CN106908761A - The heliostat field alignment system and localization method of tower photo-thermal power station - Google Patents
The heliostat field alignment system and localization method of tower photo-thermal power station Download PDFInfo
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- CN106908761A CN106908761A CN201710161359.0A CN201710161359A CN106908761A CN 106908761 A CN106908761 A CN 106908761A CN 201710161359 A CN201710161359 A CN 201710161359A CN 106908761 A CN106908761 A CN 106908761A
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- beaconing nodes
- intelligent positioning
- terminal node
- heliostat
- host computer
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
- G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The invention discloses the heliostat field alignment system and localization method of a kind of tower photo-thermal power station, the system, including host computer, first intelligent positioning beaconing nodes, at least three second intelligent positioning beaconing nodes and multiple terminal nodes, the first intelligent positioning beaconing nodes are arranged at middle absorbent tower, the second intelligent positioning beaconing nodes surrounding said central absorption tower interval setting, the terminal node is arranged on each heliostat, the host computer is connected with the first intelligent positioning beaconing nodes, the first intelligent positioning beaconing nodes and the second intelligent positioning beaconing nodes wireless connection, the first intelligent positioning beaconing nodes and the second intelligent positioning beaconing nodes and the terminal node wireless connection.The present invention realizes stereoscopic localized, and every locus coordinate of heliostat is obtained in real time, is that heliostat tracking and automatic calibration provide the foundation, and contributes to overhaul of the equipments, heliostat cleaning and power station map self-navigation etc. quickly to navigate to target heliostat.
Description
Technical field
The present invention relates to tower type solar photo-thermal power generation technical field, more particularly to a kind of settled date of tower photo-thermal power station
Mirror alignment system and localization method.
Background technology
Tower-type electricity generation is to set up a tall and big middle absorbent tower on spacious ground, and tower top fixes a heat dump, tower
Around large-scale speculum, commonly referred to heliostat be installed, every follower is all each installed, exactly by the sun
Tower top is concentrated in reflection so that the cavity of absorber produces high temperature, then heats generation high-temperature steam, driving steam turbine hair by working medium
Electricity.
Heliostat quantity in heliostat field is big, relevance is strong, if host computer issues control to each heliostat simultaneously
Instruction, easily causes network communication amount greatly, influences response speed, or even the catastrophic event of system crash occurs.The existing settled date
The network architecture real-time of Jing Chang is inadequate, and less stable.
When realizing that heliostat is concentrated on the center of tower heat dump, except need to calculate sunny elevation angle and
The positional informations such as azimuth, it is necessary to obtain the accurate coordinate between heliostat and middle absorbent tower.Although, in the design phase
There is every coordinate value of heliostat on drawing, but, inevitably occur relatively large deviation in engineering construction, in addition it is also necessary to
Actual coordinate after installation again to heliostat and middle absorbent tower is remeasured.Usually using hand-held high-precision GPS equipment
Large scale measurement is carried out, so as to bring cost increase and workload to increase.Heliostat field floor space is wide, heliostat quantity is huge
Greatly.If staff is not by map or location equipment, shuttle is easy to get lost in settled date lens group, be difficult to find failure or
Maintenance position.
The content of the invention
The present invention provides the heliostat field alignment system and localization method of a kind of tower photo-thermal power station, and it is three-dimensional fixed to realize
Position, obtains every locus coordinate of heliostat in real time.
The present invention uses following technical scheme：
In a first aspect, the present invention provides a kind of heliostat field alignment system of tower photo-thermal power station, including host computer, the
One intelligent positioning beaconing nodes, at least three second intelligent positioning beaconing nodes and multiple terminal nodes, first intelligence are fixed
Position beaconing nodes are arranged at middle absorbent tower, and the second intelligent positioning beaconing nodes surrounding said central absorption tower interval sets
Put, the terminal node is arranged on each heliostat, the host computer is connected with the first intelligent positioning beaconing nodes, institute
State the first intelligent positioning beaconing nodes and the second intelligent positioning beaconing nodes wireless connection, the first intelligent positioning beaconing nodes
With the second intelligent positioning beaconing nodes and the terminal node wireless connection.
Further, the first intelligent positioning beaconing nodes, the second intelligent positioning beaconing nodes and terminal node are wrapped
Include control module and wireless communication module.
Second aspect, the present invention provides a kind of localization method of the heliostat field system of tower photo-thermal power station, including：
Second intelligent positioning beaconing nodes record the wireless signal data of its each terminal node for receiving respectively, and will
The wireless signal data is activation is to the first intelligent positioning beaconing nodes；
The wireless communication number that the second intelligent positioning beaconing nodes that first intelligent positioning beaconing nodes will be received send
According to being forwarded to host computer, and each terminal node for receiving for being recorded wireless signal data is activation to host computer；
Host computer is processed the wireless signal data of each terminal node, and the position for obtaining each terminal node is sat
Mark.
Further, the second intelligent positioning beaconing nodes record the wireless of its each terminal node for receiving respectively
Signal data, and by the wireless signal data is activation to the first intelligent positioning beaconing nodes before, also include：
Host computer sends to the first intelligent positioning beaconing nodes and opens positioning instruction；
First intelligent positioning beaconing nodes send to the second intelligent positioning beaconing nodes the unlatching positioning instruction, and by
The unlatching positioning instruction is forwarded to each terminal node by the second intelligent positioning beaconing nodes.
Exemplarily, the wireless signal data include that terminal node is encoded and wireless signal strength.
Exemplarily, the wireless signal data include that terminal node is encoded and radio signal transmission times.
Alternatively, the host computer is processed the wireless signal data of each terminal node, obtains each terminal section
The position coordinates of point, specially：
Host computer is sat according to the wireless signal data by the position that TDOA location algorithms calculate each terminal node
Mark.
Further, the host computer is processed the wireless signal data of each terminal node, obtains each terminal
After the position coordinates of node, also include：
Preserve the position coordinates of each terminal node.
The technical scheme that the present invention is provided brings following beneficial effect：
Using Star Network framework, using middle absorbent tower as network center position, by the first intelligent positioning beaconing nodes
Wireless signal data is activation to the host computer of the terminal node that the second intelligent positioning beaconing nodes are collected carries out terminal node position
Calculating is put, the position of each terminal node is obtained, so as to obtain the position of each heliostat, stereoscopic localized is realized, obtained in real time
Every locus coordinate of heliostat is taken, is that heliostat tracking and automatic calibration provide the foundation, while being intelligent Power Station
Management provides support, contributes to overhaul of the equipments, heliostat cleaning and power station map self-navigation etc. quickly to navigate to the target settled date
Mirror.
Brief description of the drawings
Technical scheme in order to illustrate more clearly the embodiments of the present invention, institute in being described to the embodiment of the present invention below
The accompanying drawing for needing to use is briefly described, it should be apparent that, drawings in the following description are only some implementations of the invention
Example, for those of ordinary skill in the art, on the premise of not paying creative work, can also implement according to the present invention
The content and these accompanying drawings of example obtain other accompanying drawings.
Fig. 1 is the system schematic of the heliostat field alignment system of tower photo-thermal power station provided in an embodiment of the present invention.
Fig. 2 is terminal node scheme of installation provided in an embodiment of the present invention.
Fig. 3 is heliostat field localization method one embodiment of tower photo-thermal power station provided in an embodiment of the present invention
Method flow diagram.
Fig. 4 is second embodiment of heliostat field localization method of tower photo-thermal power station provided in an embodiment of the present invention
Method flow diagram.
Fig. 5 is the 3rd embodiment of heliostat field localization method of tower photo-thermal power station provided in an embodiment of the present invention
Method flow diagram.
Specific embodiment
For make present invention solves the technical problem that, the technical scheme that uses and the technique effect that reaches it is clearer, below
The technical scheme of the embodiment of the present invention will be described in further detail with reference to accompanying drawing, it is clear that described embodiment is only
It is a part of embodiment of the invention, rather than whole embodiments.Based on the embodiment in the present invention, those skilled in the art exist
The every other embodiment obtained under the premise of creative work is not made, the scope of protection of the invention is belonged to.
Fig. 1 is the system schematic of the heliostat field alignment system of tower photo-thermal power station provided in an embodiment of the present invention.
Fig. 2 is terminal node scheme of installation provided in an embodiment of the present invention.The tower photo-thermal power station includes middle absorbent tower 1 and ring
Around the heliostat 2 that middle absorbent tower is largely laid, wherein, the geographical position coordinates of middle absorbent tower 1 and heliostat 2 all shift to an earlier date
Design.The heliostat field alignment system that the present embodiment is provided is applied to the tower photo-thermal power station.With reference to Fig. 1 and Fig. 2 institutes
Show, the heliostat field alignment system of the tower photo-thermal power station includes host computer 3, the first intelligent positioning beaconing nodes 4, at least three
Individual second intelligent positioning beaconing nodes 5 and multiple terminal nodes 6, the first intelligent positioning beaconing nodes 4 are arranged at central suction
Tower 1 is received, the interval setting of 5 surrounding said central absorption tower of the second intelligent positioning beaconing nodes 1, the terminal node 6 is set
In on each heliostat 2, the host computer 3 is connected with the first intelligent positioning beaconing nodes 4, the first intelligent positioning letter
The wireless connection of 4 and second intelligent positioning beaconing nodes of mark node 5, the intelligence of the first intelligent positioning beaconing nodes 4 and second is fixed
Position beaconing nodes 5 and the wireless connection of the terminal node 6.
The first intelligent positioning beaconing nodes and the second intelligent positioning beaconing nodes collect each described terminal section respectively
The wireless signal data of point, the wireless signal data summarization that the second intelligent positioning beaconing nodes will be collected to first intelligence
Can localizer beacon node, the first intelligent positioning beaconing nodes by wireless signal data is activation to the host computer, it is described on
Position machine calculates the position of counterpart terminal node according to the wireless signal data of each terminal node.It should be noted that
Those skilled in the art be known that the first intelligent positioning beaconing nodes and the second intelligent positioning beaconing nodes coordinate be it is known,
The position relationship of terminal node and heliostat according to design, after the position coordinates for calculating terminal node, then can basis
The position coordinates of terminal node obtains the position coordinates of heliostat.
It is for instance possible to use TDOA location algorithms calculate the position coordinates of each terminal node, it would however also be possible to employ be based on
Signal intensity SSOA (Signal Strength Of Arrival), time delay TOA and based on direction of arrival is reached based on signal
The location algorithm of AOA is spent, these are all more ripe location algorithms, are no longer described in detail one by one here.
The heliostat field alignment system of tower photo-thermal power station provided in an embodiment of the present invention uses Star Network framework, with
Middle absorbent tower is collected the second intelligent positioning beaconing nodes by the first intelligent positioning beaconing nodes as network center position
The wireless signal data is activation of terminal node to host computer carries out end node locations calculating, obtains the position of each terminal node
Put, so as to obtain the position of each heliostat, realize stereoscopic localized, every locus coordinate of heliostat is obtained in real time,
Be that heliostat tracking and automatic calibration provide the foundation, while for the management of intelligent Power Station provides support, contribute to overhaul of the equipments,
Heliostat cleaning and power station map self-navigation etc. quickly navigate to target heliostat.
In the present embodiment, the first intelligent positioning beaconing nodes, the second intelligent positioning beaconing nodes and terminal node are equal
Including control module and wireless communication module.The wireless communication module can be 2.4G or 433MHZ wireless communication modules,
433MHZ is that the application section of exempting from of our countries launches receives frequency, be can be used directly.Here it is merely illustrative of, it is right to be not intended as
The limitation of the technical program, it is also possible to from the communication of other modes.
Fig. 3 is heliostat field localization method one embodiment of tower photo-thermal power station provided in an embodiment of the present invention
Method flow diagram.The localization method is applied to the heliostat field alignment system of the tower photo-thermal power station shown in Fig. 1, with reference to Fig. 3
Shown, the heliostat field localization method of the tower photo-thermal power station includes：
S201, the second intelligent positioning beaconing nodes record the wireless communication number of its each terminal node for receiving respectively
According to, and by the wireless signal data is activation to the first intelligent positioning beaconing nodes.
The wireless signal data include terminal node coding and wireless signal strength or radio signal transmission times.Wirelessly
Signal data content is different, and the location algorithm of use is different.
The wireless communication that the second intelligent positioning beaconing nodes that S202, the first intelligent positioning beaconing nodes will be received send
Number is forwarded to host computer, and each terminal node for receiving for being recorded wireless signal data is activation to upper
Machine.
First intelligent positioning beaconing nodes and the second intelligent positioning beaconing nodes record the wireless of each terminal node simultaneously
Signal data, wherein, the wireless signal data is activation of the terminal node that the first intelligent positioning beaconing nodes are directly recorded is extremely
Host computer, the wireless signal data of the terminal node of the second intelligent positioning beaconing nodes record pass through the first intelligent positioning beacon section
Point is forwarded to host computer.
S203, host computer are processed the wireless signal data of each terminal node, obtain the position of each terminal node
Put coordinate.
The position coordinates of the first intelligent positioning beaconing nodes and the second intelligent positioning beaconing nodes is known, and the second intelligence
Energy localizer beacon node is at least three, then, each terminal node four groups of wireless signal data of correspondence.Host computer is according to wireless
Terminal node coding in signal data gets the terminal node and is passed in the wireless signal strength or wireless signal of synchronization
The defeated time, then can calculate the position coordinates of the terminal node by existing ripe algorithm, circular, here not
Describe in detail again.
Specifically, in the present embodiment, host computer is calculated often according to the wireless signal data by TDOA location algorithms
The position coordinates of individual terminal node.
To sum up, the heliostat field localization method of tower photo-thermal power station provided in an embodiment of the present invention uses Star Network frame
Structure, using middle absorbent tower as network center position, by the first intelligent positioning beaconing nodes by the second intelligent positioning beaconing nodes
The wireless signal data is activation of the terminal node of collection to host computer carries out end node locations calculating, obtains each terminal node
Position, so as to obtain the position of each heliostat, realize stereoscopic localized, the locus that every heliostat is obtained in real time is sat
Mark, is that heliostat tracking and automatic calibration provide the foundation, while for the management of intelligent Power Station provides support, contributing to equipment to examine
Repair, heliostat cleaning and power station map self-navigation etc. quickly navigate to target heliostat.
Fig. 4 is second embodiment of heliostat field localization method of tower photo-thermal power station provided in an embodiment of the present invention
Method flow diagram.The localization method is based on method shown in Fig. 3.With reference to shown in Fig. 4, the heliostat of the tower photo-thermal power station
Field localization method includes：
S301, host computer send to the first intelligent positioning beaconing nodes and open positioning instruction.
Opening positioning instruction indicates the first intelligent positioning beaconing nodes to open positioning function, prepares to collect each terminal node
Wireless signal data.
S302, the first intelligent positioning beaconing nodes send to the second intelligent positioning beacon section the unlatching positioning instruction
Point, and the unlatching positioning instruction is forwarded to each terminal node by the second intelligent positioning beaconing nodes.
First intelligent positioning beaconing nodes will open positioning instruction and be forwarded to the second intelligent positioning beaconing nodes, the second intelligence
Localizer beacon node enters positioning states, prepares to collect the wireless signal data of each terminal node；Meanwhile, the second intelligent positioning
Beaconing nodes are forwarded to each terminal node by positioning instruction is opened, and terminal node enters positioning states, is sent wirelessly to surrounding
Framing signal, the framing signal includes the coding of the terminal node.
S303, the second intelligent positioning beaconing nodes record the wireless communication number of its each terminal node for receiving respectively
According to, and by the wireless signal data is activation to the first intelligent positioning beaconing nodes.
The wireless communication that the second intelligent positioning beaconing nodes that S304, the first intelligent positioning beaconing nodes will be received send
Number is forwarded to host computer, and each terminal node for receiving for being recorded wireless signal data is activation to upper
Machine.
S305, host computer are processed the wireless signal data of each terminal node, obtain the position of each terminal node
Put coordinate.
The corresponding content of the detailed content method shown in Figure 1 of step S303, S304 and S305, I will not elaborate.
To sum up, the heliostat field localization method of the tower photo-thermal power station that the present invention is provided uses Star Network framework, on
Position machine sends to the first intelligent positioning beaconing nodes opens positioning instruction, and the first intelligent positioning beaconing nodes position described unlatching
Instruction is sent to the second intelligent positioning beaconing nodes, and is forwarded the unlatching positioning instruction by the second intelligent positioning beaconing nodes
To each terminal node, the nothing of the terminal node for being collected the second intelligent positioning beaconing nodes by the first intelligent positioning beaconing nodes
Line signal data sends to host computer and carries out end node locations calculating, obtains the position of each terminal node, every so as to obtain
The position of individual heliostat, realizes stereoscopic localized, first notifies the first intelligent positioning beaconing nodes and the second intelligent positioning beacon section
Point carries out the preparation of receiving terminal node wireless framing signal, will not miss the radio positioning signal of some terminal nodes, positions
It is more comprehensively accurate；Every locus coordinate of heliostat is obtained in real time, is that heliostat tracking and automatic calibration provide base
Plinth, while for the management of intelligent Power Station provides support, contributing to overhaul of the equipments, heliostat cleaning and power station map self-navigation etc.
Quickly navigate to target heliostat.
Fig. 5 is the 3rd embodiment of heliostat field localization method of tower photo-thermal power station provided in an embodiment of the present invention
Method flow diagram.The localization method is based on method shown in Fig. 3.With reference to shown in Fig. 5, the heliostat of the tower photo-thermal power station
Field localization method includes：
S401, the second intelligent positioning beaconing nodes record the wireless communication number of its each terminal node for receiving respectively
According to, and by the wireless signal data is activation to the first intelligent positioning beaconing nodes.
The wireless communication that the second intelligent positioning beaconing nodes that S402, the first intelligent positioning beaconing nodes will be received send
Number is forwarded to host computer, and each terminal node for receiving for being recorded wireless signal data is activation to upper
Machine.
S403, host computer are processed the wireless signal data of each terminal node, obtain the position of each terminal node
Put coordinate.
S404, the position coordinates for preserving each terminal node.
By the position coordinates for being calculated each terminal node of preceding step, by the position coordinates of each terminal node
Preserved, be easy to subsequently carry out path navigation or other functions application according to end node locations coordinate.
The corresponding content of the detailed content method shown in Figure 1 of step S401, S402 and S403, I will not elaborate.
To sum up, the heliostat field localization method of the tower photo-thermal power station that the present invention is provided uses Star Network framework, on
Position machine sends to the first intelligent positioning beaconing nodes opens positioning instruction, and the first intelligent positioning beaconing nodes position described unlatching
Instruction is sent to the second intelligent positioning beaconing nodes, and is forwarded the unlatching positioning instruction by the second intelligent positioning beaconing nodes
To each terminal node, the nothing of the terminal node for being collected the second intelligent positioning beaconing nodes by the first intelligent positioning beaconing nodes
Line signal data sends to host computer and carries out end node locations calculating, obtains the position of each terminal node, preserves described every
The position coordinates of individual terminal node, realizes stereoscopic localized, is that heliostat tracking and automatic calibration provide the foundation, while being intelligence
The management in energy power station provides support, contributes to overhaul of the equipments, heliostat cleaning and power station map self-navigation etc. quickly to navigate to
Target heliostat, is easy to follow-up management.
It should be noted that tower shown in the heliostat field localization method and Fig. 4 of tower photo-thermal power station shown in Fig. 3
The heliostat field localization method of photo-thermal power station can be combined into particularly preferred embodiment, and I will not elaborate.
Above content is only presently preferred embodiments of the present invention, for one of ordinary skill in the art, according to of the invention
Thought, will change in specific embodiments and applications, and this specification content should not be construed as to the present invention
Limitation.
Claims (8)
1. a kind of heliostat field alignment system of tower photo-thermal power station, it is characterised in that including host computer, the first intelligent positioning
Beaconing nodes, at least three second intelligent positioning beaconing nodes and multiple terminal nodes, the first intelligent positioning beaconing nodes
It is arranged at middle absorbent tower, the second intelligent positioning beaconing nodes surrounding said central absorption tower interval setting, the terminal
Node is arranged on each heliostat, and the host computer is connected with the first intelligent positioning beaconing nodes, first intelligence
Localizer beacon node and the second intelligent positioning beaconing nodes wireless connection, the first intelligent positioning beaconing nodes and the second intelligence
Localizer beacon node and the terminal node wireless connection.
2. the heliostat field alignment system of tower photo-thermal power station according to claim 1, it is characterised in that described first
Intelligent positioning beaconing nodes, the second intelligent positioning beaconing nodes and terminal node include control module and wireless communication module.
3. a kind of localization method of the heliostat field system for being applied to tower photo-thermal power station as claimed in claim 1, it is special
Levy and be, including：
Second intelligent positioning beaconing nodes record the wireless signal data of its each terminal node for receiving respectively, and will be described
Wireless signal data is activation is to the first intelligent positioning beaconing nodes；
The wireless signal data that the second intelligent positioning beaconing nodes that first intelligent positioning beaconing nodes will be received send turn
Be sent to host computer, and each terminal node for receiving for being recorded wireless signal data is activation to host computer；
Host computer is processed the wireless signal data of each terminal node, obtains the position coordinates of each terminal node.
4. method according to claim 3, it is characterised in that the second intelligent positioning beaconing nodes record it and connect respectively
The wireless signal data of each terminal node for receiving, and by the wireless signal data is activation to the first intelligent positioning beacon section
Before point, also include：
Host computer sends to the first intelligent positioning beaconing nodes and opens positioning instruction；
First intelligent positioning beaconing nodes send to the second intelligent positioning beaconing nodes, and by second the unlatching positioning instruction
The unlatching positioning instruction is forwarded to each terminal node by intelligent positioning beaconing nodes.
5. method according to claim 3, it is characterised in that the wireless signal data include that terminal node is encoded and nothing
Line signal intensity.
6. method according to claim 3, it is characterised in that the wireless signal data include that terminal node is encoded and nothing
Line signal transmission time.
7. method according to claim 6, it is characterised in that wireless communication number of the host computer to each terminal node
According to being processed, the position coordinates of each terminal node is obtained, specially：
Host computer calculates the position coordinates of each terminal node according to the wireless signal data by TDOA location algorithms.
8. method according to claim 3, it is characterised in that wireless communication number of the host computer to each terminal node
According to being processed, obtain after the position coordinates of each terminal node, also include：
Preserve the position coordinates of each terminal node.
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| CN201710161359.0A CN106908761A (en) | 2017-03-17 | 2017-03-17 | The heliostat field alignment system and localization method of tower photo-thermal power station |
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| CN107505593A (en) * | 2017-07-21 | 2017-12-22 | 中海阳能源集团股份有限公司 | A kind of heliostat alignment system and its localization method based on super-broadband tech |
| CN112764417A (en) * | 2020-12-24 | 2021-05-07 | 浙江中控太阳能技术有限公司 | Mirror field control system and method based on cleaning vehicle |
| CN113375632A (en) * | 2021-05-20 | 2021-09-10 | 浙江中控太阳能技术有限公司 | Device and method for testing initial installation deviation of heliostat |
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