摘要
针对国内外现有塔式太阳能热发电站中存在的无法全自动化清洗定日镜的问题,提出了一种基于二维激光雷达的定日镜清洗车导航避障系统,该系统由清洗车导航系统和激光雷达系统结合而成,利用激光雷达来测量前方定日镜的姿态,从而为清洗车导航系统提供避障保护,以实现清洗车对定日镜的全自动化清洗。首先,建立了地面导航系统坐标系,推导了WGS84坐标系到当地导航系统椭球坐标系的转换方程;其次,分别建立了定日镜、清洗车、激光雷达的运动学模型,并将清洗车和定日镜分别置于多种姿态,截取激光雷达的检测数据,使用检测数据标定激光雷达的安装位置,即激光雷达相对于车辆中心的坐标和安装倾角;最后,对定日镜清洗车导航避障系统进行实际测试,使用标定参数来检测前方定日镜的姿态,实现定日镜的全自动化清洗,当该导航避障系统反馈前方定日镜为异常姿态时,制动清洗车。该导航避障系统还可应用于与自动清洗系统相关的类似应用场景。
Aiming at the problem that the heliostat in the existing tower CSP stations at home and abroad cannot be cleaned automatically,this paper proposes a navigation and obstacle avoidance system for heliostat cleaning vehicle based on 2D laser radar.This system is composed of the cleaning vehicle navigation system and laser radar system.It uses laser radar to measure the attitude of the heliostat in front of it,so as to provide obstacle avoidance protection for the cleaning vehicle navigation system,in order to realize the automatic cleaning of the heliostat by the cleaning vehicle.Firstly,the ground navigation system coordinate system is established,and the conversion equation from WGS84 coordinate system to local navigation system ellipsoidal coordinate system is derived.Secondly,the kinematics models of the heliostat,cleaning vehicle and laser radar are established respectively,and the cleaning vehicle and the heliostat are placed in various attitudes,the detection data of the laser radar are intercepted,and the installation position of the laser radar is calibrated using the detection data,that is,the coordinates of the laser radar relative to the vehicle center and the installation angle.Finally,the navigation and obstacle avoidance system for the heliostat cleaning vehicle is actually tested,and the calibration parameters are used to detect the attitude of the heliostat in front,so as to realize the automatic cleaning of the heliostat.When the navigation and obstacle avoidance system feeds back that the heliostat in front is in an abnormal attitude,the cleaning vehicle is braked.The navigation and obstacle avoidance system can also be applied to similar application scenarios related to the automatic cleaning system.
作者
薛刚强
宓霄凌
李晓波
Xue Gangqiang;Mi Xiaoling;Li Xiaobo(Cosin Solar Technology Co.,Ltd.,Hangzhou 310053,China)
出处
《太阳能》
2023年第1期76-84,共9页
Solar Energy
关键词
太阳能热发电站
定日镜
清洗车导航系统
二维激光雷达
避障
CSP station
heliostat
navigation system of cleaning vehicle
2D laser radar
obstacle avoidance
