of the angle adjustment amount of the cleaning member along the short side as inputs.
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