CN108413987A - A kind of calibration method of heliostat, apparatus and system - Google Patents
A kind of calibration method of heliostat, apparatus and system Download PDFInfo
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- CN108413987A CN108413987A CN201810203475.9A CN201810203475A CN108413987A CN 108413987 A CN108413987 A CN 108413987A CN 201810203475 A CN201810203475 A CN 201810203475A CN 108413987 A CN108413987 A CN 108413987A
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- heliostat
- image
- flight instruments
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- described image
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24S—SOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
- F24S50/00—Arrangements for controlling solar heat collectors
- F24S50/20—Arrangements for controlling solar heat collectors for tracking
- F24S2050/25—Calibration means; Methods for initial positioning of solar concentrators or solar receivers
Abstract
The embodiment of the invention discloses a kind of calibration method of heliostat, apparatus and systems.This method includes：Motion control signal is sent out to flight instruments, the flight instruments is controlled and is moved according to the motion control signal；Wherein, the flight instruments are attached with image collecting device；In the flight instruments motion process, described image harvester the image collected information is obtained, and obtain the location information of described image harvester；According to described image information, the location information of the light spot profile of each heliostat reflection is determined；According to the location information of the light spot profile of each heliostat reflection, the calibration parameter of each heliostat is determined, and calibrate to each heliostat.The technical solution provided by using the embodiment of the present invention, can reach that, precision high to the calibration efficiency of heliostat is high, while interference when avoiding calibration to machine error caused by the rotation of heliostat, and reduce the effect of the calibration cost of heliostat.
Description
Technical field
The present embodiments relate to solar energy generation technology field more particularly to a kind of calibration method of heliostat, devices
And system.
Background technology
With economic rapid development, human society is increasingly paid attention to energy problem, is especially asked the utilization of solar energy
Topic.
In central tower-type heat collector power station, the heat collector of thermal-arrest column overhead receives the sun reflected from heliostat field
Light.Heat collector converts energy to high-pressure and high-temperature steam output, can be sent into turbine later and carry out power generation.Heliostat is general
It is installed on the ground around tower.Each heliostat has rigid reflecting surface, and the sun can be traced, and surface uses the orientation that faces south daytime,
Keep reflecting mobile sunlight to heat collector.It needs highly accurately to track the sun, reduces the reflection overflowed around heat collector
Light.Therefore provide one kind accurately can realize that the heliostat calibaration system of smaller loss becomes by sunlight reflection to heat collector
The technical issues of those skilled in the art's urgent need to resolve.
In the prior art, it is often utilized on collection thermal tower and arranges light target, heliostat flare is made to be radiated on light target,
Facula position is read by the image acquisition device on ground again, a heliostat calibration can be carried out every time.This method processing side
Formula is complicated, and elapsed time is longer, when in heliostat field including thousands of a heliostats, greatly affected the school of heliostat
Quasi- efficiency.And calibration is required for heliostat turning over certain angle every time, to introduce the interference of machine error.
Invention content
The embodiment of the present invention provides a kind of calibration method of heliostat, apparatus and system, can reach the school to heliostat
It is accurate it is efficient, precision is high, while interference when avoiding calibration to machine error caused by the rotation of heliostat, and reduce
The effect of the calibration cost of heliostat.
In a first aspect, an embodiment of the present invention provides a kind of calibration method of heliostat, this method includes：
Motion control signal is sent out to flight instruments, the flight instruments is controlled and is transported according to the motion control signal
It is dynamic；Wherein, the flight instruments are attached with image collecting device；
In the flight instruments motion process, described image harvester the image collected information is obtained, and obtain
Take the location information of described image harvester；
According to described image information, the location information of the light spot profile of each heliostat reflection is determined；
According to the location information of the light spot profile of each heliostat reflection, the calibration ginseng of each heliostat is determined
Number, and each heliostat is calibrated.
Further, the flight instruments are attached with image collecting device, including：The flight instruments are equipped with dismountable
Vertical frame, every pre-determined distance setting, there are one described image harvesters on the vertical frame.
Further, in the flight instruments motion process, described image harvester the image collected letter is obtained
Breath, including：
In the flight instruments motion process, a heliostat reflected image is acquired every preset time；
The heliostat reflected image is summarized, described image harvester the image collected information is obtained.
Further, in the flight instruments motion process, the location information of described image harvester, packet are obtained
It includes：
By the location data of positioning component, the location information of described image harvester is obtained；
Wherein, at least one on the flight instruments, image collecting device and vertical frame is arranged in the positioning component
A position.
Further, described information acquisition module includes second position information acquisition unit, and the second position information obtains
Unit is taken to be specifically used for：
The positioning analysis image got by obtaining the positioning shooting head installed on fixed position, determines described image
The location information of harvester.
Further, according to described image information, the location information of the light spot profile of each heliostat reflection, packet are determined
It includes：
It acquires location information when heliostat reflected image every time based on described image harvester, is believed according to described image
Breath, determines the light spot profile of each heliostat reflected image；
The centroid position for obtaining the light spot profile is determined as the location information of the light spot profile of heliostat reflection.
Further, location information when heliostat reflected image is acquired every time based on described image harvester, according to
Described image information determines the light spot profile of each heliostat reflected image, including：
It acquires location information when heliostat reflected image every time based on described image harvester, determines that described image is believed
In breath, the heliostat position within the scope of flare, and it is corresponding with the heliostat of each number；
According to described image harvester institute the image collected information, determine the heliostat each numbered in the flight
Light spot profile on device movement locus.
Second aspect, the embodiment of the present invention additionally provide a kind of calibrating installation of heliostat, which includes：
Motion control signal sends out module, for sending out motion control signal to flight instruments, controls the flight instruments
It is moved according to the motion control signal；Wherein, the flight instruments are attached with image collecting device, the motion control
Signal includes movement velocity size and the direction of motion；
Data obtaining module is collected in the flight instruments motion process, obtaining described image harvester
Image information, and obtain described image harvester location information；
Vision algorithm module, for according to described image information, determining the position of the light spot profile of each heliostat reflection
Information；
Heliostat calibration module, the location information of the light spot profile for being reflected according to each heliostat determine every
The calibration parameter of a heliostat, and each heliostat is calibrated.
Further, the flight instruments are attached with image collecting device, including：The flight instruments are equipped with dismountable
Vertical frame, every pre-determined distance setting, there are one described image harvesters on the vertical frame.
Further, described information acquisition module includes image information acquisition unit, described image information acquisition unit tool
Body is used for：
In the flight instruments motion process, a heliostat reflected image is acquired every preset time；
The heliostat reflected image is summarized, described image harvester the image collected information is obtained.
Further, described information acquisition module includes first position information acquisition unit, and the first position information obtains
Unit is taken to be specifically used for：
By the location data of positioning component, the location information of described image harvester is obtained；
Wherein, at least one on the flight instruments, image collecting device and vertical frame is arranged in the positioning component
A position.
Further, described information acquisition module includes second position information acquisition unit, and the second position information obtains
Unit is taken to be specifically used for：
The positioning analysis image got by obtaining the positioning shooting head installed on fixed position, determines described image
The location information of harvester.
Further, the vision algorithm module includes：
Light spot profile determination unit, for acquiring position when heliostat reflected image every time based on described image harvester
Confidence ceases, and according to described image information, determines the light spot profile of each heliostat reflected image；
Vision algorithm unit, the centroid position for obtaining the light spot profile are determined as the hot spot wheel of heliostat reflection
Wide location information.
Further, the light spot profile determination unit includes：
Heliostat locator unit, for acquiring position when heliostat reflected image every time based on described image harvester
Confidence cease, determine in described image information, the heliostat position within the scope of flare, and with the heliostat phase of each number
It is corresponding；
Light spot profile determination unit, for according to described image harvester institute the image collected information, determining each
Light spot profile of the heliostat of number on the flight instruments movement locus.
The third aspect, the embodiment of the present invention additionally provide a kind of calibration system of heliostat, including collection thermal tower, are equipped with above
Heat collector, the heat collector are used to receive the sunray of heliostat reflection；Heliostat field is made of at least one heliostat,
For sunlight reflection to the heat collector；Further include：
Flight instruments carry image collecting device and carry out image during the motion for passing through dismountable vertical frame and adopt
Collection；
Described image harvester is made of at least one image acquisition device, is mounted on dismountable vertical frame,
For acquiring image information；
Communication device, the communication connection for control device and the flight instruments and described image harvester；
The control device, the calibration method for executing the heliostat that the embodiment of the present invention is provided.
Further, the system also includes：
Automatic dimmer arrangement, for being protected to described image harvester；
The flight instruments shell uses reflective heat proof material；
Positioning device is set at least one on the flight instruments, image collecting device and vertical frame；
Communication device is additionally operable to obtain the location data of the positioning device.
The embodiment of the present invention sends out motion control signal by the way that flight instruments are arranged, and to flight instruments, controls described fly
Luggage is set to be moved according to the motion control signal；Wherein, the flight instruments are attached with image collecting device；Described
In flight instruments motion process, described image harvester the image collected information is obtained, and obtains described image acquisition
The location information of device；According to described image information, the location information of the light spot profile of each heliostat reflection is determined；According to every
The location information of the light spot profile of a heliostat reflection, determines the calibration parameter of each heliostat, and to each institute
It states heliostat to be calibrated, to heliostat when can reach, precision height high to the calibration efficiency of heliostat, while avoid calibrating
The interference of machine error caused by rotation, and reduce the effect of the calibration cost of heliostat.
Description of the drawings
Fig. 1 is the flow chart of the calibration method for the heliostat that the embodiment of the present invention one provides；
Fig. 2 is the flight path schematic diagram for the flight instruments that the embodiment of the present invention one provides；
Fig. 3 is the flight course schematic diagram for the flight instruments that the embodiment of the present invention one provides；
Fig. 4 is the structural schematic diagram of the calibrating installation of heliostat provided by Embodiment 2 of the present invention.
Specific implementation mode
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limitation of the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
It should be mentioned that some exemplary embodiments are described as before exemplary embodiment is discussed in greater detail
The processing described as flow chart or method.Although each step is described as the processing of sequence, many of which by flow chart
Step can be implemented concurrently, concomitantly or simultaneously.In addition, the sequence of each step can be rearranged.When its operation
The processing can be terminated when completion, it is also possible to the additional step being not included in attached drawing.The processing can be with
Corresponding to method, function, regulation, subroutine, subprogram etc..
For this purpose, technical problem to be solved by the present invention lies in existing heliostat collimation technique efficiency is low, calibration accuracy is low,
Or correcting mechanism is complicated, O＆M cost is high, maintenance difficult, provides a kind of calibration efficiency height, control system is simple and direct, and system is reliable
The high solar power plant heliostat calibration method of property.
Embodiment one
Fig. 1 is the flow chart of the calibration method for the heliostat that the embodiment of the present invention one provides, the present embodiment applicable settled date
The case where mirror is calibrated, this method can be executed by the calibrating installation for the heliostat that the embodiment of the present invention is provided, which can
It realizes, and can be integrated in the calibration system of heliostat in a manner of by software and/or hardware.
As shown in Figure 1, the calibration method of the heliostat includes：
S110, motion control signal is sent out to flight instruments, controls the flight instruments according to the motion control signal
It is moved；Wherein, the flight instruments are attached with image collecting device.
Wherein, flight instruments can be unmanned plane, can also be that can also be that other can using more massive helicopter
With the device to fly in heliostat field.It controls the flight instruments to be moved according to the motion control signal, wherein controlling
Signal processed includes flying at a constant speed, accelerate, slow down and increasing or reduce.The flight path for controlling flight instruments can be straight
Line can also be curve.
Illustratively, Fig. 2 is the flight path schematic diagram for the flight instruments that the embodiment of the present invention one provides, as shown in Fig. 2,
The flight path of flight instruments can be one with heat collector 20 collection thermal tower 10 and determined by what multiple heliostats 30 were constituted
Between solar eyepiece field.Flight path can be straight line, for example, when be calibrated only there are one collection thermal tower 10 when heliostat 30
When, flight path can be the circle centered on the collection thermal tower 10, when what is be calibrated is multiple heliostats 30 for collecting thermal towers 10
When, and when multiple collection thermal towers 10 are arranged in a straight line or matrix arrangement, then it can be respectively to a directions of multiple collection thermal towers 10
Heliostat 30 is calibrated, and the calibration efficiency of heliostat can be thus greatly improved, and is reduced in heliostat calibration process, right
The excessive consumption of time and manpower.
The mode of flight instruments attachment image collecting device can be self-contained mode, can also be the additional dress of carrying
It sets, and attachment device is installed to the mode on flight instruments.Wherein, attachment device can be bonded in flight instruments
Lower section or side can also be to be hinged on flight instruments, and setting in this way ensures that no matter flight instruments are in itself water
When flat or inclination, the attachment device with image collecting device can straight down, and setting in this way reduces subsequent calibrations mistake
Calculation amount in journey can improve data processing speed.Wherein image collecting device can be one, can also be it is multiple, when
There are when multiple images harvester, their arrangement mode can be evenly distributed, can also be uneven arrangement, can be with
It is that the mode of straight line or curve arranges, can also be the form of array.
In the present embodiment, optionally, the flight instruments are attached with image collecting device, including：The flight instruments
Equipped with dismountable vertical frame, every pre-determined distance setting, there are one described image harvesters on the vertical frame.
Wherein, vertical frame can be hinged between flight instruments, can ensure that the direction of vertical frame is always vertical in this way
Downwards.
Illustratively, Fig. 3 is the flight course schematic diagram for the flight instruments that the embodiment of the present invention one provides, as shown in figure 3,
Flight instruments 40 can be unmanned plane, and vertical frame 50 can have one by what metal material or high molecular synthetic material were constituted
The unilateral frame of rigidity or bilateral frame are determined, in Fig. 3 by taking bilateral frame as an example.Image collecting device can be provided on vertical frame 50
60.Vertical frame 50 can be connect in hinged way with flight instruments 40.The benefit being arranged in this way is in flight instruments along level side
During movement, vertical frame is moved with image collecting device, can be while image collecting device is with change in location
The effect formed similar to image collecting device array also saves heliostat school while improving heliostat calibration efficiency
Accurate cost.
S120, in the flight instruments motion process, obtain described image harvester the image collected information, with
And obtain the location information of described image harvester.
Wherein, image collecting device can continuously acquire image information, also can intermittent acquisition image information.Image is believed
Breath can be the summation for all images that all image acquisition devices arrive.
In the present embodiment, optionally, in the flight instruments motion process, the acquisition of described image harvester is obtained
The image information arrived, including：In the flight instruments motion process, a heliostat reflectogram is acquired every preset time
Picture；The heliostat reflected image is summarized, described image harvester the image collected information is obtained.Wherein preset time
It can be determined by the movement velocity by flight instruments, or can be by the heliostat calibration side provided in the present embodiment
The demand of method is related, illustratively, could be provided as 2s, 5s or 10s.In the present embodiment, every preset time, institute
Some image collecting devices all acquire a heliostat reflected image simultaneously, and the benefit being arranged in this way can make to heliostat
Control is more convenient, while can obtain the image taking results for being similar to virtual image array, is more conducive to fixed
The analysis of solar eyepiece reflected image.
The location information of image collecting device can be obtained by positioning component, for example, by using GPS (global positioning systems
System, Global Positioning System) or BEI-DOU position system, it can also be positioned using other modes.
In the present embodiment, optionally, in the flight instruments motion process, the position of described image harvester is obtained
Confidence ceases, including：By the location data of positioning component, the location information of described image harvester is obtained；Wherein, described fixed
At least one position on the flight instruments, image collecting device and vertical frame is arranged in hyte part.Wherein, positioning component
Quantity can be one or more, in order to improve image collecting device location information precision, it is preferred that be at least arranged
Two positioning components.When positioning component is arranged on the flight instruments, it can be arranged above and below flight instruments,
It can also be arranged on the head and tail portion of flight instruments.Positioning component is arranged when on image collecting device, can each image
Positioning device is designed on harvester, can also be wherein fixed several image collecting devices be equipped with positioning device, then
According to the position relationship between image collecting device, the location information of each image collecting device is determined.Positioning component setting exists
When on vertical frame, the position that image collecting device is each installed on vertical frame can also be set, can also be arranged in vertical frame
Above and below or other fixed positions, in this way can be according to the position relationship of each image collecting device and vertical frame
Determine the location information of each image collecting device.
In the present embodiment, optionally, in the flight instruments motion process, the position of described image harvester is obtained
Confidence ceases, including：The positioning analysis image got by obtaining the positioning shooting head installed on fixed position, determine described in
The location information of image collecting device.
Wherein, fixed position can be provided in the position near the bottom or collection thermal tower of collection thermal tower, can also be to set
It sets in heliostat field, it is preferred that the positioning shooting head is two or more, it can be ensured that moved in flight instruments
In the process, at least there are two the images that positioning device can get flight instruments, and flight dress is obtained according to image position method
The location information set, for example, can be according to the position and flight instruments of positioning shooting head itself in positioning shooting head image
Orientation and size determine the position of flight instruments, and then determine the location information of each image collecting device.What is be arranged in this way is good
Place is can be positioned to flight instruments and image collecting device according to the mode of static immobilization so that obtained positioning result
While more accurate, it is convenient for the maintenance of positioning device.
In the above embodiments, image collecting device can be numbered, according to number to each image collecting device
It distinguishes.
S130, according to described image information, determine the location information of the light spot profile of each heliostat reflection.
Wherein, due to during heliostat is calibrated, using solar source, so obtained light spot profile is close
Like circular profile.
In the present embodiment, optionally, according to described image information, the position of the light spot profile of each heliostat reflection is determined
Confidence ceases, including：Location information when heliostat reflected image is acquired every time based on described image harvester, according to the figure
As information, the light spot profile of each heliostat reflected image is determined；The centroid position for obtaining the light spot profile, is determined as the settled date
The location information of the light spot profile of mirror reflection, wherein the location information of the light spot profile of heliostat reflection can be light spot profile
Center, can also be other characteristic point positions of light spot profile, for example the peak, minimum of light spot profile can be used
Point, leftmost side point and rightmost side point this four points coordinate indicate the location information of light spot profile.
It wherein, can be each according to identification after virtual image harvester array gets the reflected image of heliostat
For image collecting device in each station acquisition to picture, each heliostat reflecting brightness determines the image collecting device at this
Whether position is in the range of the light spot profile of heliostat reflection.All images are summarized, are adopted in conjunction with image collecting device
Collect the location information at image moment, so that it may with the light spot profile of each heliostat of determination.After determining light spot profile, Ke Yigen
It is determined as the location information of the light spot profile of heliostat reflection according to the centroid position of light spot profile.
In the present embodiment, optionally, position when heliostat reflected image is acquired every time based on described image harvester
Confidence ceases, and according to described image information, determines the light spot profile of each heliostat reflected image, including：It is adopted based on described image
Acquisition means acquire location information when heliostat reflected image every time, determine in described image information, within the scope of flare
Heliostat position, and it is corresponding with the heliostat of each number；Believed according to described image harvester institute the image collected
Breath determines light spot profile of the heliostat each numbered on the flight instruments movement locus.This programme is relative to every
A heliostat is individually calibrated, and greatly improves the working efficiency of each heliostat calibration in heliostat field, and can be with
It realizes that the heliostat around multiple collection thermal towers is carried out at the same time the effect of correction, the hot spot wheel of each heliostat is distinguished using number
Exterior feature, after the calibration factor of each heliostat of determination, the heliostat that can correspond to each number is corrected.
The location information of S140, the light spot profile reflected according to each heliostat determine each heliostat
Calibration parameter, and each heliostat is calibrated.
Wherein, in general, heliostat is during following the sun to rotate, can by horizontally and vertically common rotation, with
So that sunray is reflected on the heat collector of collection thermal tower, realizes the utilization to solar energy.In the position for determining heliostat light spot profile
After confidence breath, the settled date can be determined according to the location information of the position of the heliostat, the position of heat collector and light spot profile
Mirror whether there is deviation, if there is deviation, then to determine one group of correction coefficient horizontally and vertically, school be carried out to heliostat
Just.
The embodiment of the present invention sends out motion control signal by the way that flight instruments are arranged, and to flight instruments, controls described fly
Luggage is set to be moved according to the motion control signal；Wherein, the flight instruments are attached with image collecting device；Described
In flight instruments motion process, described image harvester the image collected information is obtained, and obtains described image acquisition
The location information of device；According to described image information, the location information of the light spot profile of each heliostat reflection is determined；According to every
The location information of the light spot profile of a heliostat reflection, determines the calibration parameter of each heliostat, and to each institute
It states heliostat to be calibrated, to heliostat when can reach, precision height high to the calibration efficiency of heliostat, while avoid calibrating
The interference of machine error caused by rotation, and reduce the effect of the calibration cost of heliostat.
Embodiment two
Fig. 4 is the structural schematic diagram of the calibrating installation of heliostat provided by Embodiment 2 of the present invention.As shown in figure 4, described
The calibrating installation of heliostat, including：
Motion control signal sends out module 410, for sending out motion control signal to flight instruments, controls the flight dress
It sets and is moved according to the motion control signal；Wherein, the flight instruments are attached with image collecting device, the movement control
Signal processed includes movement velocity size and the direction of motion；
Data obtaining module 420, in the flight instruments motion process, obtaining the acquisition of described image harvester
The image information arrived, and obtain the location information of described image harvester；
Vision algorithm module 430, for according to described image information, determining the position of the light spot profile of each heliostat reflection
Confidence ceases；
Heliostat calibration module 440, the location information of the light spot profile for being reflected according to each heliostat, determines
The calibration parameter of each heliostat, and each heliostat is calibrated.
The embodiment of the present invention sends out motion control signal by the way that flight instruments are arranged, and to flight instruments, controls described fly
Luggage is set to be moved according to the motion control signal；Wherein, the flight instruments are attached with image collecting device；Described
In flight instruments motion process, described image harvester the image collected information is obtained, and obtains described image acquisition
The location information of device；According to described image information, the location information of the light spot profile of each heliostat reflection is determined；According to every
The location information of the light spot profile of a heliostat reflection, determines the calibration parameter of each heliostat, and to each institute
It states heliostat to be calibrated, to heliostat when can reach, precision height high to the calibration efficiency of heliostat, while avoid calibrating
The interference of machine error caused by rotation, and reduce the effect of the calibration cost of heliostat.
On the basis of the various embodiments described above, optionally, the flight instruments are attached with image collecting device, including：Institute
It states flight instruments and is equipped with dismountable vertical frame, acquire and fill there are one described image every pre-determined distance setting on the vertical frame
It sets.
On the basis of the various embodiments described above, optionally, described information acquisition module 420 includes image information acquisition list
Member, described image information acquisition unit are specifically used for：
In the flight instruments motion process, a heliostat reflected image is acquired every preset time；
The heliostat reflected image is summarized, described image harvester the image collected information is obtained.
On the basis of the various embodiments described above, optionally, described information acquisition module 420 includes first position acquisition of information
Unit, the first position information acquisition unit are specifically used for：
By the location data of positioning component, the location information of described image harvester is obtained；
Wherein, at least one on the flight instruments, image collecting device and vertical frame is arranged in the positioning component
A position.
On the basis of the various embodiments described above, optionally, described information acquisition module 420 includes second position acquisition of information
Unit, the second position information acquisition unit are specifically used for：
The positioning analysis image got by obtaining the positioning shooting head installed on fixed position, determines described image
The location information of harvester.
On the basis of the various embodiments described above, optionally, the vision algorithm module 430 includes：
Light spot profile determination unit, for acquiring position when heliostat reflected image every time based on described image harvester
Confidence ceases, and according to described image information, determines the light spot profile of each heliostat reflected image；
Vision algorithm unit, the centroid position for obtaining the light spot profile are determined as the hot spot wheel of heliostat reflection
Wide location information.
On the basis of the various embodiments described above, optionally, the light spot profile determination unit includes：
Heliostat locator unit, for acquiring position when heliostat reflected image every time based on described image harvester
Confidence cease, determine in described image information, the heliostat position within the scope of flare, and with the heliostat phase of each number
It is corresponding；
Light spot profile determination unit, for according to described image harvester institute the image collected information, determining each
Light spot profile of the heliostat of number on the flight instruments movement locus.
The said goods can perform the method that any embodiment of the present invention is provided, and have the corresponding function module of execution method
And advantageous effect.
Embodiment three
The embodiment of the present invention also provides a kind of calibration system of heliostat, including collection thermal tower, is equipped with heat collector above, described
Heat collector is used to receive the sunray of heliostat reflection；Heliostat field is made of at least one heliostat, for reflecting the sun
On light to the heat collector；Further include：
Flight instruments carry image collecting device and carry out image during the motion for passing through dismountable vertical frame and adopt
Collection；
Described image harvester is made of at least one image acquisition device, is mounted on dismountable vertical frame,
For acquiring image information；
Communication device, the communication connection for control device and the flight instruments and described image harvester；
The control device, the calibration method for executing the heliostat described in any embodiment of the present invention.
Further, the calibration system of the heliostat further includes：
Automatic dimmer arrangement, for being protected to described image harvester；
The flight instruments shell uses reflective heat proof material；
Positioning device is set at least one on the flight instruments, image collecting device and vertical frame；
Communication device is additionally operable to obtain the location data of the positioning device.
The embodiment of the present invention sends out motion control signal by the way that flight instruments are arranged, and to flight instruments, controls described fly
Luggage is set to be moved according to the motion control signal；Wherein, the flight instruments are attached with image collecting device；Described
In flight instruments motion process, described image harvester the image collected information is obtained, and obtains described image acquisition
The location information of device；According to described image information, the location information of the light spot profile of each heliostat reflection is determined；According to every
The location information of the light spot profile of a heliostat reflection, determines the calibration parameter of each heliostat, and to each institute
It states heliostat to be calibrated, to heliostat when can reach, precision height high to the calibration efficiency of heliostat, while avoid calibrating
The interference of machine error caused by rotation, and reduce the effect of the calibration cost of heliostat.
Preferred embodiment
In order to allow those skilled in the art that can be clearly understood from the technical solution that the embodiment of the present invention is provided, this
Inventive embodiments additionally provide preferred embodiment.
To achieve the above object, the heliostat calibaration system of solar power plant of the invention comprising：Collect thermal tower, institute
It states and heat collector is installed on collection thermal tower, the sunlight for receiving heliostat reflection；The heliostat of at least one heliostat composition
, it is installed on around the collection thermal tower；The flight instruments of at least one aircraft composition, for flying in heliostat field
It is empty；
Image acquisition device is made of at least one image modalities, the reflected light for receiving heliostat；Positioning dress
It sets, including position/image positioning device, for obtaining target coordinate position；Communication device, for receiving image acquisition device
The coordinate data that obtains of image data and positioning device be transferred to control unit；And control unit, for controlling aircraft
Flight and calculating facula position, and calibrate heliostat parameter.
The image acquisition device is installed on the flight instruments, in the flight instruments and/or image acquisition device
On positioning device is installed, flight instruments fly in the region that can receive heliostat reflection light, and image modalities are caught
Obtain the light spot image of heliostat reflection.What the image data and the positioning device that the image acquisition device obtains obtained
Coordinate position data, by communication device transfers to control unit, control unit calculates the position letter of heliostat light spot image
Breath and corresponding heliostat, and finally calculate the error amount calibrated needed for heliostat.
The image modalities are rack-mount, and multiple image modalities form image collection array.
The image modalities edge vertically and/or horizontally arranges.
The image acquisition device is equipped with automatic dimmer arrangement.
The positioning device is made of at least two differential GPS positioning device, and the differential GPS is installed on the flight dress
Set and/or image acquisition device on.
The positioning device by installing at least two imaging sensor on the ground, and mounted on flight instruments and/or
Multiple positioning identification points of image acquisition device form.
The positioning identification point is at least one optical indicia.
At least one heliostat identification device is installed in the heliostat field.
The heliostat identification device is made of at least one optical indicia and/or artificial light source.
The communication device is installed on flight instruments and/or image acquisition device.
The flight instruments shell uses reflective heat proof material.
Meanwhile the invention discloses a kind of calibration method of the heliostat calibaration system using above-mentioned solar power plant,
Including step once：
A. control unit control flight instruments fly in the region that can capture heliostat reflection light, image modalities
The hot spot of heliostat reflection is received in flight course, image acquisition device obtains image data.Positioning device passes through differential GPS
And/or ground image sensor obtains the corresponding position coordinate data of image acquisition device, is determined by heliostat identification device
Heliostat position；
B. image data and position coordinate data are transferred to control unit by communication device；
C. control unit calculates spot center position and correspondence by acquired hot spot image data and position data
Heliostat, and pass through the measured value of angular transducer obtain heliostat rotation angle；
D. control unit calculates the error amount calibrated needed for heliostat, and to calibrating heliostat.
The above-mentioned technical proposal of the present invention has the following advantages that compared with prior art：
(1) present invention carries device for image (such as using flight instruments：Camera matrix), control system controls aircraft,
Image acquisition device can be flown past to the hot spot of heliostat, and the hot spot is captured by image acquisition device, according to collecting
Data calibration heliostat.The method can calibrate many heliostats simultaneously, and it is fixed can generally to calibrate hundreds of to tens of thousands of simultaneously
Solar eyepiece, improves the efficiency of calibration, and calibration speed is fast.
(2) in addition, the present invention is moved to calibrating position without controlling heliostat, alleviates control system in calibration
Complexity improves the reliability of control system.
(3) the present disclosure applies equally to large-scale power station group calibrations, when multiple photo-thermal solar power stations form large-scale power station collection
When group, it is only necessary to which a set of calibration system can meet the calibration requirements of all heliostat fields, reduce power station investment and peace
Fill maintenance cost.
The heliostat calibaration system of solar power plant, work relevant apparatus include a collection being installed on collection thermal tower
Hot device, the heat collector receive the sunlight reflected from heliostat with direct steam generation or electricity；The heat collector is away from ground
Height ensure the heliostat in the heliostat field and can be reflected on the heat collector.
It further include the heliostat field being installed on around the collection thermal tower；The heliostat field includes at least one settled date
Mirror；There are two rotary shaft, the heliostats to carry out pitch rotation, Pingyao rotation around the rotary shaft for the heliostat configuration；Institute
It states Double rotation axle and is furnished with angular transducer, for accurately measuring the practical pitch angle φ and yawing angle that two rotary shafts turn over
Spend ω.The heliostat by adjusting minute surface orientation to track the mobile sun so that sunlight is persistently reflexed to thermal-arrest
On device.In the present embodiment, the heliostat field is set to the side of the heat collector.
In the present embodiment, flight instruments are helicopter, are equipped with image acquisition device thereon, the image acquisition device by
At least one image modalities composition.Regulation light source in the present embodiment is sun radiant, and the camera is along vertical side
It to arrangement, is installed below the flight instruments, image acquisition device is row camera, a height of 10 meters, is equipped with 100 and is equipped with
The camera of dimmer arrangement, its spacing are 0.1 meter.Camera is fixed on i shaped steel structural framing.
In the present embodiment, the flight instruments shell uses reflective heat proof material.
In the present embodiment, the image acquisition device is configured with the automatic dimmer arrangement for weakening light intensity, dim light dress
It is set to the combination of the reflection unit of light and/or the absorption plant of light, in order to protect image acquisition device not rung by strong shadow.
In the present embodiment, the system also includes communication device, it is installed on flight instruments and/or image acquisition device
On, for storing transmission data.
The heliostat calibaration system further includes positioning device, and positioning device is by installing at least a image biography on the ground
Sensor, and multiple positioning identification points composition on flight instruments and/or image acquisition device.
The calibration system further includes control unit, which receives the collected heliostat hot spot of image acquisition device
Image and the location information of positioning device acquisition and the heliostat rotation angle information of angular transducer acquisition.Control unit
Control flight instruments are flown over around the heliostat field region of quasi- calibration, according to the collected light spot image information of camera, are determined
The center of hot spot determines corresponding heliostat according to the position of the heliostat identification device in heliostat field.And finally to fixed
Solar eyepiece is calibrated.
Location point of the control unit according to positioning device acquisition hot spot phase between seasonable, fits virtual hot spot irradiation
Face, it is horizontal axis that can obtain a time, and camera number is an X-Y scheme of the longitudinal axis, it reflects that camera captures hot spot
The case where.Control unit calculates facula area, while according to the gray scale of hot spot, meter according to the profile of the light spot image of capture
Calculate the pixel value of hot spot.Position by light spot image and luminance information, control unit calculate spot center.Positioning device
The position data of image acquisition device is obtained, image acquisition device captures the image of the heliostat identification device in heliostat field,
Control unit finds out each heliostat corresponding position in light spot image by data above.
The method that control unit calculates spot center is as follows：
A. the video image that size is W × H is divided into multiple regions by control unit；
B. control unit calculates the geometric center position coordinates p (i, j) in each region, and is somebody's turn to do by gray analysis
The corresponding pixel value f (i, j) in region；
C. the spot center coordinate P (X, Y) that multiple regions are calculated by gravity model appoach, to calibrate heliostat, gravity model appoach meter
It is as follows to calculate formula：
Control unit by calculate glossing up video image mass centre, obtain with video image geometric center O (XO,
YO deviation) needs the deviation calibrated to calculate heliostat.
In the embodiment, the error calibrated is needed to be：The pitch angle peace cradle angle (φ 0, ω 0) of heliostat, two rotary shafts
Non-squareness η, heliostat minute surface center (Xi, Yi, Zi), error calibrating method are：
Wherein, hi is the vertical height of the corresponding image documentation equipment of heliostat hot spot；
For unit vector perpendicular to the ground；
For sunlight light vector；
P is light spot image center；
For heliostat minute surface center.
Note that above are only presently preferred embodiments of the present invention and institute's application technology principle.It will be appreciated by those skilled in the art that
The present invention is not limited to specific embodiments described here, can carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out to the present invention by above example
It is described in further detail, but the present invention is not limited only to above example, without departing from the inventive concept, also
May include other more equivalent embodiments, and the scope of the present invention is determined by scope of the appended claims.
Claims (16)
1. a kind of calibration method of heliostat, which is characterized in that including：
Motion control signal is sent out to flight instruments, the flight instruments is controlled and is moved according to the motion control signal；
Wherein, the flight instruments are attached with image collecting device；
In the flight instruments motion process, described image harvester the image collected information is obtained, and obtain institute
State the location information of image collecting device；
According to described image information, the location information of the light spot profile of each heliostat reflection is determined；
According to the location information of the light spot profile of each heliostat reflection, the calibration parameter of each heliostat is determined,
And each heliostat is calibrated.
2. according to the method described in claim 1, it is characterized in that, the flight instruments are attached with image collecting device, including：
The flight instruments are equipped with dismountable vertical frame, and every pre-determined distance setting, there are one described images to acquire on the vertical frame
Device.
3. according to the method described in claim 1, it is characterized in that, in the flight instruments motion process, the figure is obtained
As harvester the image collected information, including：
In the flight instruments motion process, a heliostat reflected image is acquired every preset time；
The heliostat reflected image is summarized, described image harvester the image collected information is obtained.
4. according to the method described in claim 2, it is characterized in that, in the flight instruments motion process, the figure is obtained
As the location information of harvester, including：
By the location data of positioning component, the location information of described image harvester is obtained；
Wherein, at least one position on the flight instruments, image collecting device and vertical frame is arranged in the positioning component
It sets.
5. according to the method described in claim 2, it is characterized in that, in the flight instruments motion process, the figure is obtained
As the location information of harvester, including：
The positioning analysis image got by obtaining the positioning shooting head installed on fixed position determines that described image acquires
The location information of device.
6. method according to claim 4 or 5, which is characterized in that according to described image information, determine that each heliostat is anti-
The location information for the light spot profile penetrated, including：
Acquire location information when heliostat reflected image every time based on described image harvester, according to described image information,
Determine the light spot profile of each heliostat reflected image；
The centroid position for obtaining the light spot profile is determined as the location information of the light spot profile of heliostat reflection.
7. according to the method described in claim 6, it is characterized in that, to acquire heliostat every time based on described image harvester anti-
Location information when image is penetrated, according to described image information, determines the light spot profile of each heliostat reflected image, including：
It acquires location information when heliostat reflected image every time based on described image harvester, determines described image information
In, the heliostat position within the scope of flare, and it is corresponding with the heliostat of each number；
According to described image harvester institute the image collected information, determine the heliostat each numbered in the flight instruments
Light spot profile on movement locus.
8. a kind of calibrating installation of heliostat, which is characterized in that including：
Motion control signal sends out module, for sending out motion control signal to flight instruments, control the flight instruments according to
The motion control signal is moved；Wherein, the flight instruments are attached with image collecting device, the motion control signal
Including movement velocity size and the direction of motion；
Data obtaining module, in the flight instruments motion process, obtaining the collected figure of described image harvester
As information, and obtain the location information of described image harvester；
Vision algorithm module, for according to described image information, determining the location information of the light spot profile of each heliostat reflection；
Heliostat calibration module, the location information of the light spot profile for being reflected according to each heliostat, determines each institute
The calibration parameter of heliostat is stated, and each heliostat is calibrated.
9. device according to claim 8, which is characterized in that the flight instruments are attached with image collecting device, including：
The flight instruments are equipped with dismountable vertical frame, and every pre-determined distance setting, there are one described images to acquire on the vertical frame
Device.
10. device according to claim 8, which is characterized in that described information acquisition module includes image information acquisition list
Member, described image information acquisition unit are specifically used for：
In the flight instruments motion process, a heliostat reflected image is acquired every preset time；
The heliostat reflected image is summarized, described image harvester the image collected information is obtained.
11. device according to claim 9, which is characterized in that described information acquisition module includes that first position information obtains
Unit, the first position information acquisition unit is taken to be specifically used for：
By the location data of positioning component, the location information of described image harvester is obtained；
Wherein, at least one position on the flight instruments, image collecting device and vertical frame is arranged in the positioning component
It sets.
12. device according to claim 9, which is characterized in that described information acquisition module includes that second position information obtains
Unit, the second position information acquisition unit is taken to be specifically used for：
The positioning analysis image got by obtaining the positioning shooting head installed on fixed position determines that described image acquires
The location information of device.
13. device according to claim 11 or 12, which is characterized in that the vision algorithm module includes：
Light spot profile determination unit, for acquiring position letter when heliostat reflected image every time based on described image harvester
Breath, according to described image information, determines the light spot profile of each heliostat reflected image；
Vision algorithm unit, the centroid position for obtaining the light spot profile are determined as the light spot profile of heliostat reflection
Location information.
14. device according to claim 13, which is characterized in that the light spot profile determination unit includes：
Heliostat locator unit, for acquiring position letter when heliostat reflected image every time based on described image harvester
Breath, determines in described image information, the heliostat position within the scope of flare, and opposite with the heliostat of each number
It answers；
Light spot profile determination unit, for according to described image harvester institute the image collected information, determining each number
Light spot profile of the heliostat on the flight instruments movement locus.
15. a kind of calibration system of heliostat, including collection thermal tower, are equipped with heat collector, the heat collector is for receiving the settled date above
The sunray of mirror reflection；Heliostat field is made of at least one heliostat, for sunlight reflection to the heat collector
On；It is characterized in that, further including：
Flight instruments carry out Image Acquisition during the motion for carrying image collecting device by dismountable vertical frame；
Described image harvester is made of at least one image acquisition device, is mounted on dismountable vertical frame, is used for
Acquire image information；
Communication device, the communication connection for control device and the flight instruments and described image harvester；
The control device, for executing such as claim 1-7 any one of them methods.
16. calibration system according to claim 15, which is characterized in that further include：
Automatic dimmer arrangement, for being protected to described image harvester；
The flight instruments shell uses reflective heat proof material；
Positioning device is set at least one on the flight instruments, image collecting device and vertical frame；
Communication device is additionally operable to obtain the location data of the positioning device.
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| CN109596212A (en) * | 2019-02-14 | 2019-04-09 | 浙江中控太阳能技术有限公司 | The detection system and detection method of heliostat light gathering efficiency |
| CN109828612A (en) * | 2019-02-14 | 2019-05-31 | 浙江中控太阳能技术有限公司 | A kind of system and method that heliostat progress night is quickly corrected using unmanned plane |
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