CN108919594B - Trackless celestial observation mirror device and operation method - Google Patents
Trackless celestial observation mirror device and operation method Download PDFInfo
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Abstract
The invention discloses a trackless celestial observation mirror device which comprises a horizontal table and a two-dimensional code array plane graph, wherein the two-dimensional code array plane graph is formed by two-dimensional code array arrangement, a driving wheel device is arranged on the two-dimensional code array plane graph, the driving wheel device is connected with the bottom of a horizontal base, a first camera and a second camera are arranged at the bottom of the horizontal base, a first plane mirror is arranged on the horizontal base, and a second plane mirror is arranged on a second plane mirror mounting frame. The invention also discloses an operation method of the trackless heliostat device, and the autonomous positioning of the first plane mirror is realized by adopting a positioning mode that a camera scans a two-dimensional code. The trackless zenith telescope does not need two sets of tracks in the east-west direction and the south-north direction, breaks through the limitation on volume and installation, eliminates errors caused by track abrasion, is simpler and more convenient to move, transport and rapidly install, and can be applied to wider occasions.
Description
Technical Field
The invention relates to a heliostat in astronomical observation, in particular to a trackless heliostat device and an operation method of the trackless heliostat device.
Background
The sun, the sidereal nearest to the earth, directly affects the life of human beings, and is a very important celestial body. The sun continues to radiate light and heat, making the collection and utilization of solar energy of significant value (Application of aerobic day shading systems for energy harvesting and enhancement of indexing: A case study under clear-sky conditions. Oh SJ, Dutton S, SelkowitzS, Han HJ. energy and building.2017; 156: 173-86). The severe activities on the sun are the source of space weather disasters, so that the observation and research on the sun become an important research topic (Chinese foundation big sun telescope [ J ]. Liu Zhong, Deng Yuan Yong, Qui Hai Sheng, etc.. Chinese science: physics mechanics astronomy, 2012,42(12): 1282-1291). Due to factors such as the autorotation of the earth, the sun has visual movement of east, rise and west relative to the earth, and instruments such as a heliostat, a heliostat and an equatorial telescope are required to track the visual movement of the sun when the sun observation is carried out. Typically, the heliostat consists of two flat mirrors. The first plane mirror tracks the sun at a rotation speed of 48 h/circle (Coelostat and heliostat: alignment and user eclipse and other field purposes. Pasachoff JM, Livingston W. applied optics. 1984; 23(16):2803-8), and reflects the sunlight to a certain direction and then the second plane mirror reflects the sunlight to the sun observation equipment. The celestial telescope is different from the equatorial telescope, utilizes the celestial telescope to lead in the observation laboratory with the sunlight steadily, and sun observation equipment only need along the light path direction fix on the optical experiment platform can, to the restriction greatly reduced in aspects such as observation equipment volume, weight, also make the utilization to the sunlight more convenient. The heliostat is different from a heliostat, and a sun image obtained by the heliostat has the advantage of no rotation, so that the heliostat is particularly beneficial to developing sun imaging observation research, such as imaging observation research of sun blackbodies, active areas and the like.
Because the solar altitude can change with the season, the fixed-day mirror needs to install a set of north-south direction track to adjust the distance between two plane mirrors. Since the second mirror will block the sun's rays to a different degree during certain periods of time towards the first mirror. Therefore, the heliostat also needs to rotate a set of tracks in the east-west direction to avoid such adverse effects. Many documents are as follows: nanjing university solar tower and multiband solar spectrometer [ J ] prescription, Huang you ran, Nature newspaper, 1983(3): 3-9; coelostat and heliostat, the Theory of alignment, Demianski M, Pasachoff JM.SolarPhysics.1984; 93(1) 211-7; heliostats Silicosates and Coelostats-a Review of practical Instruments for scientific applications A. journal of the British scientific application.1985; 95:89, the structure and the working principle of the heliostat are introduced in detail.
Because the zenith mirror needs high-precision tracks in the east-west direction and the south-north direction, the size of the conventional zenith mirror is larger, and the high requirements on the precision and the installation of the tracks are provided. Therefore, the popular heliostat device is not portable, so that the application thereof is limited. For example, only astronomical events which can be observed in a limited time and space range, such as solar eclipse, lunar eclipse and the like, require the tracking device to be convenient to carry and move, and can be quickly installed and debugged, while the existing celestial observation mirror device is difficult to meet the requirement of astronomical observation of the type.
Disclosure of Invention
The invention aims to provide a trackless celestial fixing mirror device and an operation method of the trackless celestial fixing mirror device. The device adopts the location mode that the camera scans the two-dimensional code, realizes deciding the autonomic location of celestial mirror first plane mirror. The rail in east-west direction and south-north direction is not needed, and the rail has the advantages of portability, simple and convenient installation and strong practicability.
In order to achieve the purpose, the invention adopts the following technical scheme:
a trackless heliostat device comprises a horizontal table, wherein a two-dimensional code array plane graph is arranged on the horizontal table, the X-axis positive axis of a three-dimensional rectangular coordinate system faces horizontally east, the Y-axis positive axis faces horizontally north, the Z-axis positive axis faces vertically upward, the plane where the two-dimensional code array plane graph is located is an XY plane of the three-dimensional rectangular coordinate system, the two-dimensional code array plane graph is formed by two-dimensional code array arrangement, each two-dimensional code comprises coordinate information of the two-dimensional code on the three-dimensional rectangular coordinate system, a driving wheel device is arranged on the two-dimensional code array plane graph, the driving wheel device is connected with the bottom of a horizontal base, a first camera and a second camera are arranged at the bottom of the horizontal base, a first plane mirror mounting rack is arranged on the horizontal base, a first plane mirror is arranged on the first plane mirror mounting rack, a second plane mirror mounting rack is also arranged on the, the driving wheel device can drive the horizontal base to rotate for a set angle or translate for a set distance under the driving of the roller driver.
A method for operating a trackless heliostat device comprises the following steps:
step 1, calculating a solar altitude angle and an azimuth angle according to local time, geographical longitude and geographical latitude, and calculating to obtain a direction vector of sunlight incident on a first plane mirror;
step 2, fixing the position of the second plane mirror in the three-dimensional rectangular coordinate system, fixing the direction of the reflected light passing through the center of the mirror surface of the second plane mirror, further determining the incident light passing through the center of the mirror surface of the second plane mirror,
when the center of the mirror surface of the first plane mirror is positioned on an incident light line passing through the center of the mirror surface of the second plane mirror, the coordinate position of the center of the mirror surface of the first plane mirror on the three-dimensional rectangular coordinate system is the optimal coordinate position of the center of the mirror surface of the first plane mirror;
obtaining incident light passing through the mirror surface center of the first plane mirror at the optimal coordinate position according to the optimal coordinate position of the mirror surface center of the first plane mirror and the direction vector of the sunlight incident on the first plane mirror,
the reflected light passing through the center of the mirror surface of the first plane mirror at the optimum coordinate position is the incident light passing through the center of the mirror surface of the second plane mirror,
further obtaining the normal of the mirror surface center of the first plane mirror at the optimal coordinate position as the normal of the optimal position;
step 4, obtaining a first imaging image through a first camera, reading coordinate information of a plurality of two-dimensional codes on the first imaging image, establishing a first imaging coordinate system on the first imaging image according to the correlation of the coordinate information of the plurality of two-dimensional codes, wherein the positive X-axis direction of the first imaging coordinate system corresponds to the positive X-axis direction of the three-dimensional rectangular coordinate system, the positive Y-axis direction of the first imaging coordinate system corresponds to the positive Y-axis direction of the three-dimensional rectangular coordinate system,
defining a two-dimensional code closest to the pixel center of the first imaging image as a first reference two-dimensional code, reading coordinate information of the first reference two-dimensional code, calculating a first relative pixel position deviation of the pixel center of the first reference two-dimensional code and the pixel center of the first imaging image in a first imaging coordinate system, and obtaining projection coordinates of the first camera on an XY plane of a three-dimensional rectangular coordinate system according to the first relative pixel position deviation and the coordinate information of the first reference two-dimensional code;
step 5, obtaining a second imaging image through a second camera, reading coordinate information of a plurality of two-dimensional codes on the second imaging image, and establishing a second imaging coordinate system on the second imaging image according to the correlation relationship of the coordinate information of the plurality of two-dimensional codes, wherein the positive X-axis direction of the second imaging coordinate system corresponds to the positive X-axis direction of the three-dimensional rectangular coordinate system, and the positive Y-axis direction of the second imaging coordinate system corresponds to the positive Y-axis direction of the three-dimensional rectangular coordinate system;
defining a two-dimensional code closest to the pixel center of the second imaging image as a second reference two-dimensional code, reading coordinate information of the second reference two-dimensional code, calculating a second relative pixel position deviation of the pixel center of the second reference two-dimensional code and the pixel center of the second imaging image in a second imaging coordinate system, and obtaining projection coordinates of the second camera on an XY plane of a three-dimensional rectangular coordinate system according to the second relative pixel position deviation and the coordinate information of the second reference two-dimensional code;
and 6, driving the horizontal base to rotate and translate through the driving wheel device, so that the projection coordinate of the first camera on the XY plane of the three-dimensional rectangular coordinate system is the optimal projection coordinate, and the projection coordinate of the second camera on the XY plane of the three-dimensional rectangular coordinate system is the optimal projection coordinate.
The invention has the advantages and effects that:
the trackless heliostat device realizes the autonomous positioning of the first plane mirror by adopting a positioning mode of scanning the two-dimensional code by a camera. The trackless zenith telescope does not need two sets of tracks in the east-west direction and the south-north direction, breaks through the limitation on volume and installation, eliminates errors caused by track abrasion, is simpler and more convenient to move, transport and rapidly install, and can be applied to wider occasions.
Drawings
Fig. 1 is a schematic structural view of a trackless heliostat.
Wherein, 1-a first plane mirror; 2-a first planar mirror mounting frame; 3-a drive wheel arrangement; 4-a first camera; 5-a second camera; 6-two-dimensional code array plan; 7-a second plane mirror; 8-a computer; 9-a horizontal table; 10-a horizontal base; 11-sun; 12-second flat mirror mounting.
Detailed Description
The technical solution of the present invention is further described in detail below with reference to the accompanying drawings.
As shown in FIG. 1, a trackless heliostat device comprises a horizontal table 9, a two-dimensional code array plane figure 6 is arranged on the horizontal table 9, the X-axis positive axis of a three-dimensional rectangular coordinate system faces horizontally east, the Y-axis positive axis faces horizontally north, the Z-axis positive axis faces vertically upward, the plane of the two-dimensional code array plane figure 6 is the XY plane of the three-dimensional rectangular coordinate system, the two-dimensional code array plane figure 6 is formed by arranging two-dimensional code arrays, each two-dimensional code comprises coordinate information of the two-dimensional code on the three-dimensional rectangular coordinate system, a driving wheel device 3 is arranged on the two-dimensional code array plane figure 6, the driving wheel device 3 is connected with the bottom of a horizontal base 10, a first camera 4 and a second camera 5 are arranged at the bottom of the horizontal base 10, a first plane mirror mounting rack 2 is arranged on the horizontal base 10, a first plane mirror 1 is arranged on the first plane mirror mounting rack 2, and a second, the second flat mirror mounting frame 12 is provided with a second flat mirror 7, and the driving wheel device 3 can drive the horizontal base 10 to rotate for a set angle or translate for a set distance under the driving of the roller driver.
A method for operating a trackless heliostat device comprises the following steps:
step 1, calculating a solar altitude angle and an azimuth angle according to local time, geographical longitude and geographical latitude, and calculating to obtain a direction vector of sunlight incident to a first plane mirror 1;
step 2, the position of the second plane mirror 7 in the three-dimensional rectangular coordinate system is fixed, that is, the normal direction of the second plane mirror 7 is fixed, the direction of the reflected light passing through the center of the mirror surface of the second plane mirror 7 is fixed, that is, the reflected light of the second plane mirror remains unchanged, and further the incident light passing through the center of the mirror surface of the second plane mirror 7 is determined,
when the mirror surface center of the first plane mirror 1 is positioned on the incident light line passing through the mirror surface center of the second plane mirror 7, the coordinate position of the mirror surface center of the first plane mirror 1 on the three-dimensional rectangular coordinate system is the optimal coordinate position of the mirror surface center of the first plane mirror 1;
obtaining the incident light passing through the mirror surface center of the first plane mirror 1 at the optimal coordinate position according to the optimal coordinate position of the mirror surface center of the first plane mirror 1 and the direction vector of the sunlight incident on the first plane mirror 1,
the reflected light passing through the mirror surface center of the first flat mirror 1 at the optimum coordinate position is the incident light passing through the mirror surface center of the second flat mirror 7,
further obtaining the normal of the mirror surface center of the first plane mirror 1 at the optimal coordinate position as the normal of the optimal position;
step 4, the first camera 4 shoots a two-dimensional code array plan right below the first camera to obtain a first imaging image, reads coordinate information of a plurality of two-dimensional codes on the first imaging image, establishes a first imaging coordinate system on the first imaging image according to the correlation relation of the coordinate information of the plurality of two-dimensional codes, wherein the X-axis positive axis direction of the first imaging coordinate system corresponds to the X-axis positive axis direction of the three-dimensional rectangular coordinate system, the Y-axis positive axis direction of the first imaging coordinate system corresponds to the Y-axis positive axis direction of the three-dimensional rectangular coordinate system,
defining a two-dimensional code closest to the pixel center of the first imaging image as a first reference two-dimensional code, reading coordinate information of the first reference two-dimensional code, calculating a first relative pixel position deviation of the pixel center of the first reference two-dimensional code and the pixel center of the first imaging image in a first imaging coordinate system, obtaining a projection coordinate of the first camera 4 on an XY plane of a three-dimensional rectangular coordinate system according to the first relative pixel position deviation and the coordinate information of the first reference two-dimensional code, wherein the calculation precision of the projection coordinate can reach the magnitude of mum;
step 5, the second camera 5 shoots a two-dimensional code array plan right below the two-dimensional code array plan to obtain a second imaging image, reads coordinate information of a plurality of two-dimensional codes on the second imaging image, establishes a second imaging coordinate system on the second imaging image according to the correlation relationship of the coordinate information of the plurality of two-dimensional codes, wherein the X-axis positive axis direction of the second imaging coordinate system corresponds to the X-axis positive axis direction of the three-dimensional rectangular coordinate system, the Y-axis positive axis direction of the second imaging coordinate system corresponds to the Y-axis positive axis direction of the three-dimensional rectangular coordinate system,
defining a two-dimensional code closest to the pixel center of the second imaging image as a second reference two-dimensional code, reading coordinate information of the second reference two-dimensional code, calculating second relative pixel position deviation of the pixel center of the second reference two-dimensional code and the pixel center of the second imaging image in a second imaging coordinate system, obtaining projection coordinates of the second camera 5 on an XY plane of a three-dimensional rectangular coordinate system according to the second relative pixel position deviation and the coordinate information of the second reference two-dimensional code, wherein the calculation precision of the projection coordinates can reach the magnitude of mum;
and 6, driving the horizontal base 10 to rotate and translate through the driving wheel device 3, so that the projection coordinate of the first camera 4 on the XY plane of the three-dimensional rectangular coordinate system is the optimal projection coordinate, and the projection coordinate of the second camera 5 on the XY plane of the three-dimensional rectangular coordinate system is the optimal projection coordinate.
Through the steps, the first plane mirror reflects the sunlight to the second plane mirror, and the second plane mirror reflects the sunlight to the designated direction.
The specific embodiments described herein are merely illustrative of the invention. Various modifications, additions and substitutions may be made by those skilled in the art to the specific embodiments described without departing from the spirit of the invention or exceeding the scope of the claims defined below.
Claims (2)
1. A trackless celestial observation mirror device comprises a horizontal table (9) and is characterized by further comprising a second flat mirror mounting rack (12), a second flat mirror (7) is arranged on the second flat mirror mounting rack (12), a two-dimension code array plane graph (6) is arranged on the horizontal table (9), the X-axis positive axis of a three-dimensional rectangular coordinate system faces east horizontally, the Y-axis positive axis faces north horizontally, the Z-axis positive axis faces upward vertically, the plane where the two-dimension code array plane graph (6) is located is an XY plane of the three-dimensional rectangular coordinate system, the two-dimension code array plane graph (6) is formed by two-dimension code array arrangement, each two-dimension code comprises coordinate information of the two-dimension code on the three-dimensional rectangular coordinate system, a driving wheel device (3) is arranged on the two-dimension code array plane graph (6), the driving wheel device (3) is connected with the bottom of the horizontal base (10), a first camera (4) and a second camera (5) are arranged at the bottom of the, a first plane mirror mounting frame (2) is arranged on the horizontal base (10), a first plane mirror (1) is arranged on the first plane mirror mounting frame (2), and the driving wheel device (3) can drive the horizontal base (10) to rotate for a set angle or translate for a set distance under the driving of the roller driver.
2. A method of operating a trackless heliostat apparatus of claim 1, comprising the steps of:
step 1, calculating a solar altitude angle and an azimuth angle according to local time, geographical longitude and geographical latitude, and calculating to obtain a direction vector of sunlight incident to a first plane mirror (1);
step 2, fixing the position of the second plane mirror (7) in the three-dimensional rectangular coordinate system, fixing the direction of the reflected light passing through the center of the mirror surface of the second plane mirror (7), further determining the incident light passing through the center of the mirror surface of the second plane mirror (7),
when the center of the mirror surface of the first plane mirror (1) is positioned on an incident light ray passing through the center of the mirror surface of the second plane mirror (7), the coordinate position of the center of the mirror surface of the first plane mirror (1) on the three-dimensional rectangular coordinate system is the optimal coordinate position of the center of the mirror surface of the first plane mirror (1);
according to the optimal coordinate position of the mirror surface center of the first plane mirror (1) and the direction vector of the sunlight incident on the first plane mirror (1), the incident light passing through the mirror surface center of the first plane mirror (1) at the optimal coordinate position is obtained,
the reflected light passing through the center of the mirror surface of the first plane mirror (1) at the optimal coordinate position is the incident light passing through the center of the mirror surface of the second plane mirror (7),
further obtaining the normal of the mirror surface center of the first plane mirror (1) at the optimal coordinate position as the normal of the optimal position;
step 3, obtaining the optimal projection coordinate of the first camera (4) on the XY plane of the three-dimensional rectangular coordinate system and the optimal projection coordinate of the second camera (5) on the XY plane of the three-dimensional rectangular coordinate system according to the normal of the optimal position and the optimal coordinate position of the mirror surface center of the first plane mirror (1) because the relative positions of the first plane mirror (1), the first camera (4) and the second camera (5) are unchanged,
step 4, obtaining a first imaging image through a first camera (4), reading coordinate information of a plurality of two-dimensional codes on the first imaging image, establishing a first imaging coordinate system on the first imaging image according to the correlation relationship of the coordinate information of the plurality of two-dimensional codes, wherein the X-axis positive axis direction of the first imaging coordinate system corresponds to the X-axis positive axis direction of the three-dimensional rectangular coordinate system, the Y-axis positive axis direction of the first imaging coordinate system corresponds to the Y-axis positive axis direction of the three-dimensional rectangular coordinate system,
defining a two-dimensional code closest to the pixel center of the first imaging image as a first reference two-dimensional code, reading coordinate information of the first reference two-dimensional code, calculating a first relative pixel position deviation of the pixel center of the first reference two-dimensional code and the pixel center of the first imaging image in a first imaging coordinate system, and obtaining projection coordinates of the first camera (4) on an XY plane of a three-dimensional rectangular coordinate system according to the first relative pixel position deviation and the coordinate information of the first reference two-dimensional code;
step 5, obtaining a second imaging image through a second camera (5), reading coordinate information of a plurality of two-dimensional codes on the second imaging image, and establishing a second imaging coordinate system on the second imaging image according to the correlation relationship of the coordinate information of the plurality of two-dimensional codes, wherein the positive X-axis direction of the second imaging coordinate system corresponds to the positive X-axis direction of the three-dimensional rectangular coordinate system, and the positive Y-axis direction of the second imaging coordinate system corresponds to the positive Y-axis direction of the three-dimensional rectangular coordinate system;
defining a two-dimensional code closest to the pixel center of the second imaging image as a second reference two-dimensional code, reading coordinate information of the second reference two-dimensional code, calculating second relative pixel position deviation of the pixel center of the second reference two-dimensional code and the pixel center of the second imaging image in a second imaging coordinate system, and obtaining projection coordinates of a second camera (5) on an XY plane of a three-dimensional rectangular coordinate system according to the second relative pixel position deviation and the coordinate information of the second reference two-dimensional code;
and 6, driving the horizontal base (10) to rotate and translate through the driving wheel device (3), so that the projection coordinate of the first camera (4) on the XY plane of the three-dimensional rectangular coordinate system is the optimal projection coordinate, and the projection coordinate of the second camera (5) on the XY plane of the three-dimensional rectangular coordinate system is the optimal projection coordinate.
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| JPS63124012A (en) * | 1986-11-14 | 1988-05-27 | Chuichi Watanabe | Positioning method for general purpose coelostat and polar axis |
| JP4541395B2 (en) * | 2007-10-31 | 2010-09-08 | 三井造船株式会社 | Direction setting method of solar light tracking sensor |
| US8208203B1 (en) * | 2008-12-22 | 2012-06-26 | Itt Manufacturing Enterprises, Inc. | System and method for a coelostat with large field of regard optics |
| CN101995233B (en) * | 2010-09-10 | 2012-10-03 | 曹彦波 | Angle measuring method for sun precision tracking and digital photoelectric angle sensor |
| CN102789241B (en) * | 2012-08-08 | 2015-04-22 | 中国科学院长春光学精密机械与物理研究所 | Device and method for simulating solar illumination with autoregulative elevation angle |
| CN203338150U (en) * | 2013-05-16 | 2013-12-11 | 陈鼎凌 | Astronomical solar tracker |
| CN106383528B (en) * | 2016-11-03 | 2019-10-18 | 中国科学院国家天文台南京天文光学技术研究所 | The total tune control method of coelostat and tilting mirror |
| CN206710899U (en) * | 2017-05-19 | 2017-12-05 | 四川都睿感控科技有限公司 | A kind of sun azimuth tracking system |
| CN107703499B (en) * | 2017-08-22 | 2020-11-24 | 北京航空航天大学 | Point cloud error correction method based on self-made foundation laser radar alignment error |
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