CN106052558A - Single-camera solar heat collector steel structure support assembling quality detection system - Google Patents
Single-camera solar heat collector steel structure support assembling quality detection system Download PDFInfo
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- CN106052558A CN106052558A CN201610484974.0A CN201610484974A CN106052558A CN 106052558 A CN106052558 A CN 106052558A CN 201610484974 A CN201610484974 A CN 201610484974A CN 106052558 A CN106052558 A CN 106052558A
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 42
- 239000010959 steel Substances 0.000 title claims abstract description 42
- 238000001514 detection method Methods 0.000 title claims abstract description 32
- 238000005259 measurement Methods 0.000 claims abstract description 32
- 230000033001 locomotion Effects 0.000 claims abstract description 30
- 238000005096 rolling process Methods 0.000 claims abstract description 6
- 238000004364 calculation method Methods 0.000 claims description 21
- 230000005540 biological transmission Effects 0.000 claims description 9
- 230000036544 posture Effects 0.000 claims description 8
- 239000000284 extract Substances 0.000 claims description 3
- 230000005477 standard model Effects 0.000 claims description 3
- 238000010248 power generation Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000005855 radiation Effects 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
Classifications
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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
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to a single-camera solar heat collector steel structure support assembling quality detection system including a shooting part, and the shooting part includes a single camera, a holder, a mechanical motion system, a measurement identifier, standard scales, a data link, and a scale support. The measurement identifier is fixed at the measured point of a solar heat collector steel structure support, the scale support is arranged around the solar heat collector steel structure support, and the standard scales are arranged on the scale support, two scale identifiers at the known distance are fixed on each standard scale, the single camera is fixed on the holder, the holder can perform one or more movements of rotation, rolling or pitching, the mechanical motion system drives the holder and the single camera to move in the space to realize the shooting of the measurement identifier from different orientations, and the data link transmits the pictures shot by the single camera and the control instructions of the single camera, the holder, and the mechanical motion system, and supplies power to the single camera, the holder, and the mechanical motion system.
Description
Technical Field
The invention relates to the measurement of geometric parameters of a tool structural part, in particular to a system for detecting the assembly quality of a steel structure bracket of a single-camera solar thermal collector.
Background
The Solar photo-thermal Power generation technology (CSP) uses a Concentrating mirror to reflect Solar radiation energy to a heat collector, and the heat collector converts the Solar radiation energy into heat energy and generates electricity through a thermal cycle process. As an important mode of solar large-scale power generation, solar photo-thermal power generation has a series of obvious advantages. First, its carbon emissions over its life cycle are very low, only 18g/kWh according to foreign studies. Secondly, the technology has the lowest cost in the existing solar power generation technology, and is easier to rapidly realize large-scale industrialization. Finally, the solar photo-thermal power generation also has the advantage of strong compatibility with the existing thermal power station and the power grid system.
The trough parabolic technology is one of the important technologies for solar photo-thermal power generation, and uses a trough parabolic reflector to focus sunlight on a heat collecting tube at the focus of a parabolic surface. In the actual manufacturing process, the parabolic reflector is fixed on a corresponding bracket of a solar heat collector steel structure bracket through a plurality of bolts or rivets, and the heat collecting tube is fixed on a heat collecting tube bracket of the solar heat collector steel structure bracket. Therefore, the position and angle of each fixed point on the steel structure bracket of the solar heat collector determine the geometric parameters of the parabolic reflector and the heat collecting pipe. In order to ensure the light-gathering efficiency, the surface type of the parabolic reflector and the position of the parabolic reflector relative to the heat collecting tube need to meet the design requirements, and therefore, a detection system is needed on an assembly line of a steel structure support of the solar heat collector to detect the geometric parameters of all fixed points, so that the purpose of detecting the assembly quality is achieved.
At present, the common detection method is to measure the geometric parameters of the object using a laser tracker, a total station or a laser radar. The method has the advantages of large time consumption and extremely low efficiency, and the method needs to contact with a measured object at any time during measurement, is easily influenced by shielding, and is difficult to meet the online detection on a production line.
Disclosure of Invention
The invention aims to improve the detection efficiency under the condition of ensuring the detection precision, and provides a non-contact detection system capable of meeting the requirement of detection on a production line.
In order to achieve the above object, the present invention provides a single-camera solar collector steel structure bracket assembly quality detection system, comprising a photographing part, wherein the photographing part comprises: the system comprises a single camera 1, a cloud deck 2, a mechanical motion system, a measurement identifier 3, a standard scale 4, a data link 5 and a scale bracket 7; wherein,
the measuring mark 3 is fixed at a point to be measured of the steel structure bracket 6 of the solar heat collector; the scale brackets 7 are placed around the solar heat collector steel structure bracket 6, the standard scales 4 are placed on the scale brackets 7, and two scale marks 8 with known distances are fixed on each standard scale 4; the single camera 1 is fixed on the holder 2; the holder 2 can perform one or more of rotation, rolling and pitching motion, so that the single camera 1 can shoot the measurement identifier 3 at different postures; the mechanical motion system drives the holder 2 and the single camera 1 to move in space, so that the measurement marks are shot from different directions; the data link 5 transmits the pictures taken by the single camera 1, transmits the control commands of the single camera 1, the pan/tilt/pan/.
In the above technical solution, the system further comprises a computing part, wherein the computing part comprises a transmission and control module 9 and a computing module 10; wherein,
the transmission and control module 9 is connected with the data link 5, sends control commands of the single camera 1, the pan-tilt 2 and the mechanical motion system, and receives pictures shot by the single camera 1; the calculation module 10 extracts the information of the measurement identifiers 3 from the received photos shot by the single-camera 1, calculates the relative coordinates and relative inclination angles of the measurement identifiers 3, and performs self-calibration on the internal parameters of the single-camera 1, the lens distortion coefficient and the posture and position coordinates of the single-camera at each shooting position based on the photos shot by the single-camera 1; the calculation module 10 further calculates the absolute coordinates of each measurement mark 3 according to the distance of the scale mark 8 on the standard scale 4 and the relative coordinates of each measurement mark 3, and compares the calculation result with a standard model, thereby calculating the assembly quality of the steel structure bracket 6 of the solar thermal collector.
In the above technical solution, the mechanical motion system includes a traveling crane 11 and a traveling crane rail 12; the cloud platform 2 that is fixed with single camera 1 is installed on driving 11 to along driving 11 removal, driving 11 is followed driving track 12 removes.
In the above technical solution, the mechanical motion system includes a guide rail 13, and the pan/tilt head 2 fixed with the single camera 1 moves along the guide rail 13.
In the above technical solution, the mechanical motion system includes a rotary mechanical arm 14, and the pan/tilt head 2 fixed with the single camera 1 is fixed to the rotary mechanical arm 14.
The invention has the advantages that:
the single-camera solar thermal collector steel structure bracket assembly quality detection system has high detection speed and high precision, does not contact with a detected object in the detection process, and can meet the assembly quality detection requirements on an assembly line.
Drawings
FIG. 1 is a schematic view of a single-camera solar collector steel structure bracket assembly quality detection system employing a traveling type motion system;
FIG. 2 is a schematic view of a single-camera solar collector steel structure bracket assembly quality detection system employing a guide rail type motion system;
FIG. 3 is a schematic view of a single-camera solar thermal collector steel structure bracket assembly quality detection system adopting a rotary mechanical arm.
Description of the drawings
1 single camera 2 cloud platform 3 measuring mark
4 standard scale 5 data link 6 solar collector steel structure support
7 transmission and control module of scale support 8 scale mark 9
10 calculation module 11 driving 12 driving track
13 guide rail 14 rotating mechanical arm
Detailed Description
The invention will now be further described with reference to the accompanying drawings.
The single-camera solar thermal collector steel structure bracket assembling quality detection system is used for detecting the assembling quality of the solar thermal collector steel structure bracket. The system generally includes a photographing part and a calculating part.
FIG. 1 is a schematic view of a single-camera solar collector steel structure bracket assembly quality detection system adopting a traveling type motion system in one embodiment, and as shown in the figure, a photographing part in the detection system comprises: the system comprises a single camera 1, a cloud deck 2, a measurement mark 3, a standard scale 4, a data link 5, a scale bracket 7, a scale mark 8, a traveling crane 11 and a traveling crane track 12; the calculation part in the detection system comprises: a transmission and control module 9 and a calculation module 10.
The measuring mark 3 is fixed at a point to be measured of the steel structure bracket 6 of the solar heat collector; the scale supports 7 are placed around the solar collector steel structural support 6, and there are typically one or more scale supports 7, which are evenly distributed over the entire measuring range. The standard scale 4 is placed on the scale bracket 7, and two scale marks 8 with known distances are fixed on each scale; the single camera 1 is fixed on the holder 2; the holder 2 can perform one or more of rotation, rolling and pitching motion, so that the single camera 1 can shoot the measurement identifier at different postures; the holder 2 and the single camera 1 move along the travelling crane 11, the travelling crane 11 moves along the travelling crane rail 12, and the travelling crane rail 12 is arranged around the steel structure bracket 6 of the solar heat collector, so that the measurement mark can be shot from different directions; the data link 5 can transmit the pictures taken by the single camera 1, transmit the control commands of the single camera 1, the pan/tilt head 2 and the trolley 11 and also supply power to the single camera 1, the pan/tilt head 2 and the trolley 11.
The transmission and control module 9 is connected with the data link 5, sends control commands of the single camera 1, the pan-tilt 2 and the mechanical motion system, and receives pictures shot by the single camera 1; the calculation module 10 extracts the information of the measurement identifier 3 from the received photos shot by the single-camera 1, calculates the relative coordinates and relative inclination angles of the measurement identifiers 3, and performs self-calibration on the internal parameters of the single-camera 1, the lens distortion coefficient and the posture and position coordinates of the single-camera at each shooting position based on the photos shot by the single-camera (1); the calculation module 10 further calculates the absolute coordinates of each measurement mark 3 according to the distance of the scale mark 8 on the standard scale 4 and the relative coordinates of each measurement mark 3, and compares the calculation result with a standard model, thereby obtaining the assembly quality of the steel structure bracket 6 of the solar thermal collector.
Fig. 2 is a schematic view of a single-camera solar collector steel structure bracket assembly quality detection system adopting a guide rail type motion system in another embodiment, and as shown in the figure, a photographing part in the detection system comprises: the system comprises a single camera 1, a cloud deck 2, a measurement mark 3, a standard scale 4, a data link 5, a scale bracket 7, a scale mark 8 and a guide rail 13; the calculation part in the detection system comprises: a transmission and control module 9 and a calculation module 10.
The measuring mark 3 is fixed at a point to be measured of the steel structure bracket 6 of the solar heat collector; the scale supports 7 are placed around the solar collector steel structural support 6, and there are typically one or more scale supports 7, which are evenly distributed over the entire measuring range. The standard scale 4 is placed on the scale bracket 7, and two scale marks 8 with known distances are fixed on each scale; the single camera 1 is fixed on the holder 2; the holder 2 can perform one or more of rotation, rolling and pitching motion, so that the single camera 1 can shoot the measurement identifier at different postures; the cradle head 2 and the single camera 1 move along the guide rail 13, and the guide rail 13 is arranged around the steel structure bracket 6 of the solar heat collector, so that the measurement marks can be shot from different directions; the data link 5 can transmit the pictures taken by the single camera 1, transmit the control commands of the single camera 1 and the pan/tilt head 2 and supply power to the single camera 1 and the pan/tilt head 2; the guide rails 13 include, but are not limited to, rectangular shapes as shown.
The function of the calculation section in this embodiment is the same as that in the previous embodiment, and therefore is not repeated here.
Fig. 3 is a schematic view of a system for detecting the assembly quality of a steel bracket of a single-camera solar collector by using a rotary mechanical arm in yet another embodiment, and as shown in the figure, a photographing part in the detection system comprises: the system comprises a single camera 1, a cloud deck 2, a measurement mark 3, a standard scale 4, a data link 5, a scale bracket 7, a scale mark 8 and a rotary mechanical arm 14; the calculation part in the detection system comprises: a transmission and control module 9 and a calculation module 10.
The measuring mark 3 is fixed at a point to be measured of the steel structure bracket 6 of the solar heat collector; the scale supports 7 are placed around the solar collector steel structural support 6, and there are typically one or more scale supports 7, which are evenly distributed over the entire measuring range. The standard scale 4 is placed on the scale bracket 7, and two scale marks 8 with known distances are fixed on each scale; the single camera 1 is fixed on the holder 2; the holder 2 can perform one or more of rotation, rolling and pitching motion, so that the single camera 1 can shoot the measurement identifier at different postures; the cloud deck 2 and the single camera 1 are fixed on the rotary mechanical arm 14, the rotary mechanical arm 14 is located above the solar heat collector steel structure support 6, and shooting of the measurement marks from different directions is achieved through movement of the rotary mechanical arm; the data link 5 can transmit pictures taken by the single camera 1, transmit control commands of the single camera 1, the pan/tilt head 2 and the rotary robot arm 14, and also supply power to the single camera 1, the pan/tilt head 2 and the rotary robot arm 14.
The function of the calculation section in this embodiment is the same as that in the previous embodiment, and therefore is not repeated here.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and are not limited. Although the present invention has been described in detail with reference to the embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (5)
1. A single-camera solar collector steel structure bracket assembly quality detection system is characterized by comprising a photographing part, wherein the photographing part comprises: the device comprises a single camera (1), a cloud deck (2), a mechanical motion system, a measurement identifier (3), a standard scale (4), a data link (5) and a scale bracket (7); wherein,
the measuring mark (3) is fixed at a point to be measured of the steel structure bracket (7) of the solar heat collector; the scale support (7) is placed around the solar heat collector steel structure support (6), the standard scales (4) are placed on the scale support (7), and two scale marks (8) with known distances are fixed on each standard scale (4); the single camera (1) is fixed on the cloud deck (2); the holder (2) can perform one or more of rotation, rolling and pitching motion, so that the single camera (1) can shoot the measurement identifier (3) at different postures; the mechanical motion system drives the holder (2) and the single camera (1) to move in space, so that the measurement marks are shot from different directions; the data link (5) transmits the pictures shot by the single camera (1), transmits the control commands of the single camera (1), the cradle head (2) and the mechanical motion system, and also supplies power to the single camera (1), the cradle head (2) and the mechanical motion system.
2. The assembly quality detection system for the steel structural bracket of the single-camera solar collector according to claim 1, characterized by further comprising a calculation part, wherein the calculation part comprises a transmission and control module (9) and a calculation module (10); wherein,
the transmission and control module (9) is connected with the data link (5), sends control commands of the single camera (1), the pan-tilt (2) and the mechanical motion system, and receives photos shot by the single camera (1); the calculation module (10) extracts the information of the measurement identifiers (3) from the received photos shot by the single camera (1), calculates the relative coordinates and relative inclination angles of the measurement identifiers (3), and performs self-calibration on the internal parameters of the single camera (1), the lens distortion coefficient and the posture and position coordinates of the single camera at each shooting position based on the photos shot by the single camera (1); the calculation module (10) is also used for calculating the absolute coordinates of each measurement mark (3) according to the distance of the scale mark (8) on the standard scale (4) and the relative coordinates of each measurement mark (3), and comparing the calculation result with a standard model, so that the assembly quality of the steel structure bracket (6) of the solar heat collector is calculated.
3. The single-camera solar collector steel structural bracket assembly quality detection system according to claim 1 or 2, characterized in that the mechanical motion system comprises a trolley (11) and a trolley rail (12); the cloud platform (2) fixed with the single-camera (1) is installed on the traveling crane (11) and moves along the traveling crane (11), and the traveling crane (11) moves along the traveling crane track (12).
4. The single-camera solar collector steel structural bracket assembly quality detection system according to claim 1 or 2, characterized in that the mechanical motion system comprises a guide rail (13), and the pan-tilt head (2) fixed with the single camera (1) moves along the guide rail (13).
5. The single-camera solar collector steel structural bracket assembly quality detection system according to claim 1 or 2, characterized in that the mechanical motion system comprises a rotary mechanical arm (14), the pan-tilt (2) to which the single camera (1) is fixed being fixed to the rotary mechanical arm (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610484974.0A CN106052558A (en) | 2016-06-22 | 2016-06-22 | Single-camera solar heat collector steel structure support assembling quality detection system |
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| CN201610484974.0A CN106052558A (en) | 2016-06-22 | 2016-06-22 | Single-camera solar heat collector steel structure support assembling quality detection system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106907993A (en) * | 2017-03-05 | 2017-06-30 | 长沙修恒信息科技有限公司 | A kind of position detection module and real-time protection system based on machine vision |
| CN110006632A (en) * | 2019-03-29 | 2019-07-12 | 北京首航艾启威节能技术股份有限公司 | System and method for detecting surface shape quality of heliostat mirror of single camera |
| CN111238389A (en) * | 2020-01-20 | 2020-06-05 | 上海海事大学 | Box body detection system and method based on binocular vision |
| CN111351428A (en) * | 2018-12-20 | 2020-06-30 | 江苏国森时创建设有限公司 | Online monitoring method for steel structure construction processing |
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Cited By (4)
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| CN106907993A (en) * | 2017-03-05 | 2017-06-30 | 长沙修恒信息科技有限公司 | A kind of position detection module and real-time protection system based on machine vision |
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