CN113776464B - System and method for measuring collineation deviation of heliostat mounting holes - Google Patents
System and method for measuring collineation deviation of heliostat mounting holes Download PDFInfo
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- CN113776464B CN113776464B CN202111175416.3A CN202111175416A CN113776464B CN 113776464 B CN113776464 B CN 113776464B CN 202111175416 A CN202111175416 A CN 202111175416A CN 113776464 B CN113776464 B CN 113776464B
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- 238000005259 measurement Methods 0.000 claims abstract description 15
- 238000005516 engineering process Methods 0.000 claims description 7
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- 230000009466 transformation Effects 0.000 claims description 6
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 abstract description 4
- 238000001514 detection method Methods 0.000 description 15
- 238000006073 displacement reaction Methods 0.000 description 6
- 238000003384 imaging method Methods 0.000 description 4
- 238000010248 power generation Methods 0.000 description 4
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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
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
- G01B11/27—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes
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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
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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Abstract
The invention discloses a heliostat mounting hole collineation deviation measurement system and method, comprising a collimation laser, a laser bracket, a calculation control unit, an image acquisition system and a receiving screen; the collimating laser emits a collimating laser beam, the diameter of the collimating laser beam does not change obviously within a certain range, and the collimating laser beam is used as a measuring reference of the collinear deviation of all the mounting holes to be measured; the collimating laser is arranged on the laser bracket, so that a collimated laser beam can accurately pass through the mounting hole to be detected; the calculation control unit is used for controlling the image acquisition system to acquire images, image processing and recognition and collinearly deviation calculation; the receiving screen is used for receiving laser spots corresponding to different mounting holes. The invention recognizes the relative relation between the laser light spot in each mounting hole and the boundary of the mounting hole through the image, and realizes a heliostat mounting hole collineation deviation measuring system with high precision, high efficiency and large measuring space range.
Description
Technical Field
The invention belongs to the field of solar thermal power generation, and particularly relates to a heliostat mounting hole collineation deviation measurement system and method.
Background
As a core unit of the photo-thermal power generation technology, heliostats need to reflect sunlight to a target area and concentrate the sunlight to a design range. For the purpose of convergence, the surface shape of the heliostat is usually designed as a discrete paraboloid, and has high precision requirements. The mechanical support structure of heliostats is typically composed of a diagonal brace and a main beam, with multiple sets of diagonal braces parallel to each other and mounted on the main beam, so the mounting holes of the diagonal braces are typically centered on a common line. If larger collinear deviation occurs among the mounting holes, the surface shape of the heliostat is deviated, so that the convergence degree of the heliostat is deviated, even the condition of divergence occurs, and the condensation efficiency and the power generation efficiency of the whole photo-thermal power generation mirror field are finally affected.
The conventional heliostat mounting hole collineation deviation detection method comprises joint arm measurement, binocular detection and tool detection. The joint arm measurement is to detect the edge of the mounting hole through a probe to obtain three-dimensional point cloud coordinate data of the mounting hole. Because the measuring range of the articulated arm is limited, the heliostat mechanical structure with larger measuring space span needs to be spliced and measured by using a frog-leaping technology, but the frog-leaping technology can cause the accumulation of measuring errors and influence the final measuring precision. Binocular detection utilizes binocular parallax principle to realize three-dimensional ranging of mounting hole edge, but is limited by camera visual field and imaging principle, and it is difficult to guarantee that the mounting hole of the most distal end and the mounting hole of the most proximal end have higher detection precision simultaneously. The tool detection is a high-precision detection tool for processing and can be a tool rod or a plurality of detection tools sharing a reference. The tool is easy to deform due to gravity, and the cost is increased due to higher machining precision. Thus, there is a need for a method that enables heliostat mounting hole collinear deviation measurement.
Disclosure of Invention
Aiming at the characteristic of high requirement on collinearly deviation of mounting holes in a heliostat mechanical structure, the invention utilizes the characteristic that laser propagates along a straight line in a uniform medium, and the relative relation between laser spots in each mounting hole and the boundary of the mounting hole is identified through images, so that the collinearly deviation measuring system for the mounting holes of the heliostat is high in precision, high in efficiency and wide in measuring space range.
The invention discloses a heliostat mounting hole colinear deviation measuring system which at least comprises a collimating laser, a laser bracket, a calculation control unit, an image acquisition system and a receiving screen.
The collimating laser emits a collimating laser beam, the diameter of the collimating laser beam does not change obviously within a certain range, and the collimating laser beam is used as a measuring reference of the collinear deviation of all the mounting holes to be measured.
The collimating laser is arranged on the laser bracket; the laser bracket can at least carry out adjustment of 4 degrees of freedom, including azimuth angle adjustment, pitch angle adjustment, lifting displacement adjustment and horizontal displacement adjustment, so that the collimated laser beam can accurately pass through the mounting hole to be measured.
The calculation control unit is used for controlling the image acquisition system to acquire images, image processing and recognition and collineation deviation calculation. The image acquisition system at least comprises an image acquisition device, including an imaging light path (lens or aperture, etc.) and a digital image sensor. The view field of a single image collector in the image collection system can cover the single mounting hole and the image of the laser light spot on the corresponding receiving screen at the same time.
The receiving screen is used for receiving laser spots corresponding to different mounting holes.
The invention also discloses a method for measuring the collineation deviation of the heliostat mounting holes, which comprises the following steps:
(1) Arranging a receiving screen at the far end, and opening a switch to enable a collimated laser to emit laser beams to irradiate the receiving screen;
(2) Fixing heliostats, and adjusting a laser bracket to enable mounting holes to be detected to be basically positioned on a laser light path, namely enabling collimated laser beams to pass through all the mounting holes to be detected, wherein if the collimated laser beams are blocked by part of the mounting holes, the heliostat measurement results are unqualified;
(3) The receiving screen is clung to one side of the ith mounting hole far away from the laser, a laser spot can be received on the receiving screen, and meanwhile, the image acquisition system is adjusted so that the view field of the image acquisition system can completely cover the ith mounting hole;
(4) The computing control unit controls the image acquisition system to acquire an image, acquires the edge of the target mounting hole through an image recognition technology, and performs back projection transformation correction on the image based on an edge recognition result;
(5) Identifying the laser spot center in the image after the back projection transformation correction, and calculating the relative deviation between the laser spot center and the center of the mounting hole, wherein the deviation along the image row direction is dH i (in pixels), the deviation in the image column direction is dL i (in pixels), i represents the mounting hole number;
(6) The actual diameter of the ith mounting hole is known as D i (in meters), the i-th mounting hole diameter obtained by recognition in the image corrected by the back projection conversion is d i (in pixels), the actual deviation of the ith mounting hole along the image line direction is calculated as(in meters) the deviation in the direction of the image columns is +.>(in meters);
(7) The distance from the ith mounting hole to the collimated laser is known as L i (in meters), the collinear deviation of the ith mounting hole can be decomposed into a horizontal deviation angleAnd vertical deviation angle->The units of the horizontal direction deviation angle and the vertical direction deviation angle are degrees, and the calculation result is stored in a calculation control unit.
(8) And repeating the steps 5 to 7 until all the mounting holes are measured, and completing the measurement of the collinearly deviation of the mounting holes of the heliostat.
The invention has the beneficial effects that:
(1) According to the invention, by utilizing the characteristic that laser propagates along a straight line in a uniform medium, object detection with large space span can be realized by collimating the laser, unlike the situation that a frog-leaping technology is required to be used for joint arm measurement, errors are not accumulated, and the measurement precision can be effectively ensured;
(2) The invention uses the collimation laser as the unified reference of all the mounting holes to be tested, is not limited by the camera view field and the imaging principle, can ensure the detection standards of the mounting holes with different distances to be consistent, and ensures that all the mounting holes can realize high-precision collinear deviation detection under the same reference;
(3) The invention uses the collimated laser as a reference, can not deform under the influence of gravity like tool detection, and can effectively ensure the unification of the detection standards of all the mounting holes;
(4) The invention uses devices such as a collimation laser, an image acquisition system, a calculation control unit and the like, does not need to process a high-precision tool for detection, does not additionally increase the system cost, and has the characteristics of large detection space span, wide application range and the like.
Drawings
FIG. 1 is a schematic diagram of a measurement system;
FIG. 2 is a schematic illustration of mounting hole collinear deviations.
Detailed Description
The invention is further described below with reference to the drawings and specific examples.
Example 1
As shown in fig. 1, the system for measuring the collinear deviation of the heliostat mounting holes at least comprises a collimating laser 1, a laser bracket 2, a calculation control unit 3, an image acquisition system 4 and a receiving screen 5. The collimated laser 1 emits collimated laser beams, the diameter of the collimated laser beams does not change obviously within a certain range, and the collimated laser beams are used as measurement references of the collinear deviation of all the mounting holes to be measured. The laser bracket 2 can at least perform adjustment with 4 degrees of freedom, including azimuth adjustment, pitch angle adjustment, lifting displacement adjustment and horizontal displacement adjustment, so that the collimated laser beam can accurately pass through the mounting hole to be measured. The calculation control unit 3 is used for controlling the image acquisition system 4 to acquire images, image processing identification and collinearly deviation calculation. The image acquisition system 4 comprises at least one image acquisition device comprising an imaging light path (lens or aperture etc.) and a digital image sensor. The field of view of a single image collector in the image acquisition system 4 can simultaneously cover the single mounting hole and its corresponding image of the laser spot on the receiving screen 5. The receiving screen 5 is used for receiving laser spots corresponding to different mounting holes.
The laser bracket 2 can be formed by combining a plurality of optical adjustment platforms, and comprises a rotary table for adjusting azimuth angle, an angular position table for adjusting pitch angle, a lifting table for adjusting lifting displacement and a translation table for adjusting horizontal displacement.
Example 2
The invention discloses a method for measuring collineation deviation of heliostat mounting holes, which comprises the following steps:
(1) A receiving screen 5 is arranged at the far end, and a switch is turned on to enable the collimated laser 1 to emit laser beams to irradiate the receiving screen;
(2) Fixing heliostats, and adjusting a laser bracket to enable mounting holes to be detected to be basically positioned on a laser light path, namely enabling collimated laser beams to pass through all the mounting holes to be detected, wherein if the collimated laser beams are blocked by part of the mounting holes, the heliostat measurement results are unqualified;
(3) The receiving screen 5 is clung to one side of the ith mounting hole far away from the laser, a laser spot can be received on the receiving screen, and meanwhile, the image acquisition system 4 is adjusted so that the field of view of the image acquisition system can completely cover the ith mounting hole;
(4) The computing control unit 3 controls the image acquisition system 4 to acquire images, obtains the edges of the target mounting holes through an image recognition technology, and carries out back projection transformation correction on the images based on the edge recognition result;
(5) Identifying the laser spot center in the image after the back projection transformation correction, and calculating the relative deviation between the laser spot center and the center of the mounting hole, wherein the deviation along the image row direction is dH i (in pixels), the deviation in the image column direction is dL i (in pixels), i represents the mounting hole number;
(6) The actual diameter of the ith mounting hole is known as D i (in meters), the i-th mounting hole diameter obtained by recognition in the image corrected by the back projection conversion is d i (in pixels), the actual deviation of the ith mounting hole along the image line direction is calculated as(in meters) the deviation in the direction of the image columns is +.>(in meters);
(7) The distance from the ith mounting hole to the collimated laser is known as L i (in meters), the collinear deviation of the ith mounting hole can be decomposed into a horizontal deviation angleAnd vertical deviation angle->Wherein the units of the horizontal direction deviation angle and the vertical direction deviation angle are degrees, and the calculation result is saved to the calculation control unit 3.
(8) And repeating the steps 5 to 7 until all the mounting holes are measured, and completing the measurement of the collinearly deviation of the mounting holes of the heliostat.
Claims (1)
1. The method for measuring the collinear deviation of the heliostat mounting holes is characterized by comprising the following steps of:
(1) Arranging a receiving screen at the far end, and opening a switch to enable a collimated laser to emit laser beams to irradiate the receiving screen;
(2) Fixing heliostats, and adjusting a laser bracket to enable mounting holes to be detected to be basically positioned on a laser light path, namely enabling collimated laser beams to pass through all the mounting holes to be detected, wherein if the collimated laser beams are blocked by part of the mounting holes, the heliostat measurement results are unqualified;
(3) The receiving screen is clung to one side of the ith mounting hole far away from the laser, a laser spot can be received on the receiving screen, and meanwhile, the image acquisition system is adjusted so that the view field of the image acquisition system can completely cover the ith mounting hole;
(4) The computing control unit controls the image acquisition system to acquire an image, acquires the edge of the target mounting hole through an image recognition technology, and performs back projection transformation correction on the image based on an edge recognition result;
(5) Identifying the laser spot center in the image after the back projection transformation correction, and calculating the relative deviation between the laser spot center and the center of the mounting hole, wherein the deviation along the image row direction is dH i Deviation in the image column direction was dL i I represents the number of the mounting hole;
(6) The actual diameter of the ith mounting hole is known as D i Identifying the obtained ith mounting hole diameter d in the back projection conversion corrected image i Calculating the actual deviation of the ith mounting hole along the image row direction asDeviation in the image column direction is +.>
(7) The distance from the ith mounting hole to the collimated laser is known as L i The collinear deviation of the ith mounting hole can be decomposed into a horizontal deviation angleAnd vertical deviation angle->Wherein the units of the horizontal direction deviation angle and the vertical direction deviation angle are degrees, and the calculation result is stored in a calculation control unit;
(8) And repeating the steps 5 to 7 until all the mounting holes are measured, and completing the measurement of the collinearly deviation of the mounting holes of the heliostat.
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| CN201527265U (en) * | 2009-08-26 | 2010-07-14 | 北方工业大学 | Measuring device for heliostat sun-tracking error |
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Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107678448B (en) * | 2017-11-27 | 2023-06-02 | 上海晶电新能源有限公司 | Sun tracking correction system and method based on celestial body image |
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- 2021-10-09 CN CN202111175416.3A patent/CN113776464B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201527265U (en) * | 2009-08-26 | 2010-07-14 | 北方工业大学 | Measuring device for heliostat sun-tracking error |
| CN102645171A (en) * | 2012-05-14 | 2012-08-22 | 厦门理工学院 | Device and method for measuring size and roundness of tiny round hole at same time |
| CN104075656A (en) * | 2014-06-25 | 2014-10-01 | 广东工业大学 | Collimation deviation detection and elimination method for laser interferometer |
| CN106197312A (en) * | 2016-07-06 | 2016-12-07 | 江苏鑫晨光热技术有限公司 | A kind of settled date mirror surface-shaped rapid detection system and method thereof |
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