CN108180864A - A kind of method that slot type solar energy collectors face shape is measured based on catoptric imaging method - Google Patents
A kind of method that slot type solar energy collectors face shape is measured based on catoptric imaging method Download PDFInfo
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- CN108180864A CN108180864A CN201711454459.9A CN201711454459A CN108180864A CN 108180864 A CN108180864 A CN 108180864A CN 201711454459 A CN201711454459 A CN 201711454459A CN 108180864 A CN108180864 A CN 108180864A
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- endothermic tube
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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
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/13—Edge detection
Abstract
The present invention provides a kind of method that slot type solar energy collectors face shape is measured based on catoptric imaging method, the method includes：A) circular index point is pasted at the mirror surface edge of the groove type solar heat collector, the camera for acquiring image is arranged in the mirror surface front end of groove type solar heat collector；Mirror surface acquires the image of the imaging of the inswept all positions of mirror surface of endothermic tube under the drive of concentrator transmission device around endothermic tube middle shaft rotation, the camera；B) endothermic tube is imaged marginal point in mirror surface in endothermic tube marginal point and described image in the extraction central point of Circle in Digital Images shape index point, described image；C) mirror surface coordinate system, d are defined) founding mathematical models, solve the deflection angle of normal vector at mirror surface each position.The present invention can measure the groove type solar concentrator face shape after the completion of assembling, and measurement process is simply time saving.
Description
Technical field
It is more particularly to a kind of to be gathered based on catoptric imaging method measurement groove type solar the present invention relates to photogrammetric technology field
The method of hot device face shape.
Background technology
Concentrator is critical component in solar heat power generation system, it gathers solar radiation on endothermic tube, Jin Ershi
Existing subsequent hot power generation process.Solar concentrator is generally spliced by polygon mirror, therefore each reflective mirror is optical
Energy, surface figure accuracy largely influence the light gathering efficiency of solar concentrator, and then influence hot generating efficiency, therefore to too
The research of the positive hot electrification condenser surface figure accuracy of energy has a very important significance.Usually by the practical normal vector of minute surface each point with
The deviation angle of preferable normal vector assesses mirror shape precision.
Many feasible methods for measuring solar concentrator face shape are proposed in the prior art.According to physical principle not
It is same to be broadly divided into three classes：VSHOT (Video Scanning Hartmann Optical Test) based on laser scanner technique
Method, photogrammetry (photogrammetry) and deflectometry (Deflectometry) or streak reflex method.
VSHOT mensurations are a kind of mensurations of direct measuring surface shape normal vector, and measurement accuracy is very high, but measuring system is pacified
Dress and point-by-point data acquisition modes are very time-consuming, and are not suitable for measuring the concentrator of long-focus；Photogrammetry is that one kind is based on
The quantitative analysis tech of image procossing pastes a large amount of index point on minute surface, and camera is taken pictures from different angles, then according to taking the photograph
Shadow measures the 3 d space coordinate that relative theory obtains each index point, finally carries out Surface reconstruction.This method must be in quilt
The a large amount of index point of surface mount is surveyed, the stickup of the index point of these substantial amounts is a very time-consuming job, and this
Method can only realize the topography measurement to being tested minute surface upper surface, can not directly react the surface figure accuracy of minute surface；Deflectometry is applicable in
In the measurement of monolithic mirror surface face shape on production line, the whole of minute surface measures after can not realizing assembling, however actually by propping up
The heat build-up loss of efficiency that frame mismachining tolerance and minute surface installation error are brought be can not ignore.
Therefore, to solve the above-mentioned problems, need a kind of based on catoptric imaging method measurement slot type solar energy collectors face shape
Method.
Invention content
The purpose of the present invention is to provide a kind of method that slot type solar energy collectors faces shape is measured based on catoptric imaging method,
The method includes：
A) circular index point is pasted at the mirror surface edge of the groove type solar heat collector, the groove type solar gathers
The camera for acquiring image is arranged in the mirror surface front end of hot device；
The mirror surface and endothermic tube rotate under the drive of concentrator transmission device around spin axis, and the camera acquires institute
State the image of the imaging of the inswept all positions of mirror surface of endothermic tube；
B) it extracts in described image in the central point of circular index point, described image in endothermic tube marginal point and described image
Endothermic tube is imaged marginal point in mirror surface；
C) mirror surface coordinate system is defined, determines camera described anti-by the central point of circular index point in described image
Penetrate the space coordinate in minute surface coordinate system；
By space coordinate of the camera in the mirror surface coordinate system and the space coordinate of focal plane imaging, determine to inhale
Space coordinate of the heat pipe marginal point in the mirror surface coordinate system；
Edge is imaged in mirror surface by space coordinate of the camera in the mirror surface coordinate system and endothermic tube
Space coordinate of the point in mirror surface coordinate system, determines that endothermic tube is imaged marginal point in the mirror surface in mirror surface
Space coordinate in coordinate system；
D) founding mathematical models exist space coordinate of the camera in the mirror surface coordinate system, endothermic tube marginal point
Space coordinate and endothermic tube in the mirror surface coordinate system are imaged marginal point in mirror surface and are sat in the mirror surface
Space coordinate in mark system is updated in the mathematical model, solves the deflection angle of normal vector at each position of mirror surface.
Preferably, the central point of circular index point extracts as follows in described image：
Obtain the zonule of each circular index point of first image in the mirror surface rotary course；
On the basis of first image, setting even step sizes find each circle marker of remaining image from motion tracking
The zonule of point；
The edge coordinate of circular index point is obtained by canny algorithms to each zonule, is obtained using ellipse fitting method
The central point of circular index point in described image.
Preferably, endothermic tube marginal point extracts as follows in described image：
Obtain the endothermic tube edge cell domain of first image in the mirror surface rotary course；
On the basis of first image, the heat absorption tube edges that setting even step sizes find remaining image from motion tracking are small
Region；
The edge coordinate of heat absorption tube edges is obtained by canny algorithms to each zonule, obtains and absorbs heat in described image
Tube edges point.
Preferably, endothermic tube is imaged marginal point in mirror surface and extracts as follows in described image：
The endothermic tube for obtaining first image in the mirror surface rotary course is imaged edge cell in mirror surface
Domain；
On the basis of first image, the endothermic tube that setting even step sizes find remaining image from motion tracking is reflecting
Edge cell domain is imaged in minute surface；
It is imaged the edge coordinate at edge in mirror surface by canny algorithms acquisition endothermic tube to each zonule, obtains
It obtains endothermic tube in described image and marginal point is imaged in mirror surface.
Preferably, the mirror surface coordinate system is using the direction tangent with mirror surface as X-axis, along mirror surface axial direction
Direction is Y-axis, is Z axis perpendicular to the direction of the tangent plane of mirror surface.
Preferably, camera is solved in institute using resection method by the central point of circular index point in described image
State the space coordinate in mirror surface coordinate system.
Preferably, it is sat by the space of space coordinate of the camera in the mirror surface coordinate system and focal plane imaging
Mark solves space coordinate of the endothermic tube marginal point in the mirror surface coordinate system using triangle model.
Preferably, the space coordinate of the focal plane imaging is using imaging of the endothermic tube in focal plane, in camera and camera
The imaging of endothermic tube collinearly solves.
Preferably, by space coordinate of the camera in the mirror surface coordinate system and endothermic tube in mirror surface into
As space coordinate of the marginal point in mirror surface coordinate system, magazine imaging is imaged in mirror surface altogether with endothermic tube
Line,
Meanwhile simultaneous slot type parabolic mirror foliation thinks equation, solution endothermic tube is imaged marginal point in mirror surface and exists
Space coordinate in the mirror surface coordinate system.
Preferably, the mathematical model of the foundation is expressed in the following way：
Wherein, (X0,Z0) it is space coordinate of the camera in mirror surface coordinate system, (X, Z) is endothermic tube in mirror surface
Space coordinate of the middle imaging marginal point in mirror surface coordinate system, (Xa,Za) it is sky of the endothermic tube in mirror surface coordinate system
Between coordinate, f is the focal length of mirror surface, and θ ra normal vectors caused by mirror surface face shape and endothermic tube position Synthesis error are inclined
Angle is moved, θ a are normal vector deviation angle caused by endothermic tube site error, and θ r are normal direction caused by transmitting minute surface face shape error
Measure deviation angle.
Measuring method proposed by the present invention based on catoptric imaging method can be to the groove type solar optically focused after the completion of assembling
Device face shape measures, and measurement process is simply time saving.
The present invention drives mirror surface at the uniform velocity to be rotated around axis by means of the transmission mechanism of solar concentrator itself, endothermic tube
In the entire minute surface of the image scanning of mirror surface, camera shooting obtains imaging of the endothermic tube in entire minute surface, using from motion tracking
Mode capture pending area, using regional area analysis by the way of, improve processing accuracy.
The present invention obtains normal vector by image shot by camera, without installing other ancillary equipments, it is only necessary to analyze camera bat
The image taken the photograph, non-contact, efficient, the present invention analyzes mirror surface each point normal vector, and it is anti-to directly give mirror surface
Penetrate characteristic.
It should be appreciated that aforementioned description substantially and follow-up description in detail are exemplary illustration and explanation, it should not
As the limitation to the claimed content of the present invention.
Description of the drawings
With reference to the attached drawing of accompanying, the more purposes of the present invention, function and advantage will pass through the as follows of embodiment of the present invention
Description is illustrated, wherein：
Fig. 1 diagrammatically illustrates the signal of the imaging of camera shooting endothermic tube and endothermic tube of the present invention in minute surface is emitted
Figure；
Fig. 2 shows the zonule schematic diagrames of each circular index point of automatic tracing of the present invention；
Fig. 3 shows that ellipse fitting method of the present invention obtains the schematic diagram of the central point of Circle in Digital Images shape index point；
Fig. 4 shows the schematic diagram that endothermic tube marginal point extracts in image of the present invention；
Fig. 5 shows that endothermic tube in image of the present invention is imaged the schematic diagram of marginal point in mirror surface；
Fig. 6 shows the mirror surface coordinate system schematic diagram that the present invention defines；
Fig. 7 shows that the present invention solves space of the endothermic tube marginal point in mirror surface coordinate system using triangle model
The schematic diagram of coordinate；
Fig. 8 shows that the present invention solves showing for the deflection angle of normal vector at mirror surface each position by mathematical model
It is intended to；
Fig. 9 shows mirror surface face shape and heat absorption of the 70 pictures measurement results of the invention with 42 pictures measurement results
Normal vector deviation angle caused by pipe position Synthesis error；
Figure 10 shows that the endothermic tube site error of 70 pictures measurement results and 42 pictures measurement results of the invention is drawn
The normal vector deviation angle risen；
Figure 11 shows the mirror surface face shape error of 70 pictures measurement results of the invention and 42 pictures measurement results
Caused normal vector deviation angle.
Specific embodiment
By reference to exemplary embodiment, the purpose of the present invention and function and the side for being used to implement these purposes and function
Method will be illustrated.However, the present invention is not limited to exemplary embodiment as disclosed below；Can by different form come
It is realized.The essence of specification is only to aid in the detail of the various equivalent modifications Integrated Understanding present invention.
Hereinafter, the embodiment of the present invention will be described with reference to the drawings, relevant technical terms should be people in the art
Known to member.In the accompanying drawings, identical reference numeral represents same or similar component or same or like step,
Unless otherwise indicated.Present disclosure is illustrated below by specific embodiment, the present invention is a kind of to be based on catoptric imaging
The method that method measures slot type solar energy collectors face shape includes：
Step S1 pastes circular index point, groove type solar heat build-up at the mirror surface edge of groove type solar heat collector
The camera for acquiring image is arranged in the mirror surface front end of device.Camera shooting endothermic tube and endothermic tube of the present invention as shown in Figure 1
The schematic diagram of imaging in minute surface is emitted, mirror surface 102 and endothermic tube 101 are under the drive of concentrator transmission device around rotation
103 synchronous uniform velocity of shaft rotates, and camera 200 acquires the image of the imaging of 101 inswept 102 all positions of mirror surface of endothermic tube.
Present invention transmitting minute surface is spliced by multiple speculums, and in 102 rotary course of mirror surface, camera 200 is continuously shot respectively
Position (at the position of different speculums) endothermic tube 101 and endothermic tube 101 in mirror surface imaging 101a (101b ...,
101c).By rotary reflection minute surface 102, the excessively entire mirror surface of image scanning of the endothermic tube in speculum, camera 200 is clapped
Take the photograph the multiple imagings for obtaining endothermic tube 101 in entire mirror surface.
Step S2 extracts in the central point of Circle in Digital Images shape index point, image endothermic tube in endothermic tube marginal point and image
Marginal point is imaged in mirror surface, extracts central point, the figure of Circle in Digital Images shape index point successively according to an embodiment of the invention
Endothermic tube is imaged marginal point in mirror surface in endothermic tube marginal point and image as in, the following detailed description of extraction process.
Extract the central point of Circle in Digital Images shape index point
The zonule schematic diagram of each circular index point of automatic tracing of the present invention as shown in Figure 2, the present invention is continuously shot more
Open image, the center of circle index point that each image taking is pasted to corresponding mirror surface position.In Circle in Digital Images shape index point
Heart point extracts as follows：
Obtain the zonule of each circular index point of first image 301 in mirror surface rotary course.For first
The zonule of each circular index point in image is opened, is chosen by the way of artificial.
On the basis of first image 301, setting even step sizes △ L find each round mark of remaining image from motion tracking
The zonule of will point.Such as in the present embodiment, second image 302 that camera is subsequently shot, third image ..., automatically with
Track finds the zonule of each center of circle index point.Since mirror surface at the uniform velocity rotates, thus even step sizes △ L are set from motion tracking
It seeks, accurately to obtain the zonule of each center of circle index point.
The edge coordinate of circular index point is obtained by canny algorithms to each zonule, is obtained using ellipse fitting method
The central point of circular index point in described image, ellipse fitting method of the present invention obtains Circle in Digital Images shape as shown in Figure 3 in embodiment
The schematic diagram of the central point of index point.
Extract endothermic tube marginal point in image
Endothermic tube marginal point extracts as follows in image：
Obtain the endothermic tube edge cell domain of first image in mirror surface rotary course.For in first image
Endothermic tube edge cell domain, is chosen by the way of artificial.
On the basis of first image, setting even step sizes find the endothermic tube edge cell of remaining image from motion tracking
Domain.
The edge coordinate of heat absorption tube edges is obtained by canny algorithms to each zonule, the mode that straight line judges obtains
Endothermic tube marginal point in image.Heat absorption tube edge is proposed in image of the present invention as shown in Figure 4
The schematic diagram of edge point extraction, extraction obtain the endothermic tube marginal point 1011 of the endothermic tube 101 in image.
Endothermic tube is imaged marginal point in mirror surface in extraction image
According to the present invention in addition in the central point and image of extraction Circle in Digital Images shape index point outside endothermic tube marginal point,
It also needs to extraction endothermic tube and marginal point is imaged in mirror surface, that is, need to specifically extracting as follows：
The endothermic tube for obtaining first image in mirror surface rotary course is imaged edge cell domain in mirror surface.
On the basis of first image, setting even step sizes find the endothermic tube of remaining image in mirror surface from motion tracking
Middle imaging edge cell domain；
It is imaged the edge coordinate at edge in mirror surface by canny algorithms acquisition endothermic tube to each zonule, directly
The mode that line judges obtains endothermic tube in image and marginal point is imaged in mirror surface.It absorbs heat in image of the present invention as shown in Figure 5
Pipe is imaged the schematic diagram of marginal point in mirror surface, and extraction obtains the side that endothermic tube in image is imaged 101a in mirror surface
Edge point 101a1.
Extract to obtain endothermic tube marginal point in the central point of Circle in Digital Images shape index point, image by step S2 in embodiment
Marginal point is imaged in mirror surface with endothermic tube in image.Using obtaining in the central point of Circle in Digital Images shape index point, image
Endothermic tube is imaged marginal point in mirror surface in endothermic tube marginal point and image, carries out camera positioning and directing, heat absorption tube space
Position positions and spatial position of the endothermic tube in mirror surface positions.
Step S3 defines mirror surface coordinate system, determines that camera is reflecting by the central point of Circle in Digital Images shape index point
Space coordinate in minute surface coordinate system；
By space coordinate of the camera in mirror surface coordinate system and the space coordinate of focal plane imaging, endothermic tube is determined
Space coordinate of the marginal point in mirror surface coordinate system；
Marginal point is imaged in mirror surface and is existed by space coordinate of the camera in mirror surface coordinate system and endothermic tube
Space coordinate in mirror surface coordinate system determines that endothermic tube is imaged marginal point in the mirror surface coordinate in mirror surface
Space coordinate in system.
Mirror surface coordinate system, the mirror surface coordinate system that the present invention as shown in Figure 6 defines are defined according to the present invention first
Schematic diagram, mirror surface coordinate system are using the direction tangent with mirror surface 102 as X-axis, along 102 axially direction of mirror surface
Y-axis is Z axis perpendicular to the direction of the tangent plane of mirror surface 102.
Camera positioning and directing
By the central point of Circle in Digital Images shape index point using resection method, camera is solved in mirror surface coordinate system
In space coordinate.According to spatial point, the conllinear principle of picture point and the camera centre of homology, collinearity equation is established：
Above-mentioned collinearity equation is simplified to obtain：
Wherein,
(Xp,Yp,Zp) coordinate of the central point in mirror surface coordinate system for Circle in Digital Images shape index point, (Xc,Yc,Zc)
For spatial position coordinate of the corresponding camera in mirror surface coordinate system, (xp,yp) be Circle in Digital Images shape index point central point pair
The image coordinates answered, ω,κ is that world coordinate system is transformed into camera coordinate system, around x, y, the rotation angle of z three axes
Degree, effective focal lengths of the c for camera, mapping functions of the F between parameter.
In above-mentioned parameter solution procedure, the coordinate (X of the central point of Circle in Digital Images shape index pointp,Yp,Zp) pass through V-STRAT
System solution obtains, image coordinates (xp,yp) obtained by image procossing, the spatial position coordinate (X of camerac,Yc,Zc) by upper
The nonlinear least square method for stating equation solves.
Endothermic tube spatial position positions
For space coordinate of the endothermic tube marginal point in mirror surface coordinate system, by camera in mirror surface coordinate system
In space coordinate and the space coordinate of focal plane imaging determine.It is sat by space of the camera in the mirror surface coordinate system
The space coordinate of mark and focal plane imaging solves sky of the endothermic tube marginal point in mirror surface coordinate system using triangle model
Between coordinate.
Specifically, it is calculated by triangle scale model, the present invention solves heat absorption using triangle model as shown in Figure 7
The schematic diagram of space coordinate of the tube edges point in mirror surface coordinate system, according to camera, endothermic tube marginal point, endothermic tube in coke
Being imaged in mirror surface coordinate system XOZ planes for plane meets the triangle principle of similitude.
In mirror surface coordinate system XOZ planes, the focus 1021 across mirror surface 102 forms focal plane 1022, phase
The imaging 1013 of machine 200,101 marginal point of endothermic tube, endothermic tube in focal plane 1022 meets triangle scale model, establishes triangle phase
It is as follows like model：
Wherein, (Xc1, Zc1) for space coordinate of the camera in mirror surface coordinate system, (Xa, Za) it is endothermic tube marginal point
Space coordinate in mirror surface coordinate system, (Xf1, Zf1) for endothermic tube focal plane 1022 imaging 1013 in mirror surface
Space coordinate in coordinate system.
Calculating to above-mentioned triangle scale model needs solution endothermic tube to be imaged on mirror surface coordinate system in focal plane
In space coordinate (Xf,Zf), the space coordinate of focal plane imaging is using imaging of the endothermic tube in focal plane, in camera and camera
The imaging of endothermic tube collinearly solves.
It is conllinear especially by the imaging of camera, the camera centre of homology and endothermic tube in focal plane, it is as follows to establish collinearity equation：
Above-mentioned collinearity equation is simplified to obtain：
Wherein, (Xc,Yc,Zc) for spatial position coordinate of the camera in mirror surface coordinate system in image, (xa,ya) to inhale
The corresponding image coordinates of heat pipe marginal point, (Xf,Yf,Zf) it is endothermic tube being imaged in mirror surface coordinate system in focal plane
Space coordinate, focal lengths of the f for mirror surface, Zf=f is focal plane mathematic(al) representation.
Above-mentioned collinearity equation is calculated by nonlinear least square method, endothermic tube is obtained and is imaged on speculum in focal plane
Space coordinate (X in areal coordinate systemf,Yf,Zf)。
Desorption heat pipe same point is corresponded into different cameral camera site, the endothermic tube being calculated is imaged on focal plane
Space coordinate (X in mirror surface coordinate systemf,Yf,Zf) be updated in triangle scale model above and Simultaneous Equations,
Space coordinate (X of the endothermic tube marginal point in mirror surface coordinate system is calculated by least square methoda, Za)。
The space orientation that endothermic tube is imaged in mirror surface
Endothermic tube is imaged space coordinate of the marginal point in the mirror surface coordinate system in mirror surface, passes through camera
Space coordinate and endothermic tube in mirror surface coordinate system are imaged marginal point in mirror surface coordinate system in mirror surface
Space coordinate, with endothermic tube mirror surface to be imaged on magazine imaging conllinear, meanwhile, simultaneous slot type parabolic mirror
Foliation thinks equation, solves endothermic tube and space coordinate of the marginal point in the mirror surface coordinate system is imaged in mirror surface.
Specifically, camera is imaged on mirror surface according to imaging of the endothermic tube in minute surface is emitted, camera, endothermic tube
In imaging meet collinearity equation, while imaging of the endothermic tube in mirror surface meets paraboloid equation, establishes following mathematics
Model：
Abbreviation is carried out to above-mentioned collinearity equation to obtain：
Wherein, (Xc,Yc,Zc) for spatial position coordinate of the camera in mirror surface coordinate system in image, (xi,yi) to inhale
Heat pipe is imaged the image coordinates of marginal point, (X in mirror surfacei,Yi,Zi) it is that endothermic tube is imaged marginal point in mirror surface
Space coordinate in the mirror surface coordinate system.Above-mentioned equation is solved by nonlinear least square method, obtains endothermic tube
Space coordinate (X of the marginal point in mirror surface coordinate system is imaged in mirror surfacei,Yi,Zi)。
Step S4, by founding mathematical models, using the camera that step S3 is calculated in mirror surface coordinate system
Space coordinate (Xc,Yc,Zc), space coordinate (X of the endothermic tube marginal point in mirror surface coordinate systema,Ya,Za), endothermic tube exists
Space coordinate (X, Y, Z) of the marginal point in mirror surface coordinate system is imaged in mirror surface, solves each position of mirror surface
Locate the deflection angle of normal vector.
First, founding mathematical models, the mathematical model of foundation are expressed in the following way：
Wherein, (Xc,Zc) it is space coordinate of the camera in mirror surface coordinate system, (X, Z) is endothermic tube in mirror surface
Space coordinate of the middle imaging marginal point in mirror surface coordinate system, (Xa,Za) it is sky of the endothermic tube in mirror surface coordinate system
Between coordinate, f is the focal length of mirror surface, and θ ra normal vectors caused by mirror surface face shape and endothermic tube position Synthesis error are inclined
Angle is moved, θ a are normal vector deviation angle caused by endothermic tube site error, and θ r are normal direction caused by transmitting minute surface face shape error
Measure deviation angle.
By space coordinate of the camera in the mirror surface coordinate system, endothermic tube marginal point in mirror surface coordinate system
Space coordinate and endothermic tube space coordinate of the marginal point in mirror surface coordinate system is imaged in mirror surface and is updated to
It states in mathematical model, solves the deflection angle of normal vector at each position of mirror surface.The present invention as shown in Figure 8 passes through mathematical modulo
Type solves the schematic diagram of the deflection angle of normal vector at each position of mirror surface, in the ideal situation, is parallel to optical axis incidence
Sunray n by preferable parabolic mirror surface reflection after, reflected light congruence n ' gathers in focus 1021.In practical assembling process
In, there are mirror shape error and endothermic tube site error, therefore ideally-reflecting light n can not be gathered on endothermic tube 101.
In real process, imaging of the endothermic tube 101 by light l ' at minute surface M is shot, camera 200 must deviate ideal light rays
N is shot by practical light l.
In above process, the angle of ideal light rays n and practical light l is 2 θ ra, i.e. twice of mirror surface face shape and suction
Normal vector deviation angle caused by heat pipe position Synthesis error；The angle of light n ' and optical fiber l ' is 2 θ a, i.e. twice of endothermic tube position
Normal vector deviation angle caused by putting error.
It is solved by the mathematical model established, obtains normal vector deviation angle θ r caused by emit minute surface face shape error, it is real
Now to the measurement of groove type solar heat collector face shape.
According to embodiments of the present invention, according to the mathematical model of foundation, the normal vector at mirror surface certain point is calculated
Angular deviation needs known in a certain shot location of camera, the imaging of endothermic tube and endothermic tube in mirror surface, palpus searching
Endothermic tube and corresponding endothermic tube are in the imaging of mirror surface.
According to the architectural characteristic of concentrator, mirror surface meets paraboloid equation, and it is long that the Z coordinate of focal plane is constantly equal to focal length
Degree.In camera shooting process, endothermic tube scans entire minute surface, and do not deform upon in Y direction in the picture of mirror surface；It inhales
Heat pipe is remained unchanged relative to focal plane position；Endothermic tube is remained unchanged relative to mirror surface position.According to photogrammetric phase
To location invariance, the imaging of endothermic tube and endothermic tube in mirror surface is found using image coordinates.By speculum in space
Face and focal plane carry out uniform discrete, and the corresponding image coordinates of each discrete point, endothermic tube and heat absorption are obtained by collinearity equation
The image coordinates that pipe is imaged in mirror surface is obtained by image procossing.
According to an embodiment of the invention, by test of many times, the imaging for illustratively providing endothermic tube in mirror surface is swept
It retouches entire minute surface and obtains 70 and 42 pictures, 70 and 42 figures are handled, obtain entire minute surface normal vector deviation angle
Degree.70 pictures measurement results of the present invention and the mirror surface face shape of 42 pictures measurement results and endothermic tube position as shown in Figure 9
Normal vector deviation angle caused by putting composition error；70 pictures measurement results of the present invention are measured with 42 pictures and are tied shown in Figure 10
Normal vector deviation angle caused by the endothermic tube site error of fruit；70 pictures measurement results of the invention and 42 figures shown in Figure 11
(left side is the measurement knot of 70 pictures to normal vector deviation angle caused by the mirror surface face shape error of piece measurement result in diagram
Fruit, measurement result of the right side for 42 photos).Show that reflecting mirror surface shape error overall trend is rendered as lateral base by measurement result
Originally it is consistent, vertically there are apparent layer variabilities.
The present invention carries out coordinate position variation, to endothermic tube and its in speculum by defining mirror surface coordinate system
The relative position relation analysis of imaging, the deformation being imaged in speculum using image processing and analyzing endothermic tube obtain speculum
The deviation angle of normal vector and preferable normal vector, realizes the measurement to mirror surface face shape at surface sample point.
Measuring method proposed by the present invention based on catoptric imaging method can be to the groove type solar optically focused after the completion of assembling
Device face shape measures, and measurement process is simply time saving.
The present invention drives mirror surface at the uniform velocity to be rotated around axis by means of the transmission mechanism of solar concentrator itself, endothermic tube
In the entire minute surface of the image scanning of mirror surface, camera shooting obtains imaging of the endothermic tube in entire minute surface, using from motion tracking
Mode capture pending area, using regional area analysis by the way of, improve processing accuracy.
The present invention is analyzed using image procossing combined mathematical module by image shot by camera and obtains minute surface position
Normal vector deviation angle, without installing other ancillary equipments, it is only necessary to analyze the image of camera shooting, non-contact, efficient, this hair
It is bright that mirror surface each point normal vector is analyzed, directly give mirror surface reflection characteristic.
Explanation and practice with reference to the present invention disclosed here, the other embodiment of the present invention is for those skilled in the art
It all will be readily apparent and understand.Illustrate and embodiment is regarded only as being exemplary, true scope of the invention and purport are equal
It is defined in the claims.
Claims (10)
- A kind of 1. method that slot type solar energy collectors face shape is measured based on catoptric imaging method, which is characterized in that the method packet It includes：A) circular index point, the groove type solar heat collector are pasted at the mirror surface edge of the groove type solar heat collector Mirror surface front end arrange to acquire the camera of image；The mirror surface and endothermic tube rotate under the drive of concentrator transmission device around spin axis, and the camera acquires the suction The image of the imaging of heat pipe is inswept all positions of mirror surface；B) it extracts in described image and absorbs heat in endothermic tube marginal point and described image in the central point of circular index point, described image Pipe is imaged marginal point in mirror surface；C) mirror surface coordinate system is defined, determines camera in the speculum by the central point of circular index point in described image Space coordinate in areal coordinate system；By space coordinate of the camera in the mirror surface coordinate system and the space coordinate of focal plane imaging, endothermic tube is determined Space coordinate of the marginal point in the mirror surface coordinate system；Marginal point is imaged in mirror surface and is existed by space coordinate of the camera in the mirror surface coordinate system and endothermic tube Space coordinate in mirror surface coordinate system determines that endothermic tube is imaged marginal point in the mirror surface coordinate in mirror surface Space coordinate in system；D) founding mathematical models, by space coordinate of the camera in the mirror surface coordinate system, endothermic tube marginal point described Space coordinate and endothermic tube in mirror surface coordinate system are imaged marginal point in the mirror surface coordinate system in mirror surface In space coordinate be updated in the mathematical model, solve the deflection angle of normal vector at mirror surface each position.
- 2. according to the method described in claim 1, it is characterized in that, the central point of circular index point is according to as follows in described image Method is extracted：Obtain the zonule of each circular index point of first image in the mirror surface rotary course；On the basis of first image, setting even step sizes find each circular index point of remaining image from motion tracking Zonule；The edge coordinate of circular index point is obtained by canny algorithms to each zonule, using described in the acquisition of ellipse fitting method The central point of Circle in Digital Images shape index point.
- 3. according to the method described in claim 1, it is characterized in that, endothermic tube marginal point carries as follows in described image It takes：Obtain the endothermic tube edge cell domain of first image in the mirror surface rotary course；On the basis of first image, setting even step sizes find the endothermic tube edge cell of remaining image from motion tracking Domain；The edge coordinate of heat absorption tube edges is obtained by canny algorithms to each zonule, obtains the tube edge that absorbs heat in described image Edge point.
- 4. according to the method described in claim 1, it is characterized in that, endothermic tube is imaged edge in mirror surface in described image Point extracts as follows：The endothermic tube for obtaining first image in the mirror surface rotary course is imaged edge cell domain in mirror surface；On the basis of first image, setting even step sizes find the endothermic tube of remaining image in mirror surface from motion tracking Middle imaging edge cell domain；It is imaged the edge coordinate at edge in mirror surface by canny algorithms acquisition endothermic tube to each zonule, obtains institute It states endothermic tube in image and marginal point is imaged in mirror surface.
- 5. according to the method described in claim 1, it is characterized in that, the mirror surface coordinate system is with tangent with mirror surface Direction is X-axis, is Y-axis along mirror surface axially direction, is Z axis perpendicular to the direction of the tangent plane of mirror surface.
- 6. according to the method described in claim 1, it is characterized in that, the central point by circular index point in described image utilizes Resection method solves space coordinate of the camera in the mirror surface coordinate system.
- 7. according to the method described in claim 1, it is characterized in that, space by camera in the mirror surface coordinate system The space coordinate of coordinate and focal plane imaging solves endothermic tube marginal point in the mirror surface coordinate system using triangle model In space coordinate.
- 8. the method according to claim 1 or 7, which is characterized in that the space coordinate of the focal plane imaging utilizes heat absorption Pipe focal plane imaging, in camera and camera the imaging of endothermic tube collinearly solve.
- 9. according to the method described in claim 1, it is characterized in that, space by camera in the mirror surface coordinate system Coordinate and endothermic tube are imaged space coordinate of the marginal point in mirror surface coordinate system in mirror surface, are being reflected with endothermic tube Minute surface is imaged on magazine imaging collinearly,Meanwhile simultaneous slot type parabolic mirror foliation thinks equation, solves endothermic tube and marginal point is imaged in mirror surface described Space coordinate in mirror surface coordinate system.
- 10. according to the method described in claim 1, it is characterized in that, the mathematical model of the foundation in the following way Expression：Wherein, (Xc,Zc) for space coordinate of the camera in mirror surface coordinate system, (X, Z) for endothermic tube in mirror surface into As space coordinate of the marginal point in mirror surface coordinate system, (Xa,Za) it is that space of the endothermic tube in mirror surface coordinate system is sat Mark, f are the focal length of mirror surface, and θ ra are normal vector deviation angle caused by mirror surface face shape and endothermic tube position Synthesis error Degree, θ a are normal vector deviation angle caused by endothermic tube site error, and θ r are inclined for normal vector caused by transmitting minute surface face shape error Move angle.
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