CN102393753B - Solar thermal power generation heliostat positioning system and method based on multiband light sources - Google Patents
Solar thermal power generation heliostat positioning system and method based on multiband light sources Download PDFInfo
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- CN102393753B CN102393753B CN201110296231.8A CN201110296231A CN102393753B CN 102393753 B CN102393753 B CN 102393753B CN 201110296231 A CN201110296231 A CN 201110296231A CN 102393753 B CN102393753 B CN 102393753B
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Abstract
The invention discloses a solar thermal power generation heliostat positioning system based on multiband light sources. The positioning system mainly comprises artificial light sources which are arranged in four areas of a mirror field and are positioned in four bands, four groups of color sensitive sensor arrays positioned below an absorption tower, and a server for processing a light spot image and estimating the parameter of a heliostat unit, wherein the color sensitive sensor arrays can sense the color of light and the position of a light spot. Meanwhile, the invention discloses a heliostat positioning method based on the multiband light sources. A heliostat in each area is rotated to the corresponding color sensitive sensor array plate to acquire a group of positioning samples, the light sources are selected crosswise to acquire a plurality of groups of samples in a reflection mode, and the accurate coordinate of a central point of the heliostat is estimated according to the samples. By the system and the method, the correction efficiency of the heliostat is improved, and the heliostat can accurately project the light spot to a heat absorption unit of the absorption tower.
Description
Invention field
The present invention relates to field of solar thermal power generation, relate in particular to a kind of tower type solar energy thermal power generation heliostat positioning system and method based on multiband artificial light sources.
Background technology
Tower type solar electricity generation system comprises that being placed on the heat absorbing units, the reception tower that receive on tower establishes the heliostat unit of multiaspect, computer control subsystem and tracking drive mechanism in upper berth, ground around.Computer control system is controlled those heliostat unit from the motion tracking sun, and by the light reflection of the sun to being positioned at the heat sink that receives top of tower, make medium boiling wherein, the steam that produced thus drives turbodynamo, and then realizes the effect of generating.Therefore,, when track of sun changed along with the time, must accurately control the rotational angle of heliostat to follow the tracks of the variation of the sun, thereby realize the efficient utilization to solar energy resources.
To the control of heliostat, be to input after heliostat coordinate parameters by computer control system, by solar tracking algorithm, calculate that angle that heliostat should rotate realizes.But because manufacture and the installation of heliostat exists all multiple errors, the heliostat coordinate that such method obtains is out of true also, thereby make hot spot that skew on a large scale occur.Therefore, the levels of precision of heliostat coordinate parameters is directly connected to the accuracy of its solar tracking, and then the efficiency of greatly impact heat generating.
At present heliostat location is mainly contained to two kinds of methods:
The one, US Patent No. 4564275 and Chinese patent CN102116604 mention, controlling heliostat reflexes to light on the blank receiving on tower, then utilize the video camera on blank opposite to the hot spot imaging on blank, by image processing techniques, measure actual hot spot and blank central point deviation, then utilize computing machine correction heliostat cell parameters, make its by dot projection to blank central point.This kind of localization method operation is fairly simple, with low cost, but maximum problem is that location efficiency is too low, obviously improper for the location of thousands of mirrors.
The US20090107485 of Er Shi U.S. eSolar house journal mentions, and utilizes Jing Chang video camera around, produces the sunlight Image Acquisition location sample of a plurality of heliostat reflections, then by the method for parameter estimation, obtains the parameter of heliostat.The problem of this kind of localization method is mainly that image processing system is complicated, and hot spot is longer search time, and light source only has one to be the sun, and obtaining sample need to be every a period of time, so efficiency neither be very high.
Summary of the invention
For heliostat location efficiency in solution tower type solar energy thermal power generation is low, the shortcoming of positioning system complexity, the invention provides a kind of heliostat positioning system based on multiband artificial light sources
For heliostat location efficiency in solution tower type solar energy thermal power generation is low, the shortcoming of positioning system complexity, the invention provides a kind of heliostat localization method based on multiband artificial light sources.
A solar energy thermal-power-generating heliostat positioning system based on alternative light source, comprising:
Heliostat field: it comprises the multiaspect heliostat unit that receives heat sink on tower for sunshine is reflexed to, and described multiaspect heliostat unit is divided at least two regions;
At least two artificial light sourcess: described at least two artificial light sourcess are positioned at different-waveband;
Sensing device: the artificial light sources that is positioned at different-waveband for receiving is irradiated facula information thereon by heliostat unit;
Computer control subsystem: for transmit the location sample of some groups of heliostat unit of information acquisition according to sensing device, be estimated to take the accurate coordinates of current heliostat unit center point according to sample.A solar energy thermal-power-generating heliostat localization method based on alternative light source, comprising:
Heliostat field is divided into a plurality of regions, and at least two artificial light sourcess of different-waveband are set in mirror field;
The adjustment information of computer control subsystem controls one heliostat unit, make sensing device this heliostat unit be detected and reflect selected artificial light sources hot spot and be positioned at its central area, after the information that comprises this adjustment information is stored as to the sample information of this heliostat unit;
Adjustment comprises that different wave length artificial light sources is the information of current light source, obtains a plurality of sample informations;
Estimate the parameter of this heliostat unit;
According to the calculation of parameter of this heliostat unit, go out heliostat unit angle configurations when sunshine hot spot is accurately projected to the heat absorbing units receiving on tower
rotation heliostat, to this angle, makes dot projection to the heat absorbing units receiving on tower, thereby completes the correction of this heliostat unit.
Preferably, heliostat positioning system based on multiband artificial light sources mainly comprises the artificial light sources of four kinds of different colours that are arranged on four regions, mirror field, be positioned at receive tower below four groups of color sensitive sensor arrays and for hot spot process, heliostat is controlled and the server of parameter estimation.
Heliostat localization method based on multiband artificial light sources, comprise that a heliostat to the corresponding color sensitive sensor array board that simultaneously rotates each region obtains one group of location sample, intersection is chosen light source reflection and is obtained many group samples, according to the accurate coordinates of sample acquisition heliostat central point.
Compared with prior art, the present invention has the following advantages:
First, the present invention can, by setting alternative light source, as selected quasi-optical source, improve heliostat unit and sunshine light class is projected to the accuracy in the heat absorbing units that receives tower.
Then, multiaspect heliostat unit is divided at least two regions, the artificial light sources at each region division of Jing Chang with a kind of wavelength, each region division one sensing device at Jing Chang, a heliostat to the corresponding color sensitive sensor array board that simultaneously rotates each region obtains one group of location sample, intersection is chosen light source reflection and is obtained many group samples, according to the accurate coordinates of sample acquisition heliostat central point, greatly improves the efficiency of locating.
Accompanying drawing explanation
Fig. 1 is with the tower type solar energy thermal power generation heliostat field schematic diagram of multiband artificial light sources in the embodiment of the present invention;
Fig. 2 is the code pattern of heliostat field in the embodiment of the present invention;
Fig. 3 a, Fig. 3 b utilizes multiband artificial light sources to obtain some structural representations of location sample in the embodiment of the present invention;
Fig. 4 a, Fig. 4 b is respectively two schematic diagram of color sensitive sensor array board in the embodiment of the present invention;
Fig. 5 is the process flow diagram that in the embodiment of the present invention, array board hot spot is processed;
Fig. 6 a, Fig. 6 b, Fig. 6 c is respectively three schematic diagram of color sensitive sensor array color and light spot shape identifying processing principle in the embodiment of the present invention;
Fig. 7 is the process flow diagram of heliostat positioning system localization method in the embodiment of the present invention.
Embodiment
Below in conjunction with accompanying drawing, present invention is described, and example, only for explaining the present invention, is not intended to limit scope of the present invention.The invention provides a kind of heliostat positioning system and corresponding method, below with an example, specifically introduce, statement again, example is not for limiting to the present invention.
System comprises the artificial light sources of four kinds of different-wavebands that are arranged on four regions, mirror field; Be positioned at four groups of color sensitive sensor array boards that receive tower below, in this patent embodiment, array board is shaped as rectangle, but is not limited to this; Process the server of light spot image, estimation heliostat cell parameters.This system mainly contains 3 features:
The first, the present invention adopts multiband artificial light sources as the light source of heliostat reflection.Utilize this light source to have two advantages: the one, a plurality of artificial light sourcess can avoid heliostat to obtain the stand-by period of many groups location sample, with a light source, are obtaining after one group of sample, and heliostat can directly turn to the second artificial light sources again to obtain sample; The 2nd, adopt the light source of multiband or multiple color can avoid multiaspect heliostat by the dot projection of same color at same surveyed area, the situation that causes system can not identify.The blank bearing calibration of mentioning in existing patent can not be processed this situation.
Second, native system is divided into a plurality of regions by heliostat field, in each region, in the heliostat of identical ranks position, proofreaied and correct simultaneously, like this, not only can proofread and correct multiaspect heliostat simultaneously, improve to proofread and correct efficiency, and the shade occlusion issue between the heliostat existing while having avoided utilizing Camera Positioning to process.
The 3rd, native system adopts many group color sensitive sensor array boards as detecting unit.Adopting many group color sensitive sensor array boards is in order to make the projection hot spot of each heliostat can separate enough distances, also for convenience of color sensitive sensor, carries out different color detection simultaneously.In addition, system can also be judged position and the general shape of current hot spot simultaneously according to the color sensitive sensor current value of arranging on detection color sensitive sensor array board, for correction for drift provides foundation.This detection method is simple and effective.
Example one
Hereinafter, for convenience's sake, the embodiment that is divided into 4 regions and adopts four groups of color sensitive sensors to position with Jing Chang describes.But, should be appreciated that and the invention is not restricted to this, but Jing Chang can be divided to any number of regions, and adopt the color sensitive sensor with respective number to position.
First, adopt the present invention to utilize multiband artificial light sources to carry out the System Implementation schematic diagram of heliostat location shown in Figure 1.This Jing Chang is the Jing Chang of tower type solar energy thermal power generation, receives tower 101 and is positioned at mirror field edge, receives tower top heat absorbing units 102 is installed.In mirror field, on ground, lay some heliostat unit 103, wherein heliostat unit can have two degree of freedom, can be rotated and rotate and pitch rotation, to can flexibly hot spot be reflexed to heat absorbing units 102.Heliostat unit can be existing common heliostat, can be also the heliostat assembly of realizing the various improvement of heliostat function.
Because the heliostat quantity of Jing Chang is huge, for the ease of carrying out scheduling and the management of heliostat unit, Jing Chang is divided into equal-sized A, B, C, tetra-regions of D, be shown as in the drawings 106a, 106b, 106c, 106d.In each edges of regions, the one different-waveband artificial light sources of (or claiming different colours) is set.This example is selected 3 kinds of wave band light sources of red, green, blue and this visible all band light source of white light, but is not limited to above-mentioned four kinds of colors.As shown in Figure 1, at 106a region division 104a red light source, 106b region division 104b green light source, 106c region division 104c blue-light source, 106d region division 104d white light source.Light source can be selected HID high-voltage gas discharging light, and monochromatic source can be selected the gas-discharge lamps such as krypton lamp, helium lamp, neon lamp, and the optical filter that also can install 3 kinds of colors of red, green, blue outside the light source that produces white light additional produces monochromatic light.As selection scheme, can use and can produce other monochromatic light sources such as orange, yellow, cyan, purple.In the present invention, preferably adopt pointolite shape, but light source form is not limited to this, also can adopts line source and other can conveniently detect the light source of light spot shape.105a, 105b, 105c, 105d are the color sensitive sensor array boards that is used for detecting hot spot color and light spot shape size in the present invention, it is corresponding 106a, 106b, 106c, tetra-regions of 106d respectively, and every color sensitive sensor array board only detects the hot spot that the heliostat unit from corresponding region reflects back.In fact, in order to improve correction efficiency, increase the quantity of each heliostat unit of simultaneously proofreading and correct, heliostat field can be divided into more region, as 6 regions, 8 regions, then the artificial light sources of 6 kinds or 8 kinds different colours is set, is receiving tower employing 6 or 8 color sensitive sensor array boards.
Wherein, the employing example that color sensitive sensor array board is sensing device, sensing device can be realized the sensor that detects facula position and band class information for other, or the combination of several sensors.Such as, sensing device comprises the sensor that detects facula position and the sensor that detects band class information.The sensor that detects facula position can adopt traditional spot detection array.Also it should be noted that, sensing device of the present invention can be only one, can be also a plurality of, if a plurality of words, the number of sensing device is identical with a region of dividing, and like this, each sensing device detects the region that the heliostat unit in corresponding fields reflects back.In addition, the number of sensing device also can be identical with a region of dividing, and each sensing device detects specifies the region that in field, heliostat unit reflects back.In this example, sensor setting, below reception tower, also can be arranged on other position, if be arranged on other position, the bracing or strutting arrangement of support column and so on need to be additionally set, and therefore, sensor setting is for cost-saving below reception tower.
For the ease of controlling, the heliostat in each region is carried out to two dimension numbering, as shown in Figure 2.For example, A (i, j) refers to that in mirror field, a-quadrant, i is capable, the heliostat unit of j row.When carrying out the location of heliostat unit, this heliostat unit, four sides of A (i, j), B (i, j), C (i, j) and D (i, j) positions operation simultaneously.
Introduce in detail the principle of work of heliostat location below.The location of heliostat unit is by utilizing multiband artificial light sources to obtain many groups location sample, then estimating to realize by sample parameter.
Utilize the schematic diagram of multiband artificial light sources acquisition heliostat location sample as shown in Figure 3.
As shown in Figure 3 a, intending to the heliostat unit A (i in a-quadrant, in situation about j) positioning, first by accurate GPS measurement mechanism, record coordinate, the 105a color sensitive sensor array board center point coordinate of 104a red light source, the nominal coordinate of heliostat unit A (i, j).Nominal coordinate herein refers to the coordinate figure of the heliostat installation marking in the design drawing of mirror field, and this coordinate figure can obtain by Query Design storehouse.The Control Server that is positioned at master-control room utilize these 3 groups of coordinate datas can calculate heliostat unit A (i, j) by the dot projection of 104a to the needed angle configurations in 105a color sensitive sensor array board center
then control heliostat unit A (i, j) rotation to this angle.But, in practice, owing to having error in manufacture, installation, measuring process, so hot spot differs, be projected to surely the center of color sensitive sensor array board, hot spot handling procedure guiding heliostat unit that this just need to be by color sensitive sensor array board is the central point to color sensitive sensor array board by dot projection.After finding array board central point, record the now angle configurations of heliostat A (i, j)
Like this, the current angle configurations of 104a red light source coordinate, 105a color sensitive sensor array board center point coordinate, heliostat A (i, j)
these 3 groups of parameters form one group of location sample of heliostat A (i, j), and are stored in the storage server in master-control room.Meanwhile, as shown in Figure 3 a, heliostat unit B (i, j) utilize 104b green light source and 105b color sensitive sensor array board to obtain one group of location sample, heliostat unit C (i, j) utilize 104c blue-light source and 105c color sensitive sensor array board to obtain one group of location sample, heliostat cells D (i, j) utilizes 104d white light source and 105d color sensitive sensor array board to obtain one group of location sample.
Four sides heliostat in four regions the heliostat in four regions and four groups of artificial light sourcess are matched again, but the corresponding relation of four regions and four groups of color sensitive sensor array boards remains unchanged after respectively obtaining one group of location sample.As shown in Figure 3 b, heliostat unit A (i, j) utilize 104b green light source and 105a color sensitive sensor array board to obtain one group of location sample, heliostat unit B (i, j) utilize 104c blue-light source and 105b color sensitive sensor array board to obtain one group of location sample, heliostat unit C (i, j) utilize 104d white light source and 105c color sensitive sensor array board to obtain one group of location sample, heliostat cells D (i, j) utilizes 104a red light source and 105d color sensitive sensor array board to obtain one group of location sample.The result of pairing is that every heliostat unit can obtain 4 groups of location samples like this.
The color sensitive sensor array board that shown in Fig. 4 a, positioning system adopts in implementing above.Four groups of sensor array strakes arrange towards Jing Chang, and array board is shaped as rectangle, orthogonal arrangement between array board, tetra-groups of regions of A, B, C, D of the corresponding Jing Chang of difference, but between array board, to keep up and down enough remote, so that projected spot discrimination is larger, be convenient to detect.It is appropriate that want array board installation site, and setting height(from bottom) is not wanted too high with convenient for maintaining but keep again that suitably height is so that heliostat carries out reflective projection, and in this example, preferably adopting is highly 2/3 of reception tower height degree.Sensor array strip has the light shield 401 that can crispatura up and down, and under positioning states, light shield is opened, and under non-positioning states, light shield blocks color sensitive sensor array board.Such as, light shield was fallen and was sheltered from color sensitive sensor array board daytime, opened light shield while positioning operation evening.Fig. 4 b is the structural representation of single color sensitive sensor array board, and array board is arranged and to be formed according to dot matrix by a plurality of color sensitive sensors, and each dot matrix is that each color sensitive sensor can be experienced irradiation being with coloured hot spot and producing corresponding current value thereon.In order to improve its anti-interference, should select wider range, and particular color hot spot causes the color sensitive sensor that pin output current value is larger, in this example, adopt CLS9032 color sensitive sensor.
The hot spot processing flow chart of color sensitive sensor array board is shown in Figure 5.The arrangement angles extremely calculating according to nominal coordinate at heliostat finite element rotation
afterwards, if hot spot is not projected to color sensitive sensor array board, i.e. now not output of sensor array strake, controls heliostat unit and rotates to an angle and produce output current until array board is experienced illumination towards any direction, the color of judgement hot spot.If hot spot color conforms to the corresponding calibration light source color of current array plate, continue location spot position, and then by comparing deviation, obtain the adjustment correction angle of heliostat.If do not meet, continue to control heliostat finite element rotation until the dot projection of the color that conforms to this array board.
Fig. 6 is the schematic diagram that color sensitive sensor array board detects hot spot color and center search.
Shown in Fig. 6 a, be the panchromatic color sensitive sensor CLS9032 schematic diagram that the present invention adopts, this sensor has 2 PN junctions connected vertically, the method for using the logarithm current ratio between 2 photodiodes to process as signal.By the current output value of 3 pins of comparison colours dependent sensor (R, G, B), determine the color of hot spot, if hot spot is red, R pin output current is obviously greater than G, B pin; If white light, 3 pin electric currents are more or less the same.Utilize this principle can judge effectively reliably color.
Fig. 6 b is the schematic diagram that spot center is searched principle.Center white mark part is the central area of color sensitive sensor.Every group of color sensitive sensor array board has 3 characterising parameters, i.e. current detection color category, corresponding region and color sensitive sensor array point current state.Wherein current detection color category is set by master-control room Control Server, the generation cycle synchronisation of its change cycle and heliostat location sample; Corresponding region is every group of corresponding heliostat packet zone of color sensitive sensor array board, and in this example, this corresponding relation is fixed, and in fact if obtain more sample size, this corresponding relation changes; Color sensitive sensor array point current state is described as follows: on color sensitive sensor array board, each sensor is regarded an element of matrix as, and original state is all defaulted as 0, and when having irradiation to sensor array, the sensor states of experiencing illumination is set to 1.Like this, when having illumination to sensor array strake, can utilize matrix description sensor array state, i.e. a hot spot state.In fact, when positioning action, need to demarcate the output current of every group of color sensitive sensor array board.Calibration value of each group mainly contains 5: light shield is opened but unglazed total output current value I of array board while impinging upon on array board
0; The red output end current value of color sensitive sensor I when ruddiness all impinges upon the central area of color sensitive sensor array board
rmin; The green output end current value of color sensitive sensor I when green glow all impinges upon central area
gmin; The blue output end current value of color sensitive sensor I when blue light all impinges upon central area
bmin; The total current value I of three ends while all impinging upon central area with white light
wmin.Take Fig. 6 b as example, and in upper figure, ruddiness has only shone a color sensitive sensor in the upper left corner, and now the total output valve of sensor array strake ruddiness end is very little, although system has detected red hot spot, and the red output end current value I of central area
r=0.In Fig. 6 b figure below, although central area can detect current output value, be still less than I
rminand by the arrangement pitches of matrix state and color sensitive sensor, can be obtained the distance at current spot center distance arrays plate center, so deviation data is given the Control Server of master-control room through fiber optic network passage after by the microprocessor processes after array board, by Control Server, calculate angle that heliostat should adjust to hot spot is thrown to the center to array board.Color sensitive sensor array also comprises color sensitive sensor array board treatment circuit (referring to Fig. 6 C), described color sensitive sensor array board treatment circuit comprises dot matrix processing unit 41 and the microprocessor 42 that is connected computer control subsystem, each dot matrix processing unit 41 comprises multistage amplifying unit 401, filter unit 402, the A/D converting unit 403 that connects corresponding color sensitive sensor, multistage amplifying unit 401, filter unit 402 and A/D converting unit 403 connect successively, and A/D converting unit 403 output terminals connect microprocessor 42.Because the actual output current value of color sensitive sensor is very little, therefore need to amplify through 3 grades of amplifiers.In addition, consider the impact of the noise current that the on-the-spot interference noise diffusing and sensor itself exist, need to after amplifying circuit, add filtering circuit.In order to realize quick filter, the present embodiment adopts median filtering algorithm, then data is carried out to deliver to microprocessor after A/D conversion and carries out data processing.Microprocessor is mainly used in storing 3 characterising parameters of color sensitive sensor array board, judges the color of hot spot and the approximate location of current hot spot, and these information is delivered to the Control Server of master-control room.
After obtaining many groups location sample, the work that next will carry out is the parameter estimation of carrying out sample.Due to the existence of manufacture and alignment error, except centre coordinate X, Y, Z, horizontal angle θ and position angle
outside, the characterising parameter of heliostat unit also comprises Eulerian angle α, β, γ, the non-perpendicular degree ω bringing due to reference coordinate system difference.The number of heliostat cell parameters has determined the minimum number of required location sample.But because sample itself also can produce uncertainty, such as the inaccuracy of measurement of coordinates, the interference of detecting sensor array board noise etc., the uncertainty existing in sample will cause the uncertainty of heliostat cell parameters, so can only roughly estimate heliostat cell parameters, and can not accurate Calculation out.In general, obtain the uncertainty that more location sample can reduce estimation parameter.For this reason, can take following method: by pairing mutually between four regions, four groups of light sources, four groups of color sensitive sensor array boards, thereby can obtain at most 16 groups of location samples.Another kind of feasible method is exactly the color category that increases light source.Sample estimate to adopt error minimize method, chooses error function, utilizes the least square method estimation error function of sening as an envoy to reach the heliostat cell parameters of minimum value.
Described computer control subsystem further comprises:
Heliostat cell location sample obtains device, and it further comprises:
First angle configurations unit: for calculating according to the coordinate of current selected artificial light sources, current sensing device coordinate, current heliostat unit coordinate and indicating current heliostat unit to adjust angle information;
Sample acquisition unit: for calculating and indicating current heliostat unit to adjust angle information, make sensing device the corresponding hot spot of current selected artificial light sources be detected and be positioned at central area, and preserve this residing angle information in heliostat unit as a sample information;
Sample meets unit: for sample, do not meet and preset while requiring, adjust selected artificial light sources or adjust selected artificial light sources and selected sensing device;
Heliostat cell parameters evaluation unit: for carry out the parameter estimation of current heliostat unit according to sample information; Correction calculation unit: sunshine hot spot is accurately projected to the angle configurations information that receives tower heat absorbing units for calculating according to heliostat cell parameters.
Above-mentioned its can be logical block, can be also physical location.If logical block, Control Server that can be by similar master-control room etc. is realized.
Utilize said system device, can complete the location to heliostat unit according to following steps simultaneously.A solar energy thermal-power-generating heliostat localization method based on alternative light source, comprising:
Heliostat field is divided into a plurality of regions, and at least two artificial light sourcess of different-waveband are set in mirror field;
The adjustment information of computer control subsystem controls one heliostat unit, make sensing device this heliostat unit be detected and reflect selected artificial light sources hot spot and be positioned at its central area, after the information that comprises this adjustment information is stored as to the sample information of this heliostat unit; Can be: computer control subsystem first calculates and indicates current heliostat unit to adjust angle information at interior nominal coordinate according to the coordinate of current selected artificial light sources, current sensing device coordinate, current heliostat unit coordinate; Computer control subsystem calculates and indicates current heliostat unit to adjust angle information, makes sensing device the corresponding hot spot of current selected artificial light sources be detected and is positioned at central area, and preserve this residing angle information in heliostat unit as a sample information.
Adjustment comprises that different wave length artificial light sources is the information of current light source, obtains a plurality of sample informations.Adjustment comprises that different wave length artificial light sources is that the information of current light source further comprises: adjusting different wave length artificial light sources is current light source, or to adjust different wave length artificial light sources be current light source and to adjust different sensing devices be current sensing device.
Estimate the parameter of this heliostat unit;
According to the calculation of parameter of this heliostat unit, go out heliostat unit angle configurations when sunshine hot spot is accurately projected to central authorities and receives the heat absorbing units on tower
rotation heliostat, to this angle, makes dot projection to the heat absorbing units receiving on tower, thereby completes the correction of this heliostat unit.
Refer to Fig. 7, it is an example of the present invention.
Step 1, first four regions, four groups of artificial light sourcess and four groups of color sensitive sensors are matched: (region 106a, red light source 104a, color sensitive sensor array board 105a), (106b, 104b, 105b), (106c, 104c, 105c), (106d, 104d, 105d).In the present embodiment, every heliostat unit gathers four groups of samples, so the combination of four regions and four groups of color sensitive sensor array boards is fixed, be the fixing corresponding 105a of 106a, 106b fixes corresponding 105b, and 106c fixes corresponding 105c, and 106d fixes corresponding 105d.
Step 2: the mirror rotation that respectively four sides will be located is to the angle calculating
(i=1,2,3,4, expression is positioned at the four sides mirror in four regions respectively).This angle calculates according to current calibration light source coordinate, color sensitive sensor array board central area coordinate, heliostat central point name coordinate, if there is not error in heliostat,, when rotating to this angle, hot spot should drop on sensor array strake central area just.
Step 3: start array board hot spot handling procedure, guiding heliostat by dot projection to array board central area.When array board output terminal produces over certain threshold current, first judge hot spot color, if color conforms to the color that current array plate will detect, carry out the search of spot center point.If do not conform to, the heliostat that rotation will be proofreaied and correct rotates arbitrarily until array board produces respective color output according to a fixed step size.After color conforms to, by introducing array board sensor states matrix, judge current spot center and array board central area distance, simultaneously comparator array plate central area current output value I and calibration value I
minlarge I judge now whether Yi center of hot spot.
Step 4: when hot spot has been projected to color sensitive sensor array board central area, record heliostat angle configurations now
four sides heliostat is proofreaied and correct to the current angle configurations of light source coordinate used, color sensitive sensor array board center point coordinate, heliostat
these 3 groups of parameters form one group of location sample of heliostats, and by this Sample preservation in the storage server in master-control room.
Step 5: whether the sample size that judges every heliostat is greater than N, wherein the estimation sample number value of N for calculating according to positioning accuracy request.If be less than N, four regions and array board and four groups of artificial light sourcess are matched again, as (106a, 104b, 105a), (106b, 104c, 105b), (106c, 104d, 105c), (106d, 104a, 105d).Notice that now the combination in 106 territories, mirror place and 105 array boards does not change.If require sample size to be greater than 4,106 and 105 also can combine pairing.
Step 6: when sample size meets the demands, start to carry out the parameter estimation of heliostat.Sample is estimated to carry out at master-control room Control Server, adopts error minimize method, chooses error function, utilizes the least square method estimation error function of sening as an envoy to reach the heliostat cell parameters of minimum value.
Step 7: up-to-date heliostat cell parameters is updated in storage server, calculates heliostat angle configurations when hot spot is accurately projected to central authorities and receives the heat absorbing units on tower according to up-to-date heliostat cell parameters
rotation heliostat is to this angle, and now hot spot just can be projected in the heat absorbing units receiving on tower, completes correction.
The preferred embodiment of the present invention is just for helping to set forth the present invention.Preferred embodiment does not have all details of detailed descriptionthe, and also not limiting this invention is only described embodiment.Obviously, according to the content of this instructions, can make many modifications and variations.These embodiment are chosen and specifically described to this instructions, is in order to explain better principle of the present invention and practical application, thereby under making, technical field technician can utilize the present invention well.The present invention is only subject to the restriction of claims and four corner and equivalent.
Claims (16)
1. the solar energy thermal-power-generating heliostat localization method based on alternative light source, is characterized in that, comprising:
Heliostat field is divided into a plurality of regions, and at least two artificial light sourcess of different-waveband are set in mirror field;
The adjustment information of computer control subsystem controls one heliostat unit, make sensing device this heliostat unit be detected and reflect selected artificial light sources hot spot and be positioned at its central area, after the information that comprises this adjustment information is stored as to the sample information of this heliostat unit;
Adjustment comprises that different wave length artificial light sources is the information of current light source, obtains a plurality of sample informations;
Estimate the parameter of this heliostat unit;
According to the calculation of parameter of this heliostat unit, go out heliostat unit angle configurations when sunshine hot spot is accurately projected to central authorities and receives the heat absorbing units on tower
rotation heliostat, to this angle, makes dot projection to the heat absorbing units receiving on tower, thereby completes the correction of this heliostat unit;
Wherein, the many groups of described sensing device employing color sensitive sensor arrays, each corresponding territory, heliostat place of group color sensitive sensor array, the arrangement angles extremely calculating according to nominal coordinate at heliostat finite element rotation
afterwards, if hot spot is not projected to color sensitive sensor array board, controls heliostat and rotate to an angle and produce output current until array board is experienced illumination towards any direction, the color of judgement hot spot; If hot spot color conforms to the corresponding calibration light source color of current array plate, continue location spot position, and then by the adjustment that deviation relatively obtains heliostat, proofread and correct angle, if do not meet, continue to control heliostat rotation until the dot projection of the color that conforms to this array board.
2. a kind of solar energy thermal-power-generating heliostat localization method based on alternative light source as claimed in claim 1, is characterized in that, also comprises:
Computer control subsystem first calculates and indicates current heliostat unit to adjust angle information at interior nominal coordinate according to the coordinate of current selected artificial light sources, current sensing device coordinate, current heliostat unit coordinate;
Computer control subsystem calculates and indicates current heliostat unit to adjust angle information, makes sensing device the corresponding hot spot of current selected artificial light sources be detected and is positioned at central area, and preserve this residing angle information in heliostat unit as a sample information.
3. a kind of solar energy thermal-power-generating heliostat positioning system based on alternative light source of utilizing a kind of solar energy thermal-power-generating heliostat localization method based on alternative light source as claimed in claim 1 to position, is characterized in that, comprising:
Heliostat field: it comprises the multiaspect heliostat unit that receives heat sink on tower for sunshine is reflexed to, and described multiaspect heliostat unit is divided at least two regions;
At least two artificial light sourcess: described at least two artificial light sourcess are positioned at different-waveband;
Sensing device: the artificial light sources that is positioned at different-waveband for receiving is irradiated facula information thereon by heliostat unit;
Computer control subsystem: for transmit the location sample of some groups of heliostat unit of information acquisition according to sensing device, be estimated to take the accurate coordinates of current heliostat unit center point according to sample;
Wherein said sensing device is the color sensitive sensor array that is positioned at the below that receives tower.
4. a kind of solar energy thermal-power-generating heliostat positioning system based on alternative light source as claimed in claim 3, it is characterized in that, comprise tracking drive mechanism, computer control subsystem is adjusted tracking drive mechanism according to sensing device transmission information, finds spot center point to determine the location sample information that comprises heliostat unit angle configuration information.
5. as a kind of solar energy thermal-power-generating heliostat positioning system based on alternative light source as described in any one in claim 3 to 4, it is characterized in that at each region division of Jing Chang, thering is a kind of artificial light sources of wavelength.
6. a kind of solar energy thermal-power-generating heliostat positioning system based on alternative light source as claimed in claim 3, it is characterized in that, color sensitive sensor array comprises is arranged the color sensitive sensor array board forming according to dot matrix by a plurality of color sensitive sensors, each dot matrix is a color sensitive sensor.
7. a kind of solar energy thermal-power-generating heliostat positioning system based on alternative light source as claimed in claim 6, is characterized in that, color sensitive sensor array board judges the shaped position of hot spot by the size of different dot matrix electric currents.
8. a kind of solar energy thermal-power-generating heliostat positioning system based on alternative light source as claimed in claim 6, is characterized in that, color sensitive sensor adopts panchromatic color sensitive sensor, by the current output value of 3 pins of comparison colours dependent sensor, determines hot spot color.
9. a kind of solar energy thermal-power-generating heliostat positioning system based on alternative light source as claimed in claim 3, it is characterized in that, color sensitive sensor array also comprises color sensitive sensor array board treatment circuit, described color sensitive sensor array board treatment circuit comprises dot matrix processing unit and the microprocessor that is connected computer control subsystem, each dot matrix processing unit comprises the multistage amplifying unit that connects corresponding color sensitive sensor, filter unit, A/D converting unit, multistage amplifying unit, filter unit and A/D converting unit connect successively, A/D converting unit output terminal connects microprocessor.
10. a kind of solar energy thermal-power-generating heliostat positioning system based on alternative light source as claimed in claim 3, is characterized in that, color sensitive sensor array board is arranged towards Jing Chang.
11. a kind of solar energy thermal-power-generating heliostat positioning systems based on alternative light source as claimed in claim 6, is characterized in that, the height of color sensitive sensor array board is for receiving 1/2 to 3/4 of tower height degree.
12. a kind of solar energy thermal-power-generating heliostat positioning systems based on alternative light source as claimed in claim 6, it is characterized in that, color sensitive sensor array board also comprises the light shield that can crispatura up and down, under positioning states, light shield is opened, and under non-positioning states, light shield blocks color sensitive sensor array board.
13. a kind of solar energy thermal-power-generating heliostat positioning systems based on alternative light source as claimed in claim 3, it is characterized in that, each artificial light sources is selected from a kind of in following light source: pointolite, line source and other can conveniently detect the light source of light spot shape, and each artificial light sources is selected from the wherein a kind of of various monochromatic sources and white light source.
14. a kind of solar energy thermal-power-generating heliostat positioning systems based on alternative light source as claimed in claim 3, is characterized in that, each artificial light source projects goes out different numerals, comprises the pattern of round dot.
15. a kind of solar energy thermal-power-generating heliostat positioning systems based on alternative light source as claimed in claim 3, is characterized in that, also comprise the GPS measurement mechanism of measuring artificial light sources coordinate, sensing device coordinate, heliostat unit coordinate.
16. a kind of solar energy thermal-power-generating heliostat positioning systems based on alternative light source as claimed in claim 3, is characterized in that, described computer control subsystem further comprises:
Heliostat cell location sample obtains device, and it further comprises:
First angle configurations unit: for calculating according to the coordinate of current selected artificial light sources, current sensing device coordinate, current heliostat unit coordinate and indicating current heliostat unit to adjust angle information;
Sample acquisition unit: for calculating and indicating current heliostat unit to adjust angle information, make sensing device the corresponding hot spot of current selected artificial light sources be detected and be positioned at central area, and preserve this residing angle information in heliostat unit as a sample information;
Sample meets unit: for sample, do not meet and preset while requiring, adjust selected artificial light sources or adjust selected artificial light sources and selected sensing device;
Heliostat cell parameters evaluation unit: for carry out the parameter estimation of current heliostat unit according to sample information; Correction calculation unit: sunshine hot spot is accurately projected to the angle configurations information that receives tower heat absorbing units for calculating according to heliostat cell parameters.
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| CN106908761A (en) * | 2017-03-17 | 2017-06-30 | 深圳东康前海新能源有限公司 | The heliostat field alignment system and localization method of tower photo-thermal power station |
| CN110456832A (en) * | 2019-08-20 | 2019-11-15 | 江苏提米智能科技有限公司 | A kind of sun tracker and method |
| CN112945213B (en) * | 2021-02-01 | 2022-12-30 | 上海晶电新能源有限公司 | Angle-based heliostat space positioning system and method |
| CN116485918B (en) * | 2023-06-25 | 2023-09-08 | 天府兴隆湖实验室 | Calibration method, calibration system and computer readable storage medium |
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| CN101311764A (en) * | 2008-07-11 | 2008-11-26 | 中国科学院电工研究所 | Method for utilizing artificial light source for regulating curved face heliostat face type |
| CN101614445A (en) * | 2008-06-23 | 2009-12-30 | 中国华电工程(集团)有限公司 | Improve the method for accuracy of control of automatic sun track following of heliostat |
| CN101918769A (en) * | 2007-10-24 | 2010-12-15 | 伊苏勒有限公司 | Heliostat calibration in a kind of central tower receiver solar power plant and tracking control |
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| CN101918769A (en) * | 2007-10-24 | 2010-12-15 | 伊苏勒有限公司 | Heliostat calibration in a kind of central tower receiver solar power plant and tracking control |
| CN101614445A (en) * | 2008-06-23 | 2009-12-30 | 中国华电工程(集团)有限公司 | Improve the method for accuracy of control of automatic sun track following of heliostat |
| CN101311764A (en) * | 2008-07-11 | 2008-11-26 | 中国科学院电工研究所 | Method for utilizing artificial light source for regulating curved face heliostat face type |
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